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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass saizo-robot
:super robot-model
:slots (sensors
joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12 joint13 joint14 joint15 joint16 joint17 ))
(defmethod saizo-robot
(:init
(&rest args &key (name "saizo") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 blink8 blink9 blink10 blink11 blink12 blink13 blink14 blink15 blink16 blink17 blink18
)
(send-super* :init :name name args)
;; definition of link
;; definition of :root
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 18.4 -18.0 -62.0) (float-vector 18.4 -18.0 -35.0) (float-vector 18.4 -80.0 -35.0) (float-vector 18.4 -80.0 -62.0) (float-vector 18.4 -78.5 -62.0) (float-vector 18.4 -78.5 -36.5) (float-vector 18.4 -19.5 -36.5) (float-vector 18.4 -19.5 -62.0)))
(instance face :init :vertices (list (float-vector -10.4 -18.0 -35.0) (float-vector -10.4 -80.0 -35.0) (float-vector 18.4 -80.0 -35.0) (float-vector 18.4 -18.0 -35.0)))
(instance face :init :vertices (list (float-vector -10.4 -18.0 -62.0) (float-vector -10.4 -19.5 -62.0) (float-vector -10.4 -19.5 -36.5) (float-vector -10.4 -78.5 -36.5) (float-vector -10.4 -78.5 -62.0) (float-vector -10.4 -80.0 -62.0) (float-vector -10.4 -80.0 -35.0) (float-vector -10.4 -18.0 -35.0)))
(instance face :init :vertices (list (float-vector -6.18234 -80.0 -72.1823) (float-vector -10.4 -80.0 -62.0) (float-vector -10.4 -78.5 -62.0) (float-vector -6.18234 -78.5 -72.1823)))
(instance face :init :vertices (list (float-vector -6.18234 -18.0 -72.1823) (float-vector -6.18234 -19.5 -72.1823) (float-vector -10.4 -19.5 -62.0) (float-vector -10.4 -18.0 -62.0)))
(instance face :init :vertices (list (float-vector 4.0 -80.0 -76.4) (float-vector -6.18234 -80.0 -72.1823) (float-vector -6.18234 -78.5 -72.1823) (float-vector 4.0 -78.5 -76.4)))
(instance face :init :vertices (list (float-vector 4.0 -18.0 -76.4) (float-vector 4.0 -19.5 -76.4) (float-vector -6.18234 -19.5 -72.1823) (float-vector -6.18234 -18.0 -72.1823)))
(instance face :init :vertices (list (float-vector 14.1823 -80.0 -72.1823) (float-vector 4.0 -80.0 -76.4) (float-vector 4.0 -78.5 -76.4) (float-vector 14.1823 -78.5 -72.1823)))
(instance face :init :vertices (list (float-vector 14.1823 -18.0 -72.1823) (float-vector 14.1823 -19.5 -72.1823) (float-vector 4.0 -19.5 -76.4) (float-vector 4.0 -18.0 -76.4)))
(instance face :init :vertices (list (float-vector 18.4 -80.0 -62.0) (float-vector 18.4 -80.0 -35.0) (float-vector -10.4 -80.0 -35.0) (float-vector -10.4 -80.0 -62.0) (float-vector -6.18234 -80.0 -72.1823) (float-vector 4.0 -80.0 -76.4) (float-vector 14.1823 -80.0 -72.1823)))
(instance face :init :vertices (list (float-vector 14.1823 -18.0 -72.1823) (float-vector 4.0 -18.0 -76.4) (float-vector -6.18234 -18.0 -72.1823) (float-vector -10.4 -18.0 -62.0) (float-vector -10.4 -18.0 -35.0) (float-vector 18.4 -18.0 -35.0) (float-vector 18.4 -18.0 -62.0)))
(instance face :init :vertices (list (float-vector 14.1823 -80.0 -72.1823) (float-vector 14.1823 -78.5 -72.1823) (float-vector 18.4 -78.5 -62.0) (float-vector 18.4 -80.0 -62.0)))
(instance face :init :vertices (list (float-vector 18.4 -18.0 -62.0) (float-vector 18.4 -19.5 -62.0) (float-vector 14.1823 -19.5 -72.1823) (float-vector 14.1823 -18.0 -72.1823)))
(instance face :init :vertices (list (float-vector 18.4 -78.5 -36.5) (float-vector 18.4 -78.5 -62.0) (float-vector 14.1823 -78.5 -72.1823) (float-vector 4.0 -78.5 -76.4) (float-vector -6.18234 -78.5 -72.1823) (float-vector -10.4 -78.5 -62.0) (float-vector -10.4 -78.5 -36.5)))
(instance face :init :vertices (list (float-vector 18.4 -19.5 -36.5) (float-vector 18.4 -78.5 -36.5) (float-vector -10.4 -78.5 -36.5) (float-vector -10.4 -19.5 -36.5)))
(instance face :init :vertices (list (float-vector -10.4 -19.5 -36.5) (float-vector -10.4 -19.5 -62.0) (float-vector -6.18234 -19.5 -72.1823) (float-vector 4.0 -19.5 -76.4) (float-vector 14.1823 -19.5 -72.1823) (float-vector 18.4 -19.5 -62.0) (float-vector 18.4 -19.5 -36.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 18.4 -78.0 94.9) (float-vector 18.4 -78.0 45.1) (float-vector 18.4 -19.0 45.1) (float-vector 18.4 -19.0 94.9)))
(instance face :init :vertices (list (float-vector 18.4 -19.0 45.1) (float-vector -10.4 -19.0 45.1) (float-vector -10.4 -19.0 94.9) (float-vector 18.4 -19.0 94.9)))
(instance face :init :vertices (list (float-vector -10.4 -19.0 45.1) (float-vector -10.4 -78.0 45.1) (float-vector -10.4 -78.0 94.9) (float-vector -10.4 -19.0 94.9)))
(instance face :init :vertices (list (float-vector -10.4 -78.0 94.9) (float-vector 18.4 -78.0 94.9) (float-vector 18.4 -19.0 94.9) (float-vector -10.4 -19.0 94.9))
:holes (list
(instance hole :init :vertices (list (float-vector 15.6047 -70.7 94.9) (float-vector 10.7 -75.6047 94.9) (float-vector 4.0 -77.4 94.9) (float-vector -2.7 -75.6047 94.9) (float-vector -7.60474 -70.7 94.9) (float-vector -9.4 -64.0 94.9) (float-vector -7.60474 -57.3 94.9) (float-vector -2.7 -52.3953 94.9) (float-vector 4.0 -50.6 94.9) (float-vector 10.7 -52.3953 94.9) (float-vector 15.6047 -57.3 94.9) (float-vector 17.4 -64.0 94.9)))
))
(instance face :init :vertices (list (float-vector -10.4 -78.0 45.1) (float-vector 18.4 -78.0 45.1) (float-vector 18.4 -78.0 94.9) (float-vector -10.4 -78.0 94.9)))
(instance face :init :vertices (list (float-vector 18.4 -78.0 45.1) (float-vector -10.4 -78.0 45.1) (float-vector -10.4 -19.0 45.1) (float-vector 18.4 -19.0 45.1))
:holes (list
(instance hole :init :vertices (list (float-vector 10.7 -75.6047 45.1) (float-vector 15.6047 -70.7 45.1) (float-vector 17.4 -64.0 45.1) (float-vector 15.6047 -57.3 45.1) (float-vector 10.7 -52.3953 45.1) (float-vector 4.0 -50.6 45.1) (float-vector -2.7 -52.3953 45.1) (float-vector -7.60474 -57.3 45.1) (float-vector -9.4 -64.0 45.1) (float-vector -7.60474 -70.7 45.1) (float-vector -2.7 -75.6047 45.1) (float-vector 4.0 -77.4 45.1)))
))
(instance face :init :vertices (list (float-vector 17.4 -64.0 96.9) (float-vector 17.4 -64.0 94.9) (float-vector 15.6047 -57.3 94.9) (float-vector 15.6047 -57.3 96.9)))
(instance face :init :vertices (list (float-vector 17.4 -64.0 45.1) (float-vector 17.4 -64.0 43.1) (float-vector 15.6047 -57.3 43.1) (float-vector 15.6047 -57.3 45.1)))
(instance face :init :vertices (list (float-vector 10.7 -52.3953 94.9) (float-vector 10.7 -52.3953 96.9) (float-vector 15.6047 -57.3 96.9) (float-vector 15.6047 -57.3 94.9)))
(instance face :init :vertices (list (float-vector 15.6047 -57.3 43.1) (float-vector 10.7 -52.3953 43.1) (float-vector 10.7 -52.3953 45.1) (float-vector 15.6047 -57.3 45.1)))
(instance face :init :vertices (list (float-vector 4.0 -50.6 94.9) (float-vector 4.0 -50.6 96.9) (float-vector 10.7 -52.3953 96.9) (float-vector 10.7 -52.3953 94.9)))
(instance face :init :vertices (list (float-vector 10.7 -52.3953 43.1) (float-vector 4.0 -50.6 43.1) (float-vector 4.0 -50.6 45.1) (float-vector 10.7 -52.3953 45.1)))
(instance face :init :vertices (list (float-vector -2.7 -52.3953 94.9) (float-vector -2.7 -52.3953 96.9) (float-vector 4.0 -50.6 96.9) (float-vector 4.0 -50.6 94.9)))
(instance face :init :vertices (list (float-vector 4.0 -50.6 43.1) (float-vector -2.7 -52.3953 43.1) (float-vector -2.7 -52.3953 45.1) (float-vector 4.0 -50.6 45.1)))
(instance face :init :vertices (list (float-vector -7.60474 -57.3 94.9) (float-vector -7.60474 -57.3 96.9) (float-vector -2.7 -52.3953 96.9) (float-vector -2.7 -52.3953 94.9)))
(instance face :init :vertices (list (float-vector -2.7 -52.3953 43.1) (float-vector -7.60474 -57.3 43.1) (float-vector -7.60474 -57.3 45.1) (float-vector -2.7 -52.3953 45.1)))
(instance face :init :vertices (list (float-vector -9.4 -64.0 94.9) (float-vector -9.4 -64.0 96.9) (float-vector -7.60474 -57.3 96.9) (float-vector -7.60474 -57.3 94.9)))
(instance face :init :vertices (list (float-vector -7.60474 -57.3 43.1) (float-vector -9.4 -64.0 43.1) (float-vector -9.4 -64.0 45.1) (float-vector -7.60474 -57.3 45.1)))
(instance face :init :vertices (list (float-vector -7.60474 -70.7 94.9) (float-vector -7.60474 -70.7 96.9) (float-vector -9.4 -64.0 96.9) (float-vector -9.4 -64.0 94.9)))
(instance face :init :vertices (list (float-vector -9.4 -64.0 43.1) (float-vector -7.60474 -70.7 43.1) (float-vector -7.60474 -70.7 45.1) (float-vector -9.4 -64.0 45.1)))
(instance face :init :vertices (list (float-vector -2.7 -75.6047 94.9) (float-vector -2.7 -75.6047 96.9) (float-vector -7.60474 -70.7 96.9) (float-vector -7.60474 -70.7 94.9)))
(instance face :init :vertices (list (float-vector -7.60474 -70.7 43.1) (float-vector -2.7 -75.6047 43.1) (float-vector -2.7 -75.6047 45.1) (float-vector -7.60474 -70.7 45.1)))
(instance face :init :vertices (list (float-vector 4.0 -77.4 94.9) (float-vector 4.0 -77.4 96.9) (float-vector -2.7 -75.6047 96.9) (float-vector -2.7 -75.6047 94.9)))
(instance face :init :vertices (list (float-vector -2.7 -75.6047 43.1) (float-vector 4.0 -77.4 43.1) (float-vector 4.0 -77.4 45.1) (float-vector -2.7 -75.6047 45.1)))
(instance face :init :vertices (list (float-vector 10.7 -75.6047 94.9) (float-vector 10.7 -75.6047 96.9) (float-vector 4.0 -77.4 96.9) (float-vector 4.0 -77.4 94.9)))
(instance face :init :vertices (list (float-vector 4.0 -77.4 43.1) (float-vector 10.7 -75.6047 43.1) (float-vector 10.7 -75.6047 45.1) (float-vector 4.0 -77.4 45.1)))
(instance face :init :vertices (list (float-vector 15.6047 -70.7 94.9) (float-vector 15.6047 -70.7 96.9) (float-vector 10.7 -75.6047 96.9) (float-vector 10.7 -75.6047 94.9)))
(instance face :init :vertices (list (float-vector 10.7 -75.6047 43.1) (float-vector 15.6047 -70.7 43.1) (float-vector 15.6047 -70.7 45.1) (float-vector 10.7 -75.6047 45.1)))
(instance face :init :vertices (list (float-vector 15.6047 -70.7 96.9) (float-vector 17.4 -64.0 96.9) (float-vector 15.6047 -57.3 96.9) (float-vector 10.7 -52.3953 96.9) (float-vector 4.0 -50.6 96.9) (float-vector -2.7 -52.3953 96.9) (float-vector -7.60474 -57.3 96.9) (float-vector -9.4 -64.0 96.9) (float-vector -7.60474 -70.7 96.9) (float-vector -2.7 -75.6047 96.9) (float-vector 4.0 -77.4 96.9) (float-vector 10.7 -75.6047 96.9)))
(instance face :init :vertices (list (float-vector 17.4 -64.0 96.9) (float-vector 15.6047 -70.7 96.9) (float-vector 15.6047 -70.7 94.9) (float-vector 17.4 -64.0 94.9)))
(instance face :init :vertices (list (float-vector 15.6047 -70.7 43.1) (float-vector 17.4 -64.0 43.1) (float-vector 17.4 -64.0 45.1) (float-vector 15.6047 -70.7 45.1)))
(instance face :init :vertices (list (float-vector 17.4 -64.0 43.1) (float-vector 15.6047 -70.7 43.1) (float-vector 10.7 -75.6047 43.1) (float-vector 4.0 -77.4 43.1) (float-vector -2.7 -75.6047 43.1) (float-vector -7.60474 -70.7 43.1) (float-vector -9.4 -64.0 43.1) (float-vector -7.60474 -57.3 43.1) (float-vector -2.7 -52.3953 43.1) (float-vector 4.0 -50.6 43.1) (float-vector 10.7 -52.3953 43.1) (float-vector 15.6047 -57.3 43.1)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 18.4 72.0 -62.0) (float-vector 18.4 72.0 -35.0) (float-vector 18.4 10.0 -35.0) (float-vector 18.4 10.0 -62.0) (float-vector 18.4 11.5 -62.0) (float-vector 18.4 11.5 -36.5) (float-vector 18.4 70.5 -36.5) (float-vector 18.4 70.5 -62.0)))
(instance face :init :vertices (list (float-vector -10.4 72.0 -35.0) (float-vector -10.4 10.0 -35.0) (float-vector 18.4 10.0 -35.0) (float-vector 18.4 72.0 -35.0)))
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(instance face :init :vertices (list (float-vector -5.5 -17.5 37.0) (float-vector 8.0 -27.0 37.0) (float-vector 21.5 -17.5 37.0) (float-vector 21.5 9.5 37.0) (float-vector 8.0 19.0 37.0) (float-vector -5.5 9.5 37.0))
:holes (list
(instance hole :init :vertices (list (float-vector -5.0 9.0 37.0) (float-vector 21.0 9.0 37.0) (float-vector 21.0 -17.0 37.0) (float-vector -5.0 -17.0 37.0)))
))
(instance face :init :vertices (list (float-vector -5.5 -17.5 35.0) (float-vector 8.0 -27.0 35.0) (float-vector 8.0 -27.0 37.0) (float-vector -5.5 -17.5 37.0)))
(instance face :init :vertices (list (float-vector 8.0 -27.0 35.0) (float-vector -5.5 -17.5 35.0) (float-vector -5.5 9.5 35.0) (float-vector 8.0 19.0 35.0) (float-vector 21.5 9.5 35.0) (float-vector 21.5 -17.5 35.0)))
(instance face :init :vertices (list (float-vector -5.0 -17.0 55.0) (float-vector -5.0 -17.0 37.0) (float-vector 21.0 -17.0 37.0) (float-vector 21.0 -17.0 55.0)))
(instance face :init :vertices (list (float-vector 21.0 9.0 37.0) (float-vector 21.0 9.0 55.0) (float-vector 21.0 -17.0 55.0) (float-vector 21.0 -17.0 37.0)))
(instance face :init :vertices (list (float-vector -5.0 9.0 37.0) (float-vector -5.0 9.0 55.0) (float-vector 21.0 9.0 55.0) (float-vector 21.0 9.0 37.0)))
(instance face :init :vertices (list (float-vector -5.0 9.0 55.0) (float-vector -5.0 -17.0 55.0) (float-vector 21.0 -17.0 55.0) (float-vector 21.0 9.0 55.0)))
(instance face :init :vertices (list (float-vector -5.0 -17.0 55.0) (float-vector -5.0 9.0 55.0) (float-vector -5.0 9.0 37.0) (float-vector -5.0 -17.0 37.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -13.0 -59.0 95.0) (float-vector -13.0 51.0 95.0) (float-vector -23.0 51.0 95.0) (float-vector -23.0 -59.0 95.0)))
(instance face :init :vertices (list (float-vector -13.0 51.0 45.0) (float-vector -13.0 -59.0 45.0) (float-vector -23.0 -59.0 45.0) (float-vector -23.0 51.0 45.0)))
(instance face :init :vertices (list (float-vector -13.0 -59.0 95.0) (float-vector -13.0 -59.0 45.0) (float-vector -13.0 51.0 45.0) (float-vector -13.0 51.0 95.0)))
(instance face :init :vertices (list (float-vector -23.0 -59.0 95.0) (float-vector -23.0 -59.0 45.0) (float-vector -13.0 -59.0 45.0) (float-vector -13.0 -59.0 95.0)))
(instance face :init :vertices (list (float-vector -23.0 51.0 95.0) (float-vector -23.0 51.0 45.0) (float-vector -23.0 -59.0 45.0) (float-vector -23.0 -59.0 95.0)))
(instance face :init :vertices (list (float-vector -13.0 51.0 95.0) (float-vector -13.0 51.0 45.0) (float-vector -23.0 51.0 45.0) (float-vector -23.0 51.0 95.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 19.0 36.0 95.0) (float-vector 19.0 31.0 35.0) (float-vector 19.0 -39.0 35.0)))
(instance face :init :vertices (list (float-vector 19.0 -44.0 45.0) (float-vector 19.0 36.0 95.0) (float-vector 19.0 -39.0 35.0)))
(instance face :init :vertices (list (float-vector 19.0 -44.0 95.0) (float-vector 19.0 36.0 95.0) (float-vector 19.0 -44.0 45.0)))
(instance face :init :vertices (list (float-vector 49.0 -39.0 95.0) (float-vector 19.0 36.0 95.0) (float-vector 19.0 -44.0 95.0)))
(instance face :init :vertices (list (float-vector 49.0 -39.0 45.0) (float-vector 49.0 -39.0 95.0) (float-vector 19.0 -44.0 95.0)))
(instance face :init :vertices (list (float-vector 19.0 -44.0 45.0) (float-vector 49.0 -39.0 45.0) (float-vector 19.0 -44.0 95.0)))
(instance face :init :vertices (list (float-vector 19.0 36.0 95.0) (float-vector 19.0 36.0 45.0) (float-vector 19.0 31.0 35.0)))
(instance face :init :vertices (list (float-vector 49.0 31.0 95.0) (float-vector 19.0 36.0 95.0) (float-vector 49.0 -39.0 95.0)))
(instance face :init :vertices (list (float-vector 49.0 31.0 45.0) (float-vector 49.0 31.0 95.0) (float-vector 49.0 -39.0 95.0)))
(instance face :init :vertices (list (float-vector 49.0 -39.0 45.0) (float-vector 49.0 31.0 45.0) (float-vector 49.0 -39.0 95.0)))
(instance face :init :vertices (list (float-vector 19.0 36.0 45.0) (float-vector 49.0 31.0 45.0) (float-vector 19.0 31.0 35.0)))
(instance face :init :vertices (list (float-vector 19.0 31.0 35.0) (float-vector 49.0 31.0 45.0) (float-vector 19.0 -39.0 35.0)))
(instance face :init :vertices (list (float-vector 19.0 -39.0 35.0) (float-vector 49.0 -39.0 45.0) (float-vector 19.0 -44.0 45.0)))
(instance face :init :vertices (list (float-vector 19.0 36.0 45.0) (float-vector 19.0 36.0 95.0) (float-vector 49.0 31.0 45.0)))
(instance face :init :vertices (list (float-vector 49.0 31.0 45.0) (float-vector 19.0 36.0 95.0) (float-vector 49.0 31.0 95.0)))
(instance face :init :vertices (list (float-vector 49.0 31.0 45.0) (float-vector 49.0 -39.0 45.0) (float-vector 19.0 -39.0 35.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(send (elt bc 1) :set-color :gray40)
(send (elt bc 2) :set-color :gray90)
(send (elt bc 3) :set-color :gray40)
(send (elt bc 4) :set-color :gray40)
(send (elt bc 5) :set-color :gray40)
(send (elt bc 6) :set-color :gray40)
(send (elt bc 7) :set-color :gray90)
(send (elt bc 8) :set-color :gray90)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :weight 557.111 :centroid (float-vector 6.3424 -4.0 56.3837) :inertia-tensor #2f((1.405231e+06 1.173275e-10 17385.3) (1.173275e-10 7.485599e+05 -1.969624e-11) (17385.3 -1.969624e-11 8.301046e+05))))
;; definition of :rleg-crotch-p
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 14.4 -14.0 24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 45.0 -24.9) (float-vector 14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector 14.4 45.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector -14.4 45.0 24.9) (float-vector 14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector -14.4 45.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 -14.0 24.9) (float-vector -14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector -14.4 -14.0 24.9) (float-vector 14.4 -14.0 24.9) (float-vector 14.4 45.0 24.9) (float-vector -14.4 45.0 24.9))
:holes (list
(instance hole :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 6.7 -11.6047 24.9) (float-vector -2.309264e-14 -13.4 24.9) (float-vector -6.7 -11.6047 24.9) (float-vector -11.6047 -6.7 24.9) (float-vector -13.4 2.842171e-14 24.9) (float-vector -11.6047 6.7 24.9) (float-vector -6.7 11.6047 24.9) (float-vector 7.993606e-15 13.4 24.9) (float-vector 6.7 11.6047 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 13.4 2.842171e-14 24.9)))
))
(instance face :init :vertices (list (float-vector -14.4 -14.0 -24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 -14.0 24.9) (float-vector -14.4 -14.0 24.9)))
(instance face :init :vertices (list (float-vector 14.4 -14.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector 14.4 45.0 -24.9))
:holes (list
(instance hole :init :vertices (list (float-vector 6.7 -11.6047 -24.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 13.4 0.0 -24.9) (float-vector 11.6047 6.7 -24.9) (float-vector 6.7 11.6047 -24.9) (float-vector 7.993606e-15 13.4 -24.9) (float-vector -6.7 11.6047 -24.9) (float-vector -11.6047 6.7 -24.9) (float-vector -13.4 2.842171e-14 -24.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -2.309264e-14 -13.4 -24.9)))
))
(instance face :init :vertices (list (float-vector 13.4 2.842171e-14 26.9) (float-vector 13.4 2.842171e-14 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 11.6047 6.7 26.9)))
(instance face :init :vertices (list (float-vector 13.4 0.0 -24.9) (float-vector 13.4 0.0 -26.9) (float-vector 11.6047 6.7 -26.9) (float-vector 11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector 6.7 11.6047 24.9) (float-vector 6.7 11.6047 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 11.6047 6.7 24.9)))
(instance face :init :vertices (list (float-vector 11.6047 6.7 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 6.7 11.6047 -24.9) (float-vector 11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector 7.993606e-15 13.4 24.9) (float-vector 7.993606e-15 13.4 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 6.7 11.6047 24.9)))
(instance face :init :vertices (list (float-vector 6.7 11.6047 -26.9) (float-vector 7.993606e-15 13.4 -26.9) (float-vector 7.993606e-15 13.4 -24.9) (float-vector 6.7 11.6047 -24.9)))
(instance face :init :vertices (list (float-vector -6.7 11.6047 24.9) (float-vector -6.7 11.6047 26.9) (float-vector 7.993606e-15 13.4 26.9) (float-vector 7.993606e-15 13.4 24.9)))
(instance face :init :vertices (list (float-vector 7.993606e-15 13.4 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector -6.7 11.6047 -24.9) (float-vector 7.993606e-15 13.4 -24.9)))
(instance face :init :vertices (list (float-vector -11.6047 6.7 24.9) (float-vector -11.6047 6.7 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -6.7 11.6047 24.9)))
(instance face :init :vertices (list (float-vector -6.7 11.6047 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -11.6047 6.7 -24.9) (float-vector -6.7 11.6047 -24.9)))
(instance face :init :vertices (list (float-vector -13.4 2.842171e-14 24.9) (float-vector -13.4 2.842171e-14 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -11.6047 6.7 24.9)))
(instance face :init :vertices (list (float-vector -11.6047 6.7 -26.9) (float-vector -13.4 2.842171e-14 -26.9) (float-vector -13.4 2.842171e-14 -24.9) (float-vector -11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector -11.6047 -6.7 24.9) (float-vector -11.6047 -6.7 26.9) (float-vector -13.4 2.842171e-14 26.9) (float-vector -13.4 2.842171e-14 24.9)))
(instance face :init :vertices (list (float-vector -13.4 2.842171e-14 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -13.4 2.842171e-14 -24.9)))
(instance face :init :vertices (list (float-vector -6.7 -11.6047 24.9) (float-vector -6.7 -11.6047 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -11.6047 -6.7 24.9)))
(instance face :init :vertices (list (float-vector -11.6047 -6.7 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -11.6047 -6.7 -24.9)))
(instance face :init :vertices (list (float-vector -2.309264e-14 -13.4 24.9) (float-vector -2.309264e-14 -13.4 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -6.7 -11.6047 24.9)))
(instance face :init :vertices (list (float-vector -6.7 -11.6047 -26.9) (float-vector -2.309264e-14 -13.4 -26.9) (float-vector -2.309264e-14 -13.4 -24.9) (float-vector -6.7 -11.6047 -24.9)))
(instance face :init :vertices (list (float-vector 6.7 -11.6047 24.9) (float-vector 6.7 -11.6047 26.9) (float-vector -2.309264e-14 -13.4 26.9) (float-vector -2.309264e-14 -13.4 24.9)))
(instance face :init :vertices (list (float-vector -2.309264e-14 -13.4 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector 6.7 -11.6047 -24.9) (float-vector -2.309264e-14 -13.4 -24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 11.6047 -6.7 26.9) (float-vector 6.7 -11.6047 26.9) (float-vector 6.7 -11.6047 24.9)))
(instance face :init :vertices (list (float-vector 6.7 -11.6047 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 6.7 -11.6047 -24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 26.9) (float-vector 13.4 2.842171e-14 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 7.993606e-15 13.4 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -13.4 2.842171e-14 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -2.309264e-14 -13.4 26.9) (float-vector 6.7 -11.6047 26.9)))
(instance face :init :vertices (list (float-vector 13.4 2.842171e-14 26.9) (float-vector 11.6047 -6.7 26.9) (float-vector 11.6047 -6.7 24.9) (float-vector 13.4 2.842171e-14 24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 -26.9) (float-vector 13.4 0.0 -26.9) (float-vector 13.4 0.0 -24.9) (float-vector 11.6047 -6.7 -24.9)))
(instance face :init :vertices (list (float-vector 13.4 0.0 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector -2.309264e-14 -13.4 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -13.4 2.842171e-14 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector 7.993606e-15 13.4 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 11.6047 6.7 -26.9)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -14.4 114.0 24.9) (float-vector -14.4 114.0 -24.9) (float-vector -14.4 55.0 -24.9) (float-vector -14.4 55.0 24.9)))
(instance face :init :vertices (list (float-vector -14.4 55.0 -24.9) (float-vector 14.4 55.0 -24.9) (float-vector 14.4 55.0 24.9) (float-vector -14.4 55.0 24.9)))
(instance face :init :vertices (list (float-vector 14.4 55.0 -24.9) (float-vector 14.4 114.0 -24.9) (float-vector 14.4 114.0 24.9) (float-vector 14.4 55.0 24.9)))
(instance face :init :vertices (list (float-vector 14.4 114.0 24.9) (float-vector -14.4 114.0 24.9) (float-vector -14.4 55.0 24.9) (float-vector 14.4 55.0 24.9))
:holes (list
(instance hole :init :vertices (list (float-vector -11.6047 106.7 24.9) (float-vector -6.7 111.605 24.9) (float-vector 3.730349e-14 113.4 24.9) (float-vector 6.7 111.605 24.9) (float-vector 11.6047 106.7 24.9) (float-vector 13.4 100.0 24.9) (float-vector 11.6047 93.3 24.9) (float-vector 6.7 88.3953 24.9) (float-vector 2.664535e-15 86.6 24.9) (float-vector -6.7 88.3953 24.9) (float-vector -11.6047 93.3 24.9) (float-vector -13.4 100.0 24.9)))
))
(instance face :init :vertices (list (float-vector 14.4 114.0 -24.9) (float-vector -14.4 114.0 -24.9) (float-vector -14.4 114.0 24.9) (float-vector 14.4 114.0 24.9)))
(instance face :init :vertices (list (float-vector -14.4 114.0 -24.9) (float-vector 14.4 114.0 -24.9) (float-vector 14.4 55.0 -24.9) (float-vector -14.4 55.0 -24.9))
:holes (list
(instance hole :init :vertices (list (float-vector -6.7 111.605 -24.9) (float-vector -11.6047 106.7 -24.9) (float-vector -13.4 100.0 -24.9) (float-vector -11.6047 93.3 -24.9) (float-vector -6.7 88.3953 -24.9) (float-vector 2.664535e-15 86.6 -24.9) (float-vector 6.7 88.3953 -24.9) (float-vector 11.6047 93.3 -24.9) (float-vector 13.4 100.0 -24.9) (float-vector 11.6047 106.7 -24.9) (float-vector 6.7 111.605 -24.9) (float-vector 3.730349e-14 113.4 -24.9)))
))
(instance face :init :vertices (list (float-vector -13.4 100.0 26.9) (float-vector -13.4 100.0 24.9) (float-vector -11.6047 93.3 24.9) (float-vector -11.6047 93.3 26.9)))
(instance face :init :vertices (list (float-vector -13.4 100.0 -24.9) (float-vector -13.4 100.0 -26.9) (float-vector -11.6047 93.3 -26.9) (float-vector -11.6047 93.3 -24.9)))
(instance face :init :vertices (list (float-vector -6.7 88.3953 24.9) (float-vector -6.7 88.3953 26.9) (float-vector -11.6047 93.3 26.9) (float-vector -11.6047 93.3 24.9)))
(instance face :init :vertices (list (float-vector -11.6047 93.3 -26.9) (float-vector -6.7 88.3953 -26.9) (float-vector -6.7 88.3953 -24.9) (float-vector -11.6047 93.3 -24.9)))
(instance face :init :vertices (list (float-vector 2.664535e-15 86.6 24.9) (float-vector 2.664535e-15 86.6 26.9) (float-vector -6.7 88.3953 26.9) (float-vector -6.7 88.3953 24.9)))
(instance face :init :vertices (list (float-vector -6.7 88.3953 -26.9) (float-vector 2.664535e-15 86.6 -26.9) (float-vector 2.664535e-15 86.6 -24.9) (float-vector -6.7 88.3953 -24.9)))
(instance face :init :vertices (list (float-vector 6.7 88.3953 24.9) (float-vector 6.7 88.3953 26.9) (float-vector 2.664535e-15 86.6 26.9) (float-vector 2.664535e-15 86.6 24.9)))
(instance face :init :vertices (list (float-vector 2.664535e-15 86.6 -26.9) (float-vector 6.7 88.3953 -26.9) (float-vector 6.7 88.3953 -24.9) (float-vector 2.664535e-15 86.6 -24.9)))
(instance face :init :vertices (list (float-vector 11.6047 93.3 24.9) (float-vector 11.6047 93.3 26.9) (float-vector 6.7 88.3953 26.9) (float-vector 6.7 88.3953 24.9)))
(instance face :init :vertices (list (float-vector 6.7 88.3953 -26.9) (float-vector 11.6047 93.3 -26.9) (float-vector 11.6047 93.3 -24.9) (float-vector 6.7 88.3953 -24.9)))
(instance face :init :vertices (list (float-vector 13.4 100.0 24.9) (float-vector 13.4 100.0 26.9) (float-vector 11.6047 93.3 26.9) (float-vector 11.6047 93.3 24.9)))
