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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass tama-robot
:super robot-model
:slots (sensors
joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12 joint13 joint14 joint15 ))
(defmethod tama-robot
(:init
(&rest args &key (name "tama") (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
)
(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 -70.0 -67.5 1.0) (float-vector -70.0 -32.5 1.0) (float-vector -70.0 -32.5 51.0) (float-vector -70.0 -67.5 51.0) (float-vector -70.0 -67.5 50.0) (float-vector -70.0 -33.5 50.0) (float-vector -70.0 -33.5 2.0) (float-vector -70.0 -67.5 2.0)))
(instance face :init :vertices (list (float-vector -90.0 -32.5 1.0) (float-vector -90.0 -32.5 51.0) (float-vector -70.0 -32.5 51.0) (float-vector -70.0 -32.5 1.0)))
(instance face :init :vertices (list (float-vector -90.0 -67.5 1.0) (float-vector -90.0 -67.5 2.0) (float-vector -90.0 -33.5 2.0) (float-vector -90.0 -33.5 50.0) (float-vector -90.0 -67.5 50.0) (float-vector -90.0 -67.5 51.0) (float-vector -90.0 -32.5 51.0) (float-vector -90.0 -32.5 1.0)))
(instance face :init :vertices (list (float-vector -87.0711 -74.5711 51.0) (float-vector -90.0 -67.5 51.0) (float-vector -90.0 -67.5 50.0) (float-vector -87.0711 -74.5711 50.0)))
(instance face :init :vertices (list (float-vector -87.0711 -74.5711 1.0) (float-vector -87.0711 -74.5711 2.0) (float-vector -90.0 -67.5 2.0) (float-vector -90.0 -67.5 1.0)))
(instance face :init :vertices (list (float-vector -80.0 -77.5 51.0) (float-vector -87.0711 -74.5711 51.0) (float-vector -87.0711 -74.5711 50.0) (float-vector -80.0 -77.5 50.0)))
(instance face :init :vertices (list (float-vector -80.0 -77.5 1.0) (float-vector -80.0 -77.5 2.0) (float-vector -87.0711 -74.5711 2.0) (float-vector -87.0711 -74.5711 1.0)))
(instance face :init :vertices (list (float-vector -72.9289 -74.5711 51.0) (float-vector -80.0 -77.5 51.0) (float-vector -80.0 -77.5 50.0) (float-vector -72.9289 -74.5711 50.0)))
(instance face :init :vertices (list (float-vector -72.9289 -74.5711 1.0) (float-vector -72.9289 -74.5711 2.0) (float-vector -80.0 -77.5 2.0) (float-vector -80.0 -77.5 1.0)))
(instance face :init :vertices (list (float-vector -70.0 -67.5 51.0) (float-vector -70.0 -32.5 51.0) (float-vector -90.0 -32.5 51.0) (float-vector -90.0 -67.5 51.0) (float-vector -87.0711 -74.5711 51.0) (float-vector -80.0 -77.5 51.0) (float-vector -72.9289 -74.5711 51.0)))
(instance face :init :vertices (list (float-vector -72.9289 -74.5711 1.0) (float-vector -80.0 -77.5 1.0) (float-vector -87.0711 -74.5711 1.0) (float-vector -90.0 -67.5 1.0) (float-vector -90.0 -32.5 1.0) (float-vector -70.0 -32.5 1.0) (float-vector -70.0 -67.5 1.0)))
(instance face :init :vertices (list (float-vector -72.9289 -74.5711 51.0) (float-vector -72.9289 -74.5711 50.0) (float-vector -70.0 -67.5 50.0) (float-vector -70.0 -67.5 51.0)))
(instance face :init :vertices (list (float-vector -70.0 -67.5 1.0) (float-vector -70.0 -67.5 2.0) (float-vector -72.9289 -74.5711 2.0) (float-vector -72.9289 -74.5711 1.0)))
(instance face :init :vertices (list (float-vector -70.0 -33.5 50.0) (float-vector -70.0 -67.5 50.0) (float-vector -72.9289 -74.5711 50.0) (float-vector -80.0 -77.5 50.0) (float-vector -87.0711 -74.5711 50.0) (float-vector -90.0 -67.5 50.0) (float-vector -90.0 -33.5 50.0)))
(instance face :init :vertices (list (float-vector -70.0 -33.5 2.0) (float-vector -70.0 -33.5 50.0) (float-vector -90.0 -33.5 50.0) (float-vector -90.0 -33.5 2.0)))
(instance face :init :vertices (list (float-vector -90.0 -33.5 2.0) (float-vector -90.0 -67.5 2.0) (float-vector -87.0711 -74.5711 2.0) (float-vector -80.0 -77.5 2.0) (float-vector -72.9289 -74.5711 2.0) (float-vector -70.0 -67.5 2.0) (float-vector -70.0 -33.5 2.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 90.0 -67.5 1.0) (float-vector 90.0 -32.5 1.0) (float-vector 90.0 -32.5 51.0) (float-vector 90.0 -67.5 51.0) (float-vector 90.0 -67.5 50.0) (float-vector 90.0 -33.5 50.0) (float-vector 90.0 -33.5 2.0) (float-vector 90.0 -67.5 2.0)))
(instance face :init :vertices (list (float-vector 70.0 -32.5 1.0) (float-vector 70.0 -32.5 51.0) (float-vector 90.0 -32.5 51.0) (float-vector 90.0 -32.5 1.0)))
(instance face :init :vertices (list (float-vector 70.0 -67.5 1.0) (float-vector 70.0 -67.5 2.0) (float-vector 70.0 -33.5 2.0) (float-vector 70.0 -33.5 50.0) (float-vector 70.0 -67.5 50.0) (float-vector 70.0 -67.5 51.0) (float-vector 70.0 -32.5 51.0) (float-vector 70.0 -32.5 1.0)))
(instance face :init :vertices (list (float-vector 72.9289 -74.5711 51.0) (float-vector 70.0 -67.5 51.0) (float-vector 70.0 -67.5 50.0) (float-vector 72.9289 -74.5711 50.0)))
(instance face :init :vertices (list (float-vector 72.9289 -74.5711 1.0) (float-vector 72.9289 -74.5711 2.0) (float-vector 70.0 -67.5 2.0) (float-vector 70.0 -67.5 1.0)))
(instance face :init :vertices (list (float-vector 80.0 -77.5 51.0) (float-vector 72.9289 -74.5711 51.0) (float-vector 72.9289 -74.5711 50.0) (float-vector 80.0 -77.5 50.0)))
(instance face :init :vertices (list (float-vector 80.0 -77.5 1.0) (float-vector 80.0 -77.5 2.0) (float-vector 72.9289 -74.5711 2.0) (float-vector 72.9289 -74.5711 1.0)))
(instance face :init :vertices (list (float-vector 87.0711 -74.5711 51.0) (float-vector 80.0 -77.5 51.0) (float-vector 80.0 -77.5 50.0) (float-vector 87.0711 -74.5711 50.0)))
(instance face :init :vertices (list (float-vector 87.0711 -74.5711 1.0) (float-vector 87.0711 -74.5711 2.0) (float-vector 80.0 -77.5 2.0) (float-vector 80.0 -77.5 1.0)))
(instance face :init :vertices (list (float-vector 90.0 -67.5 51.0) (float-vector 90.0 -32.5 51.0) (float-vector 70.0 -32.5 51.0) (float-vector 70.0 -67.5 51.0) (float-vector 72.9289 -74.5711 51.0) (float-vector 80.0 -77.5 51.0) (float-vector 87.0711 -74.5711 51.0)))
(instance face :init :vertices (list (float-vector 87.0711 -74.5711 1.0) (float-vector 80.0 -77.5 1.0) (float-vector 72.9289 -74.5711 1.0) (float-vector 70.0 -67.5 1.0) (float-vector 70.0 -32.5 1.0) (float-vector 90.0 -32.5 1.0) (float-vector 90.0 -67.5 1.0)))
(instance face :init :vertices (list (float-vector 87.0711 -74.5711 51.0) (float-vector 87.0711 -74.5711 50.0) (float-vector 90.0 -67.5 50.0) (float-vector 90.0 -67.5 51.0)))
(instance face :init :vertices (list (float-vector 90.0 -67.5 1.0) (float-vector 90.0 -67.5 2.0) (float-vector 87.0711 -74.5711 2.0) (float-vector 87.0711 -74.5711 1.0)))
(instance face :init :vertices (list (float-vector 90.0 -33.5 50.0) (float-vector 90.0 -67.5 50.0) (float-vector 87.0711 -74.5711 50.0) (float-vector 80.0 -77.5 50.0) (float-vector 72.9289 -74.5711 50.0) (float-vector 70.0 -67.5 50.0) (float-vector 70.0 -33.5 50.0)))
(instance face :init :vertices (list (float-vector 90.0 -33.5 2.0) (float-vector 90.0 -33.5 50.0) (float-vector 70.0 -33.5 50.0) (float-vector 70.0 -33.5 2.0)))
(instance face :init :vertices (list (float-vector 70.0 -33.5 2.0) (float-vector 70.0 -67.5 2.0) (float-vector 72.9289 -74.5711 2.0) (float-vector 80.0 -77.5 2.0) (float-vector 87.0711 -74.5711 2.0) (float-vector 90.0 -67.5 2.0) (float-vector 90.0 -33.5 2.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -70.0 67.5 51.0) (float-vector -70.0 32.5 51.0) (float-vector -70.0 32.5 1.0) (float-vector -70.0 67.5 1.0) (float-vector -70.0 67.5 2.0) (float-vector -70.0 33.5 2.0) (float-vector -70.0 33.5 50.0) (float-vector -70.0 67.5 50.0)))
(instance face :init :vertices (list (float-vector -90.0 32.5 51.0) (float-vector -90.0 32.5 1.0) (float-vector -70.0 32.5 1.0) (float-vector -70.0 32.5 51.0)))
(instance face :init :vertices (list (float-vector -90.0 67.5 51.0) (float-vector -90.0 67.5 50.0) (float-vector -90.0 33.5 50.0) (float-vector -90.0 33.5 2.0) (float-vector -90.0 67.5 2.0) (float-vector -90.0 67.5 1.0) (float-vector -90.0 32.5 1.0) (float-vector -90.0 32.5 51.0)))
(instance face :init :vertices (list (float-vector -87.0711 74.5711 1.0) (float-vector -90.0 67.5 1.0) (float-vector -90.0 67.5 2.0) (float-vector -87.0711 74.5711 2.0)))
(instance face :init :vertices (list (float-vector -87.0711 74.5711 51.0) (float-vector -87.0711 74.5711 50.0) (float-vector -90.0 67.5 50.0) (float-vector -90.0 67.5 51.0)))
(instance face :init :vertices (list (float-vector -80.0 77.5 1.0) (float-vector -87.0711 74.5711 1.0) (float-vector -87.0711 74.5711 2.0) (float-vector -80.0 77.5 2.0)))
(instance face :init :vertices (list (float-vector -80.0 77.5 51.0) (float-vector -80.0 77.5 50.0) (float-vector -87.0711 74.5711 50.0) (float-vector -87.0711 74.5711 51.0)))
(instance face :init :vertices (list (float-vector -72.9289 74.5711 1.0) (float-vector -80.0 77.5 1.0) (float-vector -80.0 77.5 2.0) (float-vector -72.9289 74.5711 2.0)))
(instance face :init :vertices (list (float-vector -72.9289 74.5711 51.0) (float-vector -72.9289 74.5711 50.0) (float-vector -80.0 77.5 50.0) (float-vector -80.0 77.5 51.0)))
(instance face :init :vertices (list (float-vector -70.0 67.5 1.0) (float-vector -70.0 32.5 1.0) (float-vector -90.0 32.5 1.0) (float-vector -90.0 67.5 1.0) (float-vector -87.0711 74.5711 1.0) (float-vector -80.0 77.5 1.0) (float-vector -72.9289 74.5711 1.0)))
(instance face :init :vertices (list (float-vector -72.9289 74.5711 51.0) (float-vector -80.0 77.5 51.0) (float-vector -87.0711 74.5711 51.0) (float-vector -90.0 67.5 51.0) (float-vector -90.0 32.5 51.0) (float-vector -70.0 32.5 51.0) (float-vector -70.0 67.5 51.0)))
(instance face :init :vertices (list (float-vector -72.9289 74.5711 1.0) (float-vector -72.9289 74.5711 2.0) (float-vector -70.0 67.5 2.0) (float-vector -70.0 67.5 1.0)))
(instance face :init :vertices (list (float-vector -70.0 67.5 51.0) (float-vector -70.0 67.5 50.0) (float-vector -72.9289 74.5711 50.0) (float-vector -72.9289 74.5711 51.0)))
(instance face :init :vertices (list (float-vector -70.0 33.5 2.0) (float-vector -70.0 67.5 2.0) (float-vector -72.9289 74.5711 2.0) (float-vector -80.0 77.5 2.0) (float-vector -87.0711 74.5711 2.0) (float-vector -90.0 67.5 2.0) (float-vector -90.0 33.5 2.0)))
(instance face :init :vertices (list (float-vector -70.0 33.5 50.0) (float-vector -70.0 33.5 2.0) (float-vector -90.0 33.5 2.0) (float-vector -90.0 33.5 50.0)))
(instance face :init :vertices (list (float-vector -90.0 33.5 50.0) (float-vector -90.0 67.5 50.0) (float-vector -87.0711 74.5711 50.0) (float-vector -80.0 77.5 50.0) (float-vector -72.9289 74.5711 50.0) (float-vector -70.0 67.5 50.0) (float-vector -70.0 33.5 50.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 90.0 67.5 51.0) (float-vector 90.0 32.5 51.0) (float-vector 90.0 32.5 1.0) (float-vector 90.0 67.5 1.0) (float-vector 90.0 67.5 2.0) (float-vector 90.0 33.5 2.0) (float-vector 90.0 33.5 50.0) (float-vector 90.0 67.5 50.0)))
(instance face :init :vertices (list (float-vector 70.0 32.5 51.0) (float-vector 70.0 32.5 1.0) (float-vector 90.0 32.5 1.0) (float-vector 90.0 32.5 51.0)))
(instance face :init :vertices (list (float-vector 70.0 67.5 51.0) (float-vector 70.0 67.5 50.0) (float-vector 70.0 33.5 50.0) (float-vector 70.0 33.5 2.0) (float-vector 70.0 67.5 2.0) (float-vector 70.0 67.5 1.0) (float-vector 70.0 32.5 1.0) (float-vector 70.0 32.5 51.0)))
(instance face :init :vertices (list (float-vector 72.9289 74.5711 1.0) (float-vector 70.0 67.5 1.0) (float-vector 70.0 67.5 2.0) (float-vector 72.9289 74.5711 2.0)))
(instance face :init :vertices (list (float-vector 72.9289 74.5711 51.0) (float-vector 72.9289 74.5711 50.0) (float-vector 70.0 67.5 50.0) (float-vector 70.0 67.5 51.0)))
(instance face :init :vertices (list (float-vector 80.0 77.5 1.0) (float-vector 72.9289 74.5711 1.0) (float-vector 72.9289 74.5711 2.0) (float-vector 80.0 77.5 2.0)))
(instance face :init :vertices (list (float-vector 80.0 77.5 51.0) (float-vector 80.0 77.5 50.0) (float-vector 72.9289 74.5711 50.0) (float-vector 72.9289 74.5711 51.0)))
(instance face :init :vertices (list (float-vector 87.0711 74.5711 1.0) (float-vector 80.0 77.5 1.0) (float-vector 80.0 77.5 2.0) (float-vector 87.0711 74.5711 2.0)))
(instance face :init :vertices (list (float-vector 87.0711 74.5711 51.0) (float-vector 87.0711 74.5711 50.0) (float-vector 80.0 77.5 50.0) (float-vector 80.0 77.5 51.0)))
(instance face :init :vertices (list (float-vector 90.0 67.5 1.0) (float-vector 90.0 32.5 1.0) (float-vector 70.0 32.5 1.0) (float-vector 70.0 67.5 1.0) (float-vector 72.9289 74.5711 1.0) (float-vector 80.0 77.5 1.0) (float-vector 87.0711 74.5711 1.0)))
(instance face :init :vertices (list (float-vector 87.0711 74.5711 51.0) (float-vector 80.0 77.5 51.0) (float-vector 72.9289 74.5711 51.0) (float-vector 70.0 67.5 51.0) (float-vector 70.0 32.5 51.0) (float-vector 90.0 32.5 51.0) (float-vector 90.0 67.5 51.0)))
(instance face :init :vertices (list (float-vector 87.0711 74.5711 1.0) (float-vector 87.0711 74.5711 2.0) (float-vector 90.0 67.5 2.0) (float-vector 90.0 67.5 1.0)))
(instance face :init :vertices (list (float-vector 90.0 67.5 51.0) (float-vector 90.0 67.5 50.0) (float-vector 87.0711 74.5711 50.0) (float-vector 87.0711 74.5711 51.0)))
(instance face :init :vertices (list (float-vector 90.0 33.5 2.0) (float-vector 90.0 67.5 2.0) (float-vector 87.0711 74.5711 2.0) (float-vector 80.0 77.5 2.0) (float-vector 72.9289 74.5711 2.0) (float-vector 70.0 67.5 2.0) (float-vector 70.0 33.5 2.0)))
(instance face :init :vertices (list (float-vector 90.0 33.5 50.0) (float-vector 90.0 33.5 2.0) (float-vector 70.0 33.5 2.0) (float-vector 70.0 33.5 50.0)))
(instance face :init :vertices (list (float-vector 70.0 33.5 50.0) (float-vector 70.0 67.5 50.0) (float-vector 72.9289 74.5711 50.0) (float-vector 80.0 77.5 50.0) (float-vector 87.0711 74.5711 50.0) (float-vector 90.0 67.5 50.0) (float-vector 90.0 33.5 50.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 100.0 9.9 38.0) (float-vector 100.0 9.9 2.0) (float-vector 60.0 9.9 2.0) (float-vector 60.0 9.9 38.0)))
(instance face :init :vertices (list (float-vector 60.0 9.9 2.0) (float-vector 60.0 -9.9 2.0) (float-vector 60.0 -9.9 38.0) (float-vector 60.0 9.9 38.0)))
(instance face :init :vertices (list (float-vector 60.0 -9.9 2.0) (float-vector 100.0 -9.9 2.0) (float-vector 100.0 -9.9 38.0) (float-vector 60.0 -9.9 38.0)))
(instance face :init :vertices (list (float-vector 100.0 -9.9 38.0) (float-vector 100.0 9.9 38.0) (float-vector 60.0 9.9 38.0) (float-vector 60.0 -9.9 38.0))
:holes (list
(instance hole :init :vertices (list (float-vector 94.45 7.70763 38.0) (float-vector 97.7076 4.45 38.0) (float-vector 98.9 5.627165e-14 38.0) (float-vector 97.7076 -4.45 38.0) (float-vector 94.45 -7.70763 38.0) (float-vector 90.0 -8.9 38.0) (float-vector 85.55 -7.70763 38.0) (float-vector 82.2924 -4.45 38.0) (float-vector 81.1 6.385448e-14 38.0) (float-vector 82.2924 4.45 38.0) (float-vector 85.55 7.70763 38.0) (float-vector 90.0 8.9 38.0)))
))
(instance face :init :vertices (list (float-vector 100.0 -9.9 2.0) (float-vector 100.0 9.9 2.0) (float-vector 100.0 9.9 38.0) (float-vector 100.0 -9.9 38.0)))
(instance face :init :vertices (list (float-vector 100.0 9.9 2.0) (float-vector 100.0 -9.9 2.0) (float-vector 60.0 -9.9 2.0) (float-vector 60.0 9.9 2.0))
:holes (list
(instance hole :init :vertices (list (float-vector 97.7076 4.45 2.0) (float-vector 94.45 7.70763 2.0) (float-vector 90.0 8.9 2.0) (float-vector 85.55 7.70763 2.0) (float-vector 82.2924 4.45 2.0) (float-vector 81.1 6.385448e-14 2.0) (float-vector 82.2924 -4.45 2.0) (float-vector 85.55 -7.70763 2.0) (float-vector 90.0 -8.9 2.0) (float-vector 94.45 -7.70763 2.0) (float-vector 97.7076 -4.45 2.0) (float-vector 98.9 5.627165e-14 2.0)))
))
(instance face :init :vertices (list (float-vector 90.0 8.9 40.0) (float-vector 90.0 8.9 38.0) (float-vector 85.55 7.70763 38.0) (float-vector 85.55 7.70763 40.0)))
(instance face :init :vertices (list (float-vector 90.0 8.9 2.0) (float-vector 90.0 8.9 0.0) (float-vector 85.55 7.70763 0.0) (float-vector 85.55 7.70763 2.0)))
(instance face :init :vertices (list (float-vector 82.2924 4.45 38.0) (float-vector 82.2924 4.45 40.0) (float-vector 85.55 7.70763 40.0) (float-vector 85.55 7.70763 38.0)))
(instance face :init :vertices (list (float-vector 85.55 7.70763 0.0) (float-vector 82.2924 4.45 0.0) (float-vector 82.2924 4.45 2.0) (float-vector 85.55 7.70763 2.0)))
(instance face :init :vertices (list (float-vector 81.1 6.385448e-14 38.0) (float-vector 81.1 6.385448e-14 40.0) (float-vector 82.2924 4.45 40.0) (float-vector 82.2924 4.45 38.0)))
(instance face :init :vertices (list (float-vector 82.2924 4.45 0.0) (float-vector 81.1 6.385448e-14 0.0) (float-vector 81.1 6.385448e-14 2.0) (float-vector 82.2924 4.45 2.0)))
(instance face :init :vertices (list (float-vector 82.2924 -4.45 38.0) (float-vector 82.2924 -4.45 40.0) (float-vector 81.1 6.385448e-14 40.0) (float-vector 81.1 6.385448e-14 38.0)))
(instance face :init :vertices (list (float-vector 81.1 6.385448e-14 0.0) (float-vector 82.2924 -4.45 0.0) (float-vector 82.2924 -4.45 2.0) (float-vector 81.1 6.385448e-14 2.0)))
(instance face :init :vertices (list (float-vector 85.55 -7.70763 38.0) (float-vector 85.55 -7.70763 40.0) (float-vector 82.2924 -4.45 40.0) (float-vector 82.2924 -4.45 38.0)))
(instance face :init :vertices (list (float-vector 82.2924 -4.45 0.0) (float-vector 85.55 -7.70763 0.0) (float-vector 85.55 -7.70763 2.0) (float-vector 82.2924 -4.45 2.0)))
(instance face :init :vertices (list (float-vector 90.0 -8.9 38.0) (float-vector 90.0 -8.9 40.0) (float-vector 85.55 -7.70763 40.0) (float-vector 85.55 -7.70763 38.0)))
(instance face :init :vertices (list (float-vector 85.55 -7.70763 0.0) (float-vector 90.0 -8.9 0.0) (float-vector 90.0 -8.9 2.0) (float-vector 85.55 -7.70763 2.0)))
(instance face :init :vertices (list (float-vector 94.45 -7.70763 38.0) (float-vector 94.45 -7.70763 40.0) (float-vector 90.0 -8.9 40.0) (float-vector 90.0 -8.9 38.0)))
(instance face :init :vertices (list (float-vector 90.0 -8.9 0.0) (float-vector 94.45 -7.70763 0.0) (float-vector 94.45 -7.70763 2.0) (float-vector 90.0 -8.9 2.0)))
(instance face :init :vertices (list (float-vector 97.7076 -4.45 38.0) (float-vector 97.7076 -4.45 40.0) (float-vector 94.45 -7.70763 40.0) (float-vector 94.45 -7.70763 38.0)))
(instance face :init :vertices (list (float-vector 94.45 -7.70763 0.0) (float-vector 97.7076 -4.45 0.0) (float-vector 97.7076 -4.45 2.0) (float-vector 94.45 -7.70763 2.0)))
(instance face :init :vertices (list (float-vector 98.9 5.627165e-14 38.0) (float-vector 98.9 5.627165e-14 40.0) (float-vector 97.7076 -4.45 40.0) (float-vector 97.7076 -4.45 38.0)))
(instance face :init :vertices (list (float-vector 97.7076 -4.45 0.0) (float-vector 98.9 5.627165e-14 0.0) (float-vector 98.9 5.627165e-14 2.0) (float-vector 97.7076 -4.45 2.0)))
(instance face :init :vertices (list (float-vector 97.7076 4.45 38.0) (float-vector 97.7076 4.45 40.0) (float-vector 98.9 5.627165e-14 40.0) (float-vector 98.9 5.627165e-14 38.0)))
(instance face :init :vertices (list (float-vector 98.9 5.627165e-14 0.0) (float-vector 97.7076 4.45 0.0) (float-vector 97.7076 4.45 2.0) (float-vector 98.9 5.627165e-14 2.0)))
(instance face :init :vertices (list (float-vector 94.45 7.70763 38.0) (float-vector 94.45 7.70763 40.0) (float-vector 97.7076 4.45 40.0) (float-vector 97.7076 4.45 38.0)))
(instance face :init :vertices (list (float-vector 97.7076 4.45 0.0) (float-vector 94.45 7.70763 0.0) (float-vector 94.45 7.70763 2.0) (float-vector 97.7076 4.45 2.0)))