(instance face :init :vertices (list (float-vector 11.6047 93.3 -26.9) (float-vector 13.4 100.0 -26.9) (float-vector 13.4 100.0 -24.9) (float-vector 11.6047 93.3 -24.9)))
(instance face :init :vertices (list (float-vector 11.6047 106.7 24.9) (float-vector 11.6047 106.7 26.9) (float-vector 13.4 100.0 26.9) (float-vector 13.4 100.0 24.9)))
(instance face :init :vertices (list (float-vector 13.4 100.0 -26.9) (float-vector 11.6047 106.7 -26.9) (float-vector 11.6047 106.7 -24.9) (float-vector 13.4 100.0 -24.9)))
(instance face :init :vertices (list (float-vector 6.7 111.605 24.9) (float-vector 6.7 111.605 26.9) (float-vector 11.6047 106.7 26.9) (float-vector 11.6047 106.7 24.9)))
(instance face :init :vertices (list (float-vector 11.6047 106.7 -26.9) (float-vector 6.7 111.605 -26.9) (float-vector 6.7 111.605 -24.9) (float-vector 11.6047 106.7 -24.9)))
(instance face :init :vertices (list (float-vector 3.730349e-14 113.4 24.9) (float-vector 3.730349e-14 113.4 26.9) (float-vector 6.7 111.605 26.9) (float-vector 6.7 111.605 24.9)))
(instance face :init :vertices (list (float-vector 6.7 111.605 -26.9) (float-vector 3.730349e-14 113.4 -26.9) (float-vector 3.730349e-14 113.4 -24.9) (float-vector 6.7 111.605 -24.9)))
(instance face :init :vertices (list (float-vector -6.7 111.605 24.9) (float-vector -6.7 111.605 26.9) (float-vector 3.730349e-14 113.4 26.9) (float-vector 3.730349e-14 113.4 24.9)))
(instance face :init :vertices (list (float-vector 3.730349e-14 113.4 -26.9) (float-vector -6.7 111.605 -26.9) (float-vector -6.7 111.605 -24.9) (float-vector 3.730349e-14 113.4 -24.9)))
(instance face :init :vertices (list (float-vector -11.6047 106.7 24.9) (float-vector -11.6047 106.7 26.9) (float-vector -6.7 111.605 26.9) (float-vector -6.7 111.605 24.9)))
(instance face :init :vertices (list (float-vector -6.7 111.605 -26.9) (float-vector -11.6047 106.7 -26.9) (float-vector -11.6047 106.7 -24.9) (float-vector -6.7 111.605 -24.9)))
(instance face :init :vertices (list (float-vector -11.6047 106.7 26.9) (float-vector -13.4 100.0 26.9) (float-vector -11.6047 93.3 26.9) (float-vector -6.7 88.3953 26.9) (float-vector 2.664535e-15 86.6 26.9) (float-vector 6.7 88.3953 26.9) (float-vector 11.6047 93.3 26.9) (float-vector 13.4 100.0 26.9) (float-vector 11.6047 106.7 26.9) (float-vector 6.7 111.605 26.9) (float-vector 3.730349e-14 113.4 26.9) (float-vector -6.7 111.605 26.9)))
(instance face :init :vertices (list (float-vector -13.4 100.0 26.9) (float-vector -11.6047 106.7 26.9) (float-vector -11.6047 106.7 24.9) (float-vector -13.4 100.0 24.9)))
(instance face :init :vertices (list (float-vector -11.6047 106.7 -26.9) (float-vector -13.4 100.0 -26.9) (float-vector -13.4 100.0 -24.9) (float-vector -11.6047 106.7 -24.9)))
(instance face :init :vertices (list (float-vector -13.4 100.0 -26.9) (float-vector -11.6047 106.7 -26.9) (float-vector -6.7 111.605 -26.9) (float-vector 3.730349e-14 113.4 -26.9) (float-vector 6.7 111.605 -26.9) (float-vector 11.6047 106.7 -26.9) (float-vector 13.4 100.0 -26.9) (float-vector 11.6047 93.3 -26.9) (float-vector 6.7 88.3953 -26.9) (float-vector 2.664535e-15 86.6 -26.9) (float-vector -6.7 88.3953 -26.9) (float-vector -11.6047 93.3 -26.9)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray40)
(send (elt bc 1) :set-color :gray40)
(setq blink13 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-crotch-p :weight 214 :centroid (float-vector -6.816213e-15 50.0 1.232575e-14) :inertia-tensor #2f((3.667336e+05 1.174090e-11 1.634010e-12) (1.174090e-11 59019.1 -6.409059e-11) (1.634010e-12 -6.409059e-11 3.372979e+05))))
;; definition of :rleg-knee-p
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 14.4 0.0 29.5) (float-vector 14.4 42.5 29.5) (float-vector 14.4 42.5 31.0) (float-vector 14.4 0.0 31.0)))
(instance face :init :vertices (list (float-vector 14.4 0.0 -31.0) (float-vector 14.4 42.5 -31.0) (float-vector 14.4 42.5 -29.5) (float-vector 14.4 0.0 -29.5)))
(instance face :init :vertices (list (float-vector -14.4 42.5 -31.0) (float-vector -14.4 42.5 31.0) (float-vector 14.4 42.5 31.0) (float-vector 14.4 42.5 29.5) (float-vector -12.9 42.5 29.5) (float-vector -12.9 42.5 -29.5) (float-vector 14.4 42.5 -29.5) (float-vector 14.4 42.5 -31.0)))
(instance face :init :vertices (list (float-vector -14.4 2.842171e-14 -31.0) (float-vector -14.4 2.842171e-14 -29.5) (float-vector -14.4 20.0 -29.5) (float-vector -14.4 20.0 29.5) (float-vector -14.4 0.0 29.5) (float-vector -14.4 0.0 31.0) (float-vector -14.4 42.5 31.0) (float-vector -14.4 42.5 -31.0)))
(instance face :init :vertices (list (float-vector -10.1823 -10.1823 31.0) (float-vector -14.4 0.0 31.0) (float-vector -14.4 0.0 29.5) (float-vector -10.1823 -10.1823 29.5)))
(instance face :init :vertices (list (float-vector -10.1823 -10.1823 -31.0) (float-vector -10.1823 -10.1823 -29.5) (float-vector -14.4 2.842171e-14 -29.5) (float-vector -14.4 2.842171e-14 -31.0)))
(instance face :init :vertices (list (float-vector 4.440892e-16 -14.4 31.0) (float-vector -10.1823 -10.1823 31.0) (float-vector -10.1823 -10.1823 29.5) (float-vector 4.440892e-16 -14.4 29.5)))
(instance face :init :vertices (list (float-vector 4.440892e-16 -14.4 -31.0) (float-vector 4.440892e-16 -14.4 -29.5) (float-vector -10.1823 -10.1823 -29.5) (float-vector -10.1823 -10.1823 -31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 31.0) (float-vector 4.440892e-16 -14.4 31.0) (float-vector 4.440892e-16 -14.4 29.5) (float-vector 10.1823 -10.1823 29.5)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 -31.0) (float-vector 10.1823 -10.1823 -29.5) (float-vector 4.440892e-16 -14.4 -29.5) (float-vector 4.440892e-16 -14.4 -31.0)))
(instance face :init :vertices (list (float-vector 14.4 0.0 31.0) (float-vector 14.4 42.5 31.0) (float-vector -14.4 42.5 31.0) (float-vector -14.4 0.0 31.0) (float-vector -10.1823 -10.1823 31.0) (float-vector 4.440892e-16 -14.4 31.0) (float-vector 10.1823 -10.1823 31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 -31.0) (float-vector 4.440892e-16 -14.4 -31.0) (float-vector -10.1823 -10.1823 -31.0) (float-vector -14.4 2.842171e-14 -31.0) (float-vector -14.4 42.5 -31.0) (float-vector 14.4 42.5 -31.0) (float-vector 14.4 0.0 -31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 31.0) (float-vector 10.1823 -10.1823 29.5) (float-vector 14.4 0.0 29.5) (float-vector 14.4 0.0 31.0)))
(instance face :init :vertices (list (float-vector 14.4 0.0 -31.0) (float-vector 14.4 0.0 -29.5) (float-vector 10.1823 -10.1823 -29.5) (float-vector 10.1823 -10.1823 -31.0)))
(instance face :init :vertices (list (float-vector -12.9 42.5 -29.5) (float-vector -12.9 42.5 29.5) (float-vector -12.9 20.0 29.5) (float-vector -12.9 20.0 -29.5)))
(instance face :init :vertices (list (float-vector -12.9 20.0 29.5) (float-vector -12.9 42.5 29.5) (float-vector 14.4 42.5 29.5) (float-vector 14.4 0.0 29.5) (float-vector 10.1823 -10.1823 29.5) (float-vector 4.440892e-16 -14.4 29.5) (float-vector -10.1823 -10.1823 29.5) (float-vector -14.4 0.0 29.5) (float-vector -14.4 20.0 29.5)))
(instance face :init :vertices (list (float-vector -12.9 20.0 -29.5) (float-vector -12.9 20.0 29.5) (float-vector -14.4 20.0 29.5) (float-vector -14.4 20.0 -29.5)))
(instance face :init :vertices (list (float-vector -14.4 20.0 -29.5) (float-vector -14.4 2.842171e-14 -29.5) (float-vector -10.1823 -10.1823 -29.5) (float-vector 4.440892e-16 -14.4 -29.5) (float-vector 10.1823 -10.1823 -29.5) (float-vector 14.4 0.0 -29.5) (float-vector 14.4 42.5 -29.5) (float-vector -12.9 42.5 -29.5) (float-vector -12.9 20.0 -29.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -14.4 85.0 -31.0) (float-vector -14.4 42.5 -31.0) (float-vector -14.4 42.5 31.0) (float-vector -14.4 85.0 31.0) (float-vector -14.4 85.0 29.5) (float-vector -14.4 65.0 29.5) (float-vector -14.4 65.0 -29.5) (float-vector -14.4 85.0 -29.5)))
(instance face :init :vertices (list (float-vector 14.4 42.5 -31.0) (float-vector 14.4 42.5 -29.5) (float-vector -12.9 42.5 -29.5) (float-vector -12.9 42.5 29.5) (float-vector 14.4 42.5 29.5) (float-vector 14.4 42.5 31.0) (float-vector -14.4 42.5 31.0) (float-vector -14.4 42.5 -31.0)))
(instance face :init :vertices (list (float-vector 14.4 85.0 31.0) (float-vector 14.4 42.5 31.0) (float-vector 14.4 42.5 29.5) (float-vector 14.4 85.0 29.5)))
(instance face :init :vertices (list (float-vector 14.4 85.0 -31.0) (float-vector 14.4 85.0 -29.5) (float-vector 14.4 42.5 -29.5) (float-vector 14.4 42.5 -31.0)))
(instance face :init :vertices (list (float-vector 10.1823 95.1823 31.0) (float-vector 14.4 85.0 31.0) (float-vector 14.4 85.0 29.5) (float-vector 10.1823 95.1823 29.5)))
(instance face :init :vertices (list (float-vector 10.1823 95.1823 -31.0) (float-vector 10.1823 95.1823 -29.5) (float-vector 14.4 85.0 -29.5) (float-vector 14.4 85.0 -31.0)))
(instance face :init :vertices (list (float-vector 1.243450e-14 99.4 31.0) (float-vector 10.1823 95.1823 31.0) (float-vector 10.1823 95.1823 29.5) (float-vector 1.199041e-14 99.4 29.5)))
(instance face :init :vertices (list (float-vector 1.243450e-14 99.4 -31.0) (float-vector 1.243450e-14 99.4 -29.5) (float-vector 10.1823 95.1823 -29.5) (float-vector 10.1823 95.1823 -31.0)))
(instance face :init :vertices (list (float-vector -10.1823 95.1823 31.0) (float-vector 1.243450e-14 99.4 31.0) (float-vector 1.199041e-14 99.4 29.5) (float-vector -10.1823 95.1823 29.5)))
(instance face :init :vertices (list (float-vector -10.1823 95.1823 -31.0) (float-vector -10.1823 95.1823 -29.5) (float-vector 1.243450e-14 99.4 -29.5) (float-vector 1.243450e-14 99.4 -31.0)))
(instance face :init :vertices (list (float-vector -14.4 85.0 31.0) (float-vector -14.4 42.5 31.0) (float-vector 14.4 42.5 31.0) (float-vector 14.4 85.0 31.0) (float-vector 10.1823 95.1823 31.0) (float-vector 1.243450e-14 99.4 31.0) (float-vector -10.1823 95.1823 31.0)))
(instance face :init :vertices (list (float-vector -10.1823 95.1823 -31.0) (float-vector 1.243450e-14 99.4 -31.0) (float-vector 10.1823 95.1823 -31.0) (float-vector 14.4 85.0 -31.0) (float-vector 14.4 42.5 -31.0) (float-vector -14.4 42.5 -31.0) (float-vector -14.4 85.0 -31.0)))
(instance face :init :vertices (list (float-vector -10.1823 95.1823 31.0) (float-vector -10.1823 95.1823 29.5) (float-vector -14.4 85.0 29.5) (float-vector -14.4 85.0 31.0)))
(instance face :init :vertices (list (float-vector -14.4 85.0 -31.0) (float-vector -14.4 85.0 -29.5) (float-vector -10.1823 95.1823 -29.5) (float-vector -10.1823 95.1823 -31.0)))
(instance face :init :vertices (list (float-vector -14.4 65.0 -29.5) (float-vector -14.4 65.0 29.5) (float-vector -12.9 65.0 29.5) (float-vector -12.9 65.0 -29.5)))
(instance face :init :vertices (list (float-vector -12.9 65.0 29.5) (float-vector -14.4 65.0 29.5) (float-vector -14.4 85.0 29.5) (float-vector -10.1823 95.1823 29.5) (float-vector 1.199041e-14 99.4 29.5) (float-vector 10.1823 95.1823 29.5) (float-vector 14.4 85.0 29.5) (float-vector 14.4 42.5 29.5) (float-vector -12.9 42.5 29.5)))
(instance face :init :vertices (list (float-vector -12.9 65.0 -29.5) (float-vector -12.9 65.0 29.5) (float-vector -12.9 42.5 29.5) (float-vector -12.9 42.5 -29.5)))
(instance face :init :vertices (list (float-vector -12.9 42.5 -29.5) (float-vector 14.4 42.5 -29.5) (float-vector 14.4 85.0 -29.5) (float-vector 10.1823 95.1823 -29.5) (float-vector 1.243450e-14 99.4 -29.5) (float-vector -10.1823 95.1823 -29.5) (float-vector -14.4 85.0 -29.5) (float-vector -14.4 65.0 -29.5) (float-vector -12.9 65.0 -29.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(send (elt bc 1) :set-color :gray90)
(setq blink14 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-knee-p :weight 35.3322 :centroid (float-vector -4.15414 42.5 9.271415e-14) :inertia-tensor #2f((53569.9 -9.947598e-12 7.817019e-12) (-9.947598e-12 26785.2 -2.561403e-11) (7.817019e-12 -2.561403e-11 32888.5))))
;; definition of :rleg-ankle-p
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 14.4 -14.0 24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 45.0 -24.9) (float-vector 14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector 14.4 45.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector -14.4 45.0 24.9) (float-vector 14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector -14.4 45.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 -14.0 24.9) (float-vector -14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector -14.4 -14.0 24.9) (float-vector 14.4 -14.0 24.9) (float-vector 14.4 45.0 24.9) (float-vector -14.4 45.0 24.9))
:holes (list
(instance hole :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 6.7 -11.6047 24.9) (float-vector -1.421085e-14 -13.4 24.9) (float-vector -6.7 -11.6047 24.9) (float-vector -11.6047 -6.7 24.9) (float-vector -13.4 1.998401e-14 24.9) (float-vector -11.6047 6.7 24.9) (float-vector -6.7 11.6047 24.9) (float-vector 1.421085e-14 13.4 24.9) (float-vector 6.7 11.6047 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 13.4 8.881784e-15 24.9)))
))
(instance face :init :vertices (list (float-vector -14.4 -14.0 -24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 -14.0 24.9) (float-vector -14.4 -14.0 24.9)))
(instance face :init :vertices (list (float-vector 14.4 -14.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector 14.4 45.0 -24.9))
:holes (list
(instance hole :init :vertices (list (float-vector 6.7 -11.6047 -24.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 13.4 -4.884981e-15 -24.9) (float-vector 11.6047 6.7 -24.9) (float-vector 6.7 11.6047 -24.9) (float-vector 0.0 13.4 -24.9) (float-vector -6.7 11.6047 -24.9) (float-vector -11.6047 6.7 -24.9) (float-vector -13.4 6.217249e-15 -24.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -2.842171e-14 -13.4 -24.9)))
))
(instance face :init :vertices (list (float-vector 13.4 9.325873e-15 26.9) (float-vector 13.4 8.881784e-15 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 11.6047 6.7 26.9)))
(instance face :init :vertices (list (float-vector 13.4 -4.884981e-15 -24.9) (float-vector 13.4 -5.329071e-15 -26.9) (float-vector 11.6047 6.7 -26.9) (float-vector 11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector 6.7 11.6047 24.9) (float-vector 6.7 11.6047 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 11.6047 6.7 24.9)))
(instance face :init :vertices (list (float-vector 11.6047 6.7 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 6.7 11.6047 -24.9) (float-vector 11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector 1.421085e-14 13.4 24.9) (float-vector 1.421085e-14 13.4 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 6.7 11.6047 24.9)))
(instance face :init :vertices (list (float-vector 6.7 11.6047 -26.9) (float-vector 0.0 13.4 -26.9) (float-vector 0.0 13.4 -24.9) (float-vector 6.7 11.6047 -24.9)))
(instance face :init :vertices (list (float-vector -6.7 11.6047 24.9) (float-vector -6.7 11.6047 26.9) (float-vector 1.421085e-14 13.4 26.9) (float-vector 1.421085e-14 13.4 24.9)))
(instance face :init :vertices (list (float-vector 0.0 13.4 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector -6.7 11.6047 -24.9) (float-vector 0.0 13.4 -24.9)))
(instance face :init :vertices (list (float-vector -11.6047 6.7 24.9) (float-vector -11.6047 6.7 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -6.7 11.6047 24.9)))
(instance face :init :vertices (list (float-vector -6.7 11.6047 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -11.6047 6.7 -24.9) (float-vector -6.7 11.6047 -24.9)))
(instance face :init :vertices (list (float-vector -13.4 1.998401e-14 24.9) (float-vector -13.4 2.042810e-14 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -11.6047 6.7 24.9)))
(instance face :init :vertices (list (float-vector -11.6047 6.7 -26.9) (float-vector -13.4 5.773160e-15 -26.9) (float-vector -13.4 6.217249e-15 -24.9) (float-vector -11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector -11.6047 -6.7 24.9) (float-vector -11.6047 -6.7 26.9) (float-vector -13.4 2.042810e-14 26.9) (float-vector -13.4 1.998401e-14 24.9)))
(instance face :init :vertices (list (float-vector -13.4 5.773160e-15 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -13.4 6.217249e-15 -24.9)))
(instance face :init :vertices (list (float-vector -6.7 -11.6047 24.9) (float-vector -6.7 -11.6047 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -11.6047 -6.7 24.9)))
(instance face :init :vertices (list (float-vector -11.6047 -6.7 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -11.6047 -6.7 -24.9)))
(instance face :init :vertices (list (float-vector -1.421085e-14 -13.4 24.9) (float-vector -1.421085e-14 -13.4 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -6.7 -11.6047 24.9)))
(instance face :init :vertices (list (float-vector -6.7 -11.6047 -26.9) (float-vector -2.842171e-14 -13.4 -26.9) (float-vector -2.842171e-14 -13.4 -24.9) (float-vector -6.7 -11.6047 -24.9)))
(instance face :init :vertices (list (float-vector 6.7 -11.6047 24.9) (float-vector 6.7 -11.6047 26.9) (float-vector -1.421085e-14 -13.4 26.9) (float-vector -1.421085e-14 -13.4 24.9)))
(instance face :init :vertices (list (float-vector -2.842171e-14 -13.4 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector 6.7 -11.6047 -24.9) (float-vector -2.842171e-14 -13.4 -24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 11.6047 -6.7 26.9) (float-vector 6.7 -11.6047 26.9) (float-vector 6.7 -11.6047 24.9)))
(instance face :init :vertices (list (float-vector 6.7 -11.6047 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 6.7 -11.6047 -24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 26.9) (float-vector 13.4 9.325873e-15 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 1.421085e-14 13.4 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -13.4 2.042810e-14 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -1.421085e-14 -13.4 26.9) (float-vector 6.7 -11.6047 26.9)))
(instance face :init :vertices (list (float-vector 13.4 9.325873e-15 26.9) (float-vector 11.6047 -6.7 26.9) (float-vector 11.6047 -6.7 24.9) (float-vector 13.4 8.881784e-15 24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 -26.9) (float-vector 13.4 -5.329071e-15 -26.9) (float-vector 13.4 -4.884981e-15 -24.9) (float-vector 11.6047 -6.7 -24.9)))
(instance face :init :vertices (list (float-vector 13.4 -5.329071e-15 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector -2.842171e-14 -13.4 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -13.4 5.773160e-15 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector 0.0 13.4 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 11.6047 6.7 -26.9)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -41.4 46.5 -25.5) (float-vector -14.4 46.5 -25.5) (float-vector -14.4 -15.5 -25.5) (float-vector -41.4 -15.5 -25.5) (float-vector -41.4 -14.0 -25.5) (float-vector -15.9 -14.0 -25.5) (float-vector -15.9 45.0 -25.5) (float-vector -41.4 45.0 -25.5)))
(instance face :init :vertices (list (float-vector -14.4 46.5 -5.5) (float-vector -14.4 -15.5 -5.5) (float-vector -14.4 -15.5 -25.5) (float-vector -14.4 46.5 -25.5)))
(instance face :init :vertices (list (float-vector -41.4 46.5 -5.5) (float-vector -41.4 45.0 -5.5) (float-vector -15.9 45.0 -5.5) (float-vector -15.9 -14.0 -5.5) (float-vector -41.4 -14.0 -5.5) (float-vector -41.4 -15.5 -5.5) (float-vector -14.4 -15.5 -5.5) (float-vector -14.4 46.5 -5.5)))
(instance face :init :vertices (list (float-vector -48.4711 -15.5 -8.42893) (float-vector -41.4 -15.5 -5.5) (float-vector -41.4 -14.0 -5.5) (float-vector -48.4711 -14.0 -8.42893)))
(instance face :init :vertices (list (float-vector -48.4711 46.5 -8.42893) (float-vector -48.4711 45.0 -8.42893) (float-vector -41.4 45.0 -5.5) (float-vector -41.4 46.5 -5.5)))
(instance face :init :vertices (list (float-vector -51.4 -15.5 -15.5) (float-vector -48.4711 -15.5 -8.42893) (float-vector -48.4711 -14.0 -8.42893) (float-vector -51.4 -14.0 -15.5)))
(instance face :init :vertices (list (float-vector -51.4 46.5 -15.5) (float-vector -51.4 45.0 -15.5) (float-vector -48.4711 45.0 -8.42893) (float-vector -48.4711 46.5 -8.42893)))
(instance face :init :vertices (list (float-vector -48.4711 -15.5 -22.5711) (float-vector -51.4 -15.5 -15.5) (float-vector -51.4 -14.0 -15.5) (float-vector -48.4711 -14.0 -22.5711)))
(instance face :init :vertices (list (float-vector -48.4711 46.5 -22.5711) (float-vector -48.4711 45.0 -22.5711) (float-vector -51.4 45.0 -15.5) (float-vector -51.4 46.5 -15.5)))
(instance face :init :vertices (list (float-vector -41.4 -15.5 -25.5) (float-vector -14.4 -15.5 -25.5) (float-vector -14.4 -15.5 -5.5) (float-vector -41.4 -15.5 -5.5) (float-vector -48.4711 -15.5 -8.42893) (float-vector -51.4 -15.5 -15.5) (float-vector -48.4711 -15.5 -22.5711)))
(instance face :init :vertices (list (float-vector -48.4711 46.5 -22.5711) (float-vector -51.4 46.5 -15.5) (float-vector -48.4711 46.5 -8.42893) (float-vector -41.4 46.5 -5.5) (float-vector -14.4 46.5 -5.5) (float-vector -14.4 46.5 -25.5) (float-vector -41.4 46.5 -25.5)))
(instance face :init :vertices (list (float-vector -48.4711 -15.5 -22.5711) (float-vector -48.4711 -14.0 -22.5711) (float-vector -41.4 -14.0 -25.5) (float-vector -41.4 -15.5 -25.5)))
(instance face :init :vertices (list (float-vector -41.4 46.5 -25.5) (float-vector -41.4 45.0 -25.5) (float-vector -48.4711 45.0 -22.5711) (float-vector -48.4711 46.5 -22.5711)))
(instance face :init :vertices (list (float-vector -15.9 -14.0 -25.5) (float-vector -41.4 -14.0 -25.5) (float-vector -48.4711 -14.0 -22.5711) (float-vector -51.4 -14.0 -15.5) (float-vector -48.4711 -14.0 -8.42893) (float-vector -41.4 -14.0 -5.5) (float-vector -15.9 -14.0 -5.5)))
(instance face :init :vertices (list (float-vector -15.9 45.0 -25.5) (float-vector -15.9 -14.0 -25.5) (float-vector -15.9 -14.0 -5.5) (float-vector -15.9 45.0 -5.5)))
(instance face :init :vertices (list (float-vector -15.9 45.0 -5.5) (float-vector -41.4 45.0 -5.5) (float-vector -48.4711 45.0 -8.42893) (float-vector -51.4 45.0 -15.5) (float-vector -48.4711 45.0 -22.5711) (float-vector -41.4 45.0 -25.5) (float-vector -15.9 45.0 -25.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray40)
(send (elt bc 1) :set-color :gray90)
(setq blink15 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-ankle-p :weight 117.299 :centroid (float-vector -2.10122 15.1489 -1.36086) :inertia-tensor #2f((62192.3 86.5334 -3484.87) (86.5334 38905.1 56.0436) (-3484.87 56.0436 51669.5))))
;; definition of :rleg-ankle-r
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 14.4 -14.0 24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 45.0 -24.9) (float-vector 14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector 14.4 45.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector -14.4 45.0 24.9) (float-vector 14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector -14.4 45.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 -14.0 24.9) (float-vector -14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector -14.4 -14.0 24.9) (float-vector 14.4 -14.0 24.9) (float-vector 14.4 45.0 24.9) (float-vector -14.4 45.0 24.9))
:holes (list
(instance hole :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 6.7 -11.6047 24.9) (float-vector -2.131628e-14 -13.4 24.9) (float-vector -6.7 -11.6047 24.9) (float-vector -11.6047 -6.7 24.9) (float-vector -13.4 2.131628e-14 24.9) (float-vector -11.6047 6.7 24.9) (float-vector -6.7 11.6047 24.9) (float-vector 1.065814e-14 13.4 24.9) (float-vector 6.7 11.6047 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 13.4 0.0 24.9)))
))
(instance face :init :vertices (list (float-vector -14.4 -14.0 -24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 -14.0 24.9) (float-vector -14.4 -14.0 24.9)))
(instance face :init :vertices (list (float-vector 14.4 -14.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector 14.4 45.0 -24.9))
:holes (list
(instance hole :init :vertices (list (float-vector 6.7 -11.6047 -24.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 13.4 -7.105427e-15 -24.9) (float-vector 11.6047 6.7 -24.9) (float-vector 6.7 11.6047 -24.9) (float-vector 7.105427e-15 13.4 -24.9) (float-vector -6.7 11.6047 -24.9) (float-vector -11.6047 6.7 -24.9) (float-vector -13.4 1.421085e-14 -24.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -2.131628e-14 -13.4 -24.9)))
))
(instance face :init :vertices (list (float-vector 13.4 0.0 26.9) (float-vector 13.4 0.0 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 11.6047 6.7 26.9)))
(instance face :init :vertices (list (float-vector 13.4 -7.105427e-15 -24.9) (float-vector 13.4 0.0 -26.9) (float-vector 11.6047 6.7 -26.9) (float-vector 11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector 6.7 11.6047 24.9) (float-vector 6.7 11.6047 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 11.6047 6.7 24.9)))
(instance face :init :vertices (list (float-vector 11.6047 6.7 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 6.7 11.6047 -24.9) (float-vector 11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector 1.065814e-14 13.4 24.9) (float-vector 1.065814e-14 13.4 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 6.7 11.6047 24.9)))
(instance face :init :vertices (list (float-vector 6.7 11.6047 -26.9) (float-vector 7.105427e-15 13.4 -26.9) (float-vector 7.105427e-15 13.4 -24.9) (float-vector 6.7 11.6047 -24.9)))
(instance face :init :vertices (list (float-vector -6.7 11.6047 24.9) (float-vector -6.7 11.6047 26.9) (float-vector 1.065814e-14 13.4 26.9) (float-vector 1.065814e-14 13.4 24.9)))
(instance face :init :vertices (list (float-vector 7.105427e-15 13.4 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector -6.7 11.6047 -24.9) (float-vector 7.105427e-15 13.4 -24.9)))
(instance face :init :vertices (list (float-vector -11.6047 6.7 24.9) (float-vector -11.6047 6.7 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -6.7 11.6047 24.9)))
(instance face :init :vertices (list (float-vector -6.7 11.6047 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -11.6047 6.7 -24.9) (float-vector -6.7 11.6047 -24.9)))
(instance face :init :vertices (list (float-vector -13.4 2.131628e-14 24.9) (float-vector -13.4 2.131628e-14 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -11.6047 6.7 24.9)))
(instance face :init :vertices (list (float-vector -11.6047 6.7 -26.9) (float-vector -13.4 1.421085e-14 -26.9) (float-vector -13.4 1.421085e-14 -24.9) (float-vector -11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector -11.6047 -6.7 24.9) (float-vector -11.6047 -6.7 26.9) (float-vector -13.4 2.131628e-14 26.9) (float-vector -13.4 2.131628e-14 24.9)))
(instance face :init :vertices (list (float-vector -13.4 1.421085e-14 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -13.4 1.421085e-14 -24.9)))
(instance face :init :vertices (list (float-vector -6.7 -11.6047 24.9) (float-vector -6.7 -11.6047 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -11.6047 -6.7 24.9)))
(instance face :init :vertices (list (float-vector -11.6047 -6.7 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -11.6047 -6.7 -24.9)))
(instance face :init :vertices (list (float-vector -2.131628e-14 -13.4 24.9) (float-vector -2.131628e-14 -13.4 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -6.7 -11.6047 24.9)))