(instance face :init :vertices (list (float-vector 94.45 7.70763 40.0) (float-vector 90.0 8.9 40.0) (float-vector 85.55 7.70763 40.0) (float-vector 82.2924 4.45 40.0) (float-vector 81.1 6.385448e-14 40.0) (float-vector 82.2924 -4.45 40.0) (float-vector 85.55 -7.70763 40.0) (float-vector 90.0 -8.9 40.0) (float-vector 94.45 -7.70763 40.0) (float-vector 97.7076 -4.45 40.0) (float-vector 98.9 5.627165e-14 40.0) (float-vector 97.7076 4.45 40.0)))
(instance face :init :vertices (list (float-vector 90.0 8.9 40.0) (float-vector 94.45 7.70763 40.0) (float-vector 94.45 7.70763 38.0) (float-vector 90.0 8.9 38.0)))
(instance face :init :vertices (list (float-vector 94.45 7.70763 0.0) (float-vector 90.0 8.9 0.0) (float-vector 90.0 8.9 2.0) (float-vector 94.45 7.70763 2.0)))
(instance face :init :vertices (list (float-vector 90.0 8.9 0.0) (float-vector 94.45 7.70763 0.0) (float-vector 97.7076 4.45 0.0) (float-vector 98.9 5.627165e-14 0.0) (float-vector 97.7076 -4.45 0.0) (float-vector 94.45 -7.70763 0.0) (float-vector 90.0 -8.9 0.0) (float-vector 85.55 -7.70763 0.0) (float-vector 82.2924 -4.45 0.0) (float-vector 81.1 6.385448e-14 0.0) (float-vector 82.2924 4.45 0.0) (float-vector 85.55 7.70763 0.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 95.0 -82.5 1.0) (float-vector 95.0 82.5 1.0) (float-vector -95.0 82.5 1.0) (float-vector -95.0 -82.5 1.0)))
(instance face :init :vertices (list (float-vector 95.0 82.5 -1.0) (float-vector 95.0 -82.5 -1.0) (float-vector -95.0 -82.5 -1.0) (float-vector -95.0 82.5 -1.0)))
(instance face :init :vertices (list (float-vector 95.0 -82.5 1.0) (float-vector 95.0 -82.5 -1.0) (float-vector 95.0 82.5 -1.0) (float-vector 95.0 82.5 1.0)))
(instance face :init :vertices (list (float-vector -95.0 -82.5 1.0) (float-vector -95.0 -82.5 -1.0) (float-vector 95.0 -82.5 -1.0) (float-vector 95.0 -82.5 1.0)))
(instance face :init :vertices (list (float-vector -95.0 82.5 1.0) (float-vector -95.0 82.5 -1.0) (float-vector -95.0 -82.5 -1.0) (float-vector -95.0 -82.5 1.0)))
(instance face :init :vertices (list (float-vector 95.0 82.5 1.0) (float-vector 95.0 82.5 -1.0) (float-vector -95.0 82.5 -1.0) (float-vector -95.0 82.5 1.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 30.0 31.0) (float-vector -90.0 30.0 31.0) (float-vector -90.0 -30.0 31.0) (float-vector 10.0 -30.0 31.0)))
(instance face :init :vertices (list (float-vector -90.0 30.0 1.0) (float-vector 10.0 30.0 1.0) (float-vector 10.0 -30.0 1.0) (float-vector -90.0 -30.0 1.0)))
(instance face :init :vertices (list (float-vector 10.0 30.0 31.0) (float-vector 10.0 30.0 1.0) (float-vector -90.0 30.0 1.0) (float-vector -90.0 30.0 31.0)))
(instance face :init :vertices (list (float-vector 10.0 -30.0 31.0) (float-vector 10.0 -30.0 1.0) (float-vector 10.0 30.0 1.0) (float-vector 10.0 30.0 31.0)))
(instance face :init :vertices (list (float-vector -90.0 -30.0 31.0) (float-vector -90.0 -30.0 1.0) (float-vector 10.0 -30.0 1.0) (float-vector 10.0 -30.0 31.0)))
(instance face :init :vertices (list (float-vector -90.0 30.0 31.0) (float-vector -90.0 30.0 1.0) (float-vector -90.0 -30.0 1.0) (float-vector -90.0 -30.0 31.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 37.75 -22.75 -22.25) (float-vector 37.75 2.75 -22.25) (float-vector 37.75 2.75 0.25) (float-vector 37.75 -22.75 0.25)))
(instance face :init :vertices (list (float-vector -17.75 2.75 -22.25) (float-vector -17.75 -22.75 -22.25) (float-vector -17.75 -22.75 0.25) (float-vector -17.75 2.75 0.25)))
(instance face :init :vertices (list (float-vector 37.75 -22.75 -22.25) (float-vector -17.75 -22.75 -22.25) (float-vector -17.75 2.75 -22.25) (float-vector 37.75 2.75 -22.25)))
(instance face :init :vertices (list (float-vector 37.75 -22.75 0.25) (float-vector -17.75 -22.75 0.25) (float-vector -17.75 -22.75 -22.25) (float-vector 37.75 -22.75 -22.25)))
(instance face :init :vertices (list (float-vector 37.75 2.75 0.25) (float-vector -17.75 2.75 0.25) (float-vector -17.75 -22.75 0.25) (float-vector 37.75 -22.75 0.25)))
(instance face :init :vertices (list (float-vector 37.75 2.75 -22.25) (float-vector -17.75 2.75 -22.25) (float-vector -17.75 2.75 0.25) (float-vector 37.75 2.75 0.25)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 37.75 -2.75 -22.25) (float-vector 37.75 22.75 -22.25) (float-vector 37.75 22.75 0.25) (float-vector 37.75 -2.75 0.25)))
(instance face :init :vertices (list (float-vector -17.75 22.75 -22.25) (float-vector -17.75 -2.75 -22.25) (float-vector -17.75 -2.75 0.25) (float-vector -17.75 22.75 0.25)))
(instance face :init :vertices (list (float-vector 37.75 -2.75 -22.25) (float-vector -17.75 -2.75 -22.25) (float-vector -17.75 22.75 -22.25) (float-vector 37.75 22.75 -22.25)))
(instance face :init :vertices (list (float-vector 37.75 -2.75 0.25) (float-vector -17.75 -2.75 0.25) (float-vector -17.75 -2.75 -22.25) (float-vector 37.75 -2.75 -22.25)))
(instance face :init :vertices (list (float-vector 37.75 22.75 0.25) (float-vector -17.75 22.75 0.25) (float-vector -17.75 -2.75 0.25) (float-vector 37.75 -2.75 0.25)))
(instance face :init :vertices (list (float-vector 37.75 22.75 -22.25) (float-vector -17.75 22.75 -22.25) (float-vector -17.75 22.75 0.25) (float-vector 37.75 22.75 0.25)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -42.5 25.0 31.0) (float-vector -42.5 -25.0 31.0) (float-vector -42.5 -15.0 61.0) (float-vector -42.5 15.0 61.0)))
(instance face :init :vertices (list (float-vector 2.5 -25.0 31.0) (float-vector 2.5 25.0 31.0) (float-vector 2.5 15.0 61.0) (float-vector 2.5 -15.0 61.0)))
(instance face :init :vertices (list (float-vector -42.5 25.0 31.0) (float-vector 2.5 25.0 31.0) (float-vector 2.5 -25.0 31.0) (float-vector -42.5 -25.0 31.0)))
(instance face :init :vertices (list (float-vector -42.5 15.0 61.0) (float-vector 2.5 15.0 61.0) (float-vector 2.5 25.0 31.0) (float-vector -42.5 25.0 31.0)))
(instance face :init :vertices (list (float-vector -42.5 -15.0 61.0) (float-vector 2.5 -15.0 61.0) (float-vector 2.5 15.0 61.0) (float-vector -42.5 15.0 61.0)))
(instance face :init :vertices (list (float-vector -42.5 -25.0 31.0) (float-vector 2.5 -25.0 31.0) (float-vector 2.5 -15.0 61.0) (float-vector -42.5 -15.0 61.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 60.0 35.0 1.0) (float-vector 30.0 35.0 1.0) (float-vector 30.0 35.0 29.0) (float-vector 60.0 35.0 29.0)))
(instance face :init :vertices (list (float-vector 30.0 -35.0 1.0) (float-vector 60.0 -35.0 1.0) (float-vector 60.0 -35.0 29.0) (float-vector 30.0 -35.0 29.0)))
(instance face :init :vertices (list (float-vector 60.0 35.0 1.0) (float-vector 60.0 -35.0 1.0) (float-vector 30.0 -35.0 1.0) (float-vector 30.0 35.0 1.0)))
(instance face :init :vertices (list (float-vector 60.0 35.0 29.0) (float-vector 60.0 -35.0 29.0) (float-vector 60.0 -35.0 1.0) (float-vector 60.0 35.0 1.0)))
(instance face :init :vertices (list (float-vector 30.0 35.0 29.0) (float-vector 30.0 -35.0 29.0) (float-vector 60.0 -35.0 29.0) (float-vector 60.0 35.0 29.0)))
(instance face :init :vertices (list (float-vector 30.0 35.0 1.0) (float-vector 30.0 -35.0 1.0) (float-vector 30.0 -35.0 29.0) (float-vector 30.0 35.0 29.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(send (elt bc 1) :set-color :gray90)
(send (elt bc 2) :set-color :gray90)
(send (elt bc 3) :set-color :gray90)
(send (elt bc 4) :set-color :gray40)
(send (elt bc 5) :set-color (list))
(send (elt bc 6) :set-color (list))
(send (elt bc 7) :set-color :gray40)
(send (elt bc 8) :set-color :gray40)
(send (elt bc 9) :set-color :yellow)
(send (elt bc 10) :set-color :yellow)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :weight 715.443 :centroid (float-vector -0.767986 -1.029034e-15 17.7569) :inertia-tensor #2f((2.973517e+05 -3.630274e-10 85717.0) (-3.630274e-10 7.762833e+05 1.389331e-10) (85717.0 1.389331e-10 6.950177e+05))))
;; definition of :rbleg-crotch-y
(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 -2.842171e-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 0.0 9.0 20.0) (float-vector 4.5 7.79423 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 9.0 -1.421085e-14 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 -1.421085e-14 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 0.0 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 -2.842171e-14 -9.0 -20.0)))
))
(instance face :init :vertices (list (float-vector 9.0 -1.421085e-14 22.0) (float-vector 9.0 -1.421085e-14 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 -1.421085e-14 -20.0) (float-vector 9.0 -1.421085e-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 0.0 9.0 20.0) (float-vector 0.0 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 0.0 9.0 -22.0) (float-vector 0.0 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 0.0 9.0 22.0) (float-vector 0.0 9.0 20.0)))
(instance face :init :vertices (list (float-vector 0.0 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 0.0 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 -2.842171e-14 -9.0 20.0) (float-vector -2.842171e-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 -2.842171e-14 -9.0 -22.0) (float-vector -2.842171e-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 -2.842171e-14 -9.0 22.0) (float-vector -2.842171e-14 -9.0 20.0)))
(instance face :init :vertices (list (float-vector -2.842171e-14 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector -2.842171e-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 -1.421085e-14 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 0.0 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 -2.842171e-14 -9.0 22.0) (float-vector 4.5 -7.79423 22.0)))
(instance face :init :vertices (list (float-vector 9.0 -1.421085e-14 22.0) (float-vector 7.79423 -4.5 22.0) (float-vector 7.79423 -4.5 20.0) (float-vector 9.0 -1.421085e-14 20.0)))
(instance face :init :vertices (list (float-vector 7.79423 -4.5 -22.0) (float-vector 9.0 -1.421085e-14 -22.0) (float-vector 9.0 -1.421085e-14 -20.0) (float-vector 7.79423 -4.5 -20.0)))
(instance face :init :vertices (list (float-vector 9.0 -1.421085e-14 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector -2.842171e-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 0.0 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 50.0 30.0 -20.0) (float-vector 50.0 -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 0.0) (float-vector 10.0 30.0 0.0) (float-vector 10.0 30.0 -20.0)))
(instance face :init :vertices (list (float-vector 10.0 -10.0 0.0) (float-vector 50.0 -10.0 0.0) (float-vector 50.0 30.0 0.0) (float-vector 10.0 30.0 0.0)))
(instance face :init :vertices (list (float-vector 50.0 30.0 0.0) (float-vector 50.0 30.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 30.0 0.0))
:holes (list
(instance hole :init :vertices (list (float-vector 44.5 30.0 -17.7942) (float-vector 47.7942 30.0 -14.5) (float-vector 49.0 30.0 -10.0) (float-vector 47.7942 30.0 -5.5) (float-vector 44.5 30.0 -2.20577) (float-vector 40.0 30.0 -1.0) (float-vector 35.5 30.0 -2.20577) (float-vector 32.2058 30.0 -5.5) (float-vector 31.0 30.0 -10.0) (float-vector 32.2058 30.0 -14.5) (float-vector 35.5 30.0 -17.7942) (float-vector 40.0 30.0 -19.0)))
))
(instance face :init :vertices (list (float-vector 50.0 -10.0 0.0) (float-vector 50.0 -10.0 -20.0) (float-vector 50.0 30.0 -20.0) (float-vector 50.0 30.0 0.0)))
(instance face :init :vertices (list (float-vector 50.0 -10.0 -20.0) (float-vector 50.0 -10.0 0.0) (float-vector 10.0 -10.0 0.0) (float-vector 10.0 -10.0 -20.0))
:holes (list
(instance hole :init :vertices (list (float-vector 47.7942 -10.0 -14.5) (float-vector 44.5 -10.0 -17.7942) (float-vector 40.0 -10.0 -19.0) (float-vector 35.5 -10.0 -17.7942) (float-vector 32.2058 -10.0 -14.5) (float-vector 31.0 -10.0 -10.0) (float-vector 32.2058 -10.0 -5.5) (float-vector 35.5 -10.0 -2.20577) (float-vector 40.0 -10.0 -1.0) (float-vector 44.5 -10.0 -2.20577) (float-vector 47.7942 -10.0 -5.5) (float-vector 49.0 -10.0 -10.0)))
))
(instance face :init :vertices (list (float-vector 40.0 32.0 -19.0) (float-vector 40.0 30.0 -19.0) (float-vector 35.5 30.0 -17.7942) (float-vector 35.5 32.0 -17.7942)))
(instance face :init :vertices (list (float-vector 40.0 -10.0 -19.0) (float-vector 40.0 -12.0 -19.0) (float-vector 35.5 -12.0 -17.7942) (float-vector 35.5 -10.0 -17.7942)))
(instance face :init :vertices (list (float-vector 32.2058 30.0 -14.5) (float-vector 32.2058 32.0 -14.5) (float-vector 35.5 32.0 -17.7942) (float-vector 35.5 30.0 -17.7942)))
(instance face :init :vertices (list (float-vector 35.5 -12.0 -17.7942) (float-vector 32.2058 -12.0 -14.5) (float-vector 32.2058 -10.0 -14.5) (float-vector 35.5 -10.0 -17.7942)))
(instance face :init :vertices (list (float-vector 31.0 30.0 -10.0) (float-vector 31.0 32.0 -10.0) (float-vector 32.2058 32.0 -14.5) (float-vector 32.2058 30.0 -14.5)))
(instance face :init :vertices (list (float-vector 32.2058 -12.0 -14.5) (float-vector 31.0 -12.0 -10.0) (float-vector 31.0 -10.0 -10.0) (float-vector 32.2058 -10.0 -14.5)))
(instance face :init :vertices (list (float-vector 32.2058 30.0 -5.5) (float-vector 32.2058 32.0 -5.5) (float-vector 31.0 32.0 -10.0) (float-vector 31.0 30.0 -10.0)))
(instance face :init :vertices (list (float-vector 31.0 -12.0 -10.0) (float-vector 32.2058 -12.0 -5.5) (float-vector 32.2058 -10.0 -5.5) (float-vector 31.0 -10.0 -10.0)))
(instance face :init :vertices (list (float-vector 35.5 30.0 -2.20577) (float-vector 35.5 32.0 -2.20577) (float-vector 32.2058 32.0 -5.5) (float-vector 32.2058 30.0 -5.5)))
(instance face :init :vertices (list (float-vector 32.2058 -12.0 -5.5) (float-vector 35.5 -12.0 -2.20577) (float-vector 35.5 -10.0 -2.20577) (float-vector 32.2058 -10.0 -5.5)))
(instance face :init :vertices (list (float-vector 40.0 30.0 -1.0) (float-vector 40.0 32.0 -1.0) (float-vector 35.5 32.0 -2.20577) (float-vector 35.5 30.0 -2.20577)))
(instance face :init :vertices (list (float-vector 35.5 -12.0 -2.20577) (float-vector 40.0 -12.0 -1.0) (float-vector 40.0 -10.0 -1.0) (float-vector 35.5 -10.0 -2.20577)))
(instance face :init :vertices (list (float-vector 44.5 30.0 -2.20577) (float-vector 44.5 32.0 -2.20577) (float-vector 40.0 32.0 -1.0) (float-vector 40.0 30.0 -1.0)))
(instance face :init :vertices (list (float-vector 40.0 -12.0 -1.0) (float-vector 44.5 -12.0 -2.20577) (float-vector 44.5 -10.0 -2.20577) (float-vector 40.0 -10.0 -1.0)))
(instance face :init :vertices (list (float-vector 47.7942 30.0 -5.5) (float-vector 47.7942 32.0 -5.5) (float-vector 44.5 32.0 -2.20577) (float-vector 44.5 30.0 -2.20577)))
(instance face :init :vertices (list (float-vector 44.5 -12.0 -2.20577) (float-vector 47.7942 -12.0 -5.5) (float-vector 47.7942 -10.0 -5.5) (float-vector 44.5 -10.0 -2.20577)))
(instance face :init :vertices (list (float-vector 49.0 30.0 -10.0) (float-vector 49.0 32.0 -10.0) (float-vector 47.7942 32.0 -5.5) (float-vector 47.7942 30.0 -5.5)))
(instance face :init :vertices (list (float-vector 47.7942 -12.0 -5.5) (float-vector 49.0 -12.0 -10.0) (float-vector 49.0 -10.0 -10.0) (float-vector 47.7942 -10.0 -5.5)))
(instance face :init :vertices (list (float-vector 47.7942 30.0 -14.5) (float-vector 47.7942 32.0 -14.5) (float-vector 49.0 32.0 -10.0) (float-vector 49.0 30.0 -10.0)))
(instance face :init :vertices (list (float-vector 49.0 -12.0 -10.0) (float-vector 47.7942 -12.0 -14.5) (float-vector 47.7942 -10.0 -14.5) (float-vector 49.0 -10.0 -10.0)))
(instance face :init :vertices (list (float-vector 44.5 30.0 -17.7942) (float-vector 44.5 32.0 -17.7942) (float-vector 47.7942 32.0 -14.5) (float-vector 47.7942 30.0 -14.5)))
(instance face :init :vertices (list (float-vector 47.7942 -12.0 -14.5) (float-vector 44.5 -12.0 -17.7942) (float-vector 44.5 -10.0 -17.7942) (float-vector 47.7942 -10.0 -14.5)))
(instance face :init :vertices (list (float-vector 44.5 32.0 -17.7942) (float-vector 40.0 32.0 -19.0) (float-vector 35.5 32.0 -17.7942) (float-vector 32.2058 32.0 -14.5) (float-vector 31.0 32.0 -10.0) (float-vector 32.2058 32.0 -5.5) (float-vector 35.5 32.0 -2.20577) (float-vector 40.0 32.0 -1.0) (float-vector 44.5 32.0 -2.20577) (float-vector 47.7942 32.0 -5.5) (float-vector 49.0 32.0 -10.0) (float-vector 47.7942 32.0 -14.5)))
(instance face :init :vertices (list (float-vector 40.0 32.0 -19.0) (float-vector 44.5 32.0 -17.7942) (float-vector 44.5 30.0 -17.7942) (float-vector 40.0 30.0 -19.0)))
(instance face :init :vertices (list (float-vector 44.5 -12.0 -17.7942) (float-vector 40.0 -12.0 -19.0) (float-vector 40.0 -10.0 -19.0) (float-vector 44.5 -10.0 -17.7942)))
(instance face :init :vertices (list (float-vector 40.0 -12.0 -19.0) (float-vector 44.5 -12.0 -17.7942) (float-vector 47.7942 -12.0 -14.5) (float-vector 49.0 -12.0 -10.0) (float-vector 47.7942 -12.0 -5.5) (float-vector 44.5 -12.0 -2.20577) (float-vector 40.0 -12.0 -1.0) (float-vector 35.5 -12.0 -2.20577) (float-vector 32.2058 -12.0 -5.5) (float-vector 31.0 -12.0 -10.0) (float-vector 32.2058 -12.0 -14.5) (float-vector 35.5 -12.0 -17.7942)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray40)
(send (elt bc 1) :set-color :gray40)
(setq blink11 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rbleg-crotch-y :weight 129.0 :centroid (float-vector 15.1474 9.8526 -5.0) :inertia-tensor #2f((31177.8 -288.017 9770.07) (-288.017 54323.2 95.0716) (9770.07 95.0716 57551.0))))
;; definition of :rbleg-knee-r
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 27.0 -25.0) (float-vector 10.0 27.0 25.0) (float-vector 10.0 -7.105427e-15 25.0) (float-vector 10.0 -7.105427e-15 24.0) (float-vector 10.0 26.0 24.0) (float-vector 10.0 26.0 -24.0) (float-vector 10.0 0.0 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 27.0 -25.0) (float-vector -10.0 27.0 25.0) (float-vector 10.0 27.0 25.0) (float-vector 10.0 27.0 -25.0)))
(instance face :init :vertices (list (float-vector -10.0 -1.421085e-14 -25.0) (float-vector -10.0 -1.421085e-14 -24.0) (float-vector -10.0 26.0 -24.0) (float-vector -10.0 26.0 24.0) (float-vector -10.0 -7.105427e-15 24.0) (float-vector -10.0 -7.105427e-15 25.0) (float-vector -10.0 27.0 25.0) (float-vector -10.0 27.0 -25.0)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 -7.105427e-15 25.0) (float-vector -10.0 -7.105427e-15 24.0) (float-vector -7.07107 -7.07107 24.0)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 -1.421085e-14 -24.0) (float-vector -10.0 -1.421085e-14 -25.0)))
(instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
(instance face :init :vertices (list (float-vector -1.421085e-14 -10.0 -25.0) (float-vector -1.421085e-14 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector -1.421085e-14 -10.0 -24.0) (float-vector -1.421085e-14 -10.0 -25.0)))
(instance face :init :vertices (list (float-vector 10.0 -7.105427e-15 25.0) (float-vector 10.0 27.0 25.0) (float-vector -10.0 27.0 25.0) (float-vector -10.0 -7.105427e-15 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector -1.421085e-14 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 -1.421085e-14 -25.0) (float-vector -10.0 27.0 -25.0) (float-vector 10.0 27.0 -25.0) (float-vector 10.0 0.0 -25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 -7.105427e-15 24.0) (float-vector 10.0 -7.105427e-15 25.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
(instance face :init :vertices (list (float-vector 10.0 26.0 24.0) (float-vector 10.0 -7.105427e-15 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 -7.105427e-15 24.0) (float-vector -10.0 26.0 24.0)))