(instance face :init :vertices (list (float-vector -6.7 -11.6047 -26.9) (float-vector -2.486900e-14 -13.4 -26.9) (float-vector -2.131628e-14 -13.4 -24.9) (float-vector -6.7 -11.6047 -24.9)))
(instance face :init :vertices (list (float-vector 6.7 -11.6047 24.9) (float-vector 6.7 -11.6047 26.9) (float-vector -2.131628e-14 -13.4 26.9) (float-vector -2.131628e-14 -13.4 24.9)))
(instance face :init :vertices (list (float-vector -2.486900e-14 -13.4 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector 6.7 -11.6047 -24.9) (float-vector -2.131628e-14 -13.4 -24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 11.6047 -6.7 26.9) (float-vector 6.7 -11.6047 26.9) (float-vector 6.7 -11.6047 24.9)))
(instance face :init :vertices (list (float-vector 6.7 -11.6047 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 6.7 -11.6047 -24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 26.9) (float-vector 13.4 0.0 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 1.065814e-14 13.4 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -13.4 2.131628e-14 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -2.131628e-14 -13.4 26.9) (float-vector 6.7 -11.6047 26.9)))
(instance face :init :vertices (list (float-vector 13.4 0.0 26.9) (float-vector 11.6047 -6.7 26.9) (float-vector 11.6047 -6.7 24.9) (float-vector 13.4 0.0 24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 -26.9) (float-vector 13.4 0.0 -26.9) (float-vector 13.4 -7.105427e-15 -24.9) (float-vector 11.6047 -6.7 -24.9)))
(instance face :init :vertices (list (float-vector 13.4 0.0 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector -2.486900e-14 -13.4 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -13.4 1.421085e-14 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector 7.105427e-15 13.4 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 11.6047 6.7 -26.9)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -14.4 -14.0 -25.0) (float-vector -14.4 45.0 -25.0) (float-vector -14.4 45.0 80.0) (float-vector -14.4 -14.0 80.0)))
(instance face :init :vertices (list (float-vector -25.4 45.0 -25.0) (float-vector -25.4 -14.0 -25.0) (float-vector -25.4 -14.0 80.0) (float-vector -25.4 45.0 80.0)))
(instance face :init :vertices (list (float-vector -14.4 -14.0 -25.0) (float-vector -25.4 -14.0 -25.0) (float-vector -25.4 45.0 -25.0) (float-vector -14.4 45.0 -25.0)))
(instance face :init :vertices (list (float-vector -14.4 -14.0 80.0) (float-vector -25.4 -14.0 80.0) (float-vector -25.4 -14.0 -25.0) (float-vector -14.4 -14.0 -25.0)))
(instance face :init :vertices (list (float-vector -14.4 45.0 80.0) (float-vector -25.4 45.0 80.0) (float-vector -25.4 -14.0 80.0) (float-vector -14.4 -14.0 80.0)))
(instance face :init :vertices (list (float-vector -14.4 45.0 -25.0) (float-vector -25.4 45.0 -25.0) (float-vector -25.4 45.0 80.0) (float-vector -14.4 45.0 80.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -9.4 -9.5 34.5) (float-vector -9.4 40.5 34.5) (float-vector 20.6 30.5 34.5) (float-vector 20.6 0.5 34.5)))
(instance face :init :vertices (list (float-vector -9.4 40.5 79.5) (float-vector -9.4 -9.5 79.5) (float-vector 20.6 0.5 79.5) (float-vector 20.6 30.5 79.5)))
(instance face :init :vertices (list (float-vector -9.4 -9.5 34.5) (float-vector -9.4 -9.5 79.5) (float-vector -9.4 40.5 79.5) (float-vector -9.4 40.5 34.5)))
(instance face :init :vertices (list (float-vector 20.6 0.5 34.5) (float-vector 20.6 0.5 79.5) (float-vector -9.4 -9.5 79.5) (float-vector -9.4 -9.5 34.5)))
(instance face :init :vertices (list (float-vector 20.6 30.5 34.5) (float-vector 20.6 30.5 79.5) (float-vector 20.6 0.5 79.5) (float-vector 20.6 0.5 34.5)))
(instance face :init :vertices (list (float-vector -9.4 40.5 34.5) (float-vector -9.4 40.5 79.5) (float-vector 20.6 30.5 79.5) (float-vector 20.6 30.5 34.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray40)
(send (elt bc 1) :set-color :lightgoldenrod)
(send (elt bc 2) :set-color :yellow)
(setq blink12 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-ankle-r :weight 272.0 :centroid (float-vector 0.855699 15.3486 32.4081) :inertia-tensor #2f((3.325687e+05 -35.2398 -17464.8) (-35.2398 2.944474e+05 -1334.64) (-17464.8 -1334.64 95995.8))))
;; definition of :rarm-collar-y
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 14.4 0.0 -31.0) (float-vector 14.4 30.0 -31.0) (float-vector 14.4 30.0 31.0) (float-vector 14.4 0.0 31.0) (float-vector 14.4 0.0 29.5) (float-vector 14.4 28.5 29.5) (float-vector 14.4 28.5 -29.5) (float-vector 14.4 0.0 -29.5)))
(instance face :init :vertices (list (float-vector -14.4 30.0 -31.0) (float-vector -14.4 30.0 31.0) (float-vector 14.4 30.0 31.0) (float-vector 14.4 30.0 -31.0)))
(instance face :init :vertices (list (float-vector -14.4 0.0 -31.0) (float-vector -14.4 0.0 -29.5) (float-vector -14.4 28.5 -29.5) (float-vector -14.4 28.5 29.5) (float-vector -14.4 0.0 29.5) (float-vector -14.4 0.0 31.0) (float-vector -14.4 30.0 31.0) (float-vector -14.4 30.0 -31.0)))
(instance face :init :vertices (list (float-vector -10.1823 -10.1823 31.0) (float-vector -14.4 0.0 31.0) (float-vector -14.4 0.0 29.5) (float-vector -10.1823 -10.1823 29.5)))
(instance face :init :vertices (list (float-vector -10.1823 -10.1823 -31.0) (float-vector -10.1823 -10.1823 -29.5) (float-vector -14.4 0.0 -29.5) (float-vector -14.4 0.0 -31.0)))
(instance face :init :vertices (list (float-vector 0.0 -14.4 31.0) (float-vector -10.1823 -10.1823 31.0) (float-vector -10.1823 -10.1823 29.5) (float-vector 0.0 -14.4 29.5)))
(instance face :init :vertices (list (float-vector 0.0 -14.4 -31.0) (float-vector 0.0 -14.4 -29.5) (float-vector -10.1823 -10.1823 -29.5) (float-vector -10.1823 -10.1823 -31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 31.0) (float-vector 0.0 -14.4 31.0) (float-vector 0.0 -14.4 29.5) (float-vector 10.1823 -10.1823 29.5)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 -31.0) (float-vector 10.1823 -10.1823 -29.5) (float-vector 0.0 -14.4 -29.5) (float-vector 0.0 -14.4 -31.0)))
(instance face :init :vertices (list (float-vector 14.4 0.0 31.0) (float-vector 14.4 30.0 31.0) (float-vector -14.4 30.0 31.0) (float-vector -14.4 0.0 31.0) (float-vector -10.1823 -10.1823 31.0) (float-vector 0.0 -14.4 31.0) (float-vector 10.1823 -10.1823 31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 -31.0) (float-vector 0.0 -14.4 -31.0) (float-vector -10.1823 -10.1823 -31.0) (float-vector -14.4 0.0 -31.0) (float-vector -14.4 30.0 -31.0) (float-vector 14.4 30.0 -31.0) (float-vector 14.4 0.0 -31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 31.0) (float-vector 10.1823 -10.1823 29.5) (float-vector 14.4 0.0 29.5) (float-vector 14.4 0.0 31.0)))
(instance face :init :vertices (list (float-vector 14.4 0.0 -31.0) (float-vector 14.4 0.0 -29.5) (float-vector 10.1823 -10.1823 -29.5) (float-vector 10.1823 -10.1823 -31.0)))
(instance face :init :vertices (list (float-vector 14.4 28.5 29.5) (float-vector 14.4 0.0 29.5) (float-vector 10.1823 -10.1823 29.5) (float-vector 0.0 -14.4 29.5) (float-vector -10.1823 -10.1823 29.5) (float-vector -14.4 0.0 29.5) (float-vector -14.4 28.5 29.5)))
(instance face :init :vertices (list (float-vector 14.4 28.5 -29.5) (float-vector 14.4 28.5 29.5) (float-vector -14.4 28.5 29.5) (float-vector -14.4 28.5 -29.5)))
(instance face :init :vertices (list (float-vector -14.4 28.5 -29.5) (float-vector -14.4 0.0 -29.5) (float-vector -10.1823 -10.1823 -29.5) (float-vector 0.0 -14.4 -29.5) (float-vector 10.1823 -10.1823 -29.5) (float-vector 14.4 0.0 -29.5) (float-vector 14.4 28.5 -29.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -14.0 88.9 31.0) (float-vector -14.0 39.1 31.0) (float-vector 45.0 39.1 31.0) (float-vector 45.0 88.9 31.0)))
(instance face :init :vertices (list (float-vector 45.0 39.1 31.0) (float-vector 45.0 39.1 2.2) (float-vector 45.0 88.9 2.2) (float-vector 45.0 88.9 31.0)))
(instance face :init :vertices (list (float-vector 45.0 39.1 2.2) (float-vector -14.0 39.1 2.2) (float-vector -14.0 88.9 2.2) (float-vector 45.0 88.9 2.2)))
(instance face :init :vertices (list (float-vector -14.0 88.9 2.2) (float-vector -14.0 88.9 31.0) (float-vector 45.0 88.9 31.0) (float-vector 45.0 88.9 2.2))
:holes (list
(instance hole :init :vertices (list (float-vector -6.7 88.9 28.2047) (float-vector -11.6047 88.9 23.3) (float-vector -13.4 88.9 16.6) (float-vector -11.6047 88.9 9.9) (float-vector -6.7 88.9 4.99526) (float-vector 1.598721e-14 88.9 3.2) (float-vector 6.7 88.9 4.99526) (float-vector 11.6047 88.9 9.9) (float-vector 13.4 88.9 16.6) (float-vector 11.6047 88.9 23.3) (float-vector 6.7 88.9 28.2047) (float-vector 8.881784e-16 88.9 30.0)))
))
(instance face :init :vertices (list (float-vector -14.0 39.1 2.2) (float-vector -14.0 39.1 31.0) (float-vector -14.0 88.9 31.0) (float-vector -14.0 88.9 2.2)))
(instance face :init :vertices (list (float-vector -14.0 39.1 31.0) (float-vector -14.0 39.1 2.2) (float-vector 45.0 39.1 2.2) (float-vector 45.0 39.1 31.0))
:holes (list
(instance hole :init :vertices (list (float-vector -11.6047 39.1 23.3) (float-vector -6.7 39.1 28.2047) (float-vector 8.881784e-16 39.1 30.0) (float-vector 6.7 39.1 28.2047) (float-vector 11.6047 39.1 23.3) (float-vector 13.4 39.1 16.6) (float-vector 11.6047 39.1 9.9) (float-vector 6.7 39.1 4.99526) (float-vector 1.598721e-14 39.1 3.2) (float-vector -6.7 39.1 4.99526) (float-vector -11.6047 39.1 9.9) (float-vector -13.4 39.1 16.6)))
))
(instance face :init :vertices (list (float-vector 8.881784e-16 90.9 30.0) (float-vector 8.881784e-16 88.9 30.0) (float-vector 6.7 88.9 28.2047) (float-vector 6.7 90.9 28.2047)))
(instance face :init :vertices (list (float-vector 8.881784e-16 39.1 30.0) (float-vector 8.881784e-16 37.1 30.0) (float-vector 6.7 37.1 28.2047) (float-vector 6.7 39.1 28.2047)))
(instance face :init :vertices (list (float-vector 11.6047 88.9 23.3) (float-vector 11.6047 90.9 23.3) (float-vector 6.7 90.9 28.2047) (float-vector 6.7 88.9 28.2047)))
(instance face :init :vertices (list (float-vector 6.7 37.1 28.2047) (float-vector 11.6047 37.1 23.3) (float-vector 11.6047 39.1 23.3) (float-vector 6.7 39.1 28.2047)))
(instance face :init :vertices (list (float-vector 13.4 88.9 16.6) (float-vector 13.4 90.9 16.6) (float-vector 11.6047 90.9 23.3) (float-vector 11.6047 88.9 23.3)))
(instance face :init :vertices (list (float-vector 11.6047 37.1 23.3) (float-vector 13.4 37.1 16.6) (float-vector 13.4 39.1 16.6) (float-vector 11.6047 39.1 23.3)))
(instance face :init :vertices (list (float-vector 11.6047 88.9 9.9) (float-vector 11.6047 90.9 9.9) (float-vector 13.4 90.9 16.6) (float-vector 13.4 88.9 16.6)))
(instance face :init :vertices (list (float-vector 13.4 37.1 16.6) (float-vector 11.6047 37.1 9.9) (float-vector 11.6047 39.1 9.9) (float-vector 13.4 39.1 16.6)))
(instance face :init :vertices (list (float-vector 6.7 88.9 4.99526) (float-vector 6.7 90.9 4.99526) (float-vector 11.6047 90.9 9.9) (float-vector 11.6047 88.9 9.9)))
(instance face :init :vertices (list (float-vector 11.6047 37.1 9.9) (float-vector 6.7 37.1 4.99526) (float-vector 6.7 39.1 4.99526) (float-vector 11.6047 39.1 9.9)))
(instance face :init :vertices (list (float-vector 1.598721e-14 88.9 3.2) (float-vector 1.598721e-14 90.9 3.2) (float-vector 6.7 90.9 4.99526) (float-vector 6.7 88.9 4.99526)))
(instance face :init :vertices (list (float-vector 6.7 37.1 4.99526) (float-vector 1.598721e-14 37.1 3.2) (float-vector 1.598721e-14 39.1 3.2) (float-vector 6.7 39.1 4.99526)))
(instance face :init :vertices (list (float-vector -6.7 88.9 4.99526) (float-vector -6.7 90.9 4.99526) (float-vector 1.598721e-14 90.9 3.2) (float-vector 1.598721e-14 88.9 3.2)))
(instance face :init :vertices (list (float-vector 1.598721e-14 37.1 3.2) (float-vector -6.7 37.1 4.99526) (float-vector -6.7 39.1 4.99526) (float-vector 1.598721e-14 39.1 3.2)))
(instance face :init :vertices (list (float-vector -11.6047 88.9 9.9) (float-vector -11.6047 90.9 9.9) (float-vector -6.7 90.9 4.99526) (float-vector -6.7 88.9 4.99526)))
(instance face :init :vertices (list (float-vector -6.7 37.1 4.99526) (float-vector -11.6047 37.1 9.9) (float-vector -11.6047 39.1 9.9) (float-vector -6.7 39.1 4.99526)))
(instance face :init :vertices (list (float-vector -13.4 88.9 16.6) (float-vector -13.4 90.9 16.6) (float-vector -11.6047 90.9 9.9) (float-vector -11.6047 88.9 9.9)))
(instance face :init :vertices (list (float-vector -11.6047 37.1 9.9) (float-vector -13.4 37.1 16.6) (float-vector -13.4 39.1 16.6) (float-vector -11.6047 39.1 9.9)))
(instance face :init :vertices (list (float-vector -11.6047 88.9 23.3) (float-vector -11.6047 90.9 23.3) (float-vector -13.4 90.9 16.6) (float-vector -13.4 88.9 16.6)))
(instance face :init :vertices (list (float-vector -13.4 37.1 16.6) (float-vector -11.6047 37.1 23.3) (float-vector -11.6047 39.1 23.3) (float-vector -13.4 39.1 16.6)))
(instance face :init :vertices (list (float-vector -6.7 88.9 28.2047) (float-vector -6.7 90.9 28.2047) (float-vector -11.6047 90.9 23.3) (float-vector -11.6047 88.9 23.3)))
(instance face :init :vertices (list (float-vector -11.6047 37.1 23.3) (float-vector -6.7 37.1 28.2047) (float-vector -6.7 39.1 28.2047) (float-vector -11.6047 39.1 23.3)))
(instance face :init :vertices (list (float-vector -6.7 90.9 28.2047) (float-vector 8.881784e-16 90.9 30.0) (float-vector 6.7 90.9 28.2047) (float-vector 11.6047 90.9 23.3) (float-vector 13.4 90.9 16.6) (float-vector 11.6047 90.9 9.9) (float-vector 6.7 90.9 4.99526) (float-vector 1.598721e-14 90.9 3.2) (float-vector -6.7 90.9 4.99526) (float-vector -11.6047 90.9 9.9) (float-vector -13.4 90.9 16.6) (float-vector -11.6047 90.9 23.3)))
(instance face :init :vertices (list (float-vector 8.881784e-16 90.9 30.0) (float-vector -6.7 90.9 28.2047) (float-vector -6.7 88.9 28.2047) (float-vector 8.881784e-16 88.9 30.0)))
(instance face :init :vertices (list (float-vector -6.7 37.1 28.2047) (float-vector 8.881784e-16 37.1 30.0) (float-vector 8.881784e-16 39.1 30.0) (float-vector -6.7 39.1 28.2047)))
(instance face :init :vertices (list (float-vector 8.881784e-16 37.1 30.0) (float-vector -6.7 37.1 28.2047) (float-vector -11.6047 37.1 23.3) (float-vector -13.4 37.1 16.6) (float-vector -11.6047 37.1 9.9) (float-vector -6.7 37.1 4.99526) (float-vector 1.598721e-14 37.1 3.2) (float-vector 6.7 37.1 4.99526) (float-vector 11.6047 37.1 9.9) (float-vector 13.4 37.1 16.6) (float-vector 11.6047 37.1 23.3) (float-vector 6.7 37.1 28.2047)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(send (elt bc 1) :set-color :gray40)
(setq blink11 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-collar-y :weight 123.255 :centroid (float-vector 13.1217 57.9325 14.4107) :inertia-tensor #2f((77179.3 -9813.0 -3540.77) (-9813.0 57246.6 -10777.0) (-3540.77 -10777.0 90705.8))))
;; definition of :rarm-shoulder-p
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 14.4 5.684342e-14 -31.0) (float-vector 14.4 30.0 -31.0) (float-vector 14.4 30.0 31.0) (float-vector 14.4 0.0 31.0) (float-vector 14.4 0.0 29.5) (float-vector 14.4 28.5 29.5) (float-vector 14.4 28.5 -29.5) (float-vector 14.4 5.684342e-14 -29.5)))
(instance face :init :vertices (list (float-vector -14.4 30.0 -31.0) (float-vector -14.4 30.0 31.0) (float-vector 14.4 30.0 31.0) (float-vector 14.4 30.0 -31.0)))
(instance face :init :vertices (list (float-vector -14.4 5.684342e-14 -31.0) (float-vector -14.4 5.684342e-14 -29.5) (float-vector -14.4 28.5 -29.5) (float-vector -14.4 28.5 29.5) (float-vector -14.4 0.0 29.5) (float-vector -14.4 0.0 31.0) (float-vector -14.4 30.0 31.0) (float-vector -14.4 30.0 -31.0)))
(instance face :init :vertices (list (float-vector -10.1823 -10.1823 31.0) (float-vector -14.4 0.0 31.0) (float-vector -14.4 0.0 29.5) (float-vector -10.1823 -10.1823 29.5)))
(instance face :init :vertices (list (float-vector -10.1823 -10.1823 -31.0) (float-vector -10.1823 -10.1823 -29.5) (float-vector -14.4 5.684342e-14 -29.5) (float-vector -14.4 5.684342e-14 -31.0)))
(instance face :init :vertices (list (float-vector 0.0 -14.4 31.0) (float-vector -10.1823 -10.1823 31.0) (float-vector -10.1823 -10.1823 29.5) (float-vector 0.0 -14.4 29.5)))
(instance face :init :vertices (list (float-vector -4.440892e-16 -14.4 -31.0) (float-vector 0.0 -14.4 -29.5) (float-vector -10.1823 -10.1823 -29.5) (float-vector -10.1823 -10.1823 -31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 31.0) (float-vector 0.0 -14.4 31.0) (float-vector 0.0 -14.4 29.5) (float-vector 10.1823 -10.1823 29.5)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 -31.0) (float-vector 10.1823 -10.1823 -29.5) (float-vector 0.0 -14.4 -29.5) (float-vector -4.440892e-16 -14.4 -31.0)))
(instance face :init :vertices (list (float-vector 14.4 0.0 31.0) (float-vector 14.4 30.0 31.0) (float-vector -14.4 30.0 31.0) (float-vector -14.4 0.0 31.0) (float-vector -10.1823 -10.1823 31.0) (float-vector 0.0 -14.4 31.0) (float-vector 10.1823 -10.1823 31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 -31.0) (float-vector -4.440892e-16 -14.4 -31.0) (float-vector -10.1823 -10.1823 -31.0) (float-vector -14.4 5.684342e-14 -31.0) (float-vector -14.4 30.0 -31.0) (float-vector 14.4 30.0 -31.0) (float-vector 14.4 5.684342e-14 -31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 31.0) (float-vector 10.1823 -10.1823 29.5) (float-vector 14.4 0.0 29.5) (float-vector 14.4 0.0 31.0)))
(instance face :init :vertices (list (float-vector 14.4 5.684342e-14 -31.0) (float-vector 14.4 5.684342e-14 -29.5) (float-vector 10.1823 -10.1823 -29.5) (float-vector 10.1823 -10.1823 -31.0)))
(instance face :init :vertices (list (float-vector 14.4 28.5 29.5) (float-vector 14.4 0.0 29.5) (float-vector 10.1823 -10.1823 29.5) (float-vector 0.0 -14.4 29.5) (float-vector -10.1823 -10.1823 29.5) (float-vector -14.4 0.0 29.5) (float-vector -14.4 28.5 29.5)))
(instance face :init :vertices (list (float-vector 14.4 28.5 -29.5) (float-vector 14.4 28.5 29.5) (float-vector -14.4 28.5 29.5) (float-vector -14.4 28.5 -29.5)))
(instance face :init :vertices (list (float-vector -14.4 28.5 -29.5) (float-vector -14.4 5.684342e-14 -29.5) (float-vector -10.1823 -10.1823 -29.5) (float-vector 0.0 -14.4 -29.5) (float-vector 10.1823 -10.1823 -29.5) (float-vector 14.4 5.684342e-14 -29.5) (float-vector 14.4 28.5 -29.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 66.0 22.5) (float-vector -10.0 66.0 22.5) (float-vector -10.0 30.0 22.5) (float-vector 10.0 30.0 22.5)))
(instance face :init :vertices (list (float-vector -10.0 66.0 -22.5) (float-vector 10.0 66.0 -22.5) (float-vector 10.0 30.0 -22.5) (float-vector -10.0 30.0 -22.5)))
(instance face :init :vertices (list (float-vector 10.0 66.0 22.5) (float-vector 10.0 66.0 -22.5) (float-vector -10.0 66.0 -22.5) (float-vector -10.0 66.0 22.5)))
(instance face :init :vertices (list (float-vector 10.0 30.0 22.5) (float-vector 10.0 30.0 -22.5) (float-vector 10.0 66.0 -22.5) (float-vector 10.0 66.0 22.5)))
(instance face :init :vertices (list (float-vector -10.0 30.0 22.5) (float-vector -10.0 30.0 -22.5) (float-vector 10.0 30.0 -22.5) (float-vector 10.0 30.0 22.5)))
(instance face :init :vertices (list (float-vector -10.0 66.0 22.5) (float-vector -10.0 66.0 -22.5) (float-vector -10.0 30.0 -22.5) (float-vector -10.0 30.0 22.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -10.0 95.0 -24.0) (float-vector -10.0 66.0 -24.0) (float-vector -10.0 66.0 24.0) (float-vector -10.0 95.0 24.0) (float-vector -10.0 95.0 22.5) (float-vector -10.0 67.5 22.5) (float-vector -10.0 67.5 -22.5) (float-vector -10.0 95.0 -22.5)))
(instance face :init :vertices (list (float-vector 10.0 66.0 -24.0) (float-vector 10.0 66.0 24.0) (float-vector -10.0 66.0 24.0) (float-vector -10.0 66.0 -24.0)))
(instance face :init :vertices (list (float-vector 10.0 95.0 -24.0) (float-vector 10.0 95.0 -22.5) (float-vector 10.0 67.5 -22.5) (float-vector 10.0 67.5 22.5) (float-vector 10.0 95.0 22.5) (float-vector 10.0 95.0 24.0) (float-vector 10.0 66.0 24.0) (float-vector 10.0 66.0 -24.0)))
(instance face :init :vertices (list (float-vector 7.07107 102.071 24.0) (float-vector 10.0 95.0 24.0) (float-vector 10.0 95.0 22.5) (float-vector 7.07107 102.071 22.5)))
(instance face :init :vertices (list (float-vector 7.07107 102.071 -24.0) (float-vector 7.07107 102.071 -22.5) (float-vector 10.0 95.0 -22.5) (float-vector 10.0 95.0 -24.0)))
(instance face :init :vertices (list (float-vector 6.217249e-15 105.0 24.0) (float-vector 7.07107 102.071 24.0) (float-vector 7.07107 102.071 22.5) (float-vector 6.661338e-15 105.0 22.5)))
(instance face :init :vertices (list (float-vector 6.217249e-15 105.0 -24.0) (float-vector 6.217249e-15 105.0 -22.5) (float-vector 7.07107 102.071 -22.5) (float-vector 7.07107 102.071 -24.0)))
(instance face :init :vertices (list (float-vector -7.07107 102.071 24.0) (float-vector 6.217249e-15 105.0 24.0) (float-vector 6.661338e-15 105.0 22.5) (float-vector -7.07107 102.071 22.5)))
(instance face :init :vertices (list (float-vector -7.07107 102.071 -24.0) (float-vector -7.07107 102.071 -22.5) (float-vector 6.217249e-15 105.0 -22.5) (float-vector 6.217249e-15 105.0 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 95.0 24.0) (float-vector -10.0 66.0 24.0) (float-vector 10.0 66.0 24.0) (float-vector 10.0 95.0 24.0) (float-vector 7.07107 102.071 24.0) (float-vector 6.217249e-15 105.0 24.0) (float-vector -7.07107 102.071 24.0)))
(instance face :init :vertices (list (float-vector -7.07107 102.071 -24.0) (float-vector 6.217249e-15 105.0 -24.0) (float-vector 7.07107 102.071 -24.0) (float-vector 10.0 95.0 -24.0) (float-vector 10.0 66.0 -24.0) (float-vector -10.0 66.0 -24.0) (float-vector -10.0 95.0 -24.0)))
(instance face :init :vertices (list (float-vector -7.07107 102.071 24.0) (float-vector -7.07107 102.071 22.5) (float-vector -10.0 95.0 22.5) (float-vector -10.0 95.0 24.0)))
(instance face :init :vertices (list (float-vector -10.0 95.0 -24.0) (float-vector -10.0 95.0 -22.5) (float-vector -7.07107 102.071 -22.5) (float-vector -7.07107 102.071 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 67.5 22.5) (float-vector -10.0 95.0 22.5) (float-vector -7.07107 102.071 22.5) (float-vector 6.661338e-15 105.0 22.5) (float-vector 7.07107 102.071 22.5) (float-vector 10.0 95.0 22.5) (float-vector 10.0 67.5 22.5)))
(instance face :init :vertices (list (float-vector -10.0 67.5 -22.5) (float-vector -10.0 67.5 22.5) (float-vector 10.0 67.5 22.5) (float-vector 10.0 67.5 -22.5)))
(instance face :init :vertices (list (float-vector 10.0 67.5 -22.5) (float-vector 10.0 95.0 -22.5) (float-vector 7.07107 102.071 -22.5) (float-vector 6.217249e-15 105.0 -22.5) (float-vector -7.07107 102.071 -22.5) (float-vector -10.0 95.0 -22.5) (float-vector -10.0 67.5 -22.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(send (elt bc 1) :set-color :gray40)
(send (elt bc 2) :set-color :gray90)
(setq blink10 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-shoulder-p :weight 30.744 :centroid (float-vector 2.965031e-14 41.2253 3.339551e-13) :inertia-tensor #2f((42047.1 1.016226e-11 -3.565725e-13) (1.016226e-11 16800.8 1.357453e-11) (-3.565725e-13 1.357453e-11 28459.3))))
;; definition of :rarm-elbow-p
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 -10.0 20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 30.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 30.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector -10.0 30.0 20.0) (float-vector 10.0 30.0 20.0)))
(instance face :init :vertices (list (float-vector -10.0 30.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 30.0 20.0)))
(instance face :init :vertices (list (float-vector -10.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0) (float-vector 10.0 30.0 20.0) (float-vector -10.0 30.0 20.0))
:holes (list
(instance hole :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 4.5 -7.79423 20.0) (float-vector -1.554312e-14 -9.0 20.0) (float-vector -4.5 -7.79423 20.0) (float-vector -7.79423 -4.5 20.0) (float-vector -9.0 0.0 20.0) (float-vector -7.79423 4.5 20.0) (float-vector -4.5 7.79423 20.0) (float-vector 5.329071e-15 9.0 20.0) (float-vector 4.5 7.79423 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 9.0 0.0 20.0)))
))
(instance face :init :vertices (list (float-vector -10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 -10.0 20.0) (float-vector -10.0 -10.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 -10.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector 10.0 30.0 -20.0))
:holes (list
(instance hole :init :vertices (list (float-vector 4.5 -7.79423 -20.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 9.0 5.684342e-14 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 5.329071e-15 9.0 -20.0) (float-vector -4.5 7.79423 -20.0) (float-vector -7.79423 4.5 -20.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -1.509903e-14 -9.0 -20.0)))
))
(instance face :init :vertices (list (float-vector 9.0 0.0 22.0) (float-vector 9.0 0.0 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 7.79423 4.5 22.0)))
(instance face :init :vertices (list (float-vector 9.0 5.684342e-14 -20.0) (float-vector 9.0 5.684342e-14 -22.0) (float-vector 7.79423 4.5 -22.0) (float-vector 7.79423 4.5 -20.0)))
(instance face :init :vertices (list (float-vector 4.5 7.79423 20.0) (float-vector 4.5 7.79423 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 7.79423 4.5 20.0)))
(instance face :init :vertices (list (float-vector 7.79423 4.5 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 4.5 7.79423 -20.0) (float-vector 7.79423 4.5 -20.0)))
(instance face :init :vertices (list (float-vector 5.329071e-15 9.0 20.0) (float-vector 5.773160e-15 9.0 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 4.5 7.79423 20.0)))
(instance face :init :vertices (list (float-vector 4.5 7.79423 -22.0) (float-vector 5.773160e-15 9.0 -22.0) (float-vector 5.329071e-15 9.0 -20.0) (float-vector 4.5 7.79423 -20.0)))
(instance face :init :vertices (list (float-vector -4.5 7.79423 20.0) (float-vector -4.5 7.79423 22.0) (float-vector 5.773160e-15 9.0 22.0) (float-vector 5.329071e-15 9.0 20.0)))
(instance face :init :vertices (list (float-vector 5.773160e-15 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 5.329071e-15 9.0 -20.0)))
(instance face :init :vertices (list (float-vector -7.79423 4.5 20.0) (float-vector -7.79423 4.5 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -4.5 7.79423 20.0)))
(instance face :init :vertices (list (float-vector -4.5 7.79423 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -7.79423 4.5 -20.0) (float-vector -4.5 7.79423 -20.0)))
(instance face :init :vertices (list (float-vector -9.0 0.0 20.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -7.79423 4.5 20.0)))
(instance face :init :vertices (list (float-vector -7.79423 4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 4.5 -20.0)))
(instance face :init :vertices (list (float-vector -7.79423 -4.5 20.0) (float-vector -7.79423 -4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -9.0 0.0 20.0)))
(instance face :init :vertices (list (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -9.0 0.0 -20.0)))
(instance face :init :vertices (list (float-vector -4.5 -7.79423 20.0) (float-vector -4.5 -7.79423 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -7.79423 -4.5 20.0)))