(instance face :init :vertices (list (float-vector 10.0 26.0 -24.0) (float-vector 10.0 26.0 24.0) (float-vector -10.0 26.0 24.0) (float-vector -10.0 26.0 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 26.0 -24.0) (float-vector -10.0 -1.421085e-14 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -1.421085e-14 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 26.0 -24.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -10.0 75.0 20.0) (float-vector -10.0 75.0 -20.0) (float-vector -10.0 35.0 -20.0) (float-vector -10.0 35.0 20.0)))
(instance face :init :vertices (list (float-vector -10.0 35.0 -20.0) (float-vector 10.0 35.0 -20.0) (float-vector 10.0 35.0 20.0) (float-vector -10.0 35.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 35.0 -20.0) (float-vector 10.0 75.0 -20.0) (float-vector 10.0 75.0 20.0) (float-vector 10.0 35.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 75.0 20.0) (float-vector -10.0 75.0 20.0) (float-vector -10.0 35.0 20.0) (float-vector 10.0 35.0 20.0))
:holes (list
(instance hole :init :vertices (list (float-vector -7.79423 69.5 20.0) (float-vector -4.5 72.7942 20.0) (float-vector -1.421085e-14 74.0 20.0) (float-vector 4.5 72.7942 20.0) (float-vector 7.79423 69.5 20.0) (float-vector 9.0 65.0 20.0) (float-vector 7.79423 60.5 20.0) (float-vector 4.5 57.2058 20.0) (float-vector -2.842171e-14 56.0 20.0) (float-vector -4.5 57.2058 20.0) (float-vector -7.79423 60.5 20.0) (float-vector -9.0 65.0 20.0)))
))
(instance face :init :vertices (list (float-vector 10.0 75.0 -20.0) (float-vector -10.0 75.0 -20.0) (float-vector -10.0 75.0 20.0) (float-vector 10.0 75.0 20.0)))
(instance face :init :vertices (list (float-vector -10.0 75.0 -20.0) (float-vector 10.0 75.0 -20.0) (float-vector 10.0 35.0 -20.0) (float-vector -10.0 35.0 -20.0))
:holes (list
(instance hole :init :vertices (list (float-vector -4.5 72.7942 -20.0) (float-vector -7.79423 69.5 -20.0) (float-vector -9.0 65.0 -20.0) (float-vector -7.79423 60.5 -20.0) (float-vector -4.5 57.2058 -20.0) (float-vector -2.842171e-14 56.0 -20.0) (float-vector 4.5 57.2058 -20.0) (float-vector 7.79423 60.5 -20.0) (float-vector 9.0 65.0 -20.0) (float-vector 7.79423 69.5 -20.0) (float-vector 4.5 72.7942 -20.0) (float-vector 0.0 74.0 -20.0)))
))
(instance face :init :vertices (list (float-vector -9.0 65.0 22.0) (float-vector -9.0 65.0 20.0) (float-vector -7.79423 60.5 20.0) (float-vector -7.79423 60.5 22.0)))
(instance face :init :vertices (list (float-vector -9.0 65.0 -20.0) (float-vector -9.0 65.0 -22.0) (float-vector -7.79423 60.5 -22.0) (float-vector -7.79423 60.5 -20.0)))
(instance face :init :vertices (list (float-vector -4.5 57.2058 20.0) (float-vector -4.5 57.2058 22.0) (float-vector -7.79423 60.5 22.0) (float-vector -7.79423 60.5 20.0)))
(instance face :init :vertices (list (float-vector -7.79423 60.5 -22.0) (float-vector -4.5 57.2058 -22.0) (float-vector -4.5 57.2058 -20.0) (float-vector -7.79423 60.5 -20.0)))
(instance face :init :vertices (list (float-vector -2.842171e-14 56.0 20.0) (float-vector -2.842171e-14 56.0 22.0) (float-vector -4.5 57.2058 22.0) (float-vector -4.5 57.2058 20.0)))
(instance face :init :vertices (list (float-vector -4.5 57.2058 -22.0) (float-vector -2.842171e-14 56.0 -22.0) (float-vector -2.842171e-14 56.0 -20.0) (float-vector -4.5 57.2058 -20.0)))
(instance face :init :vertices (list (float-vector 4.5 57.2058 20.0) (float-vector 4.5 57.2058 22.0) (float-vector -2.842171e-14 56.0 22.0) (float-vector -2.842171e-14 56.0 20.0)))
(instance face :init :vertices (list (float-vector -2.842171e-14 56.0 -22.0) (float-vector 4.5 57.2058 -22.0) (float-vector 4.5 57.2058 -20.0) (float-vector -2.842171e-14 56.0 -20.0)))
(instance face :init :vertices (list (float-vector 7.79423 60.5 20.0) (float-vector 7.79423 60.5 22.0) (float-vector 4.5 57.2058 22.0) (float-vector 4.5 57.2058 20.0)))
(instance face :init :vertices (list (float-vector 4.5 57.2058 -22.0) (float-vector 7.79423 60.5 -22.0) (float-vector 7.79423 60.5 -20.0) (float-vector 4.5 57.2058 -20.0)))
(instance face :init :vertices (list (float-vector 9.0 65.0 20.0) (float-vector 9.0 65.0 22.0) (float-vector 7.79423 60.5 22.0) (float-vector 7.79423 60.5 20.0)))
(instance face :init :vertices (list (float-vector 7.79423 60.5 -22.0) (float-vector 9.0 65.0 -22.0) (float-vector 9.0 65.0 -20.0) (float-vector 7.79423 60.5 -20.0)))
(instance face :init :vertices (list (float-vector 7.79423 69.5 20.0) (float-vector 7.79423 69.5 22.0) (float-vector 9.0 65.0 22.0) (float-vector 9.0 65.0 20.0)))
(instance face :init :vertices (list (float-vector 9.0 65.0 -22.0) (float-vector 7.79423 69.5 -22.0) (float-vector 7.79423 69.5 -20.0) (float-vector 9.0 65.0 -20.0)))
(instance face :init :vertices (list (float-vector 4.5 72.7942 20.0) (float-vector 4.5 72.7942 22.0) (float-vector 7.79423 69.5 22.0) (float-vector 7.79423 69.5 20.0)))
(instance face :init :vertices (list (float-vector 7.79423 69.5 -22.0) (float-vector 4.5 72.7942 -22.0) (float-vector 4.5 72.7942 -20.0) (float-vector 7.79423 69.5 -20.0)))
(instance face :init :vertices (list (float-vector -1.421085e-14 74.0 20.0) (float-vector -1.421085e-14 74.0 22.0) (float-vector 4.5 72.7942 22.0) (float-vector 4.5 72.7942 20.0)))
(instance face :init :vertices (list (float-vector 4.5 72.7942 -22.0) (float-vector 0.0 74.0 -22.0) (float-vector 0.0 74.0 -20.0) (float-vector 4.5 72.7942 -20.0)))
(instance face :init :vertices (list (float-vector -4.5 72.7942 20.0) (float-vector -4.5 72.7942 22.0) (float-vector -1.421085e-14 74.0 22.0) (float-vector -1.421085e-14 74.0 20.0)))
(instance face :init :vertices (list (float-vector 0.0 74.0 -22.0) (float-vector -4.5 72.7942 -22.0) (float-vector -4.5 72.7942 -20.0) (float-vector 0.0 74.0 -20.0)))
(instance face :init :vertices (list (float-vector -7.79423 69.5 20.0) (float-vector -7.79423 69.5 22.0) (float-vector -4.5 72.7942 22.0) (float-vector -4.5 72.7942 20.0)))
(instance face :init :vertices (list (float-vector -4.5 72.7942 -22.0) (float-vector -7.79423 69.5 -22.0) (float-vector -7.79423 69.5 -20.0) (float-vector -4.5 72.7942 -20.0)))
(instance face :init :vertices (list (float-vector -7.79423 69.5 22.0) (float-vector -9.0 65.0 22.0) (float-vector -7.79423 60.5 22.0) (float-vector -4.5 57.2058 22.0) (float-vector -2.842171e-14 56.0 22.0) (float-vector 4.5 57.2058 22.0) (float-vector 7.79423 60.5 22.0) (float-vector 9.0 65.0 22.0) (float-vector 7.79423 69.5 22.0) (float-vector 4.5 72.7942 22.0) (float-vector -1.421085e-14 74.0 22.0) (float-vector -4.5 72.7942 22.0)))
(instance face :init :vertices (list (float-vector -9.0 65.0 22.0) (float-vector -7.79423 69.5 22.0) (float-vector -7.79423 69.5 20.0) (float-vector -9.0 65.0 20.0)))
(instance face :init :vertices (list (float-vector -7.79423 69.5 -22.0) (float-vector -9.0 65.0 -22.0) (float-vector -9.0 65.0 -20.0) (float-vector -7.79423 69.5 -20.0)))
(instance face :init :vertices (list (float-vector -9.0 65.0 -22.0) (float-vector -7.79423 69.5 -22.0) (float-vector -4.5 72.7942 -22.0) (float-vector 0.0 74.0 -22.0) (float-vector 4.5 72.7942 -22.0) (float-vector 7.79423 69.5 -22.0) (float-vector 9.0 65.0 -22.0) (float-vector 7.79423 60.5 -22.0) (float-vector 4.5 57.2058 -22.0) (float-vector -2.842171e-14 56.0 -22.0) (float-vector -4.5 57.2058 -22.0) (float-vector -7.79423 60.5 -22.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(send (elt bc 1) :set-color :gray40)
(setq blink10 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rbleg-knee-r :weight 70.7717 :centroid (float-vector -1.598721e-14 51.878 -5.329071e-15) :inertia-tensor #2f((29311.1 3.910675e-12 -2.324595e-27) (3.910675e-12 13665.8 3.074959e-12) (-2.324595e-27 3.074959e-12 20363.4))))
;; definition of :rbleg-ankle-r
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 50.0 -25.0) (float-vector 10.0 50.0 25.0) (float-vector 10.0 -1.421085e-14 25.0) (float-vector 10.0 -1.421085e-14 24.0) (float-vector 10.0 49.0 24.0) (float-vector 10.0 49.0 -24.0) (float-vector 10.0 0.0 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 50.0 -25.0) (float-vector -10.0 50.0 25.0) (float-vector 10.0 50.0 25.0) (float-vector 10.0 50.0 -25.0)))
(instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 49.0 -24.0) (float-vector -10.0 49.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 50.0 25.0) (float-vector -10.0 50.0 -25.0)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
(instance face :init :vertices (list (float-vector -1.421085e-14 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -1.421085e-14 -10.0 24.0)))
(instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector -1.421085e-14 -10.0 25.0) (float-vector -1.421085e-14 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
(instance face :init :vertices (list (float-vector 10.0 -1.421085e-14 25.0) (float-vector 10.0 50.0 25.0) (float-vector -10.0 50.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -1.421085e-14 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 50.0 -25.0) (float-vector 10.0 50.0 -25.0) (float-vector 10.0 0.0 -25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 -1.421085e-14 24.0) (float-vector 10.0 -1.421085e-14 25.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
(instance face :init :vertices (list (float-vector 10.0 49.0 24.0) (float-vector 10.0 -1.421085e-14 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector -1.421085e-14 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 49.0 24.0)))
(instance face :init :vertices (list (float-vector 10.0 49.0 -24.0) (float-vector 10.0 49.0 24.0) (float-vector -10.0 49.0 24.0) (float-vector -10.0 49.0 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 49.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 49.0 -24.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 17.3205 85.0 23.0) (float-vector 20.0 95.0 23.0) (float-vector 17.3205 105.0 23.0) (float-vector 10.0 112.321 23.0) (float-vector 2.842171e-14 115.0 23.0) (float-vector -10.0 112.321 23.0) (float-vector -17.3205 105.0 23.0) (float-vector -20.0 95.0 23.0) (float-vector -17.3205 85.0 23.0) (float-vector -10.0 77.6795 23.0) (float-vector -1.421085e-14 75.0 23.0) (float-vector 10.0 77.6795 23.0)))
(instance face :init :vertices (list (float-vector 20.0 95.0 3.0) (float-vector 17.3205 85.0 3.0) (float-vector 10.0 77.6795 3.0) (float-vector -4.263256e-14 75.0 3.0) (float-vector -10.0 77.6795 3.0) (float-vector -17.3205 85.0 3.0) (float-vector -20.0 95.0 3.0) (float-vector -17.3205 105.0 3.0) (float-vector -10.0 112.321 3.0) (float-vector 0.0 115.0 3.0) (float-vector 10.0 112.321 3.0) (float-vector 17.3205 105.0 3.0)))
(instance face :init :vertices (list (float-vector 17.3205 85.0 23.0) (float-vector 17.3205 85.0 3.0) (float-vector 20.0 95.0 3.0) (float-vector 20.0 95.0 23.0)))
(instance face :init :vertices (list (float-vector 10.0 77.6795 23.0) (float-vector 10.0 77.6795 3.0) (float-vector 17.3205 85.0 3.0) (float-vector 17.3205 85.0 23.0)))
(instance face :init :vertices (list (float-vector -1.421085e-14 75.0 23.0) (float-vector -4.263256e-14 75.0 3.0) (float-vector 10.0 77.6795 3.0) (float-vector 10.0 77.6795 23.0)))
(instance face :init :vertices (list (float-vector -10.0 77.6795 23.0) (float-vector -10.0 77.6795 3.0) (float-vector -4.263256e-14 75.0 3.0) (float-vector -1.421085e-14 75.0 23.0)))
(instance face :init :vertices (list (float-vector -17.3205 85.0 23.0) (float-vector -17.3205 85.0 3.0) (float-vector -10.0 77.6795 3.0) (float-vector -10.0 77.6795 23.0)))
(instance face :init :vertices (list (float-vector -20.0 95.0 23.0) (float-vector -20.0 95.0 3.0) (float-vector -17.3205 85.0 3.0) (float-vector -17.3205 85.0 23.0)))
(instance face :init :vertices (list (float-vector -17.3205 105.0 23.0) (float-vector -17.3205 105.0 3.0) (float-vector -20.0 95.0 3.0) (float-vector -20.0 95.0 23.0)))
(instance face :init :vertices (list (float-vector -10.0 112.321 23.0) (float-vector -10.0 112.321 3.0) (float-vector -17.3205 105.0 3.0) (float-vector -17.3205 105.0 23.0)))
(instance face :init :vertices (list (float-vector 2.842171e-14 115.0 23.0) (float-vector 0.0 115.0 3.0) (float-vector -10.0 112.321 3.0) (float-vector -10.0 112.321 23.0)))
(instance face :init :vertices (list (float-vector 10.0 112.321 23.0) (float-vector 10.0 112.321 3.0) (float-vector 0.0 115.0 3.0) (float-vector 2.842171e-14 115.0 23.0)))
(instance face :init :vertices (list (float-vector 17.3205 105.0 23.0) (float-vector 17.3205 105.0 3.0) (float-vector 10.0 112.321 3.0) (float-vector 10.0 112.321 23.0)))
(instance face :init :vertices (list (float-vector 20.0 95.0 23.0) (float-vector 20.0 95.0 3.0) (float-vector 17.3205 105.0 3.0) (float-vector 17.3205 105.0 23.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 17.3205 105.0 -23.0) (float-vector 20.0 95.0 -23.0) (float-vector 17.3205 85.0 -23.0) (float-vector 10.0 77.6795 -23.0) (float-vector 2.842171e-14 75.0 -23.0) (float-vector -10.0 77.6795 -23.0) (float-vector -17.3205 85.0 -23.0) (float-vector -20.0 95.0 -23.0) (float-vector -17.3205 105.0 -23.0) (float-vector -10.0 112.321 -23.0) (float-vector -1.421085e-14 115.0 -23.0) (float-vector 10.0 112.321 -23.0)))
(instance face :init :vertices (list (float-vector 20.0 95.0 -3.0) (float-vector 17.3205 105.0 -3.0) (float-vector 10.0 112.321 -3.0) (float-vector -4.263256e-14 115.0 -3.0) (float-vector -10.0 112.321 -3.0) (float-vector -17.3205 105.0 -3.0) (float-vector -20.0 95.0 -3.0) (float-vector -17.3205 85.0 -3.0) (float-vector -10.0 77.6795 -3.0) (float-vector 0.0 75.0 -3.0) (float-vector 10.0 77.6795 -3.0) (float-vector 17.3205 85.0 -3.0)))
(instance face :init :vertices (list (float-vector 17.3205 105.0 -23.0) (float-vector 17.3205 105.0 -3.0) (float-vector 20.0 95.0 -3.0) (float-vector 20.0 95.0 -23.0)))
(instance face :init :vertices (list (float-vector 10.0 112.321 -23.0) (float-vector 10.0 112.321 -3.0) (float-vector 17.3205 105.0 -3.0) (float-vector 17.3205 105.0 -23.0)))
(instance face :init :vertices (list (float-vector -1.421085e-14 115.0 -23.0) (float-vector -4.263256e-14 115.0 -3.0) (float-vector 10.0 112.321 -3.0) (float-vector 10.0 112.321 -23.0)))
(instance face :init :vertices (list (float-vector -10.0 112.321 -23.0) (float-vector -10.0 112.321 -3.0) (float-vector -4.263256e-14 115.0 -3.0) (float-vector -1.421085e-14 115.0 -23.0)))
(instance face :init :vertices (list (float-vector -17.3205 105.0 -23.0) (float-vector -17.3205 105.0 -3.0) (float-vector -10.0 112.321 -3.0) (float-vector -10.0 112.321 -23.0)))
(instance face :init :vertices (list (float-vector -20.0 95.0 -23.0) (float-vector -20.0 95.0 -3.0) (float-vector -17.3205 105.0 -3.0) (float-vector -17.3205 105.0 -23.0)))
(instance face :init :vertices (list (float-vector -17.3205 85.0 -23.0) (float-vector -17.3205 85.0 -3.0) (float-vector -20.0 95.0 -3.0) (float-vector -20.0 95.0 -23.0)))
(instance face :init :vertices (list (float-vector -10.0 77.6795 -23.0) (float-vector -10.0 77.6795 -3.0) (float-vector -17.3205 85.0 -3.0) (float-vector -17.3205 85.0 -23.0)))
(instance face :init :vertices (list (float-vector 2.842171e-14 75.0 -23.0) (float-vector 0.0 75.0 -3.0) (float-vector -10.0 77.6795 -3.0) (float-vector -10.0 77.6795 -23.0)))
(instance face :init :vertices (list (float-vector 10.0 77.6795 -23.0) (float-vector 10.0 77.6795 -3.0) (float-vector 0.0 75.0 -3.0) (float-vector 2.842171e-14 75.0 -23.0)))
(instance face :init :vertices (list (float-vector 17.3205 85.0 -23.0) (float-vector 17.3205 85.0 -3.0) (float-vector 10.0 77.6795 -3.0) (float-vector 10.0 77.6795 -23.0)))
(instance face :init :vertices (list (float-vector 20.0 95.0 -23.0) (float-vector 20.0 95.0 -3.0) (float-vector 17.3205 85.0 -3.0) (float-vector 17.3205 85.0 -23.0)))
))
))
(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 :gray40)
(setq blink9 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rbleg-ankle-r :weight 108.756 :centroid (float-vector -1.776357e-14 89.7446 1.776357e-14) :inertia-tensor #2f((39188.1 5.598234e-12 -4.243495e-27) (5.598234e-12 4489.78 2.217788e-11) (-4.243495e-27 2.217788e-11 35282.0))))
;; definition of :rfleg-crotch-y
(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 -1.421085e-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 1.421085e-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 -1.421085e-14 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 -1.421085e-14 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 1.421085e-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 -1.421085e-14 -9.0 -20.0)))
))
(instance face :init :vertices (list (float-vector 9.0 -1.421085e-14 22.0) (float-vector 9.0 -1.421085e-14 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 -1.421085e-14 -20.0) (float-vector 9.0 -1.421085e-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 1.421085e-14 9.0 20.0) (float-vector 1.421085e-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 1.421085e-14 9.0 -22.0) (float-vector 1.421085e-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 1.421085e-14 9.0 22.0) (float-vector 1.421085e-14 9.0 20.0)))
(instance face :init :vertices (list (float-vector 1.421085e-14 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 1.421085e-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 -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 -1.421085e-14 -9.0 20.0) (float-vector -1.421085e-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 -1.421085e-14 -9.0 -22.0) (float-vector -1.421085e-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 -1.421085e-14 -9.0 22.0) (float-vector -1.421085e-14 -9.0 20.0)))
(instance face :init :vertices (list (float-vector -1.421085e-14 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector -1.421085e-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 -1.421085e-14 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 1.421085e-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 -1.421085e-14 -9.0 22.0) (float-vector 4.5 -7.79423 22.0)))
(instance face :init :vertices (list (float-vector 9.0 -1.421085e-14 22.0) (float-vector 7.79423 -4.5 22.0) (float-vector 7.79423 -4.5 20.0) (float-vector 9.0 -1.421085e-14 20.0)))
(instance face :init :vertices (list (float-vector 7.79423 -4.5 -22.0) (float-vector 9.0 -1.421085e-14 -22.0) (float-vector 9.0 -1.421085e-14 -20.0) (float-vector 7.79423 -4.5 -20.0)))
(instance face :init :vertices (list (float-vector 9.0 -1.421085e-14 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector -1.421085e-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 1.421085e-14 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 50.0 30.0 -20.0) (float-vector 50.0 -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 0.0) (float-vector 10.0 30.0 0.0) (float-vector 10.0 30.0 -20.0)))
(instance face :init :vertices (list (float-vector 10.0 -10.0 0.0) (float-vector 50.0 -10.0 0.0) (float-vector 50.0 30.0 0.0) (float-vector 10.0 30.0 0.0)))
(instance face :init :vertices (list (float-vector 50.0 30.0 0.0) (float-vector 50.0 30.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 30.0 0.0))
:holes (list
(instance hole :init :vertices (list (float-vector 44.5 30.0 -17.7942) (float-vector 47.7942 30.0 -14.5) (float-vector 49.0 30.0 -10.0) (float-vector 47.7942 30.0 -5.5) (float-vector 44.5 30.0 -2.20577) (float-vector 40.0 30.0 -1.0) (float-vector 35.5 30.0 -2.20577) (float-vector 32.2058 30.0 -5.5) (float-vector 31.0 30.0 -10.0) (float-vector 32.2058 30.0 -14.5) (float-vector 35.5 30.0 -17.7942) (float-vector 40.0 30.0 -19.0)))