(instance face :init :vertices (list (float-vector -7.79423 -4.5 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -7.79423 -4.5 -20.0)))
(instance face :init :vertices (list (float-vector -1.554312e-14 -9.0 20.0) (float-vector -1.554312e-14 -9.0 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -4.5 -7.79423 20.0)))
(instance face :init :vertices (list (float-vector -4.5 -7.79423 -22.0) (float-vector -1.554312e-14 -9.0 -22.0) (float-vector -1.509903e-14 -9.0 -20.0) (float-vector -4.5 -7.79423 -20.0)))
(instance face :init :vertices (list (float-vector 4.5 -7.79423 20.0) (float-vector 4.5 -7.79423 22.0) (float-vector -1.554312e-14 -9.0 22.0) (float-vector -1.554312e-14 -9.0 20.0)))
(instance face :init :vertices (list (float-vector -1.554312e-14 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector -1.509903e-14 -9.0 -20.0)))
(instance face :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 7.79423 -4.5 22.0) (float-vector 4.5 -7.79423 22.0) (float-vector 4.5 -7.79423 20.0)))
(instance face :init :vertices (list (float-vector 4.5 -7.79423 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 4.5 -7.79423 -20.0)))
(instance face :init :vertices (list (float-vector 7.79423 -4.5 22.0) (float-vector 9.0 0.0 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 5.773160e-15 9.0 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -1.554312e-14 -9.0 22.0) (float-vector 4.5 -7.79423 22.0)))
(instance face :init :vertices (list (float-vector 9.0 0.0 22.0) (float-vector 7.79423 -4.5 22.0) (float-vector 7.79423 -4.5 20.0) (float-vector 9.0 0.0 20.0)))
(instance face :init :vertices (list (float-vector 7.79423 -4.5 -22.0) (float-vector 9.0 5.684342e-14 -22.0) (float-vector 9.0 5.684342e-14 -20.0) (float-vector 7.79423 -4.5 -20.0)))
(instance face :init :vertices (list (float-vector 9.0 5.684342e-14 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector -1.554312e-14 -9.0 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector 5.773160e-15 9.0 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 7.79423 4.5 -22.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -10.0 30.0 -20.0) (float-vector -10.0 30.0 12.0) (float-vector -10.0 75.0 12.0) (float-vector -10.0 75.0 -21.5) (float-vector -10.0 20.0 -21.5) (float-vector -10.0 20.0 -20.0)))
(instance face :init :vertices (list (float-vector 10.0 30.0 12.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 20.0 -20.0) (float-vector 10.0 20.0 -21.5) (float-vector 10.0 75.0 -21.5) (float-vector 10.0 75.0 12.0)))
(instance face :init :vertices (list (float-vector -10.0 30.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 30.0 12.0) (float-vector -10.0 30.0 12.0)))
(instance face :init :vertices (list (float-vector -10.0 20.0 -20.0) (float-vector 10.0 20.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector -10.0 30.0 -20.0)))
(instance face :init :vertices (list (float-vector -10.0 20.0 -21.5) (float-vector 10.0 20.0 -21.5) (float-vector 10.0 20.0 -20.0) (float-vector -10.0 20.0 -20.0)))
(instance face :init :vertices (list (float-vector -10.0 75.0 -21.5) (float-vector 10.0 75.0 -21.5) (float-vector 10.0 20.0 -21.5) (float-vector -10.0 20.0 -21.5)))
(instance face :init :vertices (list (float-vector -10.0 75.0 12.0) (float-vector 10.0 75.0 12.0) (float-vector 10.0 75.0 -21.5) (float-vector -10.0 75.0 -21.5)))
(instance face :init :vertices (list (float-vector -10.0 30.0 12.0) (float-vector 10.0 30.0 12.0) (float-vector 10.0 75.0 12.0) (float-vector -10.0 75.0 12.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -19.85 88.0 2.5) (float-vector 9.85 88.0 2.5) (float-vector 9.85 116.0 2.5) (float-vector -19.85 116.0 2.5)))
(instance face :init :vertices (list (float-vector 9.85 116.0 2.5) (float-vector 9.85 116.0 -10.5) (float-vector -19.85 116.0 -10.5) (float-vector -19.85 116.0 2.5)))
(instance face :init :vertices (list (float-vector 9.85 116.0 -10.5) (float-vector 9.85 88.0 -10.5) (float-vector -19.85 88.0 -10.5) (float-vector -19.85 116.0 -10.5)))
(instance face :init :vertices (list (float-vector -19.85 88.0 -10.5) (float-vector -19.85 88.0 2.5) (float-vector -19.85 116.0 2.5) (float-vector -19.85 116.0 -10.5))
:holes (list
(instance hole :init :vertices (list (float-vector -19.85 92.25 0.76314) (float-vector -19.85 90.2369 -1.25) (float-vector -19.85 89.5 -4.0) (float-vector -19.85 90.2369 -6.75) (float-vector -19.85 92.25 -8.76314) (float-vector -19.85 95.0 -9.5) (float-vector -19.85 97.75 -8.76314) (float-vector -19.85 99.7631 -6.75) (float-vector -19.85 100.5 -4.0) (float-vector -19.85 99.7631 -1.25) (float-vector -19.85 97.75 0.76314) (float-vector -19.85 95.0 1.5)))
))
(instance face :init :vertices (list (float-vector 9.85 88.0 -10.5) (float-vector 9.85 88.0 2.5) (float-vector -19.85 88.0 2.5) (float-vector -19.85 88.0 -10.5)))
(instance face :init :vertices (list (float-vector 9.85 88.0 2.5) (float-vector 9.85 88.0 -10.5) (float-vector 9.85 116.0 -10.5) (float-vector 9.85 116.0 2.5))
:holes (list
(instance hole :init :vertices (list (float-vector 9.85 90.2369 -1.25) (float-vector 9.85 92.25 0.76314) (float-vector 9.85 95.0 1.5) (float-vector 9.85 97.75 0.76314) (float-vector 9.85 99.7631 -1.25) (float-vector 9.85 100.5 -4.0) (float-vector 9.85 99.7631 -6.75) (float-vector 9.85 97.75 -8.76314) (float-vector 9.85 95.0 -9.5) (float-vector 9.85 92.25 -8.76314) (float-vector 9.85 90.2369 -6.75) (float-vector 9.85 89.5 -4.0)))
))
(instance face :init :vertices (list (float-vector -21.85 95.0 1.5) (float-vector -19.85 95.0 1.5) (float-vector -19.85 97.75 0.76314) (float-vector -21.85 97.75 0.76314)))
(instance face :init :vertices (list (float-vector 9.85 95.0 1.5) (float-vector 11.85 95.0 1.5) (float-vector 11.85 97.75 0.76314) (float-vector 9.85 97.75 0.76314)))
(instance face :init :vertices (list (float-vector -19.85 99.7631 -1.25) (float-vector -21.85 99.7631 -1.25) (float-vector -21.85 97.75 0.76314) (float-vector -19.85 97.75 0.76314)))
(instance face :init :vertices (list (float-vector 11.85 97.75 0.76314) (float-vector 11.85 99.7631 -1.25) (float-vector 9.85 99.7631 -1.25) (float-vector 9.85 97.75 0.76314)))
(instance face :init :vertices (list (float-vector -19.85 100.5 -4.0) (float-vector -21.85 100.5 -4.0) (float-vector -21.85 99.7631 -1.25) (float-vector -19.85 99.7631 -1.25)))
(instance face :init :vertices (list (float-vector 11.85 99.7631 -1.25) (float-vector 11.85 100.5 -4.0) (float-vector 9.85 100.5 -4.0) (float-vector 9.85 99.7631 -1.25)))
(instance face :init :vertices (list (float-vector -19.85 99.7631 -6.75) (float-vector -21.85 99.7631 -6.75) (float-vector -21.85 100.5 -4.0) (float-vector -19.85 100.5 -4.0)))
(instance face :init :vertices (list (float-vector 11.85 100.5 -4.0) (float-vector 11.85 99.7631 -6.75) (float-vector 9.85 99.7631 -6.75) (float-vector 9.85 100.5 -4.0)))
(instance face :init :vertices (list (float-vector -19.85 97.75 -8.76314) (float-vector -21.85 97.75 -8.76314) (float-vector -21.85 99.7631 -6.75) (float-vector -19.85 99.7631 -6.75)))
(instance face :init :vertices (list (float-vector 11.85 99.7631 -6.75) (float-vector 11.85 97.75 -8.76314) (float-vector 9.85 97.75 -8.76314) (float-vector 9.85 99.7631 -6.75)))
(instance face :init :vertices (list (float-vector -19.85 95.0 -9.5) (float-vector -21.85 95.0 -9.5) (float-vector -21.85 97.75 -8.76314) (float-vector -19.85 97.75 -8.76314)))
(instance face :init :vertices (list (float-vector 11.85 97.75 -8.76314) (float-vector 11.85 95.0 -9.5) (float-vector 9.85 95.0 -9.5) (float-vector 9.85 97.75 -8.76314)))
(instance face :init :vertices (list (float-vector -19.85 92.25 -8.76314) (float-vector -21.85 92.25 -8.76314) (float-vector -21.85 95.0 -9.5) (float-vector -19.85 95.0 -9.5)))
(instance face :init :vertices (list (float-vector 11.85 95.0 -9.5) (float-vector 11.85 92.25 -8.76314) (float-vector 9.85 92.25 -8.76314) (float-vector 9.85 95.0 -9.5)))
(instance face :init :vertices (list (float-vector -19.85 90.2369 -6.75) (float-vector -21.85 90.2369 -6.75) (float-vector -21.85 92.25 -8.76314) (float-vector -19.85 92.25 -8.76314)))
(instance face :init :vertices (list (float-vector 11.85 92.25 -8.76314) (float-vector 11.85 90.2369 -6.75) (float-vector 9.85 90.2369 -6.75) (float-vector 9.85 92.25 -8.76314)))
(instance face :init :vertices (list (float-vector -19.85 89.5 -4.0) (float-vector -21.85 89.5 -4.0) (float-vector -21.85 90.2369 -6.75) (float-vector -19.85 90.2369 -6.75)))
(instance face :init :vertices (list (float-vector 11.85 90.2369 -6.75) (float-vector 11.85 89.5 -4.0) (float-vector 9.85 89.5 -4.0) (float-vector 9.85 90.2369 -6.75)))
(instance face :init :vertices (list (float-vector -19.85 90.2369 -1.25) (float-vector -21.85 90.2369 -1.25) (float-vector -21.85 89.5 -4.0) (float-vector -19.85 89.5 -4.0)))
(instance face :init :vertices (list (float-vector 11.85 89.5 -4.0) (float-vector 11.85 90.2369 -1.25) (float-vector 9.85 90.2369 -1.25) (float-vector 9.85 89.5 -4.0)))
(instance face :init :vertices (list (float-vector -19.85 92.25 0.76314) (float-vector -21.85 92.25 0.76314) (float-vector -21.85 90.2369 -1.25) (float-vector -19.85 90.2369 -1.25)))
(instance face :init :vertices (list (float-vector 11.85 90.2369 -1.25) (float-vector 11.85 92.25 0.76314) (float-vector 9.85 92.25 0.76314) (float-vector 9.85 90.2369 -1.25)))
(instance face :init :vertices (list (float-vector -21.85 92.25 0.76314) (float-vector -21.85 95.0 1.5) (float-vector -21.85 97.75 0.76314) (float-vector -21.85 99.7631 -1.25) (float-vector -21.85 100.5 -4.0) (float-vector -21.85 99.7631 -6.75) (float-vector -21.85 97.75 -8.76314) (float-vector -21.85 95.0 -9.5) (float-vector -21.85 92.25 -8.76314) (float-vector -21.85 90.2369 -6.75) (float-vector -21.85 89.5 -4.0) (float-vector -21.85 90.2369 -1.25)))
(instance face :init :vertices (list (float-vector -21.85 95.0 1.5) (float-vector -21.85 92.25 0.76314) (float-vector -19.85 92.25 0.76314) (float-vector -19.85 95.0 1.5)))
(instance face :init :vertices (list (float-vector 11.85 92.25 0.76314) (float-vector 11.85 95.0 1.5) (float-vector 9.85 95.0 1.5) (float-vector 9.85 92.25 0.76314)))
(instance face :init :vertices (list (float-vector 11.85 95.0 1.5) (float-vector 11.85 92.25 0.76314) (float-vector 11.85 90.2369 -1.25) (float-vector 11.85 89.5 -4.0) (float-vector 11.85 90.2369 -6.75) (float-vector 11.85 92.25 -8.76314) (float-vector 11.85 95.0 -9.5) (float-vector 11.85 97.75 -8.76314) (float-vector 11.85 99.7631 -6.75) (float-vector 11.85 100.5 -4.0) (float-vector 11.85 99.7631 -1.25) (float-vector 11.85 97.75 0.76314)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 9.5 79.0 -11.5) (float-vector -8.5 79.0 -11.5) (float-vector -8.5 160.0 -11.5) (float-vector 14.5 160.0 -11.5) (float-vector 14.5 127.0 -11.5) (float-vector 9.5 117.0 -11.5)))
(instance face :init :vertices (list (float-vector -8.5 79.0 -10.5) (float-vector 9.5 79.0 -10.5) (float-vector 9.5 117.0 -10.5) (float-vector 14.5 127.0 -10.5) (float-vector 14.5 160.0 -10.5) (float-vector -8.5 160.0 -10.5)))
(instance face :init :vertices (list (float-vector 9.5 79.0 -11.5) (float-vector 9.5 79.0 -10.5) (float-vector -8.5 79.0 -10.5) (float-vector -8.5 79.0 -11.5)))
(instance face :init :vertices (list (float-vector 9.5 117.0 -11.5) (float-vector 9.5 117.0 -10.5) (float-vector 9.5 79.0 -10.5) (float-vector 9.5 79.0 -11.5)))
(instance face :init :vertices (list (float-vector 14.5 127.0 -11.5) (float-vector 14.5 127.0 -10.5) (float-vector 9.5 117.0 -10.5) (float-vector 9.5 117.0 -11.5)))
(instance face :init :vertices (list (float-vector 14.5 160.0 -11.5) (float-vector 14.5 160.0 -10.5) (float-vector 14.5 127.0 -10.5) (float-vector 14.5 127.0 -11.5)))
(instance face :init :vertices (list (float-vector -8.5 160.0 -11.5) (float-vector -8.5 160.0 -10.5) (float-vector 14.5 160.0 -10.5) (float-vector 14.5 160.0 -11.5)))
(instance face :init :vertices (list (float-vector -8.5 79.0 -11.5) (float-vector -8.5 79.0 -10.5) (float-vector -8.5 160.0 -10.5) (float-vector -8.5 160.0 -11.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray40)
(send (elt bc 1) :set-color :gray90)
(send (elt bc 2) :set-color :gray40)
(send (elt bc 3) :set-color :gray90)
(setq blink9 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-elbow-p :weight 87 :centroid (float-vector -0.872804 40.0125 -2.09071) :inertia-tensor #2f((1.349996e+05 5607.27 -201.161) (5607.27 12835.6 5464.28) (-201.161 5464.28 1.296607e+05))))
;; definition of :rarm-gripper
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 18.5 9.0 -18.5) (float-vector 1.421085e-14 9.0 -18.5) (float-vector -6.36396 6.36396 -18.5) (float-vector -9.0 0.0 -18.5) (float-vector -6.36396 -6.36396 -18.5) (float-vector 1.421085e-14 -9.0 -18.5) (float-vector 14.0 -9.0 -18.5) (float-vector 18.5 -4.5 -18.5)))
(instance face :init :vertices (list (float-vector 18.5 9.0 -18.5) (float-vector 18.5 -4.5 -18.5) (float-vector 18.5 -4.5 18.5) (float-vector 18.5 9.0 18.5)))
(instance face :init :vertices (list (float-vector 18.5 9.0 18.5) (float-vector 18.5 -4.5 18.5) (float-vector 14.0 -9.0 18.5) (float-vector 0.0 -9.0 18.5) (float-vector -6.36396 -6.36396 18.5) (float-vector -9.0 0.0 18.5) (float-vector -6.36396 6.36396 18.5) (float-vector 0.0 9.0 18.5)))
(instance face :init :vertices (list (float-vector 20.0 -3.0 -19.5) (float-vector 20.0 -3.0 19.5) (float-vector 14.0 -9.0 19.5) (float-vector 14.0 -9.0 18.5) (float-vector 18.5 -4.5 18.5) (float-vector 18.5 -4.5 -18.5) (float-vector 14.0 -9.0 -18.5) (float-vector 14.0 -9.0 -19.5)))
(instance face :init :vertices (list (float-vector 20.0 -3.0 -19.5) (float-vector 14.0 -9.0 -19.5) (float-vector 1.421085e-14 -9.0 -19.5) (float-vector -6.36396 -6.36396 -19.5) (float-vector -9.0 0.0 -19.5) (float-vector -6.36396 6.36396 -19.5) (float-vector 1.421085e-14 9.0 -19.5) (float-vector 19.0 9.0 -19.5) (float-vector 19.0 34.0 -19.5) (float-vector 9.0 64.0 -19.5) (float-vector 10.0 64.0 -19.5) (float-vector 20.0 34.0 -19.5)))
(instance face :init :vertices (list (float-vector 14.0 -9.0 19.5) (float-vector 20.0 -3.0 19.5) (float-vector 20.0 9.5 19.5) (float-vector 19.0 9.5 19.5) (float-vector 19.0 9.0 19.5) (float-vector 0.0 9.0 19.5) (float-vector -6.36396 6.36396 19.5) (float-vector -9.0 0.0 19.5) (float-vector -6.36396 -6.36396 19.5) (float-vector 0.0 -9.0 19.5)))
(instance face :init :vertices (list (float-vector 1.421085e-14 -9.0 -19.5) (float-vector 14.0 -9.0 -19.5) (float-vector 14.0 -9.0 -18.5) (float-vector 1.421085e-14 -9.0 -18.5)))
(instance face :init :vertices (list (float-vector 0.0 -9.0 18.5) (float-vector 14.0 -9.0 18.5) (float-vector 14.0 -9.0 19.5) (float-vector 0.0 -9.0 19.5)))
(instance face :init :vertices (list (float-vector -6.36396 -6.36396 -19.5) (float-vector 1.421085e-14 -9.0 -19.5) (float-vector 1.421085e-14 -9.0 -18.5) (float-vector -6.36396 -6.36396 -18.5)))
(instance face :init :vertices (list (float-vector -6.36396 -6.36396 18.5) (float-vector 0.0 -9.0 18.5) (float-vector 0.0 -9.0 19.5) (float-vector -6.36396 -6.36396 19.5)))
(instance face :init :vertices (list (float-vector -9.0 0.0 -19.5) (float-vector -6.36396 -6.36396 -19.5) (float-vector -6.36396 -6.36396 -18.5) (float-vector -9.0 0.0 -18.5)))
(instance face :init :vertices (list (float-vector -9.0 0.0 18.5) (float-vector -6.36396 -6.36396 18.5) (float-vector -6.36396 -6.36396 19.5) (float-vector -9.0 0.0 19.5)))
(instance face :init :vertices (list (float-vector -6.36396 6.36396 -19.5) (float-vector -9.0 0.0 -19.5) (float-vector -9.0 0.0 -18.5) (float-vector -6.36396 6.36396 -18.5)))
(instance face :init :vertices (list (float-vector -6.36396 6.36396 18.5) (float-vector -9.0 0.0 18.5) (float-vector -9.0 0.0 19.5) (float-vector -6.36396 6.36396 19.5)))
(instance face :init :vertices (list (float-vector 1.421085e-14 9.0 -19.5) (float-vector -6.36396 6.36396 -19.5) (float-vector -6.36396 6.36396 -18.5) (float-vector 1.421085e-14 9.0 -18.5)))
(instance face :init :vertices (list (float-vector 0.0 9.0 18.5) (float-vector -6.36396 6.36396 18.5) (float-vector -6.36396 6.36396 19.5) (float-vector 0.0 9.0 19.5)))
(instance face :init :vertices (list (float-vector 19.0 9.0 -19.5) (float-vector 1.421085e-14 9.0 -19.5) (float-vector 1.421085e-14 9.0 -18.5) (float-vector 18.5 9.0 -18.5) (float-vector 18.5 9.0 18.5) (float-vector 0.0 9.0 18.5) (float-vector 0.0 9.0 19.5) (float-vector 19.0 9.0 19.5)))
(instance face :init :vertices (list (float-vector 19.0 34.0 -19.5) (float-vector 19.0 9.0 -19.5) (float-vector 19.0 9.0 19.5) (float-vector 19.0 9.5 19.5) (float-vector 19.0 9.5 4.5) (float-vector 19.0 34.0 4.5)))
(instance face :init :vertices (list (float-vector 9.0 64.0 -19.5) (float-vector 19.0 34.0 -19.5) (float-vector 19.0 34.0 4.5) (float-vector 9.0 64.0 4.5)))
(instance face :init :vertices (list (float-vector 10.0 64.0 -19.5) (float-vector 9.0 64.0 -19.5) (float-vector 9.0 64.0 4.5) (float-vector 10.0 64.0 4.5)))
(instance face :init :vertices (list (float-vector 20.0 34.0 4.5) (float-vector 20.0 9.5 4.5) (float-vector 20.0 9.5 19.5) (float-vector 20.0 -3.0 19.5) (float-vector 20.0 -3.0 -19.5) (float-vector 20.0 34.0 -19.5)))
(instance face :init :vertices (list (float-vector 20.0 34.0 -19.5) (float-vector 10.0 64.0 -19.5) (float-vector 10.0 64.0 4.5) (float-vector 20.0 34.0 4.5)))
(instance face :init :vertices (list (float-vector 19.0 9.5 4.5) (float-vector 19.0 9.5 19.5) (float-vector 20.0 9.5 19.5) (float-vector 20.0 9.5 4.5)))
(instance face :init :vertices (list (float-vector 20.0 9.5 4.5) (float-vector 20.0 34.0 4.5) (float-vector 10.0 64.0 4.5) (float-vector 9.0 64.0 4.5) (float-vector 19.0 34.0 4.5) (float-vector 19.0 9.5 4.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(setq blink18 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-gripper :weight 5 :centroid (float-vector 14.1169 17.0793 -3.32742) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))
;; definition of :lleg-crotch-p
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 14.4 -14.0 24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 45.0 -24.9) (float-vector 14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector 14.4 45.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector -14.4 45.0 24.9) (float-vector 14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector -14.4 45.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 -14.0 24.9) (float-vector -14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector -14.4 -14.0 24.9) (float-vector 14.4 -14.0 24.9) (float-vector 14.4 45.0 24.9) (float-vector -14.4 45.0 24.9))
:holes (list
(instance hole :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 6.7 -11.6047 24.9) (float-vector -2.309264e-14 -13.4 24.9) (float-vector -6.7 -11.6047 24.9) (float-vector -11.6047 -6.7 24.9) (float-vector -13.4 0.0 24.9) (float-vector -11.6047 6.7 24.9) (float-vector -6.7 11.6047 24.9) (float-vector 7.993606e-15 13.4 24.9) (float-vector 6.7 11.6047 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 13.4 0.0 24.9)))
))
(instance face :init :vertices (list (float-vector -14.4 -14.0 -24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 -14.0 24.9) (float-vector -14.4 -14.0 24.9)))
(instance face :init :vertices (list (float-vector 14.4 -14.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector 14.4 45.0 -24.9))
:holes (list
(instance hole :init :vertices (list (float-vector 6.7 -11.6047 -24.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 13.4 -2.842171e-14 -24.9) (float-vector 11.6047 6.7 -24.9) (float-vector 6.7 11.6047 -24.9) (float-vector 7.993606e-15 13.4 -24.9) (float-vector -6.7 11.6047 -24.9) (float-vector -11.6047 6.7 -24.9) (float-vector -13.4 0.0 -24.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -2.309264e-14 -13.4 -24.9)))
))
(instance face :init :vertices (list (float-vector 13.4 0.0 26.9) (float-vector 13.4 0.0 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 11.6047 6.7 26.9)))
(instance face :init :vertices (list (float-vector 13.4 -2.842171e-14 -24.9) (float-vector 13.4 -2.842171e-14 -26.9) (float-vector 11.6047 6.7 -26.9) (float-vector 11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector 6.7 11.6047 24.9) (float-vector 6.7 11.6047 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 11.6047 6.7 24.9)))
(instance face :init :vertices (list (float-vector 11.6047 6.7 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 6.7 11.6047 -24.9) (float-vector 11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector 7.993606e-15 13.4 24.9) (float-vector 7.993606e-15 13.4 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 6.7 11.6047 24.9)))
(instance face :init :vertices (list (float-vector 6.7 11.6047 -26.9) (float-vector 7.993606e-15 13.4 -26.9) (float-vector 7.993606e-15 13.4 -24.9) (float-vector 6.7 11.6047 -24.9)))
(instance face :init :vertices (list (float-vector -6.7 11.6047 24.9) (float-vector -6.7 11.6047 26.9) (float-vector 7.993606e-15 13.4 26.9) (float-vector 7.993606e-15 13.4 24.9)))
(instance face :init :vertices (list (float-vector 7.993606e-15 13.4 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector -6.7 11.6047 -24.9) (float-vector 7.993606e-15 13.4 -24.9)))
(instance face :init :vertices (list (float-vector -11.6047 6.7 24.9) (float-vector -11.6047 6.7 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -6.7 11.6047 24.9)))
(instance face :init :vertices (list (float-vector -6.7 11.6047 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -11.6047 6.7 -24.9) (float-vector -6.7 11.6047 -24.9)))
(instance face :init :vertices (list (float-vector -13.4 0.0 24.9) (float-vector -13.4 0.0 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -11.6047 6.7 24.9)))
(instance face :init :vertices (list (float-vector -11.6047 6.7 -26.9) (float-vector -13.4 0.0 -26.9) (float-vector -13.4 0.0 -24.9) (float-vector -11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector -11.6047 -6.7 24.9) (float-vector -11.6047 -6.7 26.9) (float-vector -13.4 0.0 26.9) (float-vector -13.4 0.0 24.9)))
(instance face :init :vertices (list (float-vector -13.4 0.0 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -13.4 0.0 -24.9)))
(instance face :init :vertices (list (float-vector -6.7 -11.6047 24.9) (float-vector -6.7 -11.6047 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -11.6047 -6.7 24.9)))
(instance face :init :vertices (list (float-vector -11.6047 -6.7 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -11.6047 -6.7 -24.9)))
(instance face :init :vertices (list (float-vector -2.309264e-14 -13.4 24.9) (float-vector -2.309264e-14 -13.4 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -6.7 -11.6047 24.9)))
(instance face :init :vertices (list (float-vector -6.7 -11.6047 -26.9) (float-vector -2.309264e-14 -13.4 -26.9) (float-vector -2.309264e-14 -13.4 -24.9) (float-vector -6.7 -11.6047 -24.9)))
(instance face :init :vertices (list (float-vector 6.7 -11.6047 24.9) (float-vector 6.7 -11.6047 26.9) (float-vector -2.309264e-14 -13.4 26.9) (float-vector -2.309264e-14 -13.4 24.9)))
(instance face :init :vertices (list (float-vector -2.309264e-14 -13.4 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector 6.7 -11.6047 -24.9) (float-vector -2.309264e-14 -13.4 -24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 11.6047 -6.7 26.9) (float-vector 6.7 -11.6047 26.9) (float-vector 6.7 -11.6047 24.9)))
(instance face :init :vertices (list (float-vector 6.7 -11.6047 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 6.7 -11.6047 -24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 26.9) (float-vector 13.4 0.0 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 7.993606e-15 13.4 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -13.4 0.0 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -2.309264e-14 -13.4 26.9) (float-vector 6.7 -11.6047 26.9)))
(instance face :init :vertices (list (float-vector 13.4 0.0 26.9) (float-vector 11.6047 -6.7 26.9) (float-vector 11.6047 -6.7 24.9) (float-vector 13.4 0.0 24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 -26.9) (float-vector 13.4 -2.842171e-14 -26.9) (float-vector 13.4 -2.842171e-14 -24.9) (float-vector 11.6047 -6.7 -24.9)))
(instance face :init :vertices (list (float-vector 13.4 -2.842171e-14 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector -2.309264e-14 -13.4 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -13.4 0.0 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector 7.993606e-15 13.4 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 11.6047 6.7 -26.9)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -14.4 114.0 24.9) (float-vector -14.4 114.0 -24.9) (float-vector -14.4 55.0 -24.9) (float-vector -14.4 55.0 24.9)))
(instance face :init :vertices (list (float-vector -14.4 55.0 -24.9) (float-vector 14.4 55.0 -24.9) (float-vector 14.4 55.0 24.9) (float-vector -14.4 55.0 24.9)))
(instance face :init :vertices (list (float-vector 14.4 55.0 -24.9) (float-vector 14.4 114.0 -24.9) (float-vector 14.4 114.0 24.9) (float-vector 14.4 55.0 24.9)))
(instance face :init :vertices (list (float-vector 14.4 114.0 24.9) (float-vector -14.4 114.0 24.9) (float-vector -14.4 55.0 24.9) (float-vector 14.4 55.0 24.9))
:holes (list
(instance hole :init :vertices (list (float-vector -11.6047 106.7 24.9) (float-vector -6.7 111.605 24.9) (float-vector 3.730349e-14 113.4 24.9) (float-vector 6.7 111.605 24.9) (float-vector 11.6047 106.7 24.9) (float-vector 13.4 100.0 24.9) (float-vector 11.6047 93.3 24.9) (float-vector 6.7 88.3953 24.9) (float-vector 2.664535e-15 86.6 24.9) (float-vector -6.7 88.3953 24.9) (float-vector -11.6047 93.3 24.9) (float-vector -13.4 100.0 24.9)))
))
(instance face :init :vertices (list (float-vector 14.4 114.0 -24.9) (float-vector -14.4 114.0 -24.9) (float-vector -14.4 114.0 24.9) (float-vector 14.4 114.0 24.9)))
(instance face :init :vertices (list (float-vector -14.4 114.0 -24.9) (float-vector 14.4 114.0 -24.9) (float-vector 14.4 55.0 -24.9) (float-vector -14.4 55.0 -24.9))
:holes (list
(instance hole :init :vertices (list (float-vector -6.7 111.605 -24.9) (float-vector -11.6047 106.7 -24.9) (float-vector -13.4 100.0 -24.9) (float-vector -11.6047 93.3 -24.9) (float-vector -6.7 88.3953 -24.9) (float-vector 2.664535e-15 86.6 -24.9) (float-vector 6.7 88.3953 -24.9) (float-vector 11.6047 93.3 -24.9) (float-vector 13.4 100.0 -24.9) (float-vector 11.6047 106.7 -24.9) (float-vector 6.7 111.605 -24.9) (float-vector 3.730349e-14 113.4 -24.9)))
))
(instance face :init :vertices (list (float-vector -13.4 100.0 26.9) (float-vector -13.4 100.0 24.9) (float-vector -11.6047 93.3 24.9) (float-vector -11.6047 93.3 26.9)))
(instance face :init :vertices (list (float-vector -13.4 100.0 -24.9) (float-vector -13.4 100.0 -26.9) (float-vector -11.6047 93.3 -26.9) (float-vector -11.6047 93.3 -24.9)))
(instance face :init :vertices (list (float-vector -6.7 88.3953 24.9) (float-vector -6.7 88.3953 26.9) (float-vector -11.6047 93.3 26.9) (float-vector -11.6047 93.3 24.9)))
(instance face :init :vertices (list (float-vector -11.6047 93.3 -26.9) (float-vector -6.7 88.3953 -26.9) (float-vector -6.7 88.3953 -24.9) (float-vector -11.6047 93.3 -24.9)))
(instance face :init :vertices (list (float-vector 2.664535e-15 86.6 24.9) (float-vector 2.664535e-15 86.6 26.9) (float-vector -6.7 88.3953 26.9) (float-vector -6.7 88.3953 24.9)))
(instance face :init :vertices (list (float-vector -6.7 88.3953 -26.9) (float-vector 2.664535e-15 86.6 -26.9) (float-vector 2.664535e-15 86.6 -24.9) (float-vector -6.7 88.3953 -24.9)))
(instance face :init :vertices (list (float-vector 6.7 88.3953 24.9) (float-vector 6.7 88.3953 26.9) (float-vector 2.664535e-15 86.6 26.9) (float-vector 2.664535e-15 86.6 24.9)))
(instance face :init :vertices (list (float-vector 2.664535e-15 86.6 -26.9) (float-vector 6.7 88.3953 -26.9) (float-vector 6.7 88.3953 -24.9) (float-vector 2.664535e-15 86.6 -24.9)))
(instance face :init :vertices (list (float-vector 11.6047 93.3 24.9) (float-vector 11.6047 93.3 26.9) (float-vector 6.7 88.3953 26.9) (float-vector 6.7 88.3953 24.9)))
(instance face :init :vertices (list (float-vector 6.7 88.3953 -26.9) (float-vector 11.6047 93.3 -26.9) (float-vector 11.6047 93.3 -24.9) (float-vector 6.7 88.3953 -24.9)))
(instance face :init :vertices (list (float-vector 13.4 100.0 24.9) (float-vector 13.4 100.0 26.9) (float-vector 11.6047 93.3 26.9) (float-vector 11.6047 93.3 24.9)))
(instance face :init :vertices (list (float-vector 11.6047 93.3 -26.9) (float-vector 13.4 100.0 -26.9) (float-vector 13.4 100.0 -24.9) (float-vector 11.6047 93.3 -24.9)))
(instance face :init :vertices (list (float-vector 11.6047 106.7 24.9) (float-vector 11.6047 106.7 26.9) (float-vector 13.4 100.0 26.9) (float-vector 13.4 100.0 24.9)))
(instance face :init :vertices (list (float-vector 13.4 100.0 -26.9) (float-vector 11.6047 106.7 -26.9) (float-vector 11.6047 106.7 -24.9) (float-vector 13.4 100.0 -24.9)))
(instance face :init :vertices (list (float-vector 6.7 111.605 24.9) (float-vector 6.7 111.605 26.9) (float-vector 11.6047 106.7 26.9) (float-vector 11.6047 106.7 24.9)))
(instance face :init :vertices (list (float-vector 11.6047 106.7 -26.9) (float-vector 6.7 111.605 -26.9) (float-vector 6.7 111.605 -24.9) (float-vector 11.6047 106.7 -24.9)))
(instance face :init :vertices (list (float-vector 3.730349e-14 113.4 24.9) (float-vector 3.730349e-14 113.4 26.9) (float-vector 6.7 111.605 26.9) (float-vector 6.7 111.605 24.9)))
(instance face :init :vertices (list (float-vector 6.7 111.605 -26.9) (float-vector 3.730349e-14 113.4 -26.9) (float-vector 3.730349e-14 113.4 -24.9) (float-vector 6.7 111.605 -24.9)))
(instance face :init :vertices (list (float-vector -6.7 111.605 24.9) (float-vector -6.7 111.605 26.9) (float-vector 3.730349e-14 113.4 26.9) (float-vector 3.730349e-14 113.4 24.9)))
(instance face :init :vertices (list (float-vector 3.730349e-14 113.4 -26.9) (float-vector -6.7 111.605 -26.9) (float-vector -6.7 111.605 -24.9) (float-vector 3.730349e-14 113.4 -24.9)))
(instance face :init :vertices (list (float-vector -11.6047 106.7 24.9) (float-vector -11.6047 106.7 26.9) (float-vector -6.7 111.605 26.9) (float-vector -6.7 111.605 24.9)))
(instance face :init :vertices (list (float-vector -6.7 111.605 -26.9) (float-vector -11.6047 106.7 -26.9) (float-vector -11.6047 106.7 -24.9) (float-vector -6.7 111.605 -24.9)))
(instance face :init :vertices (list (float-vector -11.6047 106.7 26.9) (float-vector -13.4 100.0 26.9) (float-vector -11.6047 93.3 26.9) (float-vector -6.7 88.3953 26.9) (float-vector 2.664535e-15 86.6 26.9) (float-vector 6.7 88.3953 26.9) (float-vector 11.6047 93.3 26.9) (float-vector 13.4 100.0 26.9) (float-vector 11.6047 106.7 26.9) (float-vector 6.7 111.605 26.9) (float-vector 3.730349e-14 113.4 26.9) (float-vector -6.7 111.605 26.9)))
(instance face :init :vertices (list (float-vector -13.4 100.0 26.9) (float-vector -11.6047 106.7 26.9) (float-vector -11.6047 106.7 24.9) (float-vector -13.4 100.0 24.9)))
(instance face :init :vertices (list (float-vector -11.6047 106.7 -26.9) (float-vector -13.4 100.0 -26.9) (float-vector -13.4 100.0 -24.9) (float-vector -11.6047 106.7 -24.9)))
(instance face :init :vertices (list (float-vector -13.4 100.0 -26.9) (float-vector -11.6047 106.7 -26.9) (float-vector -6.7 111.605 -26.9) (float-vector 3.730349e-14 113.4 -26.9) (float-vector 6.7 111.605 -26.9) (float-vector 11.6047 106.7 -26.9) (float-vector 13.4 100.0 -26.9) (float-vector 11.6047 93.3 -26.9) (float-vector 6.7 88.3953 -26.9) (float-vector 2.664535e-15 86.6 -26.9) (float-vector -6.7 88.3953 -26.9) (float-vector -11.6047 93.3 -26.9)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray40)
(send (elt bc 1) :set-color :gray40)
(setq blink5 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-crotch-p :weight 214 :centroid (float-vector -6.816213e-15 50.0 1.232575e-14) :inertia-tensor #2f((3.667336e+05 1.174090e-11 1.634010e-12) (1.174090e-11 59019.1 -6.409059e-11) (1.634010e-12 -6.409059e-11 3.372979e+05))))
;; definition of :lleg-knee-p
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 14.4 -2.842171e-14 29.5) (float-vector 14.4 42.5 29.5) (float-vector 14.4 42.5 31.0) (float-vector 14.4 -2.842171e-14 31.0)))
(instance face :init :vertices (list (float-vector 14.4 0.0 -31.0) (float-vector 14.4 42.5 -31.0) (float-vector 14.4 42.5 -29.5) (float-vector 14.4 0.0 -29.5)))
(instance face :init :vertices (list (float-vector -14.4 42.5 -31.0) (float-vector -14.4 42.5 31.0) (float-vector 14.4 42.5 31.0) (float-vector 14.4 42.5 29.5) (float-vector -12.9 42.5 29.5) (float-vector -12.9 42.5 -29.5) (float-vector 14.4 42.5 -29.5) (float-vector 14.4 42.5 -31.0)))
(instance face :init :vertices (list (float-vector -14.4 0.0 -31.0) (float-vector -14.4 0.0 -29.5) (float-vector -14.4 20.0 -29.5) (float-vector -14.4 20.0 29.5) (float-vector -14.4 -2.842171e-14 29.5) (float-vector -14.4 -2.842171e-14 31.0) (float-vector -14.4 42.5 31.0) (float-vector -14.4 42.5 -31.0)))
(instance face :init :vertices (list (float-vector -10.1823 -10.1823 31.0) (float-vector -14.4 -2.842171e-14 31.0) (float-vector -14.4 -2.842171e-14 29.5) (float-vector -10.1823 -10.1823 29.5)))
(instance face :init :vertices (list (float-vector -10.1823 -10.1823 -31.0) (float-vector -10.1823 -10.1823 -29.5) (float-vector -14.4 0.0 -29.5) (float-vector -14.4 0.0 -31.0)))
(instance face :init :vertices (list (float-vector 4.440892e-16 -14.4 31.0) (float-vector -10.1823 -10.1823 31.0) (float-vector -10.1823 -10.1823 29.5) (float-vector -4.440892e-16 -14.4 29.5)))
(instance face :init :vertices (list (float-vector -4.440892e-16 -14.4 -31.0) (float-vector -4.440892e-16 -14.4 -29.5) (float-vector -10.1823 -10.1823 -29.5) (float-vector -10.1823 -10.1823 -31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 31.0) (float-vector 4.440892e-16 -14.4 31.0) (float-vector -4.440892e-16 -14.4 29.5) (float-vector 10.1823 -10.1823 29.5)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 -31.0) (float-vector 10.1823 -10.1823 -29.5) (float-vector -4.440892e-16 -14.4 -29.5) (float-vector -4.440892e-16 -14.4 -31.0)))
(instance face :init :vertices (list (float-vector 14.4 -2.842171e-14 31.0) (float-vector 14.4 42.5 31.0) (float-vector -14.4 42.5 31.0) (float-vector -14.4 -2.842171e-14 31.0) (float-vector -10.1823 -10.1823 31.0) (float-vector 4.440892e-16 -14.4 31.0) (float-vector 10.1823 -10.1823 31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 -31.0) (float-vector -4.440892e-16 -14.4 -31.0) (float-vector -10.1823 -10.1823 -31.0) (float-vector -14.4 0.0 -31.0) (float-vector -14.4 42.5 -31.0) (float-vector 14.4 42.5 -31.0) (float-vector 14.4 0.0 -31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 31.0) (float-vector 10.1823 -10.1823 29.5) (float-vector 14.4 -2.842171e-14 29.5) (float-vector 14.4 -2.842171e-14 31.0)))
(instance face :init :vertices (list (float-vector 14.4 0.0 -31.0) (float-vector 14.4 0.0 -29.5) (float-vector 10.1823 -10.1823 -29.5) (float-vector 10.1823 -10.1823 -31.0)))
(instance face :init :vertices (list (float-vector -12.9 42.5 -29.5) (float-vector -12.9 42.5 29.5) (float-vector -12.9 20.0 29.5) (float-vector -12.9 20.0 -29.5)))
(instance face :init :vertices (list (float-vector -12.9 20.0 29.5) (float-vector -12.9 42.5 29.5) (float-vector 14.4 42.5 29.5) (float-vector 14.4 -2.842171e-14 29.5) (float-vector 10.1823 -10.1823 29.5) (float-vector -4.440892e-16 -14.4 29.5) (float-vector -10.1823 -10.1823 29.5) (float-vector -14.4 -2.842171e-14 29.5) (float-vector -14.4 20.0 29.5)))
(instance face :init :vertices (list (float-vector -12.9 20.0 -29.5) (float-vector -12.9 20.0 29.5) (float-vector -14.4 20.0 29.5) (float-vector -14.4 20.0 -29.5)))
(instance face :init :vertices (list (float-vector -14.4 20.0 -29.5) (float-vector -14.4 0.0 -29.5) (float-vector -10.1823 -10.1823 -29.5) (float-vector -4.440892e-16 -14.4 -29.5) (float-vector 10.1823 -10.1823 -29.5) (float-vector 14.4 0.0 -29.5) (float-vector 14.4 42.5 -29.5) (float-vector -12.9 42.5 -29.5) (float-vector -12.9 20.0 -29.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -14.4 85.0 -31.0) (float-vector -14.4 42.5 -31.0) (float-vector -14.4 42.5 31.0) (float-vector -14.4 85.0 31.0) (float-vector -14.4 85.0 29.5) (float-vector -14.4 65.0 29.5) (float-vector -14.4 65.0 -29.5) (float-vector -14.4 85.0 -29.5)))
(instance face :init :vertices (list (float-vector 14.4 42.5 -31.0) (float-vector 14.4 42.5 -29.5) (float-vector -12.9 42.5 -29.5) (float-vector -12.9 42.5 29.5) (float-vector 14.4 42.5 29.5) (float-vector 14.4 42.5 31.0) (float-vector -14.4 42.5 31.0) (float-vector -14.4 42.5 -31.0)))
(instance face :init :vertices (list (float-vector 14.4 85.0 31.0) (float-vector 14.4 42.5 31.0) (float-vector 14.4 42.5 29.5) (float-vector 14.4 85.0 29.5)))
(instance face :init :vertices (list (float-vector 14.4 85.0 -31.0) (float-vector 14.4 85.0 -29.5) (float-vector 14.4 42.5 -29.5) (float-vector 14.4 42.5 -31.0)))
(instance face :init :vertices (list (float-vector 10.1823 95.1823 31.0) (float-vector 14.4 85.0 31.0) (float-vector 14.4 85.0 29.5) (float-vector 10.1823 95.1823 29.5)))
(instance face :init :vertices (list (float-vector 10.1823 95.1823 -31.0) (float-vector 10.1823 95.1823 -29.5) (float-vector 14.4 85.0 -29.5) (float-vector 14.4 85.0 -31.0)))
(instance face :init :vertices (list (float-vector 1.199041e-14 99.4 31.0) (float-vector 10.1823 95.1823 31.0) (float-vector 10.1823 95.1823 29.5) (float-vector 1.154632e-14 99.4 29.5)))
(instance face :init :vertices (list (float-vector 1.199041e-14 99.4 -31.0) (float-vector 1.199041e-14 99.4 -29.5) (float-vector 10.1823 95.1823 -29.5) (float-vector 10.1823 95.1823 -31.0)))
(instance face :init :vertices (list (float-vector -10.1823 95.1823 31.0) (float-vector 1.199041e-14 99.4 31.0) (float-vector 1.154632e-14 99.4 29.5) (float-vector -10.1823 95.1823 29.5)))
(instance face :init :vertices (list (float-vector -10.1823 95.1823 -31.0) (float-vector -10.1823 95.1823 -29.5) (float-vector 1.199041e-14 99.4 -29.5) (float-vector 1.199041e-14 99.4 -31.0)))
(instance face :init :vertices (list (float-vector -14.4 85.0 31.0) (float-vector -14.4 42.5 31.0) (float-vector 14.4 42.5 31.0) (float-vector 14.4 85.0 31.0) (float-vector 10.1823 95.1823 31.0) (float-vector 1.199041e-14 99.4 31.0) (float-vector -10.1823 95.1823 31.0)))
(instance face :init :vertices (list (float-vector -10.1823 95.1823 -31.0) (float-vector 1.199041e-14 99.4 -31.0) (float-vector 10.1823 95.1823 -31.0) (float-vector 14.4 85.0 -31.0) (float-vector 14.4 42.5 -31.0) (float-vector -14.4 42.5 -31.0) (float-vector -14.4 85.0 -31.0)))
(instance face :init :vertices (list (float-vector -10.1823 95.1823 31.0) (float-vector -10.1823 95.1823 29.5) (float-vector -14.4 85.0 29.5) (float-vector -14.4 85.0 31.0)))
(instance face :init :vertices (list (float-vector -14.4 85.0 -31.0) (float-vector -14.4 85.0 -29.5) (float-vector -10.1823 95.1823 -29.5) (float-vector -10.1823 95.1823 -31.0)))
(instance face :init :vertices (list (float-vector -14.4 65.0 -29.5) (float-vector -14.4 65.0 29.5) (float-vector -12.9 65.0 29.5) (float-vector -12.9 65.0 -29.5)))
(instance face :init :vertices (list (float-vector -12.9 65.0 29.5) (float-vector -14.4 65.0 29.5) (float-vector -14.4 85.0 29.5) (float-vector -10.1823 95.1823 29.5) (float-vector 1.154632e-14 99.4 29.5) (float-vector 10.1823 95.1823 29.5) (float-vector 14.4 85.0 29.5) (float-vector 14.4 42.5 29.5) (float-vector -12.9 42.5 29.5)))
(instance face :init :vertices (list (float-vector -12.9 65.0 -29.5) (float-vector -12.9 65.0 29.5) (float-vector -12.9 42.5 29.5) (float-vector -12.9 42.5 -29.5)))
(instance face :init :vertices (list (float-vector -12.9 42.5 -29.5) (float-vector 14.4 42.5 -29.5) (float-vector 14.4 85.0 -29.5) (float-vector 10.1823 95.1823 -29.5) (float-vector 1.199041e-14 99.4 -29.5) (float-vector -10.1823 95.1823 -29.5) (float-vector -14.4 85.0 -29.5) (float-vector -14.4 65.0 -29.5) (float-vector -12.9 65.0 -29.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(send (elt bc 1) :set-color :gray90)
(setq blink4 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-knee-p :weight 35.3322 :centroid (float-vector -4.15414 42.5 9.271415e-14) :inertia-tensor #2f((53569.9 -9.947598e-12 7.817019e-12) (-9.947598e-12 26785.2 -2.561403e-11) (7.817019e-12 -2.561403e-11 32888.5))))
;; definition of :lleg-ankle-p
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 14.4 -14.0 24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 45.0 -24.9) (float-vector 14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector 14.4 45.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector -14.4 45.0 24.9) (float-vector 14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector -14.4 45.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 -14.0 24.9) (float-vector -14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector -14.4 -14.0 24.9) (float-vector 14.4 -14.0 24.9) (float-vector 14.4 45.0 24.9) (float-vector -14.4 45.0 24.9))
:holes (list
(instance hole :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 6.7 -11.6047 24.9) (float-vector -1.421085e-14 -13.4 24.9) (float-vector -6.7 -11.6047 24.9) (float-vector -11.6047 -6.7 24.9) (float-vector -13.4 1.998401e-14 24.9) (float-vector -11.6047 6.7 24.9) (float-vector -6.7 11.6047 24.9) (float-vector 0.0 13.4 24.9) (float-vector 6.7 11.6047 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 13.4 8.881784e-15 24.9)))
))
(instance face :init :vertices (list (float-vector -14.4 -14.0 -24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 -14.0 24.9) (float-vector -14.4 -14.0 24.9)))
(instance face :init :vertices (list (float-vector 14.4 -14.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector 14.4 45.0 -24.9))
:holes (list
(instance hole :init :vertices (list (float-vector 6.7 -11.6047 -24.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 13.4 -4.884981e-15 -24.9) (float-vector 11.6047 6.7 -24.9) (float-vector 6.7 11.6047 -24.9) (float-vector -1.421085e-14 13.4 -24.9) (float-vector -6.7 11.6047 -24.9) (float-vector -11.6047 6.7 -24.9) (float-vector -13.4 6.217249e-15 -24.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -2.842171e-14 -13.4 -24.9)))
))
(instance face :init :vertices (list (float-vector 13.4 9.325873e-15 26.9) (float-vector 13.4 8.881784e-15 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 11.6047 6.7 26.9)))
(instance face :init :vertices (list (float-vector 13.4 -4.884981e-15 -24.9) (float-vector 13.4 -5.329071e-15 -26.9) (float-vector 11.6047 6.7 -26.9) (float-vector 11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector 6.7 11.6047 24.9) (float-vector 6.7 11.6047 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 11.6047 6.7 24.9)))
(instance face :init :vertices (list (float-vector 11.6047 6.7 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 6.7 11.6047 -24.9) (float-vector 11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector 0.0 13.4 24.9) (float-vector 0.0 13.4 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 6.7 11.6047 24.9)))
(instance face :init :vertices (list (float-vector 6.7 11.6047 -26.9) (float-vector -1.421085e-14 13.4 -26.9) (float-vector -1.421085e-14 13.4 -24.9) (float-vector 6.7 11.6047 -24.9)))
(instance face :init :vertices (list (float-vector -6.7 11.6047 24.9) (float-vector -6.7 11.6047 26.9) (float-vector 0.0 13.4 26.9) (float-vector 0.0 13.4 24.9)))
(instance face :init :vertices (list (float-vector -1.421085e-14 13.4 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector -6.7 11.6047 -24.9) (float-vector -1.421085e-14 13.4 -24.9)))
(instance face :init :vertices (list (float-vector -11.6047 6.7 24.9) (float-vector -11.6047 6.7 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -6.7 11.6047 24.9)))
(instance face :init :vertices (list (float-vector -6.7 11.6047 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -11.6047 6.7 -24.9) (float-vector -6.7 11.6047 -24.9)))
(instance face :init :vertices (list (float-vector -13.4 1.998401e-14 24.9) (float-vector -13.4 2.042810e-14 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -11.6047 6.7 24.9)))
(instance face :init :vertices (list (float-vector -11.6047 6.7 -26.9) (float-vector -13.4 5.773160e-15 -26.9) (float-vector -13.4 6.217249e-15 -24.9) (float-vector -11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector -11.6047 -6.7 24.9) (float-vector -11.6047 -6.7 26.9) (float-vector -13.4 2.042810e-14 26.9) (float-vector -13.4 1.998401e-14 24.9)))
(instance face :init :vertices (list (float-vector -13.4 5.773160e-15 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -13.4 6.217249e-15 -24.9)))
(instance face :init :vertices (list (float-vector -6.7 -11.6047 24.9) (float-vector -6.7 -11.6047 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -11.6047 -6.7 24.9)))
(instance face :init :vertices (list (float-vector -11.6047 -6.7 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -11.6047 -6.7 -24.9)))
(instance face :init :vertices (list (float-vector -1.421085e-14 -13.4 24.9) (float-vector -1.421085e-14 -13.4 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -6.7 -11.6047 24.9)))
(instance face :init :vertices (list (float-vector -6.7 -11.6047 -26.9) (float-vector -2.842171e-14 -13.4 -26.9) (float-vector -2.842171e-14 -13.4 -24.9) (float-vector -6.7 -11.6047 -24.9)))
(instance face :init :vertices (list (float-vector 6.7 -11.6047 24.9) (float-vector 6.7 -11.6047 26.9) (float-vector -1.421085e-14 -13.4 26.9) (float-vector -1.421085e-14 -13.4 24.9)))
(instance face :init :vertices (list (float-vector -2.842171e-14 -13.4 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector 6.7 -11.6047 -24.9) (float-vector -2.842171e-14 -13.4 -24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 11.6047 -6.7 26.9) (float-vector 6.7 -11.6047 26.9) (float-vector 6.7 -11.6047 24.9)))
(instance face :init :vertices (list (float-vector 6.7 -11.6047 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 6.7 -11.6047 -24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 26.9) (float-vector 13.4 9.325873e-15 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 0.0 13.4 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -13.4 2.042810e-14 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -1.421085e-14 -13.4 26.9) (float-vector 6.7 -11.6047 26.9)))
(instance face :init :vertices (list (float-vector 13.4 9.325873e-15 26.9) (float-vector 11.6047 -6.7 26.9) (float-vector 11.6047 -6.7 24.9) (float-vector 13.4 8.881784e-15 24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 -26.9) (float-vector 13.4 -5.329071e-15 -26.9) (float-vector 13.4 -4.884981e-15 -24.9) (float-vector 11.6047 -6.7 -24.9)))
(instance face :init :vertices (list (float-vector 13.4 -5.329071e-15 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector -2.842171e-14 -13.4 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -13.4 5.773160e-15 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector -1.421085e-14 13.4 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 11.6047 6.7 -26.9)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -41.4 -15.5 25.5) (float-vector -14.4 -15.5 25.5) (float-vector -14.4 46.5 25.5) (float-vector -41.4 46.5 25.5) (float-vector -41.4 45.0 25.5) (float-vector -15.9 45.0 25.5) (float-vector -15.9 -14.0 25.5) (float-vector -41.4 -14.0 25.5)))
(instance face :init :vertices (list (float-vector -14.4 -15.5 5.5) (float-vector -14.4 46.5 5.5) (float-vector -14.4 46.5 25.5) (float-vector -14.4 -15.5 25.5)))
(instance face :init :vertices (list (float-vector -41.4 -15.5 5.5) (float-vector -41.4 -14.0 5.5) (float-vector -15.9 -14.0 5.5) (float-vector -15.9 45.0 5.5) (float-vector -41.4 45.0 5.5) (float-vector -41.4 46.5 5.5) (float-vector -14.4 46.5 5.5) (float-vector -14.4 -15.5 5.5)))
(instance face :init :vertices (list (float-vector -48.4711 46.5 8.42893) (float-vector -41.4 46.5 5.5) (float-vector -41.4 45.0 5.5) (float-vector -48.4711 45.0 8.42893)))
(instance face :init :vertices (list (float-vector -48.4711 -15.5 8.42893) (float-vector -48.4711 -14.0 8.42893) (float-vector -41.4 -14.0 5.5) (float-vector -41.4 -15.5 5.5)))
(instance face :init :vertices (list (float-vector -51.4 46.5 15.5) (float-vector -48.4711 46.5 8.42893) (float-vector -48.4711 45.0 8.42893) (float-vector -51.4 45.0 15.5)))
(instance face :init :vertices (list (float-vector -51.4 -15.5 15.5) (float-vector -51.4 -14.0 15.5) (float-vector -48.4711 -14.0 8.42893) (float-vector -48.4711 -15.5 8.42893)))
(instance face :init :vertices (list (float-vector -48.4711 46.5 22.5711) (float-vector -51.4 46.5 15.5) (float-vector -51.4 45.0 15.5) (float-vector -48.4711 45.0 22.5711)))
(instance face :init :vertices (list (float-vector -48.4711 -15.5 22.5711) (float-vector -48.4711 -14.0 22.5711) (float-vector -51.4 -14.0 15.5) (float-vector -51.4 -15.5 15.5)))
(instance face :init :vertices (list (float-vector -41.4 46.5 25.5) (float-vector -14.4 46.5 25.5) (float-vector -14.4 46.5 5.5) (float-vector -41.4 46.5 5.5) (float-vector -48.4711 46.5 8.42893) (float-vector -51.4 46.5 15.5) (float-vector -48.4711 46.5 22.5711)))
(instance face :init :vertices (list (float-vector -48.4711 -15.5 22.5711) (float-vector -51.4 -15.5 15.5) (float-vector -48.4711 -15.5 8.42893) (float-vector -41.4 -15.5 5.5) (float-vector -14.4 -15.5 5.5) (float-vector -14.4 -15.5 25.5) (float-vector -41.4 -15.5 25.5)))
(instance face :init :vertices (list (float-vector -48.4711 46.5 22.5711) (float-vector -48.4711 45.0 22.5711) (float-vector -41.4 45.0 25.5) (float-vector -41.4 46.5 25.5)))
(instance face :init :vertices (list (float-vector -41.4 -15.5 25.5) (float-vector -41.4 -14.0 25.5) (float-vector -48.4711 -14.0 22.5711) (float-vector -48.4711 -15.5 22.5711)))
(instance face :init :vertices (list (float-vector -15.9 45.0 25.5) (float-vector -41.4 45.0 25.5) (float-vector -48.4711 45.0 22.5711) (float-vector -51.4 45.0 15.5) (float-vector -48.4711 45.0 8.42893) (float-vector -41.4 45.0 5.5) (float-vector -15.9 45.0 5.5)))
(instance face :init :vertices (list (float-vector -15.9 -14.0 25.5) (float-vector -15.9 45.0 25.5) (float-vector -15.9 45.0 5.5) (float-vector -15.9 -14.0 5.5)))
(instance face :init :vertices (list (float-vector -15.9 -14.0 5.5) (float-vector -41.4 -14.0 5.5) (float-vector -48.4711 -14.0 8.42893) (float-vector -51.4 -14.0 15.5) (float-vector -48.4711 -14.0 22.5711) (float-vector -41.4 -14.0 25.5) (float-vector -15.9 -14.0 25.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray40)
(send (elt bc 1) :set-color :gray90)
(setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-ankle-p :weight 117.299 :centroid (float-vector -2.10122 15.1489 1.36086) :inertia-tensor #2f((62192.3 86.5334 3484.87) (86.5334 38905.1 -56.0436) (3484.87 -56.0436 51669.5))))
;; definition of :lleg-ankle-r
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 14.4 -14.0 24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 45.0 -24.9) (float-vector 14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector 14.4 45.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector -14.4 45.0 24.9) (float-vector 14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector -14.4 45.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 -14.0 24.9) (float-vector -14.4 45.0 24.9)))
(instance face :init :vertices (list (float-vector -14.4 -14.0 24.9) (float-vector 14.4 -14.0 24.9) (float-vector 14.4 45.0 24.9) (float-vector -14.4 45.0 24.9))
:holes (list
(instance hole :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 6.7 -11.6047 24.9) (float-vector -3.197442e-14 -13.4 24.9) (float-vector -6.7 -11.6047 24.9) (float-vector -11.6047 -6.7 24.9) (float-vector -13.4 1.421085e-14 24.9) (float-vector -11.6047 6.7 24.9) (float-vector -6.7 11.6047 24.9) (float-vector 0.0 13.4 24.9) (float-vector 6.7 11.6047 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 13.4 0.0 24.9)))
))
(instance face :init :vertices (list (float-vector -14.4 -14.0 -24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 -14.0 24.9) (float-vector -14.4 -14.0 24.9)))
(instance face :init :vertices (list (float-vector 14.4 -14.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector 14.4 45.0 -24.9))
:holes (list
(instance hole :init :vertices (list (float-vector 6.7 -11.6047 -24.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 13.4 -3.552714e-15 -24.9) (float-vector 11.6047 6.7 -24.9) (float-vector 6.7 11.6047 -24.9) (float-vector 1.776357e-14 13.4 -24.9) (float-vector -6.7 11.6047 -24.9) (float-vector -11.6047 6.7 -24.9) (float-vector -13.4 1.421085e-14 -24.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -1.421085e-14 -13.4 -24.9)))
))
(instance face :init :vertices (list (float-vector 13.4 -3.552714e-15 26.9) (float-vector 13.4 0.0 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 11.6047 6.7 26.9)))
(instance face :init :vertices (list (float-vector 13.4 -3.552714e-15 -24.9) (float-vector 13.4 0.0 -26.9) (float-vector 11.6047 6.7 -26.9) (float-vector 11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector 6.7 11.6047 24.9) (float-vector 6.7 11.6047 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 11.6047 6.7 24.9)))
(instance face :init :vertices (list (float-vector 11.6047 6.7 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 6.7 11.6047 -24.9) (float-vector 11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector 0.0 13.4 24.9) (float-vector -3.552714e-15 13.4 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 6.7 11.6047 24.9)))
(instance face :init :vertices (list (float-vector 6.7 11.6047 -26.9) (float-vector 1.421085e-14 13.4 -26.9) (float-vector 1.776357e-14 13.4 -24.9) (float-vector 6.7 11.6047 -24.9)))
(instance face :init :vertices (list (float-vector -6.7 11.6047 24.9) (float-vector -6.7 11.6047 26.9) (float-vector -3.552714e-15 13.4 26.9) (float-vector 0.0 13.4 24.9)))
(instance face :init :vertices (list (float-vector 1.421085e-14 13.4 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector -6.7 11.6047 -24.9) (float-vector 1.776357e-14 13.4 -24.9)))
(instance face :init :vertices (list (float-vector -11.6047 6.7 24.9) (float-vector -11.6047 6.7 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -6.7 11.6047 24.9)))
(instance face :init :vertices (list (float-vector -6.7 11.6047 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -11.6047 6.7 -24.9) (float-vector -6.7 11.6047 -24.9)))
(instance face :init :vertices (list (float-vector -13.4 1.421085e-14 24.9) (float-vector -13.4 1.421085e-14 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -11.6047 6.7 24.9)))