))
(instance face :init :vertices (list (float-vector 50.0 -10.0 0.0) (float-vector 50.0 -10.0 -20.0) (float-vector 50.0 30.0 -20.0) (float-vector 50.0 30.0 0.0)))
(instance face :init :vertices (list (float-vector 50.0 -10.0 -20.0) (float-vector 50.0 -10.0 0.0) (float-vector 10.0 -10.0 0.0) (float-vector 10.0 -10.0 -20.0))
:holes (list
(instance hole :init :vertices (list (float-vector 47.7942 -10.0 -14.5) (float-vector 44.5 -10.0 -17.7942) (float-vector 40.0 -10.0 -19.0) (float-vector 35.5 -10.0 -17.7942) (float-vector 32.2058 -10.0 -14.5) (float-vector 31.0 -10.0 -10.0) (float-vector 32.2058 -10.0 -5.5) (float-vector 35.5 -10.0 -2.20577) (float-vector 40.0 -10.0 -1.0) (float-vector 44.5 -10.0 -2.20577) (float-vector 47.7942 -10.0 -5.5) (float-vector 49.0 -10.0 -10.0)))
))
(instance face :init :vertices (list (float-vector 40.0 32.0 -19.0) (float-vector 40.0 30.0 -19.0) (float-vector 35.5 30.0 -17.7942) (float-vector 35.5 32.0 -17.7942)))
(instance face :init :vertices (list (float-vector 40.0 -10.0 -19.0) (float-vector 40.0 -12.0 -19.0) (float-vector 35.5 -12.0 -17.7942) (float-vector 35.5 -10.0 -17.7942)))
(instance face :init :vertices (list (float-vector 32.2058 30.0 -14.5) (float-vector 32.2058 32.0 -14.5) (float-vector 35.5 32.0 -17.7942) (float-vector 35.5 30.0 -17.7942)))
(instance face :init :vertices (list (float-vector 35.5 -12.0 -17.7942) (float-vector 32.2058 -12.0 -14.5) (float-vector 32.2058 -10.0 -14.5) (float-vector 35.5 -10.0 -17.7942)))
(instance face :init :vertices (list (float-vector 31.0 30.0 -10.0) (float-vector 31.0 32.0 -10.0) (float-vector 32.2058 32.0 -14.5) (float-vector 32.2058 30.0 -14.5)))
(instance face :init :vertices (list (float-vector 32.2058 -12.0 -14.5) (float-vector 31.0 -12.0 -10.0) (float-vector 31.0 -10.0 -10.0) (float-vector 32.2058 -10.0 -14.5)))
(instance face :init :vertices (list (float-vector 32.2058 30.0 -5.5) (float-vector 32.2058 32.0 -5.5) (float-vector 31.0 32.0 -10.0) (float-vector 31.0 30.0 -10.0)))
(instance face :init :vertices (list (float-vector 31.0 -12.0 -10.0) (float-vector 32.2058 -12.0 -5.5) (float-vector 32.2058 -10.0 -5.5) (float-vector 31.0 -10.0 -10.0)))
(instance face :init :vertices (list (float-vector 35.5 30.0 -2.20577) (float-vector 35.5 32.0 -2.20577) (float-vector 32.2058 32.0 -5.5) (float-vector 32.2058 30.0 -5.5)))
(instance face :init :vertices (list (float-vector 32.2058 -12.0 -5.5) (float-vector 35.5 -12.0 -2.20577) (float-vector 35.5 -10.0 -2.20577) (float-vector 32.2058 -10.0 -5.5)))
(instance face :init :vertices (list (float-vector 40.0 30.0 -1.0) (float-vector 40.0 32.0 -1.0) (float-vector 35.5 32.0 -2.20577) (float-vector 35.5 30.0 -2.20577)))
(instance face :init :vertices (list (float-vector 35.5 -12.0 -2.20577) (float-vector 40.0 -12.0 -1.0) (float-vector 40.0 -10.0 -1.0) (float-vector 35.5 -10.0 -2.20577)))
(instance face :init :vertices (list (float-vector 44.5 30.0 -2.20577) (float-vector 44.5 32.0 -2.20577) (float-vector 40.0 32.0 -1.0) (float-vector 40.0 30.0 -1.0)))
(instance face :init :vertices (list (float-vector 40.0 -12.0 -1.0) (float-vector 44.5 -12.0 -2.20577) (float-vector 44.5 -10.0 -2.20577) (float-vector 40.0 -10.0 -1.0)))
(instance face :init :vertices (list (float-vector 47.7942 30.0 -5.5) (float-vector 47.7942 32.0 -5.5) (float-vector 44.5 32.0 -2.20577) (float-vector 44.5 30.0 -2.20577)))
(instance face :init :vertices (list (float-vector 44.5 -12.0 -2.20577) (float-vector 47.7942 -12.0 -5.5) (float-vector 47.7942 -10.0 -5.5) (float-vector 44.5 -10.0 -2.20577)))
(instance face :init :vertices (list (float-vector 49.0 30.0 -10.0) (float-vector 49.0 32.0 -10.0) (float-vector 47.7942 32.0 -5.5) (float-vector 47.7942 30.0 -5.5)))
(instance face :init :vertices (list (float-vector 47.7942 -12.0 -5.5) (float-vector 49.0 -12.0 -10.0) (float-vector 49.0 -10.0 -10.0) (float-vector 47.7942 -10.0 -5.5)))
(instance face :init :vertices (list (float-vector 47.7942 30.0 -14.5) (float-vector 47.7942 32.0 -14.5) (float-vector 49.0 32.0 -10.0) (float-vector 49.0 30.0 -10.0)))
(instance face :init :vertices (list (float-vector 49.0 -12.0 -10.0) (float-vector 47.7942 -12.0 -14.5) (float-vector 47.7942 -10.0 -14.5) (float-vector 49.0 -10.0 -10.0)))
(instance face :init :vertices (list (float-vector 44.5 30.0 -17.7942) (float-vector 44.5 32.0 -17.7942) (float-vector 47.7942 32.0 -14.5) (float-vector 47.7942 30.0 -14.5)))
(instance face :init :vertices (list (float-vector 47.7942 -12.0 -14.5) (float-vector 44.5 -12.0 -17.7942) (float-vector 44.5 -10.0 -17.7942) (float-vector 47.7942 -10.0 -14.5)))
(instance face :init :vertices (list (float-vector 44.5 32.0 -17.7942) (float-vector 40.0 32.0 -19.0) (float-vector 35.5 32.0 -17.7942) (float-vector 32.2058 32.0 -14.5) (float-vector 31.0 32.0 -10.0) (float-vector 32.2058 32.0 -5.5) (float-vector 35.5 32.0 -2.20577) (float-vector 40.0 32.0 -1.0) (float-vector 44.5 32.0 -2.20577) (float-vector 47.7942 32.0 -5.5) (float-vector 49.0 32.0 -10.0) (float-vector 47.7942 32.0 -14.5)))
(instance face :init :vertices (list (float-vector 40.0 32.0 -19.0) (float-vector 44.5 32.0 -17.7942) (float-vector 44.5 30.0 -17.7942) (float-vector 40.0 30.0 -19.0)))
(instance face :init :vertices (list (float-vector 44.5 -12.0 -17.7942) (float-vector 40.0 -12.0 -19.0) (float-vector 40.0 -10.0 -19.0) (float-vector 44.5 -10.0 -17.7942)))
(instance face :init :vertices (list (float-vector 40.0 -12.0 -19.0) (float-vector 44.5 -12.0 -17.7942) (float-vector 47.7942 -12.0 -14.5) (float-vector 49.0 -12.0 -10.0) (float-vector 47.7942 -12.0 -5.5) (float-vector 44.5 -12.0 -2.20577) (float-vector 40.0 -12.0 -1.0) (float-vector 35.5 -12.0 -2.20577) (float-vector 32.2058 -12.0 -5.5) (float-vector 31.0 -12.0 -10.0) (float-vector 32.2058 -12.0 -14.5) (float-vector 35.5 -12.0 -17.7942)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray40)
(send (elt bc 1) :set-color :gray40)
(setq blink14 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rfleg-crotch-y :weight 129.0 :centroid (float-vector 15.1474 9.8526 -5.0) :inertia-tensor #2f((31177.8 -288.017 9770.07) (-288.017 54323.2 95.0716) (9770.07 95.0716 57551.0))))
;; definition of :rfleg-knee-r
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 27.0 -25.0) (float-vector 10.0 27.0 25.0) (float-vector 10.0 7.105427e-15 25.0) (float-vector 10.0 7.105427e-15 24.0) (float-vector 10.0 26.0 24.0) (float-vector 10.0 26.0 -24.0) (float-vector 10.0 0.0 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 27.0 -25.0) (float-vector -10.0 27.0 25.0) (float-vector 10.0 27.0 25.0) (float-vector 10.0 27.0 -25.0)))
(instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 26.0 -24.0) (float-vector -10.0 26.0 24.0) (float-vector -10.0 -7.105427e-15 24.0) (float-vector -10.0 -7.105427e-15 25.0) (float-vector -10.0 27.0 25.0) (float-vector -10.0 27.0 -25.0)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 -7.105427e-15 25.0) (float-vector -10.0 -7.105427e-15 24.0) (float-vector -7.07107 -7.07107 24.0)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
(instance face :init :vertices (list (float-vector -2.842171e-14 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -2.842171e-14 -10.0 24.0)))
(instance face :init :vertices (list (float-vector -1.421085e-14 -10.0 -25.0) (float-vector -1.421085e-14 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector -2.842171e-14 -10.0 25.0) (float-vector -2.842171e-14 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector -1.421085e-14 -10.0 -24.0) (float-vector -1.421085e-14 -10.0 -25.0)))
(instance face :init :vertices (list (float-vector 10.0 7.105427e-15 25.0) (float-vector 10.0 27.0 25.0) (float-vector -10.0 27.0 25.0) (float-vector -10.0 -7.105427e-15 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -2.842171e-14 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector -1.421085e-14 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 27.0 -25.0) (float-vector 10.0 27.0 -25.0) (float-vector 10.0 0.0 -25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 7.105427e-15 24.0) (float-vector 10.0 7.105427e-15 25.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
(instance face :init :vertices (list (float-vector 10.0 26.0 24.0) (float-vector 10.0 7.105427e-15 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector -2.842171e-14 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 -7.105427e-15 24.0) (float-vector -10.0 26.0 24.0)))
(instance face :init :vertices (list (float-vector 10.0 26.0 -24.0) (float-vector 10.0 26.0 24.0) (float-vector -10.0 26.0 24.0) (float-vector -10.0 26.0 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 26.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -1.421085e-14 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 26.0 -24.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -10.0 75.0 20.0) (float-vector -10.0 75.0 -20.0) (float-vector -10.0 35.0 -20.0) (float-vector -10.0 35.0 20.0)))
(instance face :init :vertices (list (float-vector -10.0 35.0 -20.0) (float-vector 10.0 35.0 -20.0) (float-vector 10.0 35.0 20.0) (float-vector -10.0 35.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 35.0 -20.0) (float-vector 10.0 75.0 -20.0) (float-vector 10.0 75.0 20.0) (float-vector 10.0 35.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 75.0 20.0) (float-vector -10.0 75.0 20.0) (float-vector -10.0 35.0 20.0) (float-vector 10.0 35.0 20.0))
:holes (list
(instance hole :init :vertices (list (float-vector -7.79423 69.5 20.0) (float-vector -4.5 72.7942 20.0) (float-vector -1.421085e-14 74.0 20.0) (float-vector 4.5 72.7942 20.0) (float-vector 7.79423 69.5 20.0) (float-vector 9.0 65.0 20.0) (float-vector 7.79423 60.5 20.0) (float-vector 4.5 57.2058 20.0) (float-vector -2.842171e-14 56.0 20.0) (float-vector -4.5 57.2058 20.0) (float-vector -7.79423 60.5 20.0) (float-vector -9.0 65.0 20.0)))
))
(instance face :init :vertices (list (float-vector 10.0 75.0 -20.0) (float-vector -10.0 75.0 -20.0) (float-vector -10.0 75.0 20.0) (float-vector 10.0 75.0 20.0)))
(instance face :init :vertices (list (float-vector -10.0 75.0 -20.0) (float-vector 10.0 75.0 -20.0) (float-vector 10.0 35.0 -20.0) (float-vector -10.0 35.0 -20.0))
:holes (list
(instance hole :init :vertices (list (float-vector -4.5 72.7942 -20.0) (float-vector -7.79423 69.5 -20.0) (float-vector -9.0 65.0 -20.0) (float-vector -7.79423 60.5 -20.0) (float-vector -4.5 57.2058 -20.0) (float-vector -4.263256e-14 56.0 -20.0) (float-vector 4.5 57.2058 -20.0) (float-vector 7.79423 60.5 -20.0) (float-vector 9.0 65.0 -20.0) (float-vector 7.79423 69.5 -20.0) (float-vector 4.5 72.7942 -20.0) (float-vector -1.421085e-14 74.0 -20.0)))
))
(instance face :init :vertices (list (float-vector -9.0 65.0 22.0) (float-vector -9.0 65.0 20.0) (float-vector -7.79423 60.5 20.0) (float-vector -7.79423 60.5 22.0)))
(instance face :init :vertices (list (float-vector -9.0 65.0 -20.0) (float-vector -9.0 65.0 -22.0) (float-vector -7.79423 60.5 -22.0) (float-vector -7.79423 60.5 -20.0)))
(instance face :init :vertices (list (float-vector -4.5 57.2058 20.0) (float-vector -4.5 57.2058 22.0) (float-vector -7.79423 60.5 22.0) (float-vector -7.79423 60.5 20.0)))
(instance face :init :vertices (list (float-vector -7.79423 60.5 -22.0) (float-vector -4.5 57.2058 -22.0) (float-vector -4.5 57.2058 -20.0) (float-vector -7.79423 60.5 -20.0)))
(instance face :init :vertices (list (float-vector -2.842171e-14 56.0 20.0) (float-vector -2.842171e-14 56.0 22.0) (float-vector -4.5 57.2058 22.0) (float-vector -4.5 57.2058 20.0)))
(instance face :init :vertices (list (float-vector -4.5 57.2058 -22.0) (float-vector -4.263256e-14 56.0 -22.0) (float-vector -4.263256e-14 56.0 -20.0) (float-vector -4.5 57.2058 -20.0)))
(instance face :init :vertices (list (float-vector 4.5 57.2058 20.0) (float-vector 4.5 57.2058 22.0) (float-vector -2.842171e-14 56.0 22.0) (float-vector -2.842171e-14 56.0 20.0)))
(instance face :init :vertices (list (float-vector -4.263256e-14 56.0 -22.0) (float-vector 4.5 57.2058 -22.0) (float-vector 4.5 57.2058 -20.0) (float-vector -4.263256e-14 56.0 -20.0)))
(instance face :init :vertices (list (float-vector 7.79423 60.5 20.0) (float-vector 7.79423 60.5 22.0) (float-vector 4.5 57.2058 22.0) (float-vector 4.5 57.2058 20.0)))
(instance face :init :vertices (list (float-vector 4.5 57.2058 -22.0) (float-vector 7.79423 60.5 -22.0) (float-vector 7.79423 60.5 -20.0) (float-vector 4.5 57.2058 -20.0)))
(instance face :init :vertices (list (float-vector 9.0 65.0 20.0) (float-vector 9.0 65.0 22.0) (float-vector 7.79423 60.5 22.0) (float-vector 7.79423 60.5 20.0)))
(instance face :init :vertices (list (float-vector 7.79423 60.5 -22.0) (float-vector 9.0 65.0 -22.0) (float-vector 9.0 65.0 -20.0) (float-vector 7.79423 60.5 -20.0)))
(instance face :init :vertices (list (float-vector 7.79423 69.5 20.0) (float-vector 7.79423 69.5 22.0) (float-vector 9.0 65.0 22.0) (float-vector 9.0 65.0 20.0)))
(instance face :init :vertices (list (float-vector 9.0 65.0 -22.0) (float-vector 7.79423 69.5 -22.0) (float-vector 7.79423 69.5 -20.0) (float-vector 9.0 65.0 -20.0)))
(instance face :init :vertices (list (float-vector 4.5 72.7942 20.0) (float-vector 4.5 72.7942 22.0) (float-vector 7.79423 69.5 22.0) (float-vector 7.79423 69.5 20.0)))
(instance face :init :vertices (list (float-vector 7.79423 69.5 -22.0) (float-vector 4.5 72.7942 -22.0) (float-vector 4.5 72.7942 -20.0) (float-vector 7.79423 69.5 -20.0)))
(instance face :init :vertices (list (float-vector -1.421085e-14 74.0 20.0) (float-vector -1.421085e-14 74.0 22.0) (float-vector 4.5 72.7942 22.0) (float-vector 4.5 72.7942 20.0)))
(instance face :init :vertices (list (float-vector 4.5 72.7942 -22.0) (float-vector -1.421085e-14 74.0 -22.0) (float-vector -1.421085e-14 74.0 -20.0) (float-vector 4.5 72.7942 -20.0)))
(instance face :init :vertices (list (float-vector -4.5 72.7942 20.0) (float-vector -4.5 72.7942 22.0) (float-vector -1.421085e-14 74.0 22.0) (float-vector -1.421085e-14 74.0 20.0)))
(instance face :init :vertices (list (float-vector -1.421085e-14 74.0 -22.0) (float-vector -4.5 72.7942 -22.0) (float-vector -4.5 72.7942 -20.0) (float-vector -1.421085e-14 74.0 -20.0)))
(instance face :init :vertices (list (float-vector -7.79423 69.5 20.0) (float-vector -7.79423 69.5 22.0) (float-vector -4.5 72.7942 22.0) (float-vector -4.5 72.7942 20.0)))
(instance face :init :vertices (list (float-vector -4.5 72.7942 -22.0) (float-vector -7.79423 69.5 -22.0) (float-vector -7.79423 69.5 -20.0) (float-vector -4.5 72.7942 -20.0)))
(instance face :init :vertices (list (float-vector -7.79423 69.5 22.0) (float-vector -9.0 65.0 22.0) (float-vector -7.79423 60.5 22.0) (float-vector -4.5 57.2058 22.0) (float-vector -2.842171e-14 56.0 22.0) (float-vector 4.5 57.2058 22.0) (float-vector 7.79423 60.5 22.0) (float-vector 9.0 65.0 22.0) (float-vector 7.79423 69.5 22.0) (float-vector 4.5 72.7942 22.0) (float-vector -1.421085e-14 74.0 22.0) (float-vector -4.5 72.7942 22.0)))
(instance face :init :vertices (list (float-vector -9.0 65.0 22.0) (float-vector -7.79423 69.5 22.0) (float-vector -7.79423 69.5 20.0) (float-vector -9.0 65.0 20.0)))
(instance face :init :vertices (list (float-vector -7.79423 69.5 -22.0) (float-vector -9.0 65.0 -22.0) (float-vector -9.0 65.0 -20.0) (float-vector -7.79423 69.5 -20.0)))
(instance face :init :vertices (list (float-vector -9.0 65.0 -22.0) (float-vector -7.79423 69.5 -22.0) (float-vector -4.5 72.7942 -22.0) (float-vector -1.421085e-14 74.0 -22.0) (float-vector 4.5 72.7942 -22.0) (float-vector 7.79423 69.5 -22.0) (float-vector 9.0 65.0 -22.0) (float-vector 7.79423 60.5 -22.0) (float-vector 4.5 57.2058 -22.0) (float-vector -4.263256e-14 56.0 -22.0) (float-vector -4.5 57.2058 -22.0) (float-vector -7.79423 60.5 -22.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(send (elt bc 1) :set-color :gray40)
(setq blink13 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rfleg-knee-r :weight 70.7717 :centroid (float-vector -1.598721e-14 51.878 -5.329071e-15) :inertia-tensor #2f((29311.1 3.910675e-12 -2.324595e-27) (3.910675e-12 13665.8 3.074959e-12) (-2.324595e-27 3.074959e-12 20363.4))))
;; definition of :rfleg-ankle-r
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 50.0 -25.0) (float-vector 10.0 50.0 25.0) (float-vector 10.0 -1.421085e-14 25.0) (float-vector 10.0 -1.421085e-14 24.0) (float-vector 10.0 49.0 24.0) (float-vector 10.0 49.0 -24.0) (float-vector 10.0 0.0 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 50.0 -25.0) (float-vector -10.0 50.0 25.0) (float-vector 10.0 50.0 25.0) (float-vector 10.0 50.0 -25.0)))
(instance face :init :vertices (list (float-vector -10.0 1.421085e-14 -25.0) (float-vector -10.0 1.421085e-14 -24.0) (float-vector -10.0 49.0 -24.0) (float-vector -10.0 49.0 24.0) (float-vector -10.0 -1.421085e-14 24.0) (float-vector -10.0 -1.421085e-14 25.0) (float-vector -10.0 50.0 25.0) (float-vector -10.0 50.0 -25.0)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 -1.421085e-14 25.0) (float-vector -10.0 -1.421085e-14 24.0) (float-vector -7.07107 -7.07107 24.0)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 1.421085e-14 -24.0) (float-vector -10.0 1.421085e-14 -25.0)))
(instance face :init :vertices (list (float-vector -2.842171e-14 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -2.842171e-14 -10.0 24.0)))
(instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector -2.842171e-14 -10.0 25.0) (float-vector -2.842171e-14 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
(instance face :init :vertices (list (float-vector 10.0 -1.421085e-14 25.0) (float-vector 10.0 50.0 25.0) (float-vector -10.0 50.0 25.0) (float-vector -10.0 -1.421085e-14 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -2.842171e-14 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 1.421085e-14 -25.0) (float-vector -10.0 50.0 -25.0) (float-vector 10.0 50.0 -25.0) (float-vector 10.0 0.0 -25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 -1.421085e-14 24.0) (float-vector 10.0 -1.421085e-14 25.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
(instance face :init :vertices (list (float-vector 10.0 49.0 24.0) (float-vector 10.0 -1.421085e-14 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector -2.842171e-14 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 -1.421085e-14 24.0) (float-vector -10.0 49.0 24.0)))
(instance face :init :vertices (list (float-vector 10.0 49.0 -24.0) (float-vector 10.0 49.0 24.0) (float-vector -10.0 49.0 24.0) (float-vector -10.0 49.0 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 49.0 -24.0) (float-vector -10.0 1.421085e-14 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 49.0 -24.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 17.3205 85.0 23.0) (float-vector 20.0 95.0 23.0) (float-vector 17.3205 105.0 23.0) (float-vector 10.0 112.321 23.0) (float-vector -1.421085e-14 115.0 23.0) (float-vector -10.0 112.321 23.0) (float-vector -17.3205 105.0 23.0) (float-vector -20.0 95.0 23.0) (float-vector -17.3205 85.0 23.0) (float-vector -10.0 77.6795 23.0) (float-vector -5.684342e-14 75.0 23.0) (float-vector 10.0 77.6795 23.0)))
(instance face :init :vertices (list (float-vector 20.0 95.0 3.0) (float-vector 17.3205 85.0 3.0) (float-vector 10.0 77.6795 3.0) (float-vector -2.842171e-14 75.0 3.0) (float-vector -10.0 77.6795 3.0) (float-vector -17.3205 85.0 3.0) (float-vector -20.0 95.0 3.0) (float-vector -17.3205 105.0 3.0) (float-vector -10.0 112.321 3.0) (float-vector 1.421085e-14 115.0 3.0) (float-vector 10.0 112.321 3.0) (float-vector 17.3205 105.0 3.0)))
(instance face :init :vertices (list (float-vector 17.3205 85.0 23.0) (float-vector 17.3205 85.0 3.0) (float-vector 20.0 95.0 3.0) (float-vector 20.0 95.0 23.0)))
(instance face :init :vertices (list (float-vector 10.0 77.6795 23.0) (float-vector 10.0 77.6795 3.0) (float-vector 17.3205 85.0 3.0) (float-vector 17.3205 85.0 23.0)))
(instance face :init :vertices (list (float-vector -5.684342e-14 75.0 23.0) (float-vector -2.842171e-14 75.0 3.0) (float-vector 10.0 77.6795 3.0) (float-vector 10.0 77.6795 23.0)))
(instance face :init :vertices (list (float-vector -10.0 77.6795 23.0) (float-vector -10.0 77.6795 3.0) (float-vector -2.842171e-14 75.0 3.0) (float-vector -5.684342e-14 75.0 23.0)))
(instance face :init :vertices (list (float-vector -17.3205 85.0 23.0) (float-vector -17.3205 85.0 3.0) (float-vector -10.0 77.6795 3.0) (float-vector -10.0 77.6795 23.0)))
(instance face :init :vertices (list (float-vector -20.0 95.0 23.0) (float-vector -20.0 95.0 3.0) (float-vector -17.3205 85.0 3.0) (float-vector -17.3205 85.0 23.0)))
(instance face :init :vertices (list (float-vector -17.3205 105.0 23.0) (float-vector -17.3205 105.0 3.0) (float-vector -20.0 95.0 3.0) (float-vector -20.0 95.0 23.0)))
(instance face :init :vertices (list (float-vector -10.0 112.321 23.0) (float-vector -10.0 112.321 3.0) (float-vector -17.3205 105.0 3.0) (float-vector -17.3205 105.0 23.0)))
(instance face :init :vertices (list (float-vector -1.421085e-14 115.0 23.0) (float-vector 1.421085e-14 115.0 3.0) (float-vector -10.0 112.321 3.0) (float-vector -10.0 112.321 23.0)))
(instance face :init :vertices (list (float-vector 10.0 112.321 23.0) (float-vector 10.0 112.321 3.0) (float-vector 1.421085e-14 115.0 3.0) (float-vector -1.421085e-14 115.0 23.0)))
(instance face :init :vertices (list (float-vector 17.3205 105.0 23.0) (float-vector 17.3205 105.0 3.0) (float-vector 10.0 112.321 3.0) (float-vector 10.0 112.321 23.0)))
(instance face :init :vertices (list (float-vector 20.0 95.0 23.0) (float-vector 20.0 95.0 3.0) (float-vector 17.3205 105.0 3.0) (float-vector 17.3205 105.0 23.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 17.3205 105.0 -23.0) (float-vector 20.0 95.0 -23.0) (float-vector 17.3205 85.0 -23.0) (float-vector 10.0 77.6795 -23.0) (float-vector 1.421085e-14 75.0 -23.0) (float-vector -10.0 77.6795 -23.0) (float-vector -17.3205 85.0 -23.0) (float-vector -20.0 95.0 -23.0) (float-vector -17.3205 105.0 -23.0) (float-vector -10.0 112.321 -23.0) (float-vector 0.0 115.0 -23.0) (float-vector 10.0 112.321 -23.0)))
(instance face :init :vertices (list (float-vector 20.0 95.0 -3.0) (float-vector 17.3205 105.0 -3.0) (float-vector 10.0 112.321 -3.0) (float-vector -2.842171e-14 115.0 -3.0) (float-vector -10.0 112.321 -3.0) (float-vector -17.3205 105.0 -3.0) (float-vector -20.0 95.0 -3.0) (float-vector -17.3205 85.0 -3.0) (float-vector -10.0 77.6795 -3.0) (float-vector -1.421085e-14 75.0 -3.0) (float-vector 10.0 77.6795 -3.0) (float-vector 17.3205 85.0 -3.0)))
(instance face :init :vertices (list (float-vector 17.3205 105.0 -23.0) (float-vector 17.3205 105.0 -3.0) (float-vector 20.0 95.0 -3.0) (float-vector 20.0 95.0 -23.0)))
(instance face :init :vertices (list (float-vector 10.0 112.321 -23.0) (float-vector 10.0 112.321 -3.0) (float-vector 17.3205 105.0 -3.0) (float-vector 17.3205 105.0 -23.0)))
(instance face :init :vertices (list (float-vector 0.0 115.0 -23.0) (float-vector -2.842171e-14 115.0 -3.0) (float-vector 10.0 112.321 -3.0) (float-vector 10.0 112.321 -23.0)))
(instance face :init :vertices (list (float-vector -10.0 112.321 -23.0) (float-vector -10.0 112.321 -3.0) (float-vector -2.842171e-14 115.0 -3.0) (float-vector 0.0 115.0 -23.0)))
(instance face :init :vertices (list (float-vector -17.3205 105.0 -23.0) (float-vector -17.3205 105.0 -3.0) (float-vector -10.0 112.321 -3.0) (float-vector -10.0 112.321 -23.0)))
(instance face :init :vertices (list (float-vector -20.0 95.0 -23.0) (float-vector -20.0 95.0 -3.0) (float-vector -17.3205 105.0 -3.0) (float-vector -17.3205 105.0 -23.0)))
(instance face :init :vertices (list (float-vector -17.3205 85.0 -23.0) (float-vector -17.3205 85.0 -3.0) (float-vector -20.0 95.0 -3.0) (float-vector -20.0 95.0 -23.0)))
(instance face :init :vertices (list (float-vector -10.0 77.6795 -23.0) (float-vector -10.0 77.6795 -3.0) (float-vector -17.3205 85.0 -3.0) (float-vector -17.3205 85.0 -23.0)))
(instance face :init :vertices (list (float-vector 1.421085e-14 75.0 -23.0) (float-vector -1.421085e-14 75.0 -3.0) (float-vector -10.0 77.6795 -3.0) (float-vector -10.0 77.6795 -23.0)))
(instance face :init :vertices (list (float-vector 10.0 77.6795 -23.0) (float-vector 10.0 77.6795 -3.0) (float-vector -1.421085e-14 75.0 -3.0) (float-vector 1.421085e-14 75.0 -23.0)))
(instance face :init :vertices (list (float-vector 17.3205 85.0 -23.0) (float-vector 17.3205 85.0 -3.0) (float-vector 10.0 77.6795 -3.0) (float-vector 10.0 77.6795 -23.0)))
(instance face :init :vertices (list (float-vector 20.0 95.0 -23.0) (float-vector 20.0 95.0 -3.0) (float-vector 17.3205 85.0 -3.0) (float-vector 17.3205 85.0 -23.0)))
))
))
(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 :gray40)
(setq blink12 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rfleg-ankle-r :weight 108.756 :centroid (float-vector -1.776357e-14 89.7446 1.776357e-14) :inertia-tensor #2f((39188.1 5.598234e-12 -4.243495e-27) (5.598234e-12 4489.78 2.217788e-11) (-4.243495e-27 2.217788e-11 35282.0))))
;; definition of :lbleg-crotch-y
(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 -1.421085e-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 1.421085e-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)))
))
(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 0.0 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 1.421085e-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 1.421085e-14 -20.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -1.421085e-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 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 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 1.421085e-14 9.0 20.0) (float-vector 1.421085e-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 1.421085e-14 9.0 -22.0) (float-vector 1.421085e-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 1.421085e-14 9.0 22.0) (float-vector 1.421085e-14 9.0 20.0)))
(instance face :init :vertices (list (float-vector 1.421085e-14 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 1.421085e-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 -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 1.421085e-14 -22.0) (float-vector -9.0 1.421085e-14 -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 1.421085e-14 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -9.0 1.421085e-14 -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 -1.421085e-14 -9.0 20.0) (float-vector -1.421085e-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 -1.421085e-14 -9.0 -22.0) (float-vector -1.421085e-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 -1.421085e-14 -9.0 22.0) (float-vector -1.421085e-14 -9.0 20.0)))
(instance face :init :vertices (list (float-vector -1.421085e-14 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector -1.421085e-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 1.421085e-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 -1.421085e-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 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 9.0 0.0 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector -1.421085e-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 1.421085e-14 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector 1.421085e-14 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 50.0 -10.0 20.0) (float-vector 50.0 30.0 20.0) (float-vector 10.0 30.0 20.0) (float-vector 10.0 -10.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 30.0 20.0) (float-vector 10.0 30.0 1.421085e-14) (float-vector 10.0 -10.0 0.0) (float-vector 10.0 -10.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 30.0 1.421085e-14) (float-vector 50.0 30.0 1.421085e-14) (float-vector 50.0 -10.0 0.0) (float-vector 10.0 -10.0 0.0)))
(instance face :init :vertices (list (float-vector 50.0 -10.0 0.0) (float-vector 50.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0) (float-vector 10.0 -10.0 0.0))
:holes (list
(instance hole :init :vertices (list (float-vector 44.5 -10.0 17.7942) (float-vector 47.7942 -10.0 14.5) (float-vector 49.0 -10.0 10.0) (float-vector 47.7942 -10.0 5.5) (float-vector 44.5 -10.0 2.20577) (float-vector 40.0 -10.0 1.0) (float-vector 35.5 -10.0 2.20577) (float-vector 32.2058 -10.0 5.5) (float-vector 31.0 -10.0 10.0) (float-vector 32.2058 -10.0 14.5) (float-vector 35.5 -10.0 17.7942) (float-vector 40.0 -10.0 19.0)))
))
(instance face :init :vertices (list (float-vector 50.0 30.0 1.421085e-14) (float-vector 50.0 30.0 20.0) (float-vector 50.0 -10.0 20.0) (float-vector 50.0 -10.0 0.0)))
(instance face :init :vertices (list (float-vector 50.0 30.0 20.0) (float-vector 50.0 30.0 1.421085e-14) (float-vector 10.0 30.0 1.421085e-14) (float-vector 10.0 30.0 20.0))
:holes (list
(instance hole :init :vertices (list (float-vector 47.7942 30.0 14.5) (float-vector 44.5 30.0 17.7942) (float-vector 40.0 30.0 19.0) (float-vector 35.5 30.0 17.7942) (float-vector 32.2058 30.0 14.5) (float-vector 31.0 30.0 10.0) (float-vector 32.2058 30.0 5.5) (float-vector 35.5 30.0 2.20577) (float-vector 40.0 30.0 1.0) (float-vector 44.5 30.0 2.20577) (float-vector 47.7942 30.0 5.5) (float-vector 49.0 30.0 10.0)))
))
(instance face :init :vertices (list (float-vector 40.0 -12.0 19.0) (float-vector 40.0 -10.0 19.0) (float-vector 35.5 -10.0 17.7942) (float-vector 35.5 -12.0 17.7942)))
(instance face :init :vertices (list (float-vector 40.0 30.0 19.0) (float-vector 40.0 32.0 19.0) (float-vector 35.5 32.0 17.7942) (float-vector 35.5 30.0 17.7942)))
(instance face :init :vertices (list (float-vector 32.2058 -10.0 14.5) (float-vector 32.2058 -12.0 14.5) (float-vector 35.5 -12.0 17.7942) (float-vector 35.5 -10.0 17.7942)))
(instance face :init :vertices (list (float-vector 35.5 32.0 17.7942) (float-vector 32.2058 32.0 14.5) (float-vector 32.2058 30.0 14.5) (float-vector 35.5 30.0 17.7942)))
(instance face :init :vertices (list (float-vector 31.0 -10.0 10.0) (float-vector 31.0 -12.0 10.0) (float-vector 32.2058 -12.0 14.5) (float-vector 32.2058 -10.0 14.5)))
(instance face :init :vertices (list (float-vector 32.2058 32.0 14.5) (float-vector 31.0 32.0 10.0) (float-vector 31.0 30.0 10.0) (float-vector 32.2058 30.0 14.5)))
(instance face :init :vertices (list (float-vector 32.2058 -10.0 5.5) (float-vector 32.2058 -12.0 5.5) (float-vector 31.0 -12.0 10.0) (float-vector 31.0 -10.0 10.0)))
(instance face :init :vertices (list (float-vector 31.0 32.0 10.0) (float-vector 32.2058 32.0 5.5) (float-vector 32.2058 30.0 5.5) (float-vector 31.0 30.0 10.0)))
(instance face :init :vertices (list (float-vector 35.5 -10.0 2.20577) (float-vector 35.5 -12.0 2.20577) (float-vector 32.2058 -12.0 5.5) (float-vector 32.2058 -10.0 5.5)))
(instance face :init :vertices (list (float-vector 32.2058 32.0 5.5) (float-vector 35.5 32.0 2.20577) (float-vector 35.5 30.0 2.20577) (float-vector 32.2058 30.0 5.5)))
(instance face :init :vertices (list (float-vector 40.0 -10.0 1.0) (float-vector 40.0 -12.0 1.0) (float-vector 35.5 -12.0 2.20577) (float-vector 35.5 -10.0 2.20577)))
(instance face :init :vertices (list (float-vector 35.5 32.0 2.20577) (float-vector 40.0 32.0 1.0) (float-vector 40.0 30.0 1.0) (float-vector 35.5 30.0 2.20577)))
(instance face :init :vertices (list (float-vector 44.5 -10.0 2.20577) (float-vector 44.5 -12.0 2.20577) (float-vector 40.0 -12.0 1.0) (float-vector 40.0 -10.0 1.0)))
(instance face :init :vertices (list (float-vector 40.0 32.0 1.0) (float-vector 44.5 32.0 2.20577) (float-vector 44.5 30.0 2.20577) (float-vector 40.0 30.0 1.0)))
(instance face :init :vertices (list (float-vector 47.7942 -10.0 5.5) (float-vector 47.7942 -12.0 5.5) (float-vector 44.5 -12.0 2.20577) (float-vector 44.5 -10.0 2.20577)))
(instance face :init :vertices (list (float-vector 44.5 32.0 2.20577) (float-vector 47.7942 32.0 5.5) (float-vector 47.7942 30.0 5.5) (float-vector 44.5 30.0 2.20577)))
(instance face :init :vertices (list (float-vector 49.0 -10.0 10.0) (float-vector 49.0 -12.0 10.0) (float-vector 47.7942 -12.0 5.5) (float-vector 47.7942 -10.0 5.5)))
(instance face :init :vertices (list (float-vector 47.7942 32.0 5.5) (float-vector 49.0 32.0 10.0) (float-vector 49.0 30.0 10.0) (float-vector 47.7942 30.0 5.5)))
(instance face :init :vertices (list (float-vector 47.7942 -10.0 14.5) (float-vector 47.7942 -12.0 14.5) (float-vector 49.0 -12.0 10.0) (float-vector 49.0 -10.0 10.0)))
(instance face :init :vertices (list (float-vector 49.0 32.0 10.0) (float-vector 47.7942 32.0 14.5) (float-vector 47.7942 30.0 14.5) (float-vector 49.0 30.0 10.0)))
(instance face :init :vertices (list (float-vector 44.5 -10.0 17.7942) (float-vector 44.5 -12.0 17.7942) (float-vector 47.7942 -12.0 14.5) (float-vector 47.7942 -10.0 14.5)))
(instance face :init :vertices (list (float-vector 47.7942 32.0 14.5) (float-vector 44.5 32.0 17.7942) (float-vector 44.5 30.0 17.7942) (float-vector 47.7942 30.0 14.5)))
(instance face :init :vertices (list (float-vector 44.5 -12.0 17.7942) (float-vector 40.0 -12.0 19.0) (float-vector 35.5 -12.0 17.7942) (float-vector 32.2058 -12.0 14.5) (float-vector 31.0 -12.0 10.0) (float-vector 32.2058 -12.0 5.5) (float-vector 35.5 -12.0 2.20577) (float-vector 40.0 -12.0 1.0) (float-vector 44.5 -12.0 2.20577) (float-vector 47.7942 -12.0 5.5) (float-vector 49.0 -12.0 10.0) (float-vector 47.7942 -12.0 14.5)))
(instance face :init :vertices (list (float-vector 40.0 -12.0 19.0) (float-vector 44.5 -12.0 17.7942) (float-vector 44.5 -10.0 17.7942) (float-vector 40.0 -10.0 19.0)))
(instance face :init :vertices (list (float-vector 44.5 32.0 17.7942) (float-vector 40.0 32.0 19.0) (float-vector 40.0 30.0 19.0) (float-vector 44.5 30.0 17.7942)))
(instance face :init :vertices (list (float-vector 40.0 32.0 19.0) (float-vector 44.5 32.0 17.7942) (float-vector 47.7942 32.0 14.5) (float-vector 49.0 32.0 10.0) (float-vector 47.7942 32.0 5.5) (float-vector 44.5 32.0 2.20577) (float-vector 40.0 32.0 1.0) (float-vector 35.5 32.0 2.20577) (float-vector 32.2058 32.0 5.5) (float-vector 31.0 32.0 10.0) (float-vector 32.2058 32.0 14.5) (float-vector 35.5 32.0 17.7942)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray40)
(send (elt bc 1) :set-color :gray40)
(setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lbleg-crotch-y :weight 129.0 :centroid (float-vector 15.1474 9.8526 5.0) :inertia-tensor #2f((31177.8 -288.017 -9770.07) (-288.017 54323.2 -95.0716) (-9770.07 -95.0716 57551.0))))
;; definition of :lbleg-knee-r
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 27.0 -25.0) (float-vector 10.0 27.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 26.0 24.0) (float-vector 10.0 26.0 -24.0) (float-vector 10.0 0.0 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 27.0 -25.0) (float-vector -10.0 27.0 25.0) (float-vector 10.0 27.0 25.0) (float-vector 10.0 27.0 -25.0)))
(instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 26.0 -24.0) (float-vector -10.0 26.0 24.0) (float-vector -10.0 -1.421085e-14 24.0) (float-vector -10.0 -1.421085e-14 25.0) (float-vector -10.0 27.0 25.0) (float-vector -10.0 27.0 -25.0)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 -1.421085e-14 25.0) (float-vector -10.0 -1.421085e-14 24.0) (float-vector -7.07107 -7.07107 24.0)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
(instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
(instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 27.0 25.0) (float-vector -10.0 27.0 25.0) (float-vector -10.0 -1.421085e-14 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 27.0 -25.0) (float-vector 10.0 27.0 -25.0) (float-vector 10.0 0.0 -25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
(instance face :init :vertices (list (float-vector 10.0 26.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 -1.421085e-14 24.0) (float-vector -10.0 26.0 24.0)))
(instance face :init :vertices (list (float-vector 10.0 26.0 -24.0) (float-vector 10.0 26.0 24.0) (float-vector -10.0 26.0 24.0) (float-vector -10.0 26.0 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 26.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 26.0 -24.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -10.0 75.0 20.0) (float-vector -10.0 75.0 -20.0) (float-vector -10.0 35.0 -20.0) (float-vector -10.0 35.0 20.0)))
(instance face :init :vertices (list (float-vector -10.0 35.0 -20.0) (float-vector 10.0 35.0 -20.0) (float-vector 10.0 35.0 20.0) (float-vector -10.0 35.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 35.0 -20.0) (float-vector 10.0 75.0 -20.0) (float-vector 10.0 75.0 20.0) (float-vector 10.0 35.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 75.0 20.0) (float-vector -10.0 75.0 20.0) (float-vector -10.0 35.0 20.0) (float-vector 10.0 35.0 20.0))
:holes (list
(instance hole :init :vertices (list (float-vector -7.79423 69.5 20.0) (float-vector -4.5 72.7942 20.0) (float-vector 1.421085e-14 74.0 20.0) (float-vector 4.5 72.7942 20.0) (float-vector 7.79423 69.5 20.0) (float-vector 9.0 65.0 20.0) (float-vector 7.79423 60.5 20.0) (float-vector 4.5 57.2058 20.0) (float-vector 0.0 56.0 20.0) (float-vector -4.5 57.2058 20.0) (float-vector -7.79423 60.5 20.0) (float-vector -9.0 65.0 20.0)))
))
(instance face :init :vertices (list (float-vector 10.0 75.0 -20.0) (float-vector -10.0 75.0 -20.0) (float-vector -10.0 75.0 20.0) (float-vector 10.0 75.0 20.0)))
(instance face :init :vertices (list (float-vector -10.0 75.0 -20.0) (float-vector 10.0 75.0 -20.0) (float-vector 10.0 35.0 -20.0) (float-vector -10.0 35.0 -20.0))
:holes (list
(instance hole :init :vertices (list (float-vector -4.5 72.7942 -20.0) (float-vector -7.79423 69.5 -20.0) (float-vector -9.0 65.0 -20.0) (float-vector -7.79423 60.5 -20.0) (float-vector -4.5 57.2058 -20.0) (float-vector 0.0 56.0 -20.0) (float-vector 4.5 57.2058 -20.0) (float-vector 7.79423 60.5 -20.0) (float-vector 9.0 65.0 -20.0) (float-vector 7.79423 69.5 -20.0) (float-vector 4.5 72.7942 -20.0) (float-vector 0.0 74.0 -20.0)))
))
(instance face :init :vertices (list (float-vector -9.0 65.0 22.0) (float-vector -9.0 65.0 20.0) (float-vector -7.79423 60.5 20.0) (float-vector -7.79423 60.5 22.0)))
(instance face :init :vertices (list (float-vector -9.0 65.0 -20.0) (float-vector -9.0 65.0 -22.0) (float-vector -7.79423 60.5 -22.0) (float-vector -7.79423 60.5 -20.0)))
(instance face :init :vertices (list (float-vector -4.5 57.2058 20.0) (float-vector -4.5 57.2058 22.0) (float-vector -7.79423 60.5 22.0) (float-vector -7.79423 60.5 20.0)))
(instance face :init :vertices (list (float-vector -7.79423 60.5 -22.0) (float-vector -4.5 57.2058 -22.0) (float-vector -4.5 57.2058 -20.0) (float-vector -7.79423 60.5 -20.0)))
(instance face :init :vertices (list (float-vector 0.0 56.0 20.0) (float-vector -1.421085e-14 56.0 22.0) (float-vector -4.5 57.2058 22.0) (float-vector -4.5 57.2058 20.0)))