(instance face :init :vertices (list (float-vector -11.6047 6.7 -26.9) (float-vector -13.4 1.421085e-14 -26.9) (float-vector -13.4 1.421085e-14 -24.9) (float-vector -11.6047 6.7 -24.9)))
(instance face :init :vertices (list (float-vector -11.6047 -6.7 24.9) (float-vector -11.6047 -6.7 26.9) (float-vector -13.4 1.421085e-14 26.9) (float-vector -13.4 1.421085e-14 24.9)))
(instance face :init :vertices (list (float-vector -13.4 1.421085e-14 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -13.4 1.421085e-14 -24.9)))
(instance face :init :vertices (list (float-vector -6.7 -11.6047 24.9) (float-vector -6.7 -11.6047 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -11.6047 -6.7 24.9)))
(instance face :init :vertices (list (float-vector -11.6047 -6.7 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -11.6047 -6.7 -24.9)))
(instance face :init :vertices (list (float-vector -3.197442e-14 -13.4 24.9) (float-vector -3.197442e-14 -13.4 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -6.7 -11.6047 24.9)))
(instance face :init :vertices (list (float-vector -6.7 -11.6047 -26.9) (float-vector -1.421085e-14 -13.4 -26.9) (float-vector -1.421085e-14 -13.4 -24.9) (float-vector -6.7 -11.6047 -24.9)))
(instance face :init :vertices (list (float-vector 6.7 -11.6047 24.9) (float-vector 6.7 -11.6047 26.9) (float-vector -3.197442e-14 -13.4 26.9) (float-vector -3.197442e-14 -13.4 24.9)))
(instance face :init :vertices (list (float-vector -1.421085e-14 -13.4 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector 6.7 -11.6047 -24.9) (float-vector -1.421085e-14 -13.4 -24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 11.6047 -6.7 26.9) (float-vector 6.7 -11.6047 26.9) (float-vector 6.7 -11.6047 24.9)))
(instance face :init :vertices (list (float-vector 6.7 -11.6047 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 6.7 -11.6047 -24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 26.9) (float-vector 13.4 -3.552714e-15 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 6.7 11.6047 26.9) (float-vector -3.552714e-15 13.4 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -13.4 1.421085e-14 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -3.197442e-14 -13.4 26.9) (float-vector 6.7 -11.6047 26.9)))
(instance face :init :vertices (list (float-vector 13.4 -3.552714e-15 26.9) (float-vector 11.6047 -6.7 26.9) (float-vector 11.6047 -6.7 24.9) (float-vector 13.4 0.0 24.9)))
(instance face :init :vertices (list (float-vector 11.6047 -6.7 -26.9) (float-vector 13.4 0.0 -26.9) (float-vector 13.4 -3.552714e-15 -24.9) (float-vector 11.6047 -6.7 -24.9)))
(instance face :init :vertices (list (float-vector 13.4 0.0 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector -1.421085e-14 -13.4 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -13.4 1.421085e-14 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector 1.421085e-14 13.4 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 11.6047 6.7 -26.9)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -14.4 45.0 25.0) (float-vector -14.4 -14.0 25.0) (float-vector -14.4 -14.0 -80.0) (float-vector -14.4 45.0 -80.0)))
(instance face :init :vertices (list (float-vector -25.4 -14.0 25.0) (float-vector -25.4 45.0 25.0) (float-vector -25.4 45.0 -80.0) (float-vector -25.4 -14.0 -80.0)))
(instance face :init :vertices (list (float-vector -14.4 45.0 25.0) (float-vector -25.4 45.0 25.0) (float-vector -25.4 -14.0 25.0) (float-vector -14.4 -14.0 25.0)))
(instance face :init :vertices (list (float-vector -14.4 45.0 -80.0) (float-vector -25.4 45.0 -80.0) (float-vector -25.4 45.0 25.0) (float-vector -14.4 45.0 25.0)))
(instance face :init :vertices (list (float-vector -14.4 -14.0 -80.0) (float-vector -25.4 -14.0 -80.0) (float-vector -25.4 45.0 -80.0) (float-vector -14.4 45.0 -80.0)))
(instance face :init :vertices (list (float-vector -14.4 -14.0 25.0) (float-vector -25.4 -14.0 25.0) (float-vector -25.4 -14.0 -80.0) (float-vector -14.4 -14.0 -80.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -9.4 40.5 -34.5) (float-vector -9.4 -9.5 -34.5) (float-vector 20.6 0.5 -34.5) (float-vector 20.6 30.5 -34.5)))
(instance face :init :vertices (list (float-vector -9.4 -9.5 -79.5) (float-vector -9.4 40.5 -79.5) (float-vector 20.6 30.5 -79.5) (float-vector 20.6 0.5 -79.5)))
(instance face :init :vertices (list (float-vector -9.4 40.5 -34.5) (float-vector -9.4 40.5 -79.5) (float-vector -9.4 -9.5 -79.5) (float-vector -9.4 -9.5 -34.5)))
(instance face :init :vertices (list (float-vector 20.6 30.5 -34.5) (float-vector 20.6 30.5 -79.5) (float-vector -9.4 40.5 -79.5) (float-vector -9.4 40.5 -34.5)))
(instance face :init :vertices (list (float-vector 20.6 0.5 -34.5) (float-vector 20.6 0.5 -79.5) (float-vector 20.6 30.5 -79.5) (float-vector 20.6 30.5 -34.5)))
(instance face :init :vertices (list (float-vector -9.4 -9.5 -34.5) (float-vector -9.4 -9.5 -79.5) (float-vector 20.6 0.5 -79.5) (float-vector 20.6 0.5 -34.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray40)
(send (elt bc 1) :set-color :lightgoldenrod)
(send (elt bc 2) :set-color :yellow)
(setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-ankle-r :weight 272.0 :centroid (float-vector 0.855699 15.3486 -32.4081) :inertia-tensor #2f((3.325687e+05 -35.2398 17464.8) (-35.2398 2.944474e+05 1334.64) (17464.8 1334.64 95995.8))))
;; definition of :larm-collar-y
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 14.4 0.0 -31.0) (float-vector 14.4 30.0 -31.0) (float-vector 14.4 30.0 31.0) (float-vector 14.4 0.0 31.0) (float-vector 14.4 0.0 29.5) (float-vector 14.4 28.5 29.5) (float-vector 14.4 28.5 -29.5) (float-vector 14.4 0.0 -29.5)))
(instance face :init :vertices (list (float-vector -14.4 30.0 -31.0) (float-vector -14.4 30.0 31.0) (float-vector 14.4 30.0 31.0) (float-vector 14.4 30.0 -31.0)))
(instance face :init :vertices (list (float-vector -14.4 0.0 -31.0) (float-vector -14.4 0.0 -29.5) (float-vector -14.4 28.5 -29.5) (float-vector -14.4 28.5 29.5) (float-vector -14.4 0.0 29.5) (float-vector -14.4 0.0 31.0) (float-vector -14.4 30.0 31.0) (float-vector -14.4 30.0 -31.0)))
(instance face :init :vertices (list (float-vector -10.1823 -10.1823 31.0) (float-vector -14.4 0.0 31.0) (float-vector -14.4 0.0 29.5) (float-vector -10.1823 -10.1823 29.5)))
(instance face :init :vertices (list (float-vector -10.1823 -10.1823 -31.0) (float-vector -10.1823 -10.1823 -29.5) (float-vector -14.4 0.0 -29.5) (float-vector -14.4 0.0 -31.0)))
(instance face :init :vertices (list (float-vector -4.440892e-16 -14.4 31.0) (float-vector -10.1823 -10.1823 31.0) (float-vector -10.1823 -10.1823 29.5) (float-vector 0.0 -14.4 29.5)))
(instance face :init :vertices (list (float-vector 0.0 -14.4 -31.0) (float-vector 0.0 -14.4 -29.5) (float-vector -10.1823 -10.1823 -29.5) (float-vector -10.1823 -10.1823 -31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 31.0) (float-vector -4.440892e-16 -14.4 31.0) (float-vector 0.0 -14.4 29.5) (float-vector 10.1823 -10.1823 29.5)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 -31.0) (float-vector 10.1823 -10.1823 -29.5) (float-vector 0.0 -14.4 -29.5) (float-vector 0.0 -14.4 -31.0)))
(instance face :init :vertices (list (float-vector 14.4 0.0 31.0) (float-vector 14.4 30.0 31.0) (float-vector -14.4 30.0 31.0) (float-vector -14.4 0.0 31.0) (float-vector -10.1823 -10.1823 31.0) (float-vector -4.440892e-16 -14.4 31.0) (float-vector 10.1823 -10.1823 31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 -31.0) (float-vector 0.0 -14.4 -31.0) (float-vector -10.1823 -10.1823 -31.0) (float-vector -14.4 0.0 -31.0) (float-vector -14.4 30.0 -31.0) (float-vector 14.4 30.0 -31.0) (float-vector 14.4 0.0 -31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 31.0) (float-vector 10.1823 -10.1823 29.5) (float-vector 14.4 0.0 29.5) (float-vector 14.4 0.0 31.0)))
(instance face :init :vertices (list (float-vector 14.4 0.0 -31.0) (float-vector 14.4 0.0 -29.5) (float-vector 10.1823 -10.1823 -29.5) (float-vector 10.1823 -10.1823 -31.0)))
(instance face :init :vertices (list (float-vector 14.4 28.5 29.5) (float-vector 14.4 0.0 29.5) (float-vector 10.1823 -10.1823 29.5) (float-vector 0.0 -14.4 29.5) (float-vector -10.1823 -10.1823 29.5) (float-vector -14.4 0.0 29.5) (float-vector -14.4 28.5 29.5)))
(instance face :init :vertices (list (float-vector 14.4 28.5 -29.5) (float-vector 14.4 28.5 29.5) (float-vector -14.4 28.5 29.5) (float-vector -14.4 28.5 -29.5)))
(instance face :init :vertices (list (float-vector -14.4 28.5 -29.5) (float-vector -14.4 0.0 -29.5) (float-vector -10.1823 -10.1823 -29.5) (float-vector 0.0 -14.4 -29.5) (float-vector 10.1823 -10.1823 -29.5) (float-vector 14.4 0.0 -29.5) (float-vector 14.4 28.5 -29.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -14.0 39.1 -31.0) (float-vector -14.0 88.9 -31.0) (float-vector 45.0 88.9 -31.0) (float-vector 45.0 39.1 -31.0)))
(instance face :init :vertices (list (float-vector 45.0 88.9 -31.0) (float-vector 45.0 88.9 -2.2) (float-vector 45.0 39.1 -2.2) (float-vector 45.0 39.1 -31.0)))
(instance face :init :vertices (list (float-vector 45.0 88.9 -2.2) (float-vector -14.0 88.9 -2.2) (float-vector -14.0 39.1 -2.2) (float-vector 45.0 39.1 -2.2)))
(instance face :init :vertices (list (float-vector -14.0 39.1 -2.2) (float-vector -14.0 39.1 -31.0) (float-vector 45.0 39.1 -31.0) (float-vector 45.0 39.1 -2.2))
:holes (list
(instance hole :init :vertices (list (float-vector -6.7 39.1 -28.2047) (float-vector -11.6047 39.1 -23.3) (float-vector -13.4 39.1 -16.6) (float-vector -11.6047 39.1 -9.9) (float-vector -6.7 39.1 -4.99526) (float-vector 1.332268e-14 39.1 -3.2) (float-vector 6.7 39.1 -4.99526) (float-vector 11.6047 39.1 -9.9) (float-vector 13.4 39.1 -16.6) (float-vector 11.6047 39.1 -23.3) (float-vector 6.7 39.1 -28.2047) (float-vector -1.776357e-15 39.1 -30.0)))
))
(instance face :init :vertices (list (float-vector -14.0 88.9 -2.2) (float-vector -14.0 88.9 -31.0) (float-vector -14.0 39.1 -31.0) (float-vector -14.0 39.1 -2.2)))
(instance face :init :vertices (list (float-vector -14.0 88.9 -31.0) (float-vector -14.0 88.9 -2.2) (float-vector 45.0 88.9 -2.2) (float-vector 45.0 88.9 -31.0))
:holes (list
(instance hole :init :vertices (list (float-vector -11.6047 88.9 -23.3) (float-vector -6.7 88.9 -28.2047) (float-vector 4.440892e-15 88.9 -30.0) (float-vector 6.7 88.9 -28.2047) (float-vector 11.6047 88.9 -23.3) (float-vector 13.4 88.9 -16.6) (float-vector 11.6047 88.9 -9.9) (float-vector 6.7 88.9 -4.99526) (float-vector 1.865175e-14 88.9 -3.2) (float-vector -6.7 88.9 -4.99526) (float-vector -11.6047 88.9 -9.9) (float-vector -13.4 88.9 -16.6)))
))
(instance face :init :vertices (list (float-vector -1.776357e-15 37.1 -30.0) (float-vector -1.776357e-15 39.1 -30.0) (float-vector 6.7 39.1 -28.2047) (float-vector 6.7 37.1 -28.2047)))
(instance face :init :vertices (list (float-vector 4.440892e-15 88.9 -30.0) (float-vector 4.440892e-15 90.9 -30.0) (float-vector 6.7 90.9 -28.2047) (float-vector 6.7 88.9 -28.2047)))
(instance face :init :vertices (list (float-vector 11.6047 39.1 -23.3) (float-vector 11.6047 37.1 -23.3) (float-vector 6.7 37.1 -28.2047) (float-vector 6.7 39.1 -28.2047)))
(instance face :init :vertices (list (float-vector 6.7 90.9 -28.2047) (float-vector 11.6047 90.9 -23.3) (float-vector 11.6047 88.9 -23.3) (float-vector 6.7 88.9 -28.2047)))
(instance face :init :vertices (list (float-vector 13.4 39.1 -16.6) (float-vector 13.4 37.1 -16.6) (float-vector 11.6047 37.1 -23.3) (float-vector 11.6047 39.1 -23.3)))
(instance face :init :vertices (list (float-vector 11.6047 90.9 -23.3) (float-vector 13.4 90.9 -16.6) (float-vector 13.4 88.9 -16.6) (float-vector 11.6047 88.9 -23.3)))
(instance face :init :vertices (list (float-vector 11.6047 39.1 -9.9) (float-vector 11.6047 37.1 -9.9) (float-vector 13.4 37.1 -16.6) (float-vector 13.4 39.1 -16.6)))
(instance face :init :vertices (list (float-vector 13.4 90.9 -16.6) (float-vector 11.6047 90.9 -9.9) (float-vector 11.6047 88.9 -9.9) (float-vector 13.4 88.9 -16.6)))
(instance face :init :vertices (list (float-vector 6.7 39.1 -4.99526) (float-vector 6.7 37.1 -4.99526) (float-vector 11.6047 37.1 -9.9) (float-vector 11.6047 39.1 -9.9)))
(instance face :init :vertices (list (float-vector 11.6047 90.9 -9.9) (float-vector 6.7 90.9 -4.99526) (float-vector 6.7 88.9 -4.99526) (float-vector 11.6047 88.9 -9.9)))
(instance face :init :vertices (list (float-vector 1.332268e-14 39.1 -3.2) (float-vector 1.332268e-14 37.1 -3.2) (float-vector 6.7 37.1 -4.99526) (float-vector 6.7 39.1 -4.99526)))
(instance face :init :vertices (list (float-vector 6.7 90.9 -4.99526) (float-vector 1.909584e-14 90.9 -3.2) (float-vector 1.865175e-14 88.9 -3.2) (float-vector 6.7 88.9 -4.99526)))
(instance face :init :vertices (list (float-vector -6.7 39.1 -4.99526) (float-vector -6.7 37.1 -4.99526) (float-vector 1.332268e-14 37.1 -3.2) (float-vector 1.332268e-14 39.1 -3.2)))
(instance face :init :vertices (list (float-vector 1.909584e-14 90.9 -3.2) (float-vector -6.7 90.9 -4.99526) (float-vector -6.7 88.9 -4.99526) (float-vector 1.865175e-14 88.9 -3.2)))
(instance face :init :vertices (list (float-vector -11.6047 39.1 -9.9) (float-vector -11.6047 37.1 -9.9) (float-vector -6.7 37.1 -4.99526) (float-vector -6.7 39.1 -4.99526)))
(instance face :init :vertices (list (float-vector -6.7 90.9 -4.99526) (float-vector -11.6047 90.9 -9.9) (float-vector -11.6047 88.9 -9.9) (float-vector -6.7 88.9 -4.99526)))
(instance face :init :vertices (list (float-vector -13.4 39.1 -16.6) (float-vector -13.4 37.1 -16.6) (float-vector -11.6047 37.1 -9.9) (float-vector -11.6047 39.1 -9.9)))
(instance face :init :vertices (list (float-vector -11.6047 90.9 -9.9) (float-vector -13.4 90.9 -16.6) (float-vector -13.4 88.9 -16.6) (float-vector -11.6047 88.9 -9.9)))
(instance face :init :vertices (list (float-vector -11.6047 39.1 -23.3) (float-vector -11.6047 37.1 -23.3) (float-vector -13.4 37.1 -16.6) (float-vector -13.4 39.1 -16.6)))
(instance face :init :vertices (list (float-vector -13.4 90.9 -16.6) (float-vector -11.6047 90.9 -23.3) (float-vector -11.6047 88.9 -23.3) (float-vector -13.4 88.9 -16.6)))
(instance face :init :vertices (list (float-vector -6.7 39.1 -28.2047) (float-vector -6.7 37.1 -28.2047) (float-vector -11.6047 37.1 -23.3) (float-vector -11.6047 39.1 -23.3)))
(instance face :init :vertices (list (float-vector -11.6047 90.9 -23.3) (float-vector -6.7 90.9 -28.2047) (float-vector -6.7 88.9 -28.2047) (float-vector -11.6047 88.9 -23.3)))
(instance face :init :vertices (list (float-vector -6.7 37.1 -28.2047) (float-vector -1.776357e-15 37.1 -30.0) (float-vector 6.7 37.1 -28.2047) (float-vector 11.6047 37.1 -23.3) (float-vector 13.4 37.1 -16.6) (float-vector 11.6047 37.1 -9.9) (float-vector 6.7 37.1 -4.99526) (float-vector 1.332268e-14 37.1 -3.2) (float-vector -6.7 37.1 -4.99526) (float-vector -11.6047 37.1 -9.9) (float-vector -13.4 37.1 -16.6) (float-vector -11.6047 37.1 -23.3)))
(instance face :init :vertices (list (float-vector -1.776357e-15 37.1 -30.0) (float-vector -6.7 37.1 -28.2047) (float-vector -6.7 39.1 -28.2047) (float-vector -1.776357e-15 39.1 -30.0)))
(instance face :init :vertices (list (float-vector -6.7 90.9 -28.2047) (float-vector 4.440892e-15 90.9 -30.0) (float-vector 4.440892e-15 88.9 -30.0) (float-vector -6.7 88.9 -28.2047)))
(instance face :init :vertices (list (float-vector 4.440892e-15 90.9 -30.0) (float-vector -6.7 90.9 -28.2047) (float-vector -11.6047 90.9 -23.3) (float-vector -13.4 90.9 -16.6) (float-vector -11.6047 90.9 -9.9) (float-vector -6.7 90.9 -4.99526) (float-vector 1.909584e-14 90.9 -3.2) (float-vector 6.7 90.9 -4.99526) (float-vector 11.6047 90.9 -9.9) (float-vector 13.4 90.9 -16.6) (float-vector 11.6047 90.9 -23.3) (float-vector 6.7 90.9 -28.2047)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(send (elt bc 1) :set-color :gray40)
(setq blink6 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-collar-y :weight 123.255 :centroid (float-vector 13.1217 57.9325 -14.4107) :inertia-tensor #2f((77179.3 -9813.0 3540.77) (-9813.0 57246.6 10777.0) (3540.77 10777.0 90705.8))))
;; definition of :larm-shoulder-p
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 14.4 -5.684342e-14 -31.0) (float-vector 14.4 30.0 -31.0) (float-vector 14.4 30.0 31.0) (float-vector 14.4 0.0 31.0) (float-vector 14.4 0.0 29.5) (float-vector 14.4 28.5 29.5) (float-vector 14.4 28.5 -29.5) (float-vector 14.4 -5.684342e-14 -29.5)))
(instance face :init :vertices (list (float-vector -14.4 30.0 -31.0) (float-vector -14.4 30.0 31.0) (float-vector 14.4 30.0 31.0) (float-vector 14.4 30.0 -31.0)))
(instance face :init :vertices (list (float-vector -14.4 -5.684342e-14 -31.0) (float-vector -14.4 -5.684342e-14 -29.5) (float-vector -14.4 28.5 -29.5) (float-vector -14.4 28.5 29.5) (float-vector -14.4 0.0 29.5) (float-vector -14.4 0.0 31.0) (float-vector -14.4 30.0 31.0) (float-vector -14.4 30.0 -31.0)))
(instance face :init :vertices (list (float-vector -10.1823 -10.1823 31.0) (float-vector -14.4 0.0 31.0) (float-vector -14.4 0.0 29.5) (float-vector -10.1823 -10.1823 29.5)))
(instance face :init :vertices (list (float-vector -10.1823 -10.1823 -31.0) (float-vector -10.1823 -10.1823 -29.5) (float-vector -14.4 -5.684342e-14 -29.5) (float-vector -14.4 -5.684342e-14 -31.0)))
(instance face :init :vertices (list (float-vector 4.440892e-16 -14.4 31.0) (float-vector -10.1823 -10.1823 31.0) (float-vector -10.1823 -10.1823 29.5) (float-vector 4.440892e-16 -14.4 29.5)))
(instance face :init :vertices (list (float-vector 4.440892e-16 -14.4 -31.0) (float-vector 4.440892e-16 -14.4 -29.5) (float-vector -10.1823 -10.1823 -29.5) (float-vector -10.1823 -10.1823 -31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 31.0) (float-vector 4.440892e-16 -14.4 31.0) (float-vector 4.440892e-16 -14.4 29.5) (float-vector 10.1823 -10.1823 29.5)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 -31.0) (float-vector 10.1823 -10.1823 -29.5) (float-vector 4.440892e-16 -14.4 -29.5) (float-vector 4.440892e-16 -14.4 -31.0)))
(instance face :init :vertices (list (float-vector 14.4 0.0 31.0) (float-vector 14.4 30.0 31.0) (float-vector -14.4 30.0 31.0) (float-vector -14.4 0.0 31.0) (float-vector -10.1823 -10.1823 31.0) (float-vector 4.440892e-16 -14.4 31.0) (float-vector 10.1823 -10.1823 31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 -31.0) (float-vector 4.440892e-16 -14.4 -31.0) (float-vector -10.1823 -10.1823 -31.0) (float-vector -14.4 -5.684342e-14 -31.0) (float-vector -14.4 30.0 -31.0) (float-vector 14.4 30.0 -31.0) (float-vector 14.4 -5.684342e-14 -31.0)))
(instance face :init :vertices (list (float-vector 10.1823 -10.1823 31.0) (float-vector 10.1823 -10.1823 29.5) (float-vector 14.4 0.0 29.5) (float-vector 14.4 0.0 31.0)))
(instance face :init :vertices (list (float-vector 14.4 -5.684342e-14 -31.0) (float-vector 14.4 -5.684342e-14 -29.5) (float-vector 10.1823 -10.1823 -29.5) (float-vector 10.1823 -10.1823 -31.0)))
(instance face :init :vertices (list (float-vector 14.4 28.5 29.5) (float-vector 14.4 0.0 29.5) (float-vector 10.1823 -10.1823 29.5) (float-vector 4.440892e-16 -14.4 29.5) (float-vector -10.1823 -10.1823 29.5) (float-vector -14.4 0.0 29.5) (float-vector -14.4 28.5 29.5)))
(instance face :init :vertices (list (float-vector 14.4 28.5 -29.5) (float-vector 14.4 28.5 29.5) (float-vector -14.4 28.5 29.5) (float-vector -14.4 28.5 -29.5)))
(instance face :init :vertices (list (float-vector -14.4 28.5 -29.5) (float-vector -14.4 -5.684342e-14 -29.5) (float-vector -10.1823 -10.1823 -29.5) (float-vector 4.440892e-16 -14.4 -29.5) (float-vector 10.1823 -10.1823 -29.5) (float-vector 14.4 -5.684342e-14 -29.5) (float-vector 14.4 28.5 -29.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 66.0 22.5) (float-vector -10.0 66.0 22.5) (float-vector -10.0 30.0 22.5) (float-vector 10.0 30.0 22.5)))
(instance face :init :vertices (list (float-vector -10.0 66.0 -22.5) (float-vector 10.0 66.0 -22.5) (float-vector 10.0 30.0 -22.5) (float-vector -10.0 30.0 -22.5)))
(instance face :init :vertices (list (float-vector 10.0 66.0 22.5) (float-vector 10.0 66.0 -22.5) (float-vector -10.0 66.0 -22.5) (float-vector -10.0 66.0 22.5)))
(instance face :init :vertices (list (float-vector 10.0 30.0 22.5) (float-vector 10.0 30.0 -22.5) (float-vector 10.0 66.0 -22.5) (float-vector 10.0 66.0 22.5)))
(instance face :init :vertices (list (float-vector -10.0 30.0 22.5) (float-vector -10.0 30.0 -22.5) (float-vector 10.0 30.0 -22.5) (float-vector 10.0 30.0 22.5)))
(instance face :init :vertices (list (float-vector -10.0 66.0 22.5) (float-vector -10.0 66.0 -22.5) (float-vector -10.0 30.0 -22.5) (float-vector -10.0 30.0 22.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -10.0 95.0 -24.0) (float-vector -10.0 66.0 -24.0) (float-vector -10.0 66.0 24.0) (float-vector -10.0 95.0 24.0) (float-vector -10.0 95.0 22.5) (float-vector -10.0 67.5 22.5) (float-vector -10.0 67.5 -22.5) (float-vector -10.0 95.0 -22.5)))
(instance face :init :vertices (list (float-vector 10.0 66.0 -24.0) (float-vector 10.0 66.0 24.0) (float-vector -10.0 66.0 24.0) (float-vector -10.0 66.0 -24.0)))
(instance face :init :vertices (list (float-vector 10.0 95.0 -24.0) (float-vector 10.0 95.0 -22.5) (float-vector 10.0 67.5 -22.5) (float-vector 10.0 67.5 22.5) (float-vector 10.0 95.0 22.5) (float-vector 10.0 95.0 24.0) (float-vector 10.0 66.0 24.0) (float-vector 10.0 66.0 -24.0)))
(instance face :init :vertices (list (float-vector 7.07107 102.071 24.0) (float-vector 10.0 95.0 24.0) (float-vector 10.0 95.0 22.5) (float-vector 7.07107 102.071 22.5)))
(instance face :init :vertices (list (float-vector 7.07107 102.071 -24.0) (float-vector 7.07107 102.071 -22.5) (float-vector 10.0 95.0 -22.5) (float-vector 10.0 95.0 -24.0)))
(instance face :init :vertices (list (float-vector 6.661338e-15 105.0 24.0) (float-vector 7.07107 102.071 24.0) (float-vector 7.07107 102.071 22.5) (float-vector 6.661338e-15 105.0 22.5)))
(instance face :init :vertices (list (float-vector 7.105427e-15 105.0 -24.0) (float-vector 6.661338e-15 105.0 -22.5) (float-vector 7.07107 102.071 -22.5) (float-vector 7.07107 102.071 -24.0)))
(instance face :init :vertices (list (float-vector -7.07107 102.071 24.0) (float-vector 6.661338e-15 105.0 24.0) (float-vector 6.661338e-15 105.0 22.5) (float-vector -7.07107 102.071 22.5)))
(instance face :init :vertices (list (float-vector -7.07107 102.071 -24.0) (float-vector -7.07107 102.071 -22.5) (float-vector 6.661338e-15 105.0 -22.5) (float-vector 7.105427e-15 105.0 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 95.0 24.0) (float-vector -10.0 66.0 24.0) (float-vector 10.0 66.0 24.0) (float-vector 10.0 95.0 24.0) (float-vector 7.07107 102.071 24.0) (float-vector 6.661338e-15 105.0 24.0) (float-vector -7.07107 102.071 24.0)))
(instance face :init :vertices (list (float-vector -7.07107 102.071 -24.0) (float-vector 7.105427e-15 105.0 -24.0) (float-vector 7.07107 102.071 -24.0) (float-vector 10.0 95.0 -24.0) (float-vector 10.0 66.0 -24.0) (float-vector -10.0 66.0 -24.0) (float-vector -10.0 95.0 -24.0)))
(instance face :init :vertices (list (float-vector -7.07107 102.071 24.0) (float-vector -7.07107 102.071 22.5) (float-vector -10.0 95.0 22.5) (float-vector -10.0 95.0 24.0)))
(instance face :init :vertices (list (float-vector -10.0 95.0 -24.0) (float-vector -10.0 95.0 -22.5) (float-vector -7.07107 102.071 -22.5) (float-vector -7.07107 102.071 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 67.5 22.5) (float-vector -10.0 95.0 22.5) (float-vector -7.07107 102.071 22.5) (float-vector 6.661338e-15 105.0 22.5) (float-vector 7.07107 102.071 22.5) (float-vector 10.0 95.0 22.5) (float-vector 10.0 67.5 22.5)))
(instance face :init :vertices (list (float-vector -10.0 67.5 -22.5) (float-vector -10.0 67.5 22.5) (float-vector 10.0 67.5 22.5) (float-vector 10.0 67.5 -22.5)))
(instance face :init :vertices (list (float-vector 10.0 67.5 -22.5) (float-vector 10.0 95.0 -22.5) (float-vector 7.07107 102.071 -22.5) (float-vector 6.661338e-15 105.0 -22.5) (float-vector -7.07107 102.071 -22.5) (float-vector -10.0 95.0 -22.5) (float-vector -10.0 67.5 -22.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(send (elt bc 1) :set-color :gray40)
(send (elt bc 2) :set-color :gray90)
(setq blink7 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-shoulder-p :weight 30.744 :centroid (float-vector 3.788331e-14 41.2253 3.907985e-13) :inertia-tensor #2f((42047.1 1.051607e-11 -1.865120e-12) (1.051607e-11 16800.8 1.004419e-11) (-1.865120e-12 1.004419e-11 28459.3))))
;; definition of :larm-elbow-p
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 -10.0 20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 30.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 30.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector -10.0 30.0 20.0) (float-vector 10.0 30.0 20.0)))
(instance face :init :vertices (list (float-vector -10.0 30.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 30.0 20.0)))
(instance face :init :vertices (list (float-vector -10.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0) (float-vector 10.0 30.0 20.0) (float-vector -10.0 30.0 20.0))
:holes (list
(instance hole :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 4.5 -7.79423 20.0) (float-vector -1.554312e-14 -9.0 20.0) (float-vector -4.5 -7.79423 20.0) (float-vector -7.79423 -4.5 20.0) (float-vector -9.0 0.0 20.0) (float-vector -7.79423 4.5 20.0) (float-vector -4.5 7.79423 20.0) (float-vector 4.884981e-15 9.0 20.0) (float-vector 4.5 7.79423 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 9.0 0.0 20.0)))
))
(instance face :init :vertices (list (float-vector -10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 -10.0 20.0) (float-vector -10.0 -10.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 -10.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector 10.0 30.0 -20.0))
:holes (list
(instance hole :init :vertices (list (float-vector 4.5 -7.79423 -20.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 9.0 5.684342e-14 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 5.329071e-15 9.0 -20.0) (float-vector -4.5 7.79423 -20.0) (float-vector -7.79423 4.5 -20.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -1.509903e-14 -9.0 -20.0)))
))
(instance face :init :vertices (list (float-vector 9.0 0.0 22.0) (float-vector 9.0 0.0 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 7.79423 4.5 22.0)))
(instance face :init :vertices (list (float-vector 9.0 5.684342e-14 -20.0) (float-vector 9.0 5.684342e-14 -22.0) (float-vector 7.79423 4.5 -22.0) (float-vector 7.79423 4.5 -20.0)))
(instance face :init :vertices (list (float-vector 4.5 7.79423 20.0) (float-vector 4.5 7.79423 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 7.79423 4.5 20.0)))
(instance face :init :vertices (list (float-vector 7.79423 4.5 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 4.5 7.79423 -20.0) (float-vector 7.79423 4.5 -20.0)))
(instance face :init :vertices (list (float-vector 4.884981e-15 9.0 20.0) (float-vector 5.329071e-15 9.0 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 4.5 7.79423 20.0)))
(instance face :init :vertices (list (float-vector 4.5 7.79423 -22.0) (float-vector 5.329071e-15 9.0 -22.0) (float-vector 5.329071e-15 9.0 -20.0) (float-vector 4.5 7.79423 -20.0)))
(instance face :init :vertices (list (float-vector -4.5 7.79423 20.0) (float-vector -4.5 7.79423 22.0) (float-vector 5.329071e-15 9.0 22.0) (float-vector 4.884981e-15 9.0 20.0)))
(instance face :init :vertices (list (float-vector 5.329071e-15 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 5.329071e-15 9.0 -20.0)))
(instance face :init :vertices (list (float-vector -7.79423 4.5 20.0) (float-vector -7.79423 4.5 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -4.5 7.79423 20.0)))
(instance face :init :vertices (list (float-vector -4.5 7.79423 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -7.79423 4.5 -20.0) (float-vector -4.5 7.79423 -20.0)))
(instance face :init :vertices (list (float-vector -9.0 0.0 20.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -7.79423 4.5 20.0)))
(instance face :init :vertices (list (float-vector -7.79423 4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 4.5 -20.0)))
(instance face :init :vertices (list (float-vector -7.79423 -4.5 20.0) (float-vector -7.79423 -4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -9.0 0.0 20.0)))
(instance face :init :vertices (list (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -9.0 0.0 -20.0)))
(instance face :init :vertices (list (float-vector -4.5 -7.79423 20.0) (float-vector -4.5 -7.79423 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -7.79423 -4.5 20.0)))
(instance face :init :vertices (list (float-vector -7.79423 -4.5 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -7.79423 -4.5 -20.0)))
(instance face :init :vertices (list (float-vector -1.554312e-14 -9.0 20.0) (float-vector -1.509903e-14 -9.0 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -4.5 -7.79423 20.0)))
(instance face :init :vertices (list (float-vector -4.5 -7.79423 -22.0) (float-vector -1.509903e-14 -9.0 -22.0) (float-vector -1.509903e-14 -9.0 -20.0) (float-vector -4.5 -7.79423 -20.0)))
(instance face :init :vertices (list (float-vector 4.5 -7.79423 20.0) (float-vector 4.5 -7.79423 22.0) (float-vector -1.509903e-14 -9.0 22.0) (float-vector -1.554312e-14 -9.0 20.0)))
(instance face :init :vertices (list (float-vector -1.509903e-14 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector -1.509903e-14 -9.0 -20.0)))
(instance face :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 7.79423 -4.5 22.0) (float-vector 4.5 -7.79423 22.0) (float-vector 4.5 -7.79423 20.0)))
(instance face :init :vertices (list (float-vector 4.5 -7.79423 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 4.5 -7.79423 -20.0)))
(instance face :init :vertices (list (float-vector 7.79423 -4.5 22.0) (float-vector 9.0 0.0 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 5.329071e-15 9.0 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -1.509903e-14 -9.0 22.0) (float-vector 4.5 -7.79423 22.0)))
(instance face :init :vertices (list (float-vector 9.0 0.0 22.0) (float-vector 7.79423 -4.5 22.0) (float-vector 7.79423 -4.5 20.0) (float-vector 9.0 0.0 20.0)))
(instance face :init :vertices (list (float-vector 7.79423 -4.5 -22.0) (float-vector 9.0 5.684342e-14 -22.0) (float-vector 9.0 5.684342e-14 -20.0) (float-vector 7.79423 -4.5 -20.0)))
(instance face :init :vertices (list (float-vector 9.0 5.684342e-14 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector -1.509903e-14 -9.0 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector 5.329071e-15 9.0 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 7.79423 4.5 -22.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 30.0 20.0) (float-vector 10.0 30.0 -12.0) (float-vector 10.0 75.0 -12.0) (float-vector 10.0 75.0 21.5) (float-vector 10.0 20.0 21.5) (float-vector 10.0 20.0 20.0)))
(instance face :init :vertices (list (float-vector -10.0 30.0 -12.0) (float-vector -10.0 30.0 20.0) (float-vector -10.0 20.0 20.0) (float-vector -10.0 20.0 21.5) (float-vector -10.0 75.0 21.5) (float-vector -10.0 75.0 -12.0)))
(instance face :init :vertices (list (float-vector 10.0 30.0 20.0) (float-vector -10.0 30.0 20.0) (float-vector -10.0 30.0 -12.0) (float-vector 10.0 30.0 -12.0)))
(instance face :init :vertices (list (float-vector 10.0 20.0 20.0) (float-vector -10.0 20.0 20.0) (float-vector -10.0 30.0 20.0) (float-vector 10.0 30.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 20.0 21.5) (float-vector -10.0 20.0 21.5) (float-vector -10.0 20.0 20.0) (float-vector 10.0 20.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 75.0 21.5) (float-vector -10.0 75.0 21.5) (float-vector -10.0 20.0 21.5) (float-vector 10.0 20.0 21.5)))
(instance face :init :vertices (list (float-vector 10.0 75.0 -12.0) (float-vector -10.0 75.0 -12.0) (float-vector -10.0 75.0 21.5) (float-vector 10.0 75.0 21.5)))
(instance face :init :vertices (list (float-vector 10.0 30.0 -12.0) (float-vector -10.0 30.0 -12.0) (float-vector -10.0 75.0 -12.0) (float-vector 10.0 75.0 -12.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 9.85 88.0 -2.5) (float-vector -19.85 88.0 -2.5) (float-vector -19.85 116.0 -2.5) (float-vector 9.85 116.0 -2.5)))
(instance face :init :vertices (list (float-vector -19.85 116.0 -2.5) (float-vector -19.85 116.0 10.5) (float-vector 9.85 116.0 10.5) (float-vector 9.85 116.0 -2.5)))
(instance face :init :vertices (list (float-vector -19.85 116.0 10.5) (float-vector -19.85 88.0 10.5) (float-vector 9.85 88.0 10.5) (float-vector 9.85 116.0 10.5)))
(instance face :init :vertices (list (float-vector 9.85 88.0 10.5) (float-vector 9.85 88.0 -2.5) (float-vector 9.85 116.0 -2.5) (float-vector 9.85 116.0 10.5))
:holes (list
(instance hole :init :vertices (list (float-vector 9.85 92.25 -0.76314) (float-vector 9.85 90.2369 1.25) (float-vector 9.85 89.5 4.0) (float-vector 9.85 90.2369 6.75) (float-vector 9.85 92.25 8.76314) (float-vector 9.85 95.0 9.5) (float-vector 9.85 97.75 8.76314) (float-vector 9.85 99.7631 6.75) (float-vector 9.85 100.5 4.0) (float-vector 9.85 99.7631 1.25) (float-vector 9.85 97.75 -0.76314) (float-vector 9.85 95.0 -1.5)))
))
(instance face :init :vertices (list (float-vector -19.85 88.0 10.5) (float-vector -19.85 88.0 -2.5) (float-vector 9.85 88.0 -2.5) (float-vector 9.85 88.0 10.5)))
(instance face :init :vertices (list (float-vector -19.85 88.0 -2.5) (float-vector -19.85 88.0 10.5) (float-vector -19.85 116.0 10.5) (float-vector -19.85 116.0 -2.5))
:holes (list
(instance hole :init :vertices (list (float-vector -19.85 90.2369 1.25) (float-vector -19.85 92.25 -0.76314) (float-vector -19.85 95.0 -1.5) (float-vector -19.85 97.75 -0.76314) (float-vector -19.85 99.7631 1.25) (float-vector -19.85 100.5 4.0) (float-vector -19.85 99.7631 6.75) (float-vector -19.85 97.75 8.76314) (float-vector -19.85 95.0 9.5) (float-vector -19.85 92.25 8.76314) (float-vector -19.85 90.2369 6.75) (float-vector -19.85 89.5 4.0)))
))
(instance face :init :vertices (list (float-vector 11.85 95.0 -1.5) (float-vector 9.85 95.0 -1.5) (float-vector 9.85 97.75 -0.76314) (float-vector 11.85 97.75 -0.76314)))
(instance face :init :vertices (list (float-vector -19.85 95.0 -1.5) (float-vector -21.85 95.0 -1.5) (float-vector -21.85 97.75 -0.76314) (float-vector -19.85 97.75 -0.76314)))
(instance face :init :vertices (list (float-vector 9.85 99.7631 1.25) (float-vector 11.85 99.7631 1.25) (float-vector 11.85 97.75 -0.76314) (float-vector 9.85 97.75 -0.76314)))
(instance face :init :vertices (list (float-vector -21.85 97.75 -0.76314) (float-vector -21.85 99.7631 1.25) (float-vector -19.85 99.7631 1.25) (float-vector -19.85 97.75 -0.76314)))
(instance face :init :vertices (list (float-vector 9.85 100.5 4.0) (float-vector 11.85 100.5 4.0) (float-vector 11.85 99.7631 1.25) (float-vector 9.85 99.7631 1.25)))
(instance face :init :vertices (list (float-vector -21.85 99.7631 1.25) (float-vector -21.85 100.5 4.0) (float-vector -19.85 100.5 4.0) (float-vector -19.85 99.7631 1.25)))
(instance face :init :vertices (list (float-vector 9.85 99.7631 6.75) (float-vector 11.85 99.7631 6.75) (float-vector 11.85 100.5 4.0) (float-vector 9.85 100.5 4.0)))
(instance face :init :vertices (list (float-vector -21.85 100.5 4.0) (float-vector -21.85 99.7631 6.75) (float-vector -19.85 99.7631 6.75) (float-vector -19.85 100.5 4.0)))
(instance face :init :vertices (list (float-vector 9.85 97.75 8.76314) (float-vector 11.85 97.75 8.76314) (float-vector 11.85 99.7631 6.75) (float-vector 9.85 99.7631 6.75)))
(instance face :init :vertices (list (float-vector -21.85 99.7631 6.75) (float-vector -21.85 97.75 8.76314) (float-vector -19.85 97.75 8.76314) (float-vector -19.85 99.7631 6.75)))
(instance face :init :vertices (list (float-vector 9.85 95.0 9.5) (float-vector 11.85 95.0 9.5) (float-vector 11.85 97.75 8.76314) (float-vector 9.85 97.75 8.76314)))
(instance face :init :vertices (list (float-vector -21.85 97.75 8.76314) (float-vector -21.85 95.0 9.5) (float-vector -19.85 95.0 9.5) (float-vector -19.85 97.75 8.76314)))
(instance face :init :vertices (list (float-vector 9.85 92.25 8.76314) (float-vector 11.85 92.25 8.76314) (float-vector 11.85 95.0 9.5) (float-vector 9.85 95.0 9.5)))
(instance face :init :vertices (list (float-vector -21.85 95.0 9.5) (float-vector -21.85 92.25 8.76314) (float-vector -19.85 92.25 8.76314) (float-vector -19.85 95.0 9.5)))
(instance face :init :vertices (list (float-vector 9.85 90.2369 6.75) (float-vector 11.85 90.2369 6.75) (float-vector 11.85 92.25 8.76314) (float-vector 9.85 92.25 8.76314)))
(instance face :init :vertices (list (float-vector -21.85 92.25 8.76314) (float-vector -21.85 90.2369 6.75) (float-vector -19.85 90.2369 6.75) (float-vector -19.85 92.25 8.76314)))
(instance face :init :vertices (list (float-vector 9.85 89.5 4.0) (float-vector 11.85 89.5 4.0) (float-vector 11.85 90.2369 6.75) (float-vector 9.85 90.2369 6.75)))
(instance face :init :vertices (list (float-vector -21.85 90.2369 6.75) (float-vector -21.85 89.5 4.0) (float-vector -19.85 89.5 4.0) (float-vector -19.85 90.2369 6.75)))
(instance face :init :vertices (list (float-vector 9.85 90.2369 1.25) (float-vector 11.85 90.2369 1.25) (float-vector 11.85 89.5 4.0) (float-vector 9.85 89.5 4.0)))
(instance face :init :vertices (list (float-vector -21.85 89.5 4.0) (float-vector -21.85 90.2369 1.25) (float-vector -19.85 90.2369 1.25) (float-vector -19.85 89.5 4.0)))
(instance face :init :vertices (list (float-vector 9.85 92.25 -0.76314) (float-vector 11.85 92.25 -0.76314) (float-vector 11.85 90.2369 1.25) (float-vector 9.85 90.2369 1.25)))
(instance face :init :vertices (list (float-vector -21.85 90.2369 1.25) (float-vector -21.85 92.25 -0.76314) (float-vector -19.85 92.25 -0.76314) (float-vector -19.85 90.2369 1.25)))
(instance face :init :vertices (list (float-vector 11.85 92.25 -0.76314) (float-vector 11.85 95.0 -1.5) (float-vector 11.85 97.75 -0.76314) (float-vector 11.85 99.7631 1.25) (float-vector 11.85 100.5 4.0) (float-vector 11.85 99.7631 6.75) (float-vector 11.85 97.75 8.76314) (float-vector 11.85 95.0 9.5) (float-vector 11.85 92.25 8.76314) (float-vector 11.85 90.2369 6.75) (float-vector 11.85 89.5 4.0) (float-vector 11.85 90.2369 1.25)))
(instance face :init :vertices (list (float-vector 11.85 95.0 -1.5) (float-vector 11.85 92.25 -0.76314) (float-vector 9.85 92.25 -0.76314) (float-vector 9.85 95.0 -1.5)))
(instance face :init :vertices (list (float-vector -21.85 92.25 -0.76314) (float-vector -21.85 95.0 -1.5) (float-vector -19.85 95.0 -1.5) (float-vector -19.85 92.25 -0.76314)))
(instance face :init :vertices (list (float-vector -21.85 95.0 -1.5) (float-vector -21.85 92.25 -0.76314) (float-vector -21.85 90.2369 1.25) (float-vector -21.85 89.5 4.0) (float-vector -21.85 90.2369 6.75) (float-vector -21.85 92.25 8.76314) (float-vector -21.85 95.0 9.5) (float-vector -21.85 97.75 8.76314) (float-vector -21.85 99.7631 6.75) (float-vector -21.85 100.5 4.0) (float-vector -21.85 99.7631 1.25) (float-vector -21.85 97.75 -0.76314)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 9.5 79.0 10.5) (float-vector -8.5 79.0 10.5) (float-vector -8.5 160.0 10.5) (float-vector 14.5 160.0 10.5) (float-vector 14.5 127.0 10.5) (float-vector 9.5 117.0 10.5)))
(instance face :init :vertices (list (float-vector -8.5 79.0 11.5) (float-vector 9.5 79.0 11.5) (float-vector 9.5 117.0 11.5) (float-vector 14.5 127.0 11.5) (float-vector 14.5 160.0 11.5) (float-vector -8.5 160.0 11.5)))
(instance face :init :vertices (list (float-vector 9.5 79.0 10.5) (float-vector 9.5 79.0 11.5) (float-vector -8.5 79.0 11.5) (float-vector -8.5 79.0 10.5)))
(instance face :init :vertices (list (float-vector 9.5 117.0 10.5) (float-vector 9.5 117.0 11.5) (float-vector 9.5 79.0 11.5) (float-vector 9.5 79.0 10.5)))
(instance face :init :vertices (list (float-vector 14.5 127.0 10.5) (float-vector 14.5 127.0 11.5) (float-vector 9.5 117.0 11.5) (float-vector 9.5 117.0 10.5)))
(instance face :init :vertices (list (float-vector 14.5 160.0 10.5) (float-vector 14.5 160.0 11.5) (float-vector 14.5 127.0 11.5) (float-vector 14.5 127.0 10.5)))
(instance face :init :vertices (list (float-vector -8.5 160.0 10.5) (float-vector -8.5 160.0 11.5) (float-vector 14.5 160.0 11.5) (float-vector 14.5 160.0 10.5)))
(instance face :init :vertices (list (float-vector -8.5 79.0 10.5) (float-vector -8.5 79.0 11.5) (float-vector -8.5 160.0 11.5) (float-vector -8.5 160.0 10.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray40)
(send (elt bc 1) :set-color :gray90)
(send (elt bc 2) :set-color :gray40)
(send (elt bc 3) :set-color :gray90)
(setq blink8 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-elbow-p :weight 87 :centroid (float-vector -0.872804 40.0125 2.09071) :inertia-tensor #2f((1.349996e+05 5607.24 201.18) (5607.24 12835.6 -5464.28) (201.18 -5464.28 1.296607e+05))))
;; definition of :larm-gripper
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 18.5 9.0 -18.5) (float-vector 1.421085e-14 9.0 -18.5) (float-vector -6.36396 6.36396 -18.5) (float-vector -9.0 0.0 -18.5) (float-vector -6.36396 -6.36396 -18.5) (float-vector 0.0 -9.0 -18.5) (float-vector 14.0 -9.0 -18.5) (float-vector 18.5 -4.5 -18.5)))
(instance face :init :vertices (list (float-vector 18.5 9.0 -18.5) (float-vector 18.5 -4.5 -18.5) (float-vector 18.5 -4.5 18.5) (float-vector 18.5 9.0 18.5)))
(instance face :init :vertices (list (float-vector 18.5 9.0 18.5) (float-vector 18.5 -4.5 18.5) (float-vector 14.0 -9.0 18.5) (float-vector 0.0 -9.0 18.5) (float-vector -6.36396 -6.36396 18.5) (float-vector -9.0 0.0 18.5) (float-vector -6.36396 6.36396 18.5) (float-vector 1.421085e-14 9.0 18.5)))
(instance face :init :vertices (list (float-vector 20.0 -3.0 -19.5) (float-vector 20.0 -3.0 19.5) (float-vector 14.0 -9.0 19.5) (float-vector 14.0 -9.0 18.5) (float-vector 18.5 -4.5 18.5) (float-vector 18.5 -4.5 -18.5) (float-vector 14.0 -9.0 -18.5) (float-vector 14.0 -9.0 -19.5)))
(instance face :init :vertices (list (float-vector 20.0 -3.0 -19.5) (float-vector 14.0 -9.0 -19.5) (float-vector 0.0 -9.0 -19.5) (float-vector -6.36396 -6.36396 -19.5) (float-vector -9.0 2.842171e-14 -19.5) (float-vector -6.36396 6.36396 -19.5) (float-vector 1.421085e-14 9.0 -19.5) (float-vector 19.0 9.0 -19.5) (float-vector 19.0 9.5 -19.5) (float-vector 20.0 9.5 -19.5)))
(instance face :init :vertices (list (float-vector 14.0 -9.0 19.5) (float-vector 20.0 -3.0 19.5) (float-vector 20.0 34.0 19.5) (float-vector 10.0 64.0 19.5) (float-vector 9.0 64.0 19.5) (float-vector 19.0 34.0 19.5) (float-vector 19.0 9.0 19.5) (float-vector 1.421085e-14 9.0 19.5) (float-vector -6.36396 6.36396 19.5) (float-vector -9.0 0.0 19.5) (float-vector -6.36396 -6.36396 19.5) (float-vector 0.0 -9.0 19.5)))
(instance face :init :vertices (list (float-vector 0.0 -9.0 -19.5) (float-vector 14.0 -9.0 -19.5) (float-vector 14.0 -9.0 -18.5) (float-vector 0.0 -9.0 -18.5)))
(instance face :init :vertices (list (float-vector 0.0 -9.0 18.5) (float-vector 14.0 -9.0 18.5) (float-vector 14.0 -9.0 19.5) (float-vector 0.0 -9.0 19.5)))
(instance face :init :vertices (list (float-vector -6.36396 -6.36396 -19.5) (float-vector 0.0 -9.0 -19.5) (float-vector 0.0 -9.0 -18.5) (float-vector -6.36396 -6.36396 -18.5)))
(instance face :init :vertices (list (float-vector -6.36396 -6.36396 18.5) (float-vector 0.0 -9.0 18.5) (float-vector 0.0 -9.0 19.5) (float-vector -6.36396 -6.36396 19.5)))
(instance face :init :vertices (list (float-vector -9.0 2.842171e-14 -19.5) (float-vector -6.36396 -6.36396 -19.5) (float-vector -6.36396 -6.36396 -18.5) (float-vector -9.0 0.0 -18.5)))
(instance face :init :vertices (list (float-vector -9.0 0.0 18.5) (float-vector -6.36396 -6.36396 18.5) (float-vector -6.36396 -6.36396 19.5) (float-vector -9.0 0.0 19.5)))
(instance face :init :vertices (list (float-vector -6.36396 6.36396 -19.5) (float-vector -9.0 2.842171e-14 -19.5) (float-vector -9.0 0.0 -18.5) (float-vector -6.36396 6.36396 -18.5)))
(instance face :init :vertices (list (float-vector -6.36396 6.36396 18.5) (float-vector -9.0 0.0 18.5) (float-vector -9.0 0.0 19.5) (float-vector -6.36396 6.36396 19.5)))
(instance face :init :vertices (list (float-vector 1.421085e-14 9.0 -19.5) (float-vector -6.36396 6.36396 -19.5) (float-vector -6.36396 6.36396 -18.5) (float-vector 1.421085e-14 9.0 -18.5)))
(instance face :init :vertices (list (float-vector 1.421085e-14 9.0 18.5) (float-vector -6.36396 6.36396 18.5) (float-vector -6.36396 6.36396 19.5) (float-vector 1.421085e-14 9.0 19.5)))
(instance face :init :vertices (list (float-vector 19.0 9.0 -19.5) (float-vector 1.421085e-14 9.0 -19.5) (float-vector 1.421085e-14 9.0 -18.5) (float-vector 18.5 9.0 -18.5) (float-vector 18.5 9.0 18.5) (float-vector 1.421085e-14 9.0 18.5) (float-vector 1.421085e-14 9.0 19.5) (float-vector 19.0 9.0 19.5)))
(instance face :init :vertices (list (float-vector 19.0 34.0 -4.5) (float-vector 19.0 9.5 -4.5) (float-vector 19.0 9.5 -19.5) (float-vector 19.0 9.0 -19.5) (float-vector 19.0 9.0 19.5) (float-vector 19.0 34.0 19.5)))
(instance face :init :vertices (list (float-vector 9.0 64.0 -4.5) (float-vector 19.0 34.0 -4.5) (float-vector 19.0 34.0 19.5) (float-vector 9.0 64.0 19.5)))
(instance face :init :vertices (list (float-vector 10.0 64.0 -4.5) (float-vector 9.0 64.0 -4.5) (float-vector 9.0 64.0 19.5) (float-vector 10.0 64.0 19.5)))
(instance face :init :vertices (list (float-vector 20.0 34.0 19.5) (float-vector 20.0 -3.0 19.5) (float-vector 20.0 -3.0 -19.5) (float-vector 20.0 9.5 -19.5) (float-vector 20.0 9.5 -4.5) (float-vector 20.0 34.0 -4.5)))
(instance face :init :vertices (list (float-vector 20.0 34.0 -4.5) (float-vector 10.0 64.0 -4.5) (float-vector 10.0 64.0 19.5) (float-vector 20.0 34.0 19.5)))
(instance face :init :vertices (list (float-vector 19.0 9.5 -4.5) (float-vector 19.0 34.0 -4.5) (float-vector 9.0 64.0 -4.5) (float-vector 10.0 64.0 -4.5) (float-vector 20.0 34.0 -4.5) (float-vector 20.0 9.5 -4.5)))
(instance face :init :vertices (list (float-vector 20.0 9.5 -4.5) (float-vector 20.0 9.5 -19.5) (float-vector 19.0 9.5 -19.5) (float-vector 19.0 9.5 -4.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(setq blink17 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-gripper :weight 5 :centroid (float-vector 14.1169 17.0793 3.32742) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))
;; definition of :head-neck-y
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 9.0 1.776357e-15 -19.0) (float-vector 9.0 12.0 -19.0) (float-vector 9.0 12.0 19.0) (float-vector 9.0 1.776357e-15 19.0) (float-vector 9.0 1.776357e-15 17.5) (float-vector 9.0 10.5 17.5) (float-vector 9.0 10.5 -17.5) (float-vector 9.0 1.776357e-15 -17.5)))
(instance face :init :vertices (list (float-vector -9.0 12.0 -19.0) (float-vector -9.0 12.0 19.0) (float-vector 9.0 12.0 19.0) (float-vector 9.0 12.0 -19.0)))
(instance face :init :vertices (list (float-vector -9.0 0.0 -19.0) (float-vector -9.0 0.0 -17.5) (float-vector -9.0 10.5 -17.5) (float-vector -9.0 10.5 17.5) (float-vector -9.0 0.0 17.5) (float-vector -9.0 0.0 19.0) (float-vector -9.0 12.0 19.0) (float-vector -9.0 12.0 -19.0)))
(instance face :init :vertices (list (float-vector -6.36396 -6.36396 19.0) (float-vector -9.0 0.0 19.0) (float-vector -9.0 0.0 17.5) (float-vector -6.36396 -6.36396 17.5)))
(instance face :init :vertices (list (float-vector -6.36396 -6.36396 -19.0) (float-vector -6.36396 -6.36396 -17.5) (float-vector -9.0 0.0 -17.5) (float-vector -9.0 0.0 -19.0)))
(instance face :init :vertices (list (float-vector 0.0 -9.0 19.0) (float-vector -6.36396 -6.36396 19.0) (float-vector -6.36396 -6.36396 17.5) (float-vector 0.0 -9.0 17.5)))
(instance face :init :vertices (list (float-vector 0.0 -9.0 -19.0) (float-vector 0.0 -9.0 -17.5) (float-vector -6.36396 -6.36396 -17.5) (float-vector -6.36396 -6.36396 -19.0)))
(instance face :init :vertices (list (float-vector 6.36396 -6.36396 19.0) (float-vector 0.0 -9.0 19.0) (float-vector 0.0 -9.0 17.5) (float-vector 6.36396 -6.36396 17.5)))
(instance face :init :vertices (list (float-vector 6.36396 -6.36396 -19.0) (float-vector 6.36396 -6.36396 -17.5) (float-vector 0.0 -9.0 -17.5) (float-vector 0.0 -9.0 -19.0)))
(instance face :init :vertices (list (float-vector 9.0 1.776357e-15 19.0) (float-vector 9.0 12.0 19.0) (float-vector -9.0 12.0 19.0) (float-vector -9.0 0.0 19.0) (float-vector -6.36396 -6.36396 19.0) (float-vector 0.0 -9.0 19.0) (float-vector 6.36396 -6.36396 19.0)))
(instance face :init :vertices (list (float-vector 6.36396 -6.36396 -19.0) (float-vector 0.0 -9.0 -19.0) (float-vector -6.36396 -6.36396 -19.0) (float-vector -9.0 0.0 -19.0) (float-vector -9.0 12.0 -19.0) (float-vector 9.0 12.0 -19.0) (float-vector 9.0 1.776357e-15 -19.0)))
(instance face :init :vertices (list (float-vector 6.36396 -6.36396 19.0) (float-vector 6.36396 -6.36396 17.5) (float-vector 9.0 1.776357e-15 17.5) (float-vector 9.0 1.776357e-15 19.0)))
(instance face :init :vertices (list (float-vector 9.0 1.776357e-15 -19.0) (float-vector 9.0 1.776357e-15 -17.5) (float-vector 6.36396 -6.36396 -17.5) (float-vector 6.36396 -6.36396 -19.0)))
(instance face :init :vertices (list (float-vector 9.0 10.5 17.5) (float-vector 9.0 1.776357e-15 17.5) (float-vector 6.36396 -6.36396 17.5) (float-vector 0.0 -9.0 17.5) (float-vector -6.36396 -6.36396 17.5) (float-vector -9.0 0.0 17.5) (float-vector -9.0 10.5 17.5)))
(instance face :init :vertices (list (float-vector 9.0 10.5 -17.5) (float-vector 9.0 10.5 17.5) (float-vector -9.0 10.5 17.5) (float-vector -9.0 10.5 -17.5)))
(instance face :init :vertices (list (float-vector -9.0 10.5 -17.5) (float-vector -9.0 0.0 -17.5) (float-vector -6.36396 -6.36396 -17.5) (float-vector 0.0 -9.0 -17.5) (float-vector 6.36396 -6.36396 -17.5) (float-vector 9.0 1.776357e-15 -17.5) (float-vector 9.0 10.5 -17.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 14.85 7.0 35.5) (float-vector -14.85 7.0 35.5) (float-vector -14.85 -21.0 35.5) (float-vector 14.85 -21.0 35.5)))
(instance face :init :vertices (list (float-vector -14.85 -21.0 35.5) (float-vector -14.85 -21.0 22.5) (float-vector 14.85 -21.0 22.5) (float-vector 14.85 -21.0 35.5)))
(instance face :init :vertices (list (float-vector -14.85 -21.0 22.5) (float-vector -14.85 7.0 22.5) (float-vector 14.85 7.0 22.5) (float-vector 14.85 -21.0 22.5)))
(instance face :init :vertices (list (float-vector 14.85 7.0 22.5) (float-vector 14.85 7.0 35.5) (float-vector 14.85 -21.0 35.5) (float-vector 14.85 -21.0 22.5))
:holes (list
(instance hole :init :vertices (list (float-vector 14.85 2.75 33.7631) (float-vector 14.85 4.76314 31.75) (float-vector 14.85 5.5 29.0) (float-vector 14.85 4.76314 26.25) (float-vector 14.85 2.75 24.2369) (float-vector 14.85 -8.881784e-15 23.5) (float-vector 14.85 -2.75 24.2369) (float-vector 14.85 -4.76314 26.25) (float-vector 14.85 -5.5 29.0) (float-vector 14.85 -4.76314 31.75) (float-vector 14.85 -2.75 33.7631) (float-vector 14.85 -3.552714e-15 34.5)))
))
(instance face :init :vertices (list (float-vector -14.85 7.0 22.5) (float-vector -14.85 7.0 35.5) (float-vector 14.85 7.0 35.5) (float-vector 14.85 7.0 22.5)))
(instance face :init :vertices (list (float-vector -14.85 7.0 35.5) (float-vector -14.85 7.0 22.5) (float-vector -14.85 -21.0 22.5) (float-vector -14.85 -21.0 35.5))
:holes (list
(instance hole :init :vertices (list (float-vector -14.85 4.76314 31.75) (float-vector -14.85 2.75 33.7631) (float-vector -14.85 5.329071e-15 34.5) (float-vector -14.85 -2.75 33.7631) (float-vector -14.85 -4.76314 31.75) (float-vector -14.85 -5.5 29.0) (float-vector -14.85 -4.76314 26.25) (float-vector -14.85 -2.75 24.2369) (float-vector -14.85 -1.776357e-15 23.5) (float-vector -14.85 2.75 24.2369) (float-vector -14.85 4.76314 26.25) (float-vector -14.85 5.5 29.0)))
))
(instance face :init :vertices (list (float-vector 16.85 -1.776357e-15 34.5) (float-vector 14.85 -3.552714e-15 34.5) (float-vector 14.85 -2.75 33.7631) (float-vector 16.85 -2.75 33.7631)))
(instance face :init :vertices (list (float-vector -14.85 5.329071e-15 34.5) (float-vector -16.85 3.552714e-15 34.5) (float-vector -16.85 -2.75 33.7631) (float-vector -14.85 -2.75 33.7631)))
(instance face :init :vertices (list (float-vector 14.85 -4.76314 31.75) (float-vector 16.85 -4.76314 31.75) (float-vector 16.85 -2.75 33.7631) (float-vector 14.85 -2.75 33.7631)))
(instance face :init :vertices (list (float-vector -16.85 -2.75 33.7631) (float-vector -16.85 -4.76314 31.75) (float-vector -14.85 -4.76314 31.75) (float-vector -14.85 -2.75 33.7631)))
(instance face :init :vertices (list (float-vector 14.85 -5.5 29.0) (float-vector 16.85 -5.5 29.0) (float-vector 16.85 -4.76314 31.75) (float-vector 14.85 -4.76314 31.75)))
(instance face :init :vertices (list (float-vector -16.85 -4.76314 31.75) (float-vector -16.85 -5.5 29.0) (float-vector -14.85 -5.5 29.0) (float-vector -14.85 -4.76314 31.75)))
(instance face :init :vertices (list (float-vector 14.85 -4.76314 26.25) (float-vector 16.85 -4.76314 26.25) (float-vector 16.85 -5.5 29.0) (float-vector 14.85 -5.5 29.0)))
(instance face :init :vertices (list (float-vector -16.85 -5.5 29.0) (float-vector -16.85 -4.76314 26.25) (float-vector -14.85 -4.76314 26.25) (float-vector -14.85 -5.5 29.0)))
(instance face :init :vertices (list (float-vector 14.85 -2.75 24.2369) (float-vector 16.85 -2.75 24.2369) (float-vector 16.85 -4.76314 26.25) (float-vector 14.85 -4.76314 26.25)))
(instance face :init :vertices (list (float-vector -16.85 -4.76314 26.25) (float-vector -16.85 -2.75 24.2369) (float-vector -14.85 -2.75 24.2369) (float-vector -14.85 -4.76314 26.25)))
(instance face :init :vertices (list (float-vector 14.85 -8.881784e-15 23.5) (float-vector 16.85 -8.881784e-15 23.5) (float-vector 16.85 -2.75 24.2369) (float-vector 14.85 -2.75 24.2369)))
(instance face :init :vertices (list (float-vector -16.85 -2.75 24.2369) (float-vector -16.85 -3.552714e-15 23.5) (float-vector -14.85 -1.776357e-15 23.5) (float-vector -14.85 -2.75 24.2369)))
(instance face :init :vertices (list (float-vector 14.85 2.75 24.2369) (float-vector 16.85 2.75 24.2369) (float-vector 16.85 -8.881784e-15 23.5) (float-vector 14.85 -8.881784e-15 23.5)))
(instance face :init :vertices (list (float-vector -16.85 -3.552714e-15 23.5) (float-vector -16.85 2.75 24.2369) (float-vector -14.85 2.75 24.2369) (float-vector -14.85 -1.776357e-15 23.5)))