(instance face :init :vertices (list (float-vector -4.5 57.2058 -22.0) (float-vector 0.0 56.0 -22.0) (float-vector 0.0 56.0 -20.0) (float-vector -4.5 57.2058 -20.0)))
(instance face :init :vertices (list (float-vector 4.5 57.2058 20.0) (float-vector 4.5 57.2058 22.0) (float-vector -1.421085e-14 56.0 22.0) (float-vector 0.0 56.0 20.0)))
(instance face :init :vertices (list (float-vector 0.0 56.0 -22.0) (float-vector 4.5 57.2058 -22.0) (float-vector 4.5 57.2058 -20.0) (float-vector 0.0 56.0 -20.0)))
(instance face :init :vertices (list (float-vector 7.79423 60.5 20.0) (float-vector 7.79423 60.5 22.0) (float-vector 4.5 57.2058 22.0) (float-vector 4.5 57.2058 20.0)))
(instance face :init :vertices (list (float-vector 4.5 57.2058 -22.0) (float-vector 7.79423 60.5 -22.0) (float-vector 7.79423 60.5 -20.0) (float-vector 4.5 57.2058 -20.0)))
(instance face :init :vertices (list (float-vector 9.0 65.0 20.0) (float-vector 9.0 65.0 22.0) (float-vector 7.79423 60.5 22.0) (float-vector 7.79423 60.5 20.0)))
(instance face :init :vertices (list (float-vector 7.79423 60.5 -22.0) (float-vector 9.0 65.0 -22.0) (float-vector 9.0 65.0 -20.0) (float-vector 7.79423 60.5 -20.0)))
(instance face :init :vertices (list (float-vector 7.79423 69.5 20.0) (float-vector 7.79423 69.5 22.0) (float-vector 9.0 65.0 22.0) (float-vector 9.0 65.0 20.0)))
(instance face :init :vertices (list (float-vector 9.0 65.0 -22.0) (float-vector 7.79423 69.5 -22.0) (float-vector 7.79423 69.5 -20.0) (float-vector 9.0 65.0 -20.0)))
(instance face :init :vertices (list (float-vector 4.5 72.7942 20.0) (float-vector 4.5 72.7942 22.0) (float-vector 7.79423 69.5 22.0) (float-vector 7.79423 69.5 20.0)))
(instance face :init :vertices (list (float-vector 7.79423 69.5 -22.0) (float-vector 4.5 72.7942 -22.0) (float-vector 4.5 72.7942 -20.0) (float-vector 7.79423 69.5 -20.0)))
(instance face :init :vertices (list (float-vector 1.421085e-14 74.0 20.0) (float-vector 1.421085e-14 74.0 22.0) (float-vector 4.5 72.7942 22.0) (float-vector 4.5 72.7942 20.0)))
(instance face :init :vertices (list (float-vector 4.5 72.7942 -22.0) (float-vector 0.0 74.0 -22.0) (float-vector 0.0 74.0 -20.0) (float-vector 4.5 72.7942 -20.0)))
(instance face :init :vertices (list (float-vector -4.5 72.7942 20.0) (float-vector -4.5 72.7942 22.0) (float-vector 1.421085e-14 74.0 22.0) (float-vector 1.421085e-14 74.0 20.0)))
(instance face :init :vertices (list (float-vector 0.0 74.0 -22.0) (float-vector -4.5 72.7942 -22.0) (float-vector -4.5 72.7942 -20.0) (float-vector 0.0 74.0 -20.0)))
(instance face :init :vertices (list (float-vector -7.79423 69.5 20.0) (float-vector -7.79423 69.5 22.0) (float-vector -4.5 72.7942 22.0) (float-vector -4.5 72.7942 20.0)))
(instance face :init :vertices (list (float-vector -4.5 72.7942 -22.0) (float-vector -7.79423 69.5 -22.0) (float-vector -7.79423 69.5 -20.0) (float-vector -4.5 72.7942 -20.0)))
(instance face :init :vertices (list (float-vector -7.79423 69.5 22.0) (float-vector -9.0 65.0 22.0) (float-vector -7.79423 60.5 22.0) (float-vector -4.5 57.2058 22.0) (float-vector -1.421085e-14 56.0 22.0) (float-vector 4.5 57.2058 22.0) (float-vector 7.79423 60.5 22.0) (float-vector 9.0 65.0 22.0) (float-vector 7.79423 69.5 22.0) (float-vector 4.5 72.7942 22.0) (float-vector 1.421085e-14 74.0 22.0) (float-vector -4.5 72.7942 22.0)))
(instance face :init :vertices (list (float-vector -9.0 65.0 22.0) (float-vector -7.79423 69.5 22.0) (float-vector -7.79423 69.5 20.0) (float-vector -9.0 65.0 20.0)))
(instance face :init :vertices (list (float-vector -7.79423 69.5 -22.0) (float-vector -9.0 65.0 -22.0) (float-vector -9.0 65.0 -20.0) (float-vector -7.79423 69.5 -20.0)))
(instance face :init :vertices (list (float-vector -9.0 65.0 -22.0) (float-vector -7.79423 69.5 -22.0) (float-vector -4.5 72.7942 -22.0) (float-vector 0.0 74.0 -22.0) (float-vector 4.5 72.7942 -22.0) (float-vector 7.79423 69.5 -22.0) (float-vector 9.0 65.0 -22.0) (float-vector 7.79423 60.5 -22.0) (float-vector 4.5 57.2058 -22.0) (float-vector 0.0 56.0 -22.0) (float-vector -4.5 57.2058 -22.0) (float-vector -7.79423 60.5 -22.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(send (elt bc 1) :set-color :gray40)
(setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lbleg-knee-r :weight 70.7717 :centroid (float-vector -1.421085e-14 51.878 -1.243450e-14) :inertia-tensor #2f((29311.1 1.953298e-12 -6.906937e-27) (1.953298e-12 13665.8 1.900533e-12) (-6.906937e-27 1.900533e-12 20363.4))))
;; definition of :lbleg-ankle-r
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 1.421085e-14 -25.0) (float-vector 10.0 50.0 -25.0) (float-vector 10.0 50.0 25.0) (float-vector 10.0 -1.421085e-14 25.0) (float-vector 10.0 -1.421085e-14 24.0) (float-vector 10.0 49.0 24.0) (float-vector 10.0 49.0 -24.0) (float-vector 10.0 1.421085e-14 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 50.0 -25.0) (float-vector -10.0 50.0 25.0) (float-vector 10.0 50.0 25.0) (float-vector 10.0 50.0 -25.0)))
(instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 49.0 -24.0) (float-vector -10.0 49.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 50.0 25.0) (float-vector -10.0 50.0 -25.0)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
(instance face :init :vertices (list (float-vector 1.421085e-14 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 1.421085e-14 -10.0 24.0)))
(instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 1.421085e-14 -10.0 25.0) (float-vector 1.421085e-14 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
(instance face :init :vertices (list (float-vector 10.0 -1.421085e-14 25.0) (float-vector 10.0 50.0 25.0) (float-vector -10.0 50.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 1.421085e-14 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 50.0 -25.0) (float-vector 10.0 50.0 -25.0) (float-vector 10.0 1.421085e-14 -25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 -1.421085e-14 24.0) (float-vector 10.0 -1.421085e-14 25.0)))
(instance face :init :vertices (list (float-vector 10.0 1.421085e-14 -25.0) (float-vector 10.0 1.421085e-14 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
(instance face :init :vertices (list (float-vector 10.0 49.0 24.0) (float-vector 10.0 -1.421085e-14 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 1.421085e-14 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 49.0 24.0)))
(instance face :init :vertices (list (float-vector 10.0 49.0 -24.0) (float-vector 10.0 49.0 24.0) (float-vector -10.0 49.0 24.0) (float-vector -10.0 49.0 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 49.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 1.421085e-14 -24.0) (float-vector 10.0 49.0 -24.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 17.3205 85.0 23.0) (float-vector 20.0 95.0 23.0) (float-vector 17.3205 105.0 23.0) (float-vector 10.0 112.321 23.0) (float-vector 1.421085e-14 115.0 23.0) (float-vector -10.0 112.321 23.0) (float-vector -17.3205 105.0 23.0) (float-vector -20.0 95.0 23.0) (float-vector -17.3205 85.0 23.0) (float-vector -10.0 77.6795 23.0) (float-vector -4.263256e-14 75.0 23.0) (float-vector 10.0 77.6795 23.0)))
(instance face :init :vertices (list (float-vector 20.0 95.0 3.0) (float-vector 17.3205 85.0 3.0) (float-vector 10.0 77.6795 3.0) (float-vector -4.263256e-14 75.0 3.0) (float-vector -10.0 77.6795 3.0) (float-vector -17.3205 85.0 3.0) (float-vector -20.0 95.0 3.0) (float-vector -17.3205 105.0 3.0) (float-vector -10.0 112.321 3.0) (float-vector 1.421085e-14 115.0 3.0) (float-vector 10.0 112.321 3.0) (float-vector 17.3205 105.0 3.0)))
(instance face :init :vertices (list (float-vector 17.3205 85.0 23.0) (float-vector 17.3205 85.0 3.0) (float-vector 20.0 95.0 3.0) (float-vector 20.0 95.0 23.0)))
(instance face :init :vertices (list (float-vector 10.0 77.6795 23.0) (float-vector 10.0 77.6795 3.0) (float-vector 17.3205 85.0 3.0) (float-vector 17.3205 85.0 23.0)))
(instance face :init :vertices (list (float-vector -4.263256e-14 75.0 23.0) (float-vector -4.263256e-14 75.0 3.0) (float-vector 10.0 77.6795 3.0) (float-vector 10.0 77.6795 23.0)))
(instance face :init :vertices (list (float-vector -10.0 77.6795 23.0) (float-vector -10.0 77.6795 3.0) (float-vector -4.263256e-14 75.0 3.0) (float-vector -4.263256e-14 75.0 23.0)))
(instance face :init :vertices (list (float-vector -17.3205 85.0 23.0) (float-vector -17.3205 85.0 3.0) (float-vector -10.0 77.6795 3.0) (float-vector -10.0 77.6795 23.0)))
(instance face :init :vertices (list (float-vector -20.0 95.0 23.0) (float-vector -20.0 95.0 3.0) (float-vector -17.3205 85.0 3.0) (float-vector -17.3205 85.0 23.0)))
(instance face :init :vertices (list (float-vector -17.3205 105.0 23.0) (float-vector -17.3205 105.0 3.0) (float-vector -20.0 95.0 3.0) (float-vector -20.0 95.0 23.0)))
(instance face :init :vertices (list (float-vector -10.0 112.321 23.0) (float-vector -10.0 112.321 3.0) (float-vector -17.3205 105.0 3.0) (float-vector -17.3205 105.0 23.0)))
(instance face :init :vertices (list (float-vector 1.421085e-14 115.0 23.0) (float-vector 1.421085e-14 115.0 3.0) (float-vector -10.0 112.321 3.0) (float-vector -10.0 112.321 23.0)))
(instance face :init :vertices (list (float-vector 10.0 112.321 23.0) (float-vector 10.0 112.321 3.0) (float-vector 1.421085e-14 115.0 3.0) (float-vector 1.421085e-14 115.0 23.0)))
(instance face :init :vertices (list (float-vector 17.3205 105.0 23.0) (float-vector 17.3205 105.0 3.0) (float-vector 10.0 112.321 3.0) (float-vector 10.0 112.321 23.0)))
(instance face :init :vertices (list (float-vector 20.0 95.0 23.0) (float-vector 20.0 95.0 3.0) (float-vector 17.3205 105.0 3.0) (float-vector 17.3205 105.0 23.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 17.3205 105.0 -23.0) (float-vector 20.0 95.0 -23.0) (float-vector 17.3205 85.0 -23.0) (float-vector 10.0 77.6795 -23.0) (float-vector 0.0 75.0 -23.0) (float-vector -10.0 77.6795 -23.0) (float-vector -17.3205 85.0 -23.0) (float-vector -20.0 95.0 -23.0) (float-vector -17.3205 105.0 -23.0) (float-vector -10.0 112.321 -23.0) (float-vector -4.263256e-14 115.0 -23.0) (float-vector 10.0 112.321 -23.0)))
(instance face :init :vertices (list (float-vector 20.0 95.0 -3.0) (float-vector 17.3205 105.0 -3.0) (float-vector 10.0 112.321 -3.0) (float-vector -4.263256e-14 115.0 -3.0) (float-vector -10.0 112.321 -3.0) (float-vector -17.3205 105.0 -3.0) (float-vector -20.0 95.0 -3.0) (float-vector -17.3205 85.0 -3.0) (float-vector -10.0 77.6795 -3.0) (float-vector 0.0 75.0 -3.0) (float-vector 10.0 77.6795 -3.0) (float-vector 17.3205 85.0 -3.0)))
(instance face :init :vertices (list (float-vector 17.3205 105.0 -23.0) (float-vector 17.3205 105.0 -3.0) (float-vector 20.0 95.0 -3.0) (float-vector 20.0 95.0 -23.0)))
(instance face :init :vertices (list (float-vector 10.0 112.321 -23.0) (float-vector 10.0 112.321 -3.0) (float-vector 17.3205 105.0 -3.0) (float-vector 17.3205 105.0 -23.0)))
(instance face :init :vertices (list (float-vector -4.263256e-14 115.0 -23.0) (float-vector -4.263256e-14 115.0 -3.0) (float-vector 10.0 112.321 -3.0) (float-vector 10.0 112.321 -23.0)))
(instance face :init :vertices (list (float-vector -10.0 112.321 -23.0) (float-vector -10.0 112.321 -3.0) (float-vector -4.263256e-14 115.0 -3.0) (float-vector -4.263256e-14 115.0 -23.0)))
(instance face :init :vertices (list (float-vector -17.3205 105.0 -23.0) (float-vector -17.3205 105.0 -3.0) (float-vector -10.0 112.321 -3.0) (float-vector -10.0 112.321 -23.0)))
(instance face :init :vertices (list (float-vector -20.0 95.0 -23.0) (float-vector -20.0 95.0 -3.0) (float-vector -17.3205 105.0 -3.0) (float-vector -17.3205 105.0 -23.0)))
(instance face :init :vertices (list (float-vector -17.3205 85.0 -23.0) (float-vector -17.3205 85.0 -3.0) (float-vector -20.0 95.0 -3.0) (float-vector -20.0 95.0 -23.0)))
(instance face :init :vertices (list (float-vector -10.0 77.6795 -23.0) (float-vector -10.0 77.6795 -3.0) (float-vector -17.3205 85.0 -3.0) (float-vector -17.3205 85.0 -23.0)))
(instance face :init :vertices (list (float-vector 0.0 75.0 -23.0) (float-vector 0.0 75.0 -3.0) (float-vector -10.0 77.6795 -3.0) (float-vector -10.0 77.6795 -23.0)))
(instance face :init :vertices (list (float-vector 10.0 77.6795 -23.0) (float-vector 10.0 77.6795 -3.0) (float-vector 0.0 75.0 -3.0) (float-vector 0.0 75.0 -23.0)))
(instance face :init :vertices (list (float-vector 17.3205 85.0 -23.0) (float-vector 17.3205 85.0 -3.0) (float-vector 10.0 77.6795 -3.0) (float-vector 10.0 77.6795 -23.0)))
(instance face :init :vertices (list (float-vector 20.0 95.0 -23.0) (float-vector 20.0 95.0 -3.0) (float-vector 17.3205 85.0 -3.0) (float-vector 17.3205 85.0 -23.0)))
))
))
(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 :gray40)
(setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lbleg-ankle-r :weight 108.756 :centroid (float-vector 7.105427e-15 89.7446 1.776357e-14) :inertia-tensor #2f((39188.1 -2.220302e-12 4.336607e-13) (-2.220302e-12 4489.78 2.226142e-11) (4.336607e-13 2.226142e-11 35282.0))))
;; definition of :lfleg-crotch-y
(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 -2.842171e-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 0.0 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 0.0 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 0.0 9.0 -20.0) (float-vector -4.5 7.79423 -20.0) (float-vector -7.79423 4.5 -20.0) (float-vector -9.0 1.421085e-14 -20.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -2.842171e-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 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 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 0.0 9.0 20.0) (float-vector 0.0 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 0.0 9.0 -22.0) (float-vector 0.0 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 0.0 9.0 22.0) (float-vector 0.0 9.0 20.0)))
(instance face :init :vertices (list (float-vector 0.0 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 0.0 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 1.421085e-14 -22.0) (float-vector -9.0 1.421085e-14 -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 1.421085e-14 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -9.0 1.421085e-14 -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 -2.842171e-14 -9.0 20.0) (float-vector -2.842171e-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 -2.842171e-14 -9.0 -22.0) (float-vector -2.842171e-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 -2.842171e-14 -9.0 22.0) (float-vector -2.842171e-14 -9.0 20.0)))
(instance face :init :vertices (list (float-vector -2.842171e-14 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector -2.842171e-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 0.0 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 -2.842171e-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 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 9.0 0.0 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector -2.842171e-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 1.421085e-14 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector 0.0 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 50.0 -10.0 20.0) (float-vector 50.0 30.0 20.0) (float-vector 10.0 30.0 20.0) (float-vector 10.0 -10.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 30.0 20.0) (float-vector 10.0 30.0 0.0) (float-vector 10.0 -10.0 0.0) (float-vector 10.0 -10.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 30.0 0.0) (float-vector 50.0 30.0 0.0) (float-vector 50.0 -10.0 0.0) (float-vector 10.0 -10.0 0.0)))
(instance face :init :vertices (list (float-vector 50.0 -10.0 0.0) (float-vector 50.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0) (float-vector 10.0 -10.0 0.0))
:holes (list
(instance hole :init :vertices (list (float-vector 44.5 -10.0 17.7942) (float-vector 47.7942 -10.0 14.5) (float-vector 49.0 -10.0 10.0) (float-vector 47.7942 -10.0 5.5) (float-vector 44.5 -10.0 2.20577) (float-vector 40.0 -10.0 1.0) (float-vector 35.5 -10.0 2.20577) (float-vector 32.2058 -10.0 5.5) (float-vector 31.0 -10.0 10.0) (float-vector 32.2058 -10.0 14.5) (float-vector 35.5 -10.0 17.7942) (float-vector 40.0 -10.0 19.0)))
))
(instance face :init :vertices (list (float-vector 50.0 30.0 0.0) (float-vector 50.0 30.0 20.0) (float-vector 50.0 -10.0 20.0) (float-vector 50.0 -10.0 0.0)))
(instance face :init :vertices (list (float-vector 50.0 30.0 20.0) (float-vector 50.0 30.0 0.0) (float-vector 10.0 30.0 0.0) (float-vector 10.0 30.0 20.0))
:holes (list
(instance hole :init :vertices (list (float-vector 47.7942 30.0 14.5) (float-vector 44.5 30.0 17.7942) (float-vector 40.0 30.0 19.0) (float-vector 35.5 30.0 17.7942) (float-vector 32.2058 30.0 14.5) (float-vector 31.0 30.0 10.0) (float-vector 32.2058 30.0 5.5) (float-vector 35.5 30.0 2.20577) (float-vector 40.0 30.0 1.0) (float-vector 44.5 30.0 2.20577) (float-vector 47.7942 30.0 5.5) (float-vector 49.0 30.0 10.0)))
))
(instance face :init :vertices (list (float-vector 40.0 -12.0 19.0) (float-vector 40.0 -10.0 19.0) (float-vector 35.5 -10.0 17.7942) (float-vector 35.5 -12.0 17.7942)))
(instance face :init :vertices (list (float-vector 40.0 30.0 19.0) (float-vector 40.0 32.0 19.0) (float-vector 35.5 32.0 17.7942) (float-vector 35.5 30.0 17.7942)))
(instance face :init :vertices (list (float-vector 32.2058 -10.0 14.5) (float-vector 32.2058 -12.0 14.5) (float-vector 35.5 -12.0 17.7942) (float-vector 35.5 -10.0 17.7942)))
(instance face :init :vertices (list (float-vector 35.5 32.0 17.7942) (float-vector 32.2058 32.0 14.5) (float-vector 32.2058 30.0 14.5) (float-vector 35.5 30.0 17.7942)))
(instance face :init :vertices (list (float-vector 31.0 -10.0 10.0) (float-vector 31.0 -12.0 10.0) (float-vector 32.2058 -12.0 14.5) (float-vector 32.2058 -10.0 14.5)))
(instance face :init :vertices (list (float-vector 32.2058 32.0 14.5) (float-vector 31.0 32.0 10.0) (float-vector 31.0 30.0 10.0) (float-vector 32.2058 30.0 14.5)))
(instance face :init :vertices (list (float-vector 32.2058 -10.0 5.5) (float-vector 32.2058 -12.0 5.5) (float-vector 31.0 -12.0 10.0) (float-vector 31.0 -10.0 10.0)))
(instance face :init :vertices (list (float-vector 31.0 32.0 10.0) (float-vector 32.2058 32.0 5.5) (float-vector 32.2058 30.0 5.5) (float-vector 31.0 30.0 10.0)))
(instance face :init :vertices (list (float-vector 35.5 -10.0 2.20577) (float-vector 35.5 -12.0 2.20577) (float-vector 32.2058 -12.0 5.5) (float-vector 32.2058 -10.0 5.5)))
(instance face :init :vertices (list (float-vector 32.2058 32.0 5.5) (float-vector 35.5 32.0 2.20577) (float-vector 35.5 30.0 2.20577) (float-vector 32.2058 30.0 5.5)))
(instance face :init :vertices (list (float-vector 40.0 -10.0 1.0) (float-vector 40.0 -12.0 1.0) (float-vector 35.5 -12.0 2.20577) (float-vector 35.5 -10.0 2.20577)))
(instance face :init :vertices (list (float-vector 35.5 32.0 2.20577) (float-vector 40.0 32.0 1.0) (float-vector 40.0 30.0 1.0) (float-vector 35.5 30.0 2.20577)))
(instance face :init :vertices (list (float-vector 44.5 -10.0 2.20577) (float-vector 44.5 -12.0 2.20577) (float-vector 40.0 -12.0 1.0) (float-vector 40.0 -10.0 1.0)))
(instance face :init :vertices (list (float-vector 40.0 32.0 1.0) (float-vector 44.5 32.0 2.20577) (float-vector 44.5 30.0 2.20577) (float-vector 40.0 30.0 1.0)))
(instance face :init :vertices (list (float-vector 47.7942 -10.0 5.5) (float-vector 47.7942 -12.0 5.5) (float-vector 44.5 -12.0 2.20577) (float-vector 44.5 -10.0 2.20577)))
(instance face :init :vertices (list (float-vector 44.5 32.0 2.20577) (float-vector 47.7942 32.0 5.5) (float-vector 47.7942 30.0 5.5) (float-vector 44.5 30.0 2.20577)))
(instance face :init :vertices (list (float-vector 49.0 -10.0 10.0) (float-vector 49.0 -12.0 10.0) (float-vector 47.7942 -12.0 5.5) (float-vector 47.7942 -10.0 5.5)))
(instance face :init :vertices (list (float-vector 47.7942 32.0 5.5) (float-vector 49.0 32.0 10.0) (float-vector 49.0 30.0 10.0) (float-vector 47.7942 30.0 5.5)))
(instance face :init :vertices (list (float-vector 47.7942 -10.0 14.5) (float-vector 47.7942 -12.0 14.5) (float-vector 49.0 -12.0 10.0) (float-vector 49.0 -10.0 10.0)))
(instance face :init :vertices (list (float-vector 49.0 32.0 10.0) (float-vector 47.7942 32.0 14.5) (float-vector 47.7942 30.0 14.5) (float-vector 49.0 30.0 10.0)))
(instance face :init :vertices (list (float-vector 44.5 -10.0 17.7942) (float-vector 44.5 -12.0 17.7942) (float-vector 47.7942 -12.0 14.5) (float-vector 47.7942 -10.0 14.5)))
(instance face :init :vertices (list (float-vector 47.7942 32.0 14.5) (float-vector 44.5 32.0 17.7942) (float-vector 44.5 30.0 17.7942) (float-vector 47.7942 30.0 14.5)))
(instance face :init :vertices (list (float-vector 44.5 -12.0 17.7942) (float-vector 40.0 -12.0 19.0) (float-vector 35.5 -12.0 17.7942) (float-vector 32.2058 -12.0 14.5) (float-vector 31.0 -12.0 10.0) (float-vector 32.2058 -12.0 5.5) (float-vector 35.5 -12.0 2.20577) (float-vector 40.0 -12.0 1.0) (float-vector 44.5 -12.0 2.20577) (float-vector 47.7942 -12.0 5.5) (float-vector 49.0 -12.0 10.0) (float-vector 47.7942 -12.0 14.5)))
(instance face :init :vertices (list (float-vector 40.0 -12.0 19.0) (float-vector 44.5 -12.0 17.7942) (float-vector 44.5 -10.0 17.7942) (float-vector 40.0 -10.0 19.0)))
(instance face :init :vertices (list (float-vector 44.5 32.0 17.7942) (float-vector 40.0 32.0 19.0) (float-vector 40.0 30.0 19.0) (float-vector 44.5 30.0 17.7942)))
(instance face :init :vertices (list (float-vector 40.0 32.0 19.0) (float-vector 44.5 32.0 17.7942) (float-vector 47.7942 32.0 14.5) (float-vector 49.0 32.0 10.0) (float-vector 47.7942 32.0 5.5) (float-vector 44.5 32.0 2.20577) (float-vector 40.0 32.0 1.0) (float-vector 35.5 32.0 2.20577) (float-vector 32.2058 32.0 5.5) (float-vector 31.0 32.0 10.0) (float-vector 32.2058 32.0 14.5) (float-vector 35.5 32.0 17.7942)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray40)
(send (elt bc 1) :set-color :gray40)
(setq blink6 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lfleg-crotch-y :weight 129.0 :centroid (float-vector 15.1474 9.8526 5.0) :inertia-tensor #2f((31177.8 -288.017 -9770.07) (-288.017 54323.2 -95.0716) (-9770.07 -95.0716 57551.0))))
;; definition of :lfleg-knee-r
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 27.0 -25.0) (float-vector 10.0 27.0 25.0) (float-vector 10.0 -1.421085e-14 25.0) (float-vector 10.0 -1.421085e-14 24.0) (float-vector 10.0 26.0 24.0) (float-vector 10.0 26.0 -24.0) (float-vector 10.0 0.0 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 27.0 -25.0) (float-vector -10.0 27.0 25.0) (float-vector 10.0 27.0 25.0) (float-vector 10.0 27.0 -25.0)))
(instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 26.0 -24.0) (float-vector -10.0 26.0 24.0) (float-vector -10.0 -1.421085e-14 24.0) (float-vector -10.0 -1.421085e-14 25.0) (float-vector -10.0 27.0 25.0) (float-vector -10.0 27.0 -25.0)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 -1.421085e-14 25.0) (float-vector -10.0 -1.421085e-14 24.0) (float-vector -7.07107 -7.07107 24.0)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
(instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
(instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 2.842171e-14 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 2.842171e-14 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
(instance face :init :vertices (list (float-vector 10.0 -1.421085e-14 25.0) (float-vector 10.0 27.0 25.0) (float-vector -10.0 27.0 25.0) (float-vector -10.0 -1.421085e-14 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 27.0 -25.0) (float-vector 10.0 27.0 -25.0) (float-vector 10.0 0.0 -25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 -1.421085e-14 24.0) (float-vector 10.0 -1.421085e-14 25.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
(instance face :init :vertices (list (float-vector 10.0 26.0 24.0) (float-vector 10.0 -1.421085e-14 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 -1.421085e-14 24.0) (float-vector -10.0 26.0 24.0)))
(instance face :init :vertices (list (float-vector 10.0 26.0 -24.0) (float-vector 10.0 26.0 24.0) (float-vector -10.0 26.0 24.0) (float-vector -10.0 26.0 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 26.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 2.842171e-14 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 26.0 -24.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -10.0 75.0 20.0) (float-vector -10.0 75.0 -20.0) (float-vector -10.0 35.0 -20.0) (float-vector -10.0 35.0 20.0)))
(instance face :init :vertices (list (float-vector -10.0 35.0 -20.0) (float-vector 10.0 35.0 -20.0) (float-vector 10.0 35.0 20.0) (float-vector -10.0 35.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 35.0 -20.0) (float-vector 10.0 75.0 -20.0) (float-vector 10.0 75.0 20.0) (float-vector 10.0 35.0 20.0)))
(instance face :init :vertices (list (float-vector 10.0 75.0 20.0) (float-vector -10.0 75.0 20.0) (float-vector -10.0 35.0 20.0) (float-vector 10.0 35.0 20.0))
:holes (list
(instance hole :init :vertices (list (float-vector -7.79423 69.5 20.0) (float-vector -4.5 72.7942 20.0) (float-vector 2.842171e-14 74.0 20.0) (float-vector 4.5 72.7942 20.0) (float-vector 7.79423 69.5 20.0) (float-vector 9.0 65.0 20.0) (float-vector 7.79423 60.5 20.0) (float-vector 4.5 57.2058 20.0) (float-vector 1.421085e-14 56.0 20.0) (float-vector -4.5 57.2058 20.0) (float-vector -7.79423 60.5 20.0) (float-vector -9.0 65.0 20.0)))
))
(instance face :init :vertices (list (float-vector 10.0 75.0 -20.0) (float-vector -10.0 75.0 -20.0) (float-vector -10.0 75.0 20.0) (float-vector 10.0 75.0 20.0)))
(instance face :init :vertices (list (float-vector -10.0 75.0 -20.0) (float-vector 10.0 75.0 -20.0) (float-vector 10.0 35.0 -20.0) (float-vector -10.0 35.0 -20.0))
:holes (list
(instance hole :init :vertices (list (float-vector -4.5 72.7942 -20.0) (float-vector -7.79423 69.5 -20.0) (float-vector -9.0 65.0 -20.0) (float-vector -7.79423 60.5 -20.0) (float-vector -4.5 57.2058 -20.0) (float-vector 0.0 56.0 -20.0) (float-vector 4.5 57.2058 -20.0) (float-vector 7.79423 60.5 -20.0) (float-vector 9.0 65.0 -20.0) (float-vector 7.79423 69.5 -20.0) (float-vector 4.5 72.7942 -20.0) (float-vector 1.421085e-14 74.0 -20.0)))
))
(instance face :init :vertices (list (float-vector -9.0 65.0 22.0) (float-vector -9.0 65.0 20.0) (float-vector -7.79423 60.5 20.0) (float-vector -7.79423 60.5 22.0)))
(instance face :init :vertices (list (float-vector -9.0 65.0 -20.0) (float-vector -9.0 65.0 -22.0) (float-vector -7.79423 60.5 -22.0) (float-vector -7.79423 60.5 -20.0)))
(instance face :init :vertices (list (float-vector -4.5 57.2058 20.0) (float-vector -4.5 57.2058 22.0) (float-vector -7.79423 60.5 22.0) (float-vector -7.79423 60.5 20.0)))
(instance face :init :vertices (list (float-vector -7.79423 60.5 -22.0) (float-vector -4.5 57.2058 -22.0) (float-vector -4.5 57.2058 -20.0) (float-vector -7.79423 60.5 -20.0)))
(instance face :init :vertices (list (float-vector 1.421085e-14 56.0 20.0) (float-vector 0.0 56.0 22.0) (float-vector -4.5 57.2058 22.0) (float-vector -4.5 57.2058 20.0)))
(instance face :init :vertices (list (float-vector -4.5 57.2058 -22.0) (float-vector 0.0 56.0 -22.0) (float-vector 0.0 56.0 -20.0) (float-vector -4.5 57.2058 -20.0)))
(instance face :init :vertices (list (float-vector 4.5 57.2058 20.0) (float-vector 4.5 57.2058 22.0) (float-vector 0.0 56.0 22.0) (float-vector 1.421085e-14 56.0 20.0)))
(instance face :init :vertices (list (float-vector 0.0 56.0 -22.0) (float-vector 4.5 57.2058 -22.0) (float-vector 4.5 57.2058 -20.0) (float-vector 0.0 56.0 -20.0)))
(instance face :init :vertices (list (float-vector 7.79423 60.5 20.0) (float-vector 7.79423 60.5 22.0) (float-vector 4.5 57.2058 22.0) (float-vector 4.5 57.2058 20.0)))
(instance face :init :vertices (list (float-vector 4.5 57.2058 -22.0) (float-vector 7.79423 60.5 -22.0) (float-vector 7.79423 60.5 -20.0) (float-vector 4.5 57.2058 -20.0)))
(instance face :init :vertices (list (float-vector 9.0 65.0 20.0) (float-vector 9.0 65.0 22.0) (float-vector 7.79423 60.5 22.0) (float-vector 7.79423 60.5 20.0)))
(instance face :init :vertices (list (float-vector 7.79423 60.5 -22.0) (float-vector 9.0 65.0 -22.0) (float-vector 9.0 65.0 -20.0) (float-vector 7.79423 60.5 -20.0)))
(instance face :init :vertices (list (float-vector 7.79423 69.5 20.0) (float-vector 7.79423 69.5 22.0) (float-vector 9.0 65.0 22.0) (float-vector 9.0 65.0 20.0)))
(instance face :init :vertices (list (float-vector 9.0 65.0 -22.0) (float-vector 7.79423 69.5 -22.0) (float-vector 7.79423 69.5 -20.0) (float-vector 9.0 65.0 -20.0)))
(instance face :init :vertices (list (float-vector 4.5 72.7942 20.0) (float-vector 4.5 72.7942 22.0) (float-vector 7.79423 69.5 22.0) (float-vector 7.79423 69.5 20.0)))
(instance face :init :vertices (list (float-vector 7.79423 69.5 -22.0) (float-vector 4.5 72.7942 -22.0) (float-vector 4.5 72.7942 -20.0) (float-vector 7.79423 69.5 -20.0)))
(instance face :init :vertices (list (float-vector 2.842171e-14 74.0 20.0) (float-vector 2.842171e-14 74.0 22.0) (float-vector 4.5 72.7942 22.0) (float-vector 4.5 72.7942 20.0)))
(instance face :init :vertices (list (float-vector 4.5 72.7942 -22.0) (float-vector 1.421085e-14 74.0 -22.0) (float-vector 1.421085e-14 74.0 -20.0) (float-vector 4.5 72.7942 -20.0)))
(instance face :init :vertices (list (float-vector -4.5 72.7942 20.0) (float-vector -4.5 72.7942 22.0) (float-vector 2.842171e-14 74.0 22.0) (float-vector 2.842171e-14 74.0 20.0)))
(instance face :init :vertices (list (float-vector 1.421085e-14 74.0 -22.0) (float-vector -4.5 72.7942 -22.0) (float-vector -4.5 72.7942 -20.0) (float-vector 1.421085e-14 74.0 -20.0)))
(instance face :init :vertices (list (float-vector -7.79423 69.5 20.0) (float-vector -7.79423 69.5 22.0) (float-vector -4.5 72.7942 22.0) (float-vector -4.5 72.7942 20.0)))
(instance face :init :vertices (list (float-vector -4.5 72.7942 -22.0) (float-vector -7.79423 69.5 -22.0) (float-vector -7.79423 69.5 -20.0) (float-vector -4.5 72.7942 -20.0)))
(instance face :init :vertices (list (float-vector -7.79423 69.5 22.0) (float-vector -9.0 65.0 22.0) (float-vector -7.79423 60.5 22.0) (float-vector -4.5 57.2058 22.0) (float-vector 0.0 56.0 22.0) (float-vector 4.5 57.2058 22.0) (float-vector 7.79423 60.5 22.0) (float-vector 9.0 65.0 22.0) (float-vector 7.79423 69.5 22.0) (float-vector 4.5 72.7942 22.0) (float-vector 2.842171e-14 74.0 22.0) (float-vector -4.5 72.7942 22.0)))
(instance face :init :vertices (list (float-vector -9.0 65.0 22.0) (float-vector -7.79423 69.5 22.0) (float-vector -7.79423 69.5 20.0) (float-vector -9.0 65.0 20.0)))
(instance face :init :vertices (list (float-vector -7.79423 69.5 -22.0) (float-vector -9.0 65.0 -22.0) (float-vector -9.0 65.0 -20.0) (float-vector -7.79423 69.5 -20.0)))
(instance face :init :vertices (list (float-vector -9.0 65.0 -22.0) (float-vector -7.79423 69.5 -22.0) (float-vector -4.5 72.7942 -22.0) (float-vector 1.421085e-14 74.0 -22.0) (float-vector 4.5 72.7942 -22.0) (float-vector 7.79423 69.5 -22.0) (float-vector 9.0 65.0 -22.0) (float-vector 7.79423 60.5 -22.0) (float-vector 4.5 57.2058 -22.0) (float-vector 0.0 56.0 -22.0) (float-vector -4.5 57.2058 -22.0) (float-vector -7.79423 60.5 -22.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(send (elt bc 1) :set-color :gray40)
(setq blink5 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lfleg-knee-r :weight 70.7717 :centroid (float-vector -1.421085e-14 51.878 -1.243450e-14) :inertia-tensor #2f((29311.1 1.953298e-12 -6.906937e-27) (1.953298e-12 13665.8 1.900533e-12) (-6.906937e-27 1.900533e-12 20363.4))))
;; definition of :lfleg-ankle-r
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 2.842171e-14 -25.0) (float-vector 10.0 50.0 -25.0) (float-vector 10.0 50.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 49.0 24.0) (float-vector 10.0 49.0 -24.0) (float-vector 10.0 2.842171e-14 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 50.0 -25.0) (float-vector -10.0 50.0 25.0) (float-vector 10.0 50.0 25.0) (float-vector 10.0 50.0 -25.0)))
(instance face :init :vertices (list (float-vector -10.0 1.421085e-14 -25.0) (float-vector -10.0 1.421085e-14 -24.0) (float-vector -10.0 49.0 -24.0) (float-vector -10.0 49.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 50.0 25.0) (float-vector -10.0 50.0 -25.0)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 1.421085e-14 -24.0) (float-vector -10.0 1.421085e-14 -25.0)))
(instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
(instance face :init :vertices (list (float-vector -1.421085e-14 -10.0 -25.0) (float-vector -1.421085e-14 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector -1.421085e-14 -10.0 -24.0) (float-vector -1.421085e-14 -10.0 -25.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 50.0 25.0) (float-vector -10.0 50.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector -1.421085e-14 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 1.421085e-14 -25.0) (float-vector -10.0 50.0 -25.0) (float-vector 10.0 50.0 -25.0) (float-vector 10.0 2.842171e-14 -25.0)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
(instance face :init :vertices (list (float-vector 10.0 2.842171e-14 -25.0) (float-vector 10.0 2.842171e-14 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
(instance face :init :vertices (list (float-vector 10.0 49.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 49.0 24.0)))
(instance face :init :vertices (list (float-vector 10.0 49.0 -24.0) (float-vector 10.0 49.0 24.0) (float-vector -10.0 49.0 24.0) (float-vector -10.0 49.0 -24.0)))
(instance face :init :vertices (list (float-vector -10.0 49.0 -24.0) (float-vector -10.0 1.421085e-14 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -1.421085e-14 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 2.842171e-14 -24.0) (float-vector 10.0 49.0 -24.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 17.3205 85.0 23.0) (float-vector 20.0 95.0 23.0) (float-vector 17.3205 105.0 23.0) (float-vector 10.0 112.321 23.0) (float-vector -1.421085e-14 115.0 23.0) (float-vector -10.0 112.321 23.0) (float-vector -17.3205 105.0 23.0) (float-vector -20.0 95.0 23.0) (float-vector -17.3205 85.0 23.0) (float-vector -10.0 77.6795 23.0) (float-vector -7.105427e-14 75.0 23.0) (float-vector 10.0 77.6795 23.0)))
(instance face :init :vertices (list (float-vector 20.0 95.0 3.0) (float-vector 17.3205 85.0 3.0) (float-vector 10.0 77.6795 3.0) (float-vector -7.105427e-14 75.0 3.0) (float-vector -10.0 77.6795 3.0) (float-vector -17.3205 85.0 3.0) (float-vector -20.0 95.0 3.0) (float-vector -17.3205 105.0 3.0) (float-vector -10.0 112.321 3.0) (float-vector -1.421085e-14 115.0 3.0) (float-vector 10.0 112.321 3.0) (float-vector 17.3205 105.0 3.0)))
(instance face :init :vertices (list (float-vector 17.3205 85.0 23.0) (float-vector 17.3205 85.0 3.0) (float-vector 20.0 95.0 3.0) (float-vector 20.0 95.0 23.0)))
(instance face :init :vertices (list (float-vector 10.0 77.6795 23.0) (float-vector 10.0 77.6795 3.0) (float-vector 17.3205 85.0 3.0) (float-vector 17.3205 85.0 23.0)))
(instance face :init :vertices (list (float-vector -7.105427e-14 75.0 23.0) (float-vector -7.105427e-14 75.0 3.0) (float-vector 10.0 77.6795 3.0) (float-vector 10.0 77.6795 23.0)))
(instance face :init :vertices (list (float-vector -10.0 77.6795 23.0) (float-vector -10.0 77.6795 3.0) (float-vector -7.105427e-14 75.0 3.0) (float-vector -7.105427e-14 75.0 23.0)))
(instance face :init :vertices (list (float-vector -17.3205 85.0 23.0) (float-vector -17.3205 85.0 3.0) (float-vector -10.0 77.6795 3.0) (float-vector -10.0 77.6795 23.0)))
(instance face :init :vertices (list (float-vector -20.0 95.0 23.0) (float-vector -20.0 95.0 3.0) (float-vector -17.3205 85.0 3.0) (float-vector -17.3205 85.0 23.0)))
(instance face :init :vertices (list (float-vector -17.3205 105.0 23.0) (float-vector -17.3205 105.0 3.0) (float-vector -20.0 95.0 3.0) (float-vector -20.0 95.0 23.0)))
(instance face :init :vertices (list (float-vector -10.0 112.321 23.0) (float-vector -10.0 112.321 3.0) (float-vector -17.3205 105.0 3.0) (float-vector -17.3205 105.0 23.0)))
(instance face :init :vertices (list (float-vector -1.421085e-14 115.0 23.0) (float-vector -1.421085e-14 115.0 3.0) (float-vector -10.0 112.321 3.0) (float-vector -10.0 112.321 23.0)))
(instance face :init :vertices (list (float-vector 10.0 112.321 23.0) (float-vector 10.0 112.321 3.0) (float-vector -1.421085e-14 115.0 3.0) (float-vector -1.421085e-14 115.0 23.0)))
(instance face :init :vertices (list (float-vector 17.3205 105.0 23.0) (float-vector 17.3205 105.0 3.0) (float-vector 10.0 112.321 3.0) (float-vector 10.0 112.321 23.0)))
(instance face :init :vertices (list (float-vector 20.0 95.0 23.0) (float-vector 20.0 95.0 3.0) (float-vector 17.3205 105.0 3.0) (float-vector 17.3205 105.0 23.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 17.3205 105.0 -23.0) (float-vector 20.0 95.0 -23.0) (float-vector 17.3205 85.0 -23.0) (float-vector 10.0 77.6795 -23.0) (float-vector -2.842171e-14 75.0 -23.0) (float-vector -10.0 77.6795 -23.0) (float-vector -17.3205 85.0 -23.0) (float-vector -20.0 95.0 -23.0) (float-vector -17.3205 105.0 -23.0) (float-vector -10.0 112.321 -23.0) (float-vector -7.105427e-14 115.0 -23.0) (float-vector 10.0 112.321 -23.0)))
(instance face :init :vertices (list (float-vector 20.0 95.0 -3.0) (float-vector 17.3205 105.0 -3.0) (float-vector 10.0 112.321 -3.0) (float-vector -7.105427e-14 115.0 -3.0) (float-vector -10.0 112.321 -3.0) (float-vector -17.3205 105.0 -3.0) (float-vector -20.0 95.0 -3.0) (float-vector -17.3205 85.0 -3.0) (float-vector -10.0 77.6795 -3.0) (float-vector -2.842171e-14 75.0 -3.0) (float-vector 10.0 77.6795 -3.0) (float-vector 17.3205 85.0 -3.0)))
(instance face :init :vertices (list (float-vector 17.3205 105.0 -23.0) (float-vector 17.3205 105.0 -3.0) (float-vector 20.0 95.0 -3.0) (float-vector 20.0 95.0 -23.0)))
(instance face :init :vertices (list (float-vector 10.0 112.321 -23.0) (float-vector 10.0 112.321 -3.0) (float-vector 17.3205 105.0 -3.0) (float-vector 17.3205 105.0 -23.0)))
(instance face :init :vertices (list (float-vector -7.105427e-14 115.0 -23.0) (float-vector -7.105427e-14 115.0 -3.0) (float-vector 10.0 112.321 -3.0) (float-vector 10.0 112.321 -23.0)))
(instance face :init :vertices (list (float-vector -10.0 112.321 -23.0) (float-vector -10.0 112.321 -3.0) (float-vector -7.105427e-14 115.0 -3.0) (float-vector -7.105427e-14 115.0 -23.0)))
(instance face :init :vertices (list (float-vector -17.3205 105.0 -23.0) (float-vector -17.3205 105.0 -3.0) (float-vector -10.0 112.321 -3.0) (float-vector -10.0 112.321 -23.0)))
(instance face :init :vertices (list (float-vector -20.0 95.0 -23.0) (float-vector -20.0 95.0 -3.0) (float-vector -17.3205 105.0 -3.0) (float-vector -17.3205 105.0 -23.0)))
(instance face :init :vertices (list (float-vector -17.3205 85.0 -23.0) (float-vector -17.3205 85.0 -3.0) (float-vector -20.0 95.0 -3.0) (float-vector -20.0 95.0 -23.0)))