(instance face :init :vertices (list (float-vector 14.85 4.76314 26.25) (float-vector 16.85 4.76314 26.25) (float-vector 16.85 2.75 24.2369) (float-vector 14.85 2.75 24.2369)))
(instance face :init :vertices (list (float-vector -16.85 2.75 24.2369) (float-vector -16.85 4.76314 26.25) (float-vector -14.85 4.76314 26.25) (float-vector -14.85 2.75 24.2369)))
(instance face :init :vertices (list (float-vector 14.85 5.5 29.0) (float-vector 16.85 5.5 29.0) (float-vector 16.85 4.76314 26.25) (float-vector 14.85 4.76314 26.25)))
(instance face :init :vertices (list (float-vector -16.85 4.76314 26.25) (float-vector -16.85 5.5 29.0) (float-vector -14.85 5.5 29.0) (float-vector -14.85 4.76314 26.25)))
(instance face :init :vertices (list (float-vector 14.85 4.76314 31.75) (float-vector 16.85 4.76314 31.75) (float-vector 16.85 5.5 29.0) (float-vector 14.85 5.5 29.0)))
(instance face :init :vertices (list (float-vector -16.85 5.5 29.0) (float-vector -16.85 4.76314 31.75) (float-vector -14.85 4.76314 31.75) (float-vector -14.85 5.5 29.0)))
(instance face :init :vertices (list (float-vector 14.85 2.75 33.7631) (float-vector 16.85 2.75 33.7631) (float-vector 16.85 4.76314 31.75) (float-vector 14.85 4.76314 31.75)))
(instance face :init :vertices (list (float-vector -16.85 4.76314 31.75) (float-vector -16.85 2.75 33.7631) (float-vector -14.85 2.75 33.7631) (float-vector -14.85 4.76314 31.75)))
(instance face :init :vertices (list (float-vector 16.85 2.75 33.7631) (float-vector 16.85 -1.776357e-15 34.5) (float-vector 16.85 -2.75 33.7631) (float-vector 16.85 -4.76314 31.75) (float-vector 16.85 -5.5 29.0) (float-vector 16.85 -4.76314 26.25) (float-vector 16.85 -2.75 24.2369) (float-vector 16.85 -8.881784e-15 23.5) (float-vector 16.85 2.75 24.2369) (float-vector 16.85 4.76314 26.25) (float-vector 16.85 5.5 29.0) (float-vector 16.85 4.76314 31.75)))
(instance face :init :vertices (list (float-vector 16.85 -1.776357e-15 34.5) (float-vector 16.85 2.75 33.7631) (float-vector 14.85 2.75 33.7631) (float-vector 14.85 -3.552714e-15 34.5)))
(instance face :init :vertices (list (float-vector -16.85 2.75 33.7631) (float-vector -16.85 3.552714e-15 34.5) (float-vector -14.85 5.329071e-15 34.5) (float-vector -14.85 2.75 33.7631)))
(instance face :init :vertices (list (float-vector -16.85 3.552714e-15 34.5) (float-vector -16.85 2.75 33.7631) (float-vector -16.85 4.76314 31.75) (float-vector -16.85 5.5 29.0) (float-vector -16.85 4.76314 26.25) (float-vector -16.85 2.75 24.2369) (float-vector -16.85 -3.552714e-15 23.5) (float-vector -16.85 -2.75 24.2369) (float-vector -16.85 -4.76314 26.25) (float-vector -16.85 -5.5 29.0) (float-vector -16.85 -4.76314 31.75) (float-vector -16.85 -2.75 33.7631)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(send (elt bc 1) :set-color :gray40)
(setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-neck-y :weight 22.229 :centroid (float-vector 1.354816e-15 -3.56707 22.1783) :inertia-tensor #2f((6823.42 1.452956e-13 -4.610473e-14) (1.452956e-13 6146.07 1580.32) (-4.610473e-14 1580.32 3458.96))))
;; definition of :head-neck-p
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 9.0 0.0 -19.0) (float-vector 9.0 15.0 -19.0) (float-vector 9.0 15.0 19.0) (float-vector 9.0 0.0 19.0) (float-vector 9.0 0.0 17.5) (float-vector 9.0 13.5 17.5) (float-vector 9.0 13.5 -17.5) (float-vector 9.0 0.0 -17.5)))
(instance face :init :vertices (list (float-vector -9.0 15.0 -19.0) (float-vector -9.0 15.0 19.0) (float-vector 9.0 15.0 19.0) (float-vector 9.0 15.0 -19.0)))
(instance face :init :vertices (list (float-vector -9.0 0.0 -19.0) (float-vector -9.0 0.0 -17.5) (float-vector -9.0 13.5 -17.5) (float-vector -9.0 13.5 17.5) (float-vector -9.0 0.0 17.5) (float-vector -9.0 0.0 19.0) (float-vector -9.0 15.0 19.0) (float-vector -9.0 15.0 -19.0)))
(instance face :init :vertices (list (float-vector -6.36396 -6.36396 19.0) (float-vector -9.0 0.0 19.0) (float-vector -9.0 0.0 17.5) (float-vector -6.36396 -6.36396 17.5)))
(instance face :init :vertices (list (float-vector -6.36396 -6.36396 -19.0) (float-vector -6.36396 -6.36396 -17.5) (float-vector -9.0 0.0 -17.5) (float-vector -9.0 0.0 -19.0)))
(instance face :init :vertices (list (float-vector -1.776357e-15 -9.0 19.0) (float-vector -6.36396 -6.36396 19.0) (float-vector -6.36396 -6.36396 17.5) (float-vector 0.0 -9.0 17.5)))
(instance face :init :vertices (list (float-vector -1.776357e-15 -9.0 -19.0) (float-vector 0.0 -9.0 -17.5) (float-vector -6.36396 -6.36396 -17.5) (float-vector -6.36396 -6.36396 -19.0)))
(instance face :init :vertices (list (float-vector 6.36396 -6.36396 19.0) (float-vector -1.776357e-15 -9.0 19.0) (float-vector 0.0 -9.0 17.5) (float-vector 6.36396 -6.36396 17.5)))
(instance face :init :vertices (list (float-vector 6.36396 -6.36396 -19.0) (float-vector 6.36396 -6.36396 -17.5) (float-vector 0.0 -9.0 -17.5) (float-vector -1.776357e-15 -9.0 -19.0)))
(instance face :init :vertices (list (float-vector 9.0 0.0 19.0) (float-vector 9.0 15.0 19.0) (float-vector -9.0 15.0 19.0) (float-vector -9.0 0.0 19.0) (float-vector -6.36396 -6.36396 19.0) (float-vector -1.776357e-15 -9.0 19.0) (float-vector 6.36396 -6.36396 19.0)))
(instance face :init :vertices (list (float-vector 6.36396 -6.36396 -19.0) (float-vector -1.776357e-15 -9.0 -19.0) (float-vector -6.36396 -6.36396 -19.0) (float-vector -9.0 0.0 -19.0) (float-vector -9.0 15.0 -19.0) (float-vector 9.0 15.0 -19.0) (float-vector 9.0 0.0 -19.0)))
(instance face :init :vertices (list (float-vector 6.36396 -6.36396 19.0) (float-vector 6.36396 -6.36396 17.5) (float-vector 9.0 0.0 17.5) (float-vector 9.0 0.0 19.0)))
(instance face :init :vertices (list (float-vector 9.0 0.0 -19.0) (float-vector 9.0 0.0 -17.5) (float-vector 6.36396 -6.36396 -17.5) (float-vector 6.36396 -6.36396 -19.0)))
(instance face :init :vertices (list (float-vector 9.0 13.5 17.5) (float-vector 9.0 0.0 17.5) (float-vector 6.36396 -6.36396 17.5) (float-vector 0.0 -9.0 17.5) (float-vector -6.36396 -6.36396 17.5) (float-vector -9.0 0.0 17.5) (float-vector -9.0 13.5 17.5)))
(instance face :init :vertices (list (float-vector 9.0 13.5 -17.5) (float-vector 9.0 13.5 17.5) (float-vector -9.0 13.5 17.5) (float-vector -9.0 13.5 -17.5)))
(instance face :init :vertices (list (float-vector -9.0 13.5 -17.5) (float-vector -9.0 0.0 -17.5) (float-vector -6.36396 -6.36396 -17.5) (float-vector 0.0 -9.0 -17.5) (float-vector 6.36396 -6.36396 -17.5) (float-vector 9.0 0.0 -17.5) (float-vector 9.0 13.5 -17.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 22.0 48.0 -9.0) (float-vector 22.0 52.0 -10.0718) (float-vector 18.0 52.0 -10.0718) (float-vector 18.0 48.0 -9.0)))
(instance face :init :vertices (list (float-vector 22.0 48.0 -9.0) (float-vector 22.0 44.0 -10.0718) (float-vector 22.0 41.0718 -13.0) (float-vector 22.0 40.0 -17.0) (float-vector 22.0 41.0718 -21.0) (float-vector 22.0 44.0 -23.9282) (float-vector 22.0 48.0 -25.0) (float-vector 22.0 52.0 -23.9282) (float-vector 22.0 54.9282 -21.0) (float-vector 22.0 56.0 -17.0) (float-vector 22.0 54.9282 -13.0) (float-vector 22.0 52.0 -10.0718)))
(instance face :init :vertices (list (float-vector 22.0 54.9282 -13.0) (float-vector 18.0 54.9282 -13.0) (float-vector 18.0 52.0 -10.0718) (float-vector 22.0 52.0 -10.0718)))
(instance face :init :vertices (list (float-vector 22.0 56.0 -17.0) (float-vector 18.0 56.0 -17.0) (float-vector 18.0 54.9282 -13.0) (float-vector 22.0 54.9282 -13.0)))
(instance face :init :vertices (list (float-vector 22.0 54.9282 -21.0) (float-vector 18.0 54.9282 -21.0) (float-vector 18.0 56.0 -17.0) (float-vector 22.0 56.0 -17.0)))
(instance face :init :vertices (list (float-vector 22.0 52.0 -23.9282) (float-vector 18.0 52.0 -23.9282) (float-vector 18.0 54.9282 -21.0) (float-vector 22.0 54.9282 -21.0)))
(instance face :init :vertices (list (float-vector 22.0 48.0 -25.0) (float-vector 18.0 48.0 -25.0) (float-vector 18.0 52.0 -23.9282) (float-vector 22.0 52.0 -23.9282)))
(instance face :init :vertices (list (float-vector 22.0 44.0 -23.9282) (float-vector 18.0 44.0 -23.9282) (float-vector 18.0 48.0 -25.0) (float-vector 22.0 48.0 -25.0)))
(instance face :init :vertices (list (float-vector 22.0 41.0718 -21.0) (float-vector 18.0 41.0718 -21.0) (float-vector 18.0 44.0 -23.9282) (float-vector 22.0 44.0 -23.9282)))
(instance face :init :vertices (list (float-vector 22.0 40.0 -17.0) (float-vector 18.0 40.0 -17.0) (float-vector 18.0 41.0718 -21.0) (float-vector 22.0 41.0718 -21.0)))
(instance face :init :vertices (list (float-vector 22.0 41.0718 -13.0) (float-vector 18.0 41.0718 -13.0) (float-vector 18.0 40.0 -17.0) (float-vector 22.0 40.0 -17.0)))
(instance face :init :vertices (list (float-vector 22.0 44.0 -10.0718) (float-vector 18.0 44.0 -10.0718) (float-vector 18.0 41.0718 -13.0) (float-vector 22.0 41.0718 -13.0)))
(instance face :init :vertices (list (float-vector 18.0 48.0 -9.0) (float-vector 18.0 44.0 -10.0718) (float-vector 22.0 44.0 -10.0718) (float-vector 22.0 48.0 -9.0)))
(instance face :init :vertices (list (float-vector -28.0 66.5 -27.0) (float-vector -1.776357e-15 66.5 -27.0) (float-vector 0.0 47.0 -27.0) (float-vector 15.0 47.0 -27.0) (float-vector 18.0 53.0 -27.0) (float-vector 18.0 14.5 -27.0) (float-vector -28.0 14.5 -27.0)))
(instance face :init :vertices (list (float-vector -28.0 66.5 -27.0) (float-vector -28.0 66.5 27.0) (float-vector -3.552714e-15 66.5 27.0) (float-vector -1.776357e-15 66.5 -27.0)))
(instance face :init :vertices (list (float-vector -28.0 66.5 27.0) (float-vector -28.0 14.5 27.0) (float-vector 18.0 14.5 27.0) (float-vector 18.0 53.0 27.0) (float-vector 15.0 47.0 27.0) (float-vector -1.776357e-15 47.0 27.0) (float-vector -3.552714e-15 66.5 27.0)))
(instance face :init :vertices (list (float-vector 18.0 14.5 27.0) (float-vector 18.0 14.5 -27.0) (float-vector 18.0 53.0 -27.0) (float-vector 18.0 53.0 -26.0) (float-vector 18.0 66.0 -26.0) (float-vector 18.0 66.0 26.0) (float-vector 18.0 53.0 26.0) (float-vector 18.0 53.0 27.0))
:holes (list
(instance hole :init :vertices (list (float-vector 18.0 44.0 23.9282) (float-vector 18.0 48.0 25.0) (float-vector 18.0 52.0 23.9282) (float-vector 18.0 54.9282 21.0) (float-vector 18.0 56.0 17.0) (float-vector 18.0 54.9282 13.0) (float-vector 18.0 52.0 10.0718) (float-vector 18.0 48.0 9.0) (float-vector 18.0 44.0 10.0718) (float-vector 18.0 41.0718 13.0) (float-vector 18.0 40.0 17.0) (float-vector 18.0 41.0718 21.0)))
(instance hole :init :vertices (list (float-vector 18.0 44.0 -10.0718) (float-vector 18.0 48.0 -9.0) (float-vector 18.0 52.0 -10.0718) (float-vector 18.0 54.9282 -13.0) (float-vector 18.0 56.0 -17.0) (float-vector 18.0 54.9282 -21.0) (float-vector 18.0 52.0 -23.9282) (float-vector 18.0 48.0 -25.0) (float-vector 18.0 44.0 -23.9282) (float-vector 18.0 41.0718 -21.0) (float-vector 18.0 40.0 -17.0) (float-vector 18.0 41.0718 -13.0)))
))
(instance face :init :vertices (list (float-vector -28.0 14.5 27.0) (float-vector -28.0 14.5 -27.0) (float-vector 18.0 14.5 -27.0) (float-vector 18.0 14.5 27.0)))
(instance face :init :vertices (list (float-vector -28.0 14.5 -27.0) (float-vector -28.0 14.5 27.0) (float-vector -28.0 66.5 27.0) (float-vector -28.0 66.5 -27.0)))
(instance face :init :vertices (list (float-vector 18.0 44.0 23.9282) (float-vector 22.0 44.0 23.9282) (float-vector 22.0 48.0 25.0) (float-vector 18.0 48.0 25.0)))
(instance face :init :vertices (list (float-vector 18.0 41.0718 21.0) (float-vector 22.0 41.0718 21.0) (float-vector 22.0 44.0 23.9282) (float-vector 18.0 44.0 23.9282)))
(instance face :init :vertices (list (float-vector 18.0 40.0 17.0) (float-vector 22.0 40.0 17.0) (float-vector 22.0 41.0718 21.0) (float-vector 18.0 41.0718 21.0)))
(instance face :init :vertices (list (float-vector 18.0 41.0718 13.0) (float-vector 22.0 41.0718 13.0) (float-vector 22.0 40.0 17.0) (float-vector 18.0 40.0 17.0)))
(instance face :init :vertices (list (float-vector 18.0 44.0 10.0718) (float-vector 22.0 44.0 10.0718) (float-vector 22.0 41.0718 13.0) (float-vector 18.0 41.0718 13.0)))
(instance face :init :vertices (list (float-vector 18.0 48.0 9.0) (float-vector 22.0 48.0 9.0) (float-vector 22.0 44.0 10.0718) (float-vector 18.0 44.0 10.0718)))
(instance face :init :vertices (list (float-vector 18.0 52.0 10.0718) (float-vector 22.0 52.0 10.0718) (float-vector 22.0 48.0 9.0) (float-vector 18.0 48.0 9.0)))
(instance face :init :vertices (list (float-vector 18.0 54.9282 13.0) (float-vector 22.0 54.9282 13.0) (float-vector 22.0 52.0 10.0718) (float-vector 18.0 52.0 10.0718)))
(instance face :init :vertices (list (float-vector 18.0 56.0 17.0) (float-vector 22.0 56.0 17.0) (float-vector 22.0 54.9282 13.0) (float-vector 18.0 54.9282 13.0)))
(instance face :init :vertices (list (float-vector 18.0 54.9282 21.0) (float-vector 22.0 54.9282 21.0) (float-vector 22.0 56.0 17.0) (float-vector 18.0 56.0 17.0)))
(instance face :init :vertices (list (float-vector 18.0 52.0 23.9282) (float-vector 22.0 52.0 23.9282) (float-vector 22.0 54.9282 21.0) (float-vector 18.0 54.9282 21.0)))
(instance face :init :vertices (list (float-vector 22.0 52.0 23.9282) (float-vector 22.0 48.0 25.0) (float-vector 22.0 44.0 23.9282) (float-vector 22.0 41.0718 21.0) (float-vector 22.0 40.0 17.0) (float-vector 22.0 41.0718 13.0) (float-vector 22.0 44.0 10.0718) (float-vector 22.0 48.0 9.0) (float-vector 22.0 52.0 10.0718) (float-vector 22.0 54.9282 13.0) (float-vector 22.0 56.0 17.0) (float-vector 22.0 54.9282 21.0)))
(instance face :init :vertices (list (float-vector 22.0 48.0 25.0) (float-vector 22.0 52.0 23.9282) (float-vector 18.0 52.0 23.9282) (float-vector 18.0 48.0 25.0)))
(instance face :init :vertices (list (float-vector 18.0 66.0 26.0) (float-vector 24.5 66.0 26.0) (float-vector 18.0 53.0 26.0)))
(instance face :init :vertices (list (float-vector 24.5 66.0 -26.0) (float-vector 24.5 66.0 26.0) (float-vector 18.0 66.0 26.0) (float-vector 18.0 66.0 -26.0)))
(instance face :init :vertices (list (float-vector 18.0 53.0 -26.0) (float-vector 24.5 66.0 -26.0) (float-vector 18.0 66.0 -26.0)))
(instance face :init :vertices (list (float-vector 0.0 47.0 28.0) (float-vector 0.0 67.0 28.0) (float-vector 1.776357e-15 67.0 -28.0) (float-vector 0.0 47.0 -28.0) (float-vector 0.0 47.0 -27.0) (float-vector -1.776357e-15 66.5 -27.0) (float-vector -3.552714e-15 66.5 27.0) (float-vector -1.776357e-15 47.0 27.0)))
(instance face :init :vertices (list (float-vector 25.0 67.0 28.0) (float-vector 0.0 67.0 28.0) (float-vector 0.0 47.0 28.0) (float-vector 15.0 47.0 28.0)))
(instance face :init :vertices (list (float-vector 15.0 47.0 -28.0) (float-vector 0.0 47.0 -28.0) (float-vector 1.776357e-15 67.0 -28.0) (float-vector 25.0 67.0 -28.0)))
(instance face :init :vertices (list (float-vector 15.0 47.0 -28.0) (float-vector 15.0 47.0 -27.0) (float-vector 0.0 47.0 -27.0) (float-vector 0.0 47.0 -28.0)))
(instance face :init :vertices (list (float-vector 15.0 47.0 27.0) (float-vector 15.0 47.0 28.0) (float-vector 0.0 47.0 28.0) (float-vector -1.776357e-15 47.0 27.0)))
(instance face :init :vertices (list (float-vector 25.0 67.0 -28.0) (float-vector 25.0 67.0 28.0) (float-vector 15.0 47.0 28.0) (float-vector 15.0 47.0 27.0) (float-vector 18.0 53.0 27.0) (float-vector 18.0 53.0 26.0) (float-vector 24.5 66.0 26.0) (float-vector 24.5 66.0 -26.0) (float-vector 18.0 53.0 -26.0) (float-vector 18.0 53.0 -27.0) (float-vector 15.0 47.0 -27.0) (float-vector 15.0 47.0 -28.0)))
(instance face :init :vertices (list (float-vector 25.0 67.0 28.0) (float-vector 25.0 67.0 -28.0) (float-vector 1.776357e-15 67.0 -28.0) (float-vector 0.0 67.0 28.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(send (elt bc 1) :set-color :gray40)
(setq blink16 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-neck-p :weight 155.666 :centroid (float-vector -4.31516 39.7026 3.047121e-15) :inertia-tensor #2f((70059.1 18347.5 5.179340e-12) (18347.5 1.332798e+05 -2.010164e-12) (5.179340e-12 -2.010164e-12 1.305169e+05))))
;; definition of assoc
(send blink12 :newcoords (make-coords :pos (float-vector -41.4 15.5 -15.5) :rot #2f((1.0 4.906539e-16 -1.766354e-16) (-1.766354e-16 -1.110223e-16 -1.0) (-4.906539e-16 1.0 -1.110223e-16))))
(send blink15 :assoc blink12)
(send blink15 :newcoords (make-coords :pos (float-vector 2.486900e-14 85.0 0.0) :rot #2f((0.0 1.0 0.0) (-1.0 0.0 1.570092e-16) (1.570092e-16 0.0 1.0))))
(send blink14 :assoc blink15)
(send blink14 :newcoords (make-coords :pos (float-vector -9.769963e-15 100.0 2.131628e-14) :rot #2f((1.0 7.771561e-16 -2.220446e-16) (-7.771561e-16 1.0 8.628166e-32) (2.220446e-16 8.628166e-32 1.0))))
(send blink13 :assoc blink14)
(send blink18 :newcoords (make-coords :pos (float-vector -5.0 95.0 -4.0) :rot #2f((-3.330669e-16 -2.465190e-32 -1.0) (-1.570092e-16 1.0 2.465190e-32) (1.0 1.570092e-16 -3.330669e-16))))
(send blink9 :assoc blink18)
(send blink9 :newcoords (make-coords :pos (float-vector 3.108624e-15 95.0 1.421085e-14) :rot #2f((1.0 3.330669e-16 -1.110223e-16) (-3.330669e-16 1.0 1.848893e-32) (1.110223e-16 1.848893e-32 1.0))))
(send blink10 :assoc blink9)
(send blink10 :newcoords (make-coords :pos (float-vector 8.881784e-16 64.0 16.6) :rot #2f((1.0 7.850462e-17 -2.355139e-16) (2.355139e-16 -2.220446e-16 1.0) (7.850462e-17 -1.0 -2.220446e-16))))
(send blink11 :assoc blink10)
(send blink2 :newcoords (make-coords :pos (float-vector -41.4 15.5 15.5) :rot #2f((1.0 1.962616e-17 1.373831e-16) (-1.373831e-16 1.110223e-16 1.0) (1.962616e-17 -1.0 1.110223e-16))))
(send blink3 :assoc blink2)
(send blink3 :newcoords (make-coords :pos (float-vector 2.442491e-14 85.0 0.0) :rot #2f((0.0 1.0 0.0) (-1.0 0.0 1.570092e-16) (1.570092e-16 0.0 1.0))))
(send blink4 :assoc blink3)
(send blink4 :newcoords (make-coords :pos (float-vector -9.769963e-15 100.0 2.131628e-14) :rot #2f((1.0 7.771561e-16 -2.220446e-16) (-7.771561e-16 1.0 8.628166e-32) (2.220446e-16 8.628166e-32 1.0))))
(send blink5 :assoc blink4)
(send blink17 :newcoords (make-coords :pos (float-vector -5.0 95.0 4.0) :rot #2f((5.551115e-16 -3.140185e-16 1.0) (-3.140185e-16 1.0 3.140185e-16) (-1.0 -3.140185e-16 5.551115e-16))))
(send blink8 :assoc blink17)
(send blink8 :newcoords (make-coords :pos (float-vector 1.909584e-14 95.0 0.0) :rot #2f((1.0 4.440892e-16 2.220446e-16) (-4.440892e-16 1.0 4.440892e-16) (-2.220446e-16 -4.440892e-16 1.0))))
(send blink7 :assoc blink8)
(send blink7 :newcoords (make-coords :pos (float-vector 8.881784e-16 64.0 -16.6) :rot #2f((1.0 1.742815e-16 -7.850462e-17) (-7.850462e-17 -2.220446e-16 -1.0) (-1.742815e-16 1.0 -2.220446e-16))))
(send blink6 :assoc blink7)
(send blink16 :newcoords (make-coords :pos (float-vector 1.776357e-15 0.0 29.0) :rot #2f((1.110223e-16 1.110223e-16 1.0) (1.0 -3.330669e-16 -1.110223e-16) (3.330669e-16 1.0 -1.110223e-16))))
(send blink1 :assoc blink16)
(send blink1 :newcoords (make-coords :pos (float-vector 9.0 -4.0 90.0) :rot #2f((-2.220446e-16 1.0 0.0) (-1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink1)
(send blink6 :newcoords (make-coords :pos (float-vector 4.0 56.0 70.0) :rot #2f((-1.0 -4.440892e-16 -1.224647e-16) (-4.440892e-16 1.0 -3.951857e-32) (1.224647e-16 1.486667e-32 -1.0))))
(send blink0 :assoc blink6)
(send blink5 :newcoords (make-coords :pos (float-vector 4.0 41.0 -62.0) :rot #2f((-1.0 0.0 0.0) (0.0 -2.220446e-16 -1.0) (0.0 -1.0 2.220446e-16))))
(send blink0 :assoc blink5)
(send blink11 :newcoords (make-coords :pos (float-vector 4.0 -64.0 70.0) :rot #2f((-1.0 0.0 0.0) (0.0 -1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink11)
(send blink13 :newcoords (make-coords :pos (float-vector 4.0 -49.0 -62.0) :rot #2f((-1.0 0.0 0.0) (0.0 -2.220446e-16 -1.0) (0.0 -1.0 2.220446e-16))))
(send blink0 :assoc blink13)
(send self :assoc blink0)
;; definition of end-coords
;; definition of head-end-coords
(setq head-end-coords
(make-cascoords
:coords (send (send blink16 :copy-worldcoords) :transform
(make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 -1.232595e-32 2.465190e-32) (1.232595e-32 1.0 -2.736911e-48) (-2.465190e-32 2.736911e-48 1.0))))))
(send blink16 :assoc head-end-coords)
;; definition of larm-end-coords
(setq larm-end-coords
(make-cascoords
:coords (send (send blink8 :copy-worldcoords) :transform
(make-coords :pos (float-vector 10.0 143.0 4.0) :rot #2f((3.330669e-16 -4.710277e-16 1.0) (-1.570092e-16 1.0 4.710277e-16) (-1.0 -1.570092e-16 3.330669e-16))))))
(send blink8 :assoc larm-end-coords)
;; definition of lleg-end-coords
(setq lleg-end-coords
(make-cascoords
:coords (send (send blink2 :copy-worldcoords) :transform
(make-coords :pos (float-vector -25.4 15.5 25.0) :rot #2f((1.665335e-16 1.665335e-16 1.0) (-1.0 -3.885781e-16 1.665335e-16) (3.885781e-16 -1.0 1.665335e-16))))))
(send blink2 :assoc lleg-end-coords)
;; definition of rarm-end-coords
(setq rarm-end-coords
(make-cascoords
:coords (send (send blink9 :copy-worldcoords) :transform
(make-coords :pos (float-vector 10.0 143.0 -4.0) :rot #2f((-2.220446e-16 -1.020560e-15 -1.0) (-7.850462e-17 1.0 -1.020560e-15) (1.0 7.850462e-17 -2.220446e-16))))))
(send blink9 :assoc rarm-end-coords)
;; definition of rleg-end-coords
(setq rleg-end-coords
(make-cascoords
:coords (send (send blink12 :copy-worldcoords) :transform
(make-coords :pos (float-vector -25.4 15.5 -25.0) :rot #2f((-4.996004e-16 -4.996004e-16 1.0) (1.0 2.775558e-16 4.996004e-16) (-2.775558e-16 1.0 4.996004e-16))))))
(send blink12 :assoc rleg-end-coords)
;; definition of joint
;; definition of :head-neck-y
(setq joint0 (instance rotational-joint :init
:parent-link blink0 :child-link blink1 :name :head-neck-y :axis :z
:min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :head-neck-p
(setq joint15 (instance rotational-joint :init
:parent-link blink1 :child-link blink16 :name :head-neck-p :axis :-z
:min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :larm-collar-y
(setq joint5 (instance rotational-joint :init
:parent-link blink0 :child-link blink6 :name :larm-collar-y :axis :-z
:min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :larm-shoulder-p
(setq joint6 (instance rotational-joint :init
:parent-link blink6 :child-link blink7 :name :larm-shoulder-p :axis :-z
:min -45.0 :max 135.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :larm-elbow-p
(setq joint7 (instance rotational-joint :init
:parent-link blink7 :child-link blink8 :name :larm-elbow-p :axis :-z
:min -45.0 :max 135.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :larm-gripper
(setq joint16 (instance rotational-joint :init
:parent-link blink8 :child-link blink17 :name :larm-gripper :axis :-z
:min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :lleg-crotch-p
(setq joint4 (instance rotational-joint :init
:parent-link blink0 :child-link blink5 :name :lleg-crotch-p :axis :-z
:min -45.0 :max 135.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :lleg-knee-p
(setq joint3 (instance rotational-joint :init
:parent-link blink5 :child-link blink4 :name :lleg-knee-p :axis :-z
:min 0.0 :max 180.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :lleg-ankle-p
(setq joint2 (instance rotational-joint :init
:parent-link blink4 :child-link blink3 :name :lleg-ankle-p :axis :-z
:min -70.0 :max 110.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :lleg-ankle-r
(setq joint1 (instance rotational-joint :init
:parent-link blink3 :child-link blink2 :name :lleg-ankle-r :axis :-z
:min -20.0 :max 60.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :rarm-collar-y
(setq joint10 (instance rotational-joint :init
:parent-link blink0 :child-link blink11 :name :rarm-collar-y :axis :-z
:min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :rarm-shoulder-p
(setq joint9 (instance rotational-joint :init
:parent-link blink11 :child-link blink10 :name :rarm-shoulder-p :axis :-z
:min -45.0 :max 135.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :rarm-elbow-p
(setq joint8 (instance rotational-joint :init
:parent-link blink10 :child-link blink9 :name :rarm-elbow-p :axis :-z
:min -45.0 :max 135.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :rarm-gripper
(setq joint17 (instance rotational-joint :init
:parent-link blink9 :child-link blink18 :name :rarm-gripper :axis :-z
:min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :rleg-crotch-p
(setq joint12 (instance rotational-joint :init
:parent-link blink0 :child-link blink13 :name :rleg-crotch-p :axis :-z
:min -45.0 :max 135.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :rleg-knee-p
(setq joint13 (instance rotational-joint :init
:parent-link blink13 :child-link blink14 :name :rleg-knee-p :axis :-z
:min 0.0 :max 180.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :rleg-ankle-p
(setq joint14 (instance rotational-joint :init
:parent-link blink14 :child-link blink15 :name :rleg-ankle-p :axis :-z
:min -70.0 :max 110.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :rleg-ankle-r
(setq joint11 (instance rotational-joint :init
:parent-link blink15 :child-link blink12 :name :rleg-ankle-r :axis :-z
:min -20.0 :max 60.0 :max-joint-velocity 5 :max-joint-torque 100))
(setq head-root-link blink1)
(setq head (list blink1 blink16))
(setq larm-root-link blink6)
(setq larm (list blink6 blink7 blink8 blink17))
(setq lleg-root-link blink5)
(setq lleg (list blink5 blink4 blink3 blink2))
(setq rarm-root-link blink11)
(setq rarm (list blink11 blink10 blink9 blink18))
(setq rleg-root-link blink13)
(setq rleg (list blink13 blink14 blink15 blink12))
;; init-ending
(setq links (list blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 blink8 blink9 blink10 blink11 blink12 blink13 blink14 blink15 blink16 blink17 blink18))
(setq joint-list (list joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12 joint13 joint14 joint15 joint16 joint17))
;; definition of collision-avoidance-links
(setq collision-avoidance-links
(list
))
(setq sensors (list))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))
(:head-neck-y (&rest args) (forward-message-to joint0 args))
(:head-neck-p (&rest args) (forward-message-to joint15 args))
(:larm-collar-y (&rest args) (forward-message-to joint5 args))
(:larm-shoulder-p (&rest args) (forward-message-to joint6 args))
(:larm-elbow-p (&rest args) (forward-message-to joint7 args))
(:larm-gripper (&rest args) (forward-message-to joint16 args))
(:lleg-crotch-p (&rest args) (forward-message-to joint4 args))
(:lleg-knee-p (&rest args) (forward-message-to joint3 args))
(:lleg-ankle-p (&rest args) (forward-message-to joint2 args))
(:lleg-ankle-r (&rest args) (forward-message-to joint1 args))
(:rarm-collar-y (&rest args) (forward-message-to joint10 args))
(:rarm-shoulder-p (&rest args) (forward-message-to joint9 args))
(:rarm-elbow-p (&rest args) (forward-message-to joint8 args))
(:rarm-gripper (&rest args) (forward-message-to joint17 args))
(:rleg-crotch-p (&rest args) (forward-message-to joint12 args))
(:rleg-knee-p (&rest args) (forward-message-to joint13 args))
(:rleg-ankle-p (&rest args) (forward-message-to joint14 args))
(:rleg-ankle-r (&rest args) (forward-message-to joint11 args))
(:handle (&rest args) (forward-message-to-all (list ) args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun saizo (&rest args) (instance* saizo-robot :init args))
;; (format *error-output* "(instance saizo-robot :init) for generating model~%")
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