(instance face :init :vertices (list (float-vector -10.0 77.6795 -23.0) (float-vector -10.0 77.6795 -3.0) (float-vector -17.3205 85.0 -3.0) (float-vector -17.3205 85.0 -23.0)))
(instance face :init :vertices (list (float-vector -2.842171e-14 75.0 -23.0) (float-vector -2.842171e-14 75.0 -3.0) (float-vector -10.0 77.6795 -3.0) (float-vector -10.0 77.6795 -23.0)))
(instance face :init :vertices (list (float-vector 10.0 77.6795 -23.0) (float-vector 10.0 77.6795 -3.0) (float-vector -2.842171e-14 75.0 -3.0) (float-vector -2.842171e-14 75.0 -23.0)))
(instance face :init :vertices (list (float-vector 17.3205 85.0 -23.0) (float-vector 17.3205 85.0 -3.0) (float-vector 10.0 77.6795 -3.0) (float-vector 10.0 77.6795 -23.0)))
(instance face :init :vertices (list (float-vector 20.0 95.0 -23.0) (float-vector 20.0 95.0 -3.0) (float-vector 17.3205 85.0 -3.0) (float-vector 17.3205 85.0 -23.0)))
))
))
(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 :gray40)
(setq blink4 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lfleg-ankle-r :weight 108.756 :centroid (float-vector 7.105427e-15 89.7446 1.776357e-14) :inertia-tensor #2f((39188.1 -2.220302e-12 4.336607e-13) (-2.220302e-12 4489.78 2.226142e-11) (4.336607e-13 2.226142e-11 35282.0))))
;; definition of :head-pan-y
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 15.0 0.0 -25.0) (float-vector 15.0 20.0 -25.0) (float-vector 15.0 20.0 25.0) (float-vector 15.0 0.0 25.0) (float-vector 15.0 0.0 24.0) (float-vector 15.0 19.0 24.0) (float-vector 15.0 19.0 -24.0) (float-vector 15.0 0.0 -24.0)))
(instance face :init :vertices (list (float-vector -15.0 20.0 -25.0) (float-vector -15.0 20.0 25.0) (float-vector 15.0 20.0 25.0) (float-vector 15.0 20.0 -25.0)))
(instance face :init :vertices (list (float-vector -15.0 0.0 -25.0) (float-vector -15.0 0.0 -24.0) (float-vector -15.0 19.0 -24.0) (float-vector -15.0 19.0 24.0) (float-vector -15.0 0.0 24.0) (float-vector -15.0 0.0 25.0) (float-vector -15.0 20.0 25.0) (float-vector -15.0 20.0 -25.0)))
(instance face :init :vertices (list (float-vector -10.6066 -10.6066 25.0) (float-vector -15.0 0.0 25.0) (float-vector -15.0 0.0 24.0) (float-vector -10.6066 -10.6066 24.0)))
(instance face :init :vertices (list (float-vector -10.6066 -10.6066 -25.0) (float-vector -10.6066 -10.6066 -24.0) (float-vector -15.0 0.0 -24.0) (float-vector -15.0 0.0 -25.0)))
(instance face :init :vertices (list (float-vector 0.0 -15.0 25.0) (float-vector -10.6066 -10.6066 25.0) (float-vector -10.6066 -10.6066 24.0) (float-vector 0.0 -15.0 24.0)))
(instance face :init :vertices (list (float-vector 0.0 -15.0 -25.0) (float-vector 0.0 -15.0 -24.0) (float-vector -10.6066 -10.6066 -24.0) (float-vector -10.6066 -10.6066 -25.0)))
(instance face :init :vertices (list (float-vector 10.6066 -10.6066 25.0) (float-vector 0.0 -15.0 25.0) (float-vector 0.0 -15.0 24.0) (float-vector 10.6066 -10.6066 24.0)))
(instance face :init :vertices (list (float-vector 10.6066 -10.6066 -25.0) (float-vector 10.6066 -10.6066 -24.0) (float-vector 0.0 -15.0 -24.0) (float-vector 0.0 -15.0 -25.0)))
(instance face :init :vertices (list (float-vector 15.0 0.0 25.0) (float-vector 15.0 20.0 25.0) (float-vector -15.0 20.0 25.0) (float-vector -15.0 0.0 25.0) (float-vector -10.6066 -10.6066 25.0) (float-vector 0.0 -15.0 25.0) (float-vector 10.6066 -10.6066 25.0)))
(instance face :init :vertices (list (float-vector 10.6066 -10.6066 -25.0) (float-vector 0.0 -15.0 -25.0) (float-vector -10.6066 -10.6066 -25.0) (float-vector -15.0 0.0 -25.0) (float-vector -15.0 20.0 -25.0) (float-vector 15.0 20.0 -25.0) (float-vector 15.0 0.0 -25.0)))
(instance face :init :vertices (list (float-vector 10.6066 -10.6066 25.0) (float-vector 10.6066 -10.6066 24.0) (float-vector 15.0 0.0 24.0) (float-vector 15.0 0.0 25.0)))
(instance face :init :vertices (list (float-vector 15.0 0.0 -25.0) (float-vector 15.0 0.0 -24.0) (float-vector 10.6066 -10.6066 -24.0) (float-vector 10.6066 -10.6066 -25.0)))
(instance face :init :vertices (list (float-vector 15.0 19.0 24.0) (float-vector 15.0 0.0 24.0) (float-vector 10.6066 -10.6066 24.0) (float-vector 0.0 -15.0 24.0) (float-vector -10.6066 -10.6066 24.0) (float-vector -15.0 0.0 24.0) (float-vector -15.0 19.0 24.0)))
(instance face :init :vertices (list (float-vector 15.0 19.0 -24.0) (float-vector 15.0 19.0 24.0) (float-vector -15.0 19.0 24.0) (float-vector -15.0 19.0 -24.0)))
(instance face :init :vertices (list (float-vector -15.0 19.0 -24.0) (float-vector -15.0 0.0 -24.0) (float-vector -10.6066 -10.6066 -24.0) (float-vector 0.0 -15.0 -24.0) (float-vector 10.6066 -10.6066 -24.0) (float-vector 15.0 0.0 -24.0) (float-vector 15.0 19.0 -24.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -18.0 10.0 35.1) (float-vector 18.0 10.0 35.1) (float-vector 18.0 -30.0 35.1) (float-vector -18.0 -30.0 35.1)))
(instance face :init :vertices (list (float-vector 18.0 -30.0 35.1) (float-vector 18.0 -30.0 54.9) (float-vector -18.0 -30.0 54.9) (float-vector -18.0 -30.0 35.1)))
(instance face :init :vertices (list (float-vector 18.0 -30.0 54.9) (float-vector 18.0 10.0 54.9) (float-vector -18.0 10.0 54.9) (float-vector -18.0 -30.0 54.9)))
(instance face :init :vertices (list (float-vector -18.0 10.0 54.9) (float-vector -18.0 10.0 35.1) (float-vector -18.0 -30.0 35.1) (float-vector -18.0 -30.0 54.9))
:holes (list
(instance hole :init :vertices (list (float-vector -18.0 4.45 37.2924) (float-vector -18.0 7.70763 40.55) (float-vector -18.0 8.9 45.0) (float-vector -18.0 7.70763 49.45) (float-vector -18.0 4.45 52.7076) (float-vector -18.0 -1.421085e-14 53.9) (float-vector -18.0 -4.45 52.7076) (float-vector -18.0 -7.70763 49.45) (float-vector -18.0 -8.9 45.0) (float-vector -18.0 -7.70763 40.55) (float-vector -18.0 -4.45 37.2924) (float-vector -18.0 0.0 36.1)))
))
(instance face :init :vertices (list (float-vector 18.0 10.0 54.9) (float-vector 18.0 10.0 35.1) (float-vector -18.0 10.0 35.1) (float-vector -18.0 10.0 54.9)))
(instance face :init :vertices (list (float-vector 18.0 10.0 35.1) (float-vector 18.0 10.0 54.9) (float-vector 18.0 -30.0 54.9) (float-vector 18.0 -30.0 35.1))
:holes (list
(instance hole :init :vertices (list (float-vector 18.0 7.70763 40.55) (float-vector 18.0 4.45 37.2924) (float-vector 18.0 0.0 36.1) (float-vector 18.0 -4.45 37.2924) (float-vector 18.0 -7.70763 40.55) (float-vector 18.0 -8.9 45.0) (float-vector 18.0 -7.70763 49.45) (float-vector 18.0 -4.45 52.7076) (float-vector 18.0 -1.421085e-14 53.9) (float-vector 18.0 4.45 52.7076) (float-vector 18.0 7.70763 49.45) (float-vector 18.0 8.9 45.0)))
))
(instance face :init :vertices (list (float-vector -20.0 0.0 36.1) (float-vector -18.0 0.0 36.1) (float-vector -18.0 -4.45 37.2924) (float-vector -20.0 -4.45 37.2924)))
(instance face :init :vertices (list (float-vector 18.0 0.0 36.1) (float-vector 20.0 0.0 36.1) (float-vector 20.0 -4.45 37.2924) (float-vector 18.0 -4.45 37.2924)))
(instance face :init :vertices (list (float-vector -18.0 -7.70763 40.55) (float-vector -20.0 -7.70763 40.55) (float-vector -20.0 -4.45 37.2924) (float-vector -18.0 -4.45 37.2924)))
(instance face :init :vertices (list (float-vector 20.0 -4.45 37.2924) (float-vector 20.0 -7.70763 40.55) (float-vector 18.0 -7.70763 40.55) (float-vector 18.0 -4.45 37.2924)))
(instance face :init :vertices (list (float-vector -18.0 -8.9 45.0) (float-vector -20.0 -8.9 45.0) (float-vector -20.0 -7.70763 40.55) (float-vector -18.0 -7.70763 40.55)))
(instance face :init :vertices (list (float-vector 20.0 -7.70763 40.55) (float-vector 20.0 -8.9 45.0) (float-vector 18.0 -8.9 45.0) (float-vector 18.0 -7.70763 40.55)))
(instance face :init :vertices (list (float-vector -18.0 -7.70763 49.45) (float-vector -20.0 -7.70763 49.45) (float-vector -20.0 -8.9 45.0) (float-vector -18.0 -8.9 45.0)))
(instance face :init :vertices (list (float-vector 20.0 -8.9 45.0) (float-vector 20.0 -7.70763 49.45) (float-vector 18.0 -7.70763 49.45) (float-vector 18.0 -8.9 45.0)))
(instance face :init :vertices (list (float-vector -18.0 -4.45 52.7076) (float-vector -20.0 -4.45 52.7076) (float-vector -20.0 -7.70763 49.45) (float-vector -18.0 -7.70763 49.45)))
(instance face :init :vertices (list (float-vector 20.0 -7.70763 49.45) (float-vector 20.0 -4.45 52.7076) (float-vector 18.0 -4.45 52.7076) (float-vector 18.0 -7.70763 49.45)))
(instance face :init :vertices (list (float-vector -18.0 -1.421085e-14 53.9) (float-vector -20.0 -1.421085e-14 53.9) (float-vector -20.0 -4.45 52.7076) (float-vector -18.0 -4.45 52.7076)))
(instance face :init :vertices (list (float-vector 20.0 -4.45 52.7076) (float-vector 20.0 -1.421085e-14 53.9) (float-vector 18.0 -1.421085e-14 53.9) (float-vector 18.0 -4.45 52.7076)))
(instance face :init :vertices (list (float-vector -18.0 4.45 52.7076) (float-vector -20.0 4.45 52.7076) (float-vector -20.0 -1.421085e-14 53.9) (float-vector -18.0 -1.421085e-14 53.9)))
(instance face :init :vertices (list (float-vector 20.0 -1.421085e-14 53.9) (float-vector 20.0 4.45 52.7076) (float-vector 18.0 4.45 52.7076) (float-vector 18.0 -1.421085e-14 53.9)))
(instance face :init :vertices (list (float-vector -18.0 7.70763 49.45) (float-vector -20.0 7.70763 49.45) (float-vector -20.0 4.45 52.7076) (float-vector -18.0 4.45 52.7076)))
(instance face :init :vertices (list (float-vector 20.0 4.45 52.7076) (float-vector 20.0 7.70763 49.45) (float-vector 18.0 7.70763 49.45) (float-vector 18.0 4.45 52.7076)))
(instance face :init :vertices (list (float-vector -18.0 8.9 45.0) (float-vector -20.0 8.9 45.0) (float-vector -20.0 7.70763 49.45) (float-vector -18.0 7.70763 49.45)))
(instance face :init :vertices (list (float-vector 20.0 7.70763 49.45) (float-vector 20.0 8.9 45.0) (float-vector 18.0 8.9 45.0) (float-vector 18.0 7.70763 49.45)))
(instance face :init :vertices (list (float-vector -18.0 7.70763 40.55) (float-vector -20.0 7.70763 40.55) (float-vector -20.0 8.9 45.0) (float-vector -18.0 8.9 45.0)))
(instance face :init :vertices (list (float-vector 20.0 8.9 45.0) (float-vector 20.0 7.70763 40.55) (float-vector 18.0 7.70763 40.55) (float-vector 18.0 8.9 45.0)))
(instance face :init :vertices (list (float-vector -18.0 4.45 37.2924) (float-vector -20.0 4.45 37.2924) (float-vector -20.0 7.70763 40.55) (float-vector -18.0 7.70763 40.55)))
(instance face :init :vertices (list (float-vector 20.0 7.70763 40.55) (float-vector 20.0 4.45 37.2924) (float-vector 18.0 4.45 37.2924) (float-vector 18.0 7.70763 40.55)))
(instance face :init :vertices (list (float-vector -20.0 4.45 37.2924) (float-vector -20.0 0.0 36.1) (float-vector -20.0 -4.45 37.2924) (float-vector -20.0 -7.70763 40.55) (float-vector -20.0 -8.9 45.0) (float-vector -20.0 -7.70763 49.45) (float-vector -20.0 -4.45 52.7076) (float-vector -20.0 -1.421085e-14 53.9) (float-vector -20.0 4.45 52.7076) (float-vector -20.0 7.70763 49.45) (float-vector -20.0 8.9 45.0) (float-vector -20.0 7.70763 40.55)))
(instance face :init :vertices (list (float-vector -20.0 0.0 36.1) (float-vector -20.0 4.45 37.2924) (float-vector -18.0 4.45 37.2924) (float-vector -18.0 0.0 36.1)))
(instance face :init :vertices (list (float-vector 20.0 4.45 37.2924) (float-vector 20.0 0.0 36.1) (float-vector 18.0 0.0 36.1) (float-vector 18.0 4.45 37.2924)))
(instance face :init :vertices (list (float-vector 20.0 0.0 36.1) (float-vector 20.0 4.45 37.2924) (float-vector 20.0 7.70763 40.55) (float-vector 20.0 8.9 45.0) (float-vector 20.0 7.70763 49.45) (float-vector 20.0 4.45 52.7076) (float-vector 20.0 -1.421085e-14 53.9) (float-vector 20.0 -4.45 52.7076) (float-vector 20.0 -7.70763 49.45) (float-vector 20.0 -8.9 45.0) (float-vector 20.0 -7.70763 40.55) (float-vector 20.0 -4.45 37.2924)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(send (elt bc 1) :set-color :gray40)
(setq blink7 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-pan-y :weight 53.9463 :centroid (float-vector -1.185015e-15 -6.2767 37.6208) :inertia-tensor #2f((30496.5 -3.823908e-13 3.739560e-13) (-3.823908e-13 25707.0 6901.68) (3.739560e-13 6901.68 15858.1))))
;; definition of :head-tilt-p
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 15.0 0.0 -22.5) (float-vector 15.0 20.0 -22.5) (float-vector 15.0 20.0 22.5) (float-vector 15.0 0.0 22.5) (float-vector 15.0 0.0 21.5) (float-vector 15.0 19.0 21.5) (float-vector 15.0 19.0 -21.5) (float-vector 15.0 0.0 -21.5)))
(instance face :init :vertices (list (float-vector -15.0 20.0 -22.5) (float-vector -15.0 20.0 22.5) (float-vector 15.0 20.0 22.5) (float-vector 15.0 20.0 -22.5)))
(instance face :init :vertices (list (float-vector -15.0 0.0 -22.5) (float-vector -15.0 0.0 -21.5) (float-vector -15.0 19.0 -21.5) (float-vector -15.0 19.0 21.5) (float-vector -15.0 0.0 21.5) (float-vector -15.0 0.0 22.5) (float-vector -15.0 20.0 22.5) (float-vector -15.0 20.0 -22.5)))
(instance face :init :vertices (list (float-vector -10.6066 -10.6066 22.5) (float-vector -15.0 0.0 22.5) (float-vector -15.0 0.0 21.5) (float-vector -10.6066 -10.6066 21.5)))
(instance face :init :vertices (list (float-vector -10.6066 -10.6066 -22.5) (float-vector -10.6066 -10.6066 -21.5) (float-vector -15.0 0.0 -21.5) (float-vector -15.0 0.0 -22.5)))
(instance face :init :vertices (list (float-vector 0.0 -15.0 22.5) (float-vector -10.6066 -10.6066 22.5) (float-vector -10.6066 -10.6066 21.5) (float-vector 0.0 -15.0 21.5)))
(instance face :init :vertices (list (float-vector -1.421085e-14 -15.0 -22.5) (float-vector -1.421085e-14 -15.0 -21.5) (float-vector -10.6066 -10.6066 -21.5) (float-vector -10.6066 -10.6066 -22.5)))
(instance face :init :vertices (list (float-vector 10.6066 -10.6066 22.5) (float-vector 0.0 -15.0 22.5) (float-vector 0.0 -15.0 21.5) (float-vector 10.6066 -10.6066 21.5)))
(instance face :init :vertices (list (float-vector 10.6066 -10.6066 -22.5) (float-vector 10.6066 -10.6066 -21.5) (float-vector -1.421085e-14 -15.0 -21.5) (float-vector -1.421085e-14 -15.0 -22.5)))
(instance face :init :vertices (list (float-vector 15.0 0.0 22.5) (float-vector 15.0 20.0 22.5) (float-vector -15.0 20.0 22.5) (float-vector -15.0 0.0 22.5) (float-vector -10.6066 -10.6066 22.5) (float-vector 0.0 -15.0 22.5) (float-vector 10.6066 -10.6066 22.5)))
(instance face :init :vertices (list (float-vector 10.6066 -10.6066 -22.5) (float-vector -1.421085e-14 -15.0 -22.5) (float-vector -10.6066 -10.6066 -22.5) (float-vector -15.0 0.0 -22.5) (float-vector -15.0 20.0 -22.5) (float-vector 15.0 20.0 -22.5) (float-vector 15.0 0.0 -22.5)))
(instance face :init :vertices (list (float-vector 10.6066 -10.6066 22.5) (float-vector 10.6066 -10.6066 21.5) (float-vector 15.0 0.0 21.5) (float-vector 15.0 0.0 22.5)))
(instance face :init :vertices (list (float-vector 15.0 0.0 -22.5) (float-vector 15.0 0.0 -21.5) (float-vector 10.6066 -10.6066 -21.5) (float-vector 10.6066 -10.6066 -22.5)))
(instance face :init :vertices (list (float-vector 15.0 19.0 21.5) (float-vector 15.0 0.0 21.5) (float-vector 10.6066 -10.6066 21.5) (float-vector 0.0 -15.0 21.5) (float-vector -10.6066 -10.6066 21.5) (float-vector -15.0 0.0 21.5) (float-vector -15.0 19.0 21.5)))
(instance face :init :vertices (list (float-vector 15.0 19.0 -21.5) (float-vector 15.0 19.0 21.5) (float-vector -15.0 19.0 21.5) (float-vector -15.0 19.0 -21.5)))
(instance face :init :vertices (list (float-vector -15.0 19.0 -21.5) (float-vector -15.0 0.0 -21.5) (float-vector -10.6066 -10.6066 -21.5) (float-vector -1.421085e-14 -15.0 -21.5) (float-vector 10.6066 -10.6066 -21.5) (float-vector 15.0 0.0 -21.5) (float-vector 15.0 19.0 -21.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -18.0 41.3 12.0) (float-vector -18.0 41.3 38.0) (float-vector 26.7 41.3 38.0) (float-vector 26.7 41.3 12.0)))
(instance face :init :vertices (list (float-vector 26.7 41.3 38.0) (float-vector 26.7 18.7 38.0) (float-vector 26.7 18.7 12.0) (float-vector 26.7 41.3 12.0)))
(instance face :init :vertices (list (float-vector 26.7 18.7 38.0) (float-vector -18.0 18.7 38.0) (float-vector -18.0 18.7 12.0) (float-vector 26.7 18.7 12.0)))
(instance face :init :vertices (list (float-vector -18.0 18.7 12.0) (float-vector -18.0 41.3 12.0) (float-vector 26.7 41.3 12.0) (float-vector 26.7 18.7 12.0))
:holes (list
(instance hole :init :vertices (list (float-vector -10.15 38.9201 12.0) (float-vector -13.9201 35.15 12.0) (float-vector -15.3 30.0 12.0) (float-vector -13.9201 24.85 12.0) (float-vector -10.15 21.0799 12.0) (float-vector -5.0 19.7 12.0) (float-vector 0.15 21.0799 12.0) (float-vector 3.92006 24.85 12.0) (float-vector 5.3 30.0 12.0) (float-vector 3.92006 35.15 12.0) (float-vector 0.15 38.9201 12.0) (float-vector -5.0 40.3 12.0)))
))
(instance face :init :vertices (list (float-vector -18.0 18.7 38.0) (float-vector -18.0 41.3 38.0) (float-vector -18.0 41.3 12.0) (float-vector -18.0 18.7 12.0)))
(instance face :init :vertices (list (float-vector -18.0 41.3 38.0) (float-vector -18.0 18.7 38.0) (float-vector 26.7 18.7 38.0) (float-vector 26.7 41.3 38.0))
:holes (list
(instance hole :init :vertices (list (float-vector -13.9201 35.15 38.0) (float-vector -10.15 38.9201 38.0) (float-vector -5.0 40.3 38.0) (float-vector 0.15 38.9201 38.0) (float-vector 3.92006 35.15 38.0) (float-vector 5.3 30.0 38.0) (float-vector 3.92006 24.85 38.0) (float-vector 0.15 21.0799 38.0) (float-vector -5.0 19.7 38.0) (float-vector -10.15 21.0799 38.0) (float-vector -13.9201 24.85 38.0) (float-vector -15.3 30.0 38.0)))
))
(instance face :init :vertices (list (float-vector -5.0 40.3 10.0) (float-vector -5.0 40.3 12.0) (float-vector 0.15 38.9201 12.0) (float-vector 0.15 38.9201 10.0)))
(instance face :init :vertices (list (float-vector -5.0 40.3 38.0) (float-vector -5.0 40.3 40.0) (float-vector 0.15 38.9201 40.0) (float-vector 0.15 38.9201 38.0)))
(instance face :init :vertices (list (float-vector 3.92006 35.15 12.0) (float-vector 3.92006 35.15 10.0) (float-vector 0.15 38.9201 10.0) (float-vector 0.15 38.9201 12.0)))
(instance face :init :vertices (list (float-vector 0.15 38.9201 40.0) (float-vector 3.92006 35.15 40.0) (float-vector 3.92006 35.15 38.0) (float-vector 0.15 38.9201 38.0)))
(instance face :init :vertices (list (float-vector 5.3 30.0 12.0) (float-vector 5.3 30.0 10.0) (float-vector 3.92006 35.15 10.0) (float-vector 3.92006 35.15 12.0)))
(instance face :init :vertices (list (float-vector 3.92006 35.15 40.0) (float-vector 5.3 30.0 40.0) (float-vector 5.3 30.0 38.0) (float-vector 3.92006 35.15 38.0)))
(instance face :init :vertices (list (float-vector 3.92006 24.85 12.0) (float-vector 3.92006 24.85 10.0) (float-vector 5.3 30.0 10.0) (float-vector 5.3 30.0 12.0)))
(instance face :init :vertices (list (float-vector 5.3 30.0 40.0) (float-vector 3.92006 24.85 40.0) (float-vector 3.92006 24.85 38.0) (float-vector 5.3 30.0 38.0)))
(instance face :init :vertices (list (float-vector 0.15 21.0799 12.0) (float-vector 0.15 21.0799 10.0) (float-vector 3.92006 24.85 10.0) (float-vector 3.92006 24.85 12.0)))
(instance face :init :vertices (list (float-vector 3.92006 24.85 40.0) (float-vector 0.15 21.0799 40.0) (float-vector 0.15 21.0799 38.0) (float-vector 3.92006 24.85 38.0)))
(instance face :init :vertices (list (float-vector -5.0 19.7 12.0) (float-vector -5.0 19.7 10.0) (float-vector 0.15 21.0799 10.0) (float-vector 0.15 21.0799 12.0)))
(instance face :init :vertices (list (float-vector 0.15 21.0799 40.0) (float-vector -5.0 19.7 40.0) (float-vector -5.0 19.7 38.0) (float-vector 0.15 21.0799 38.0)))
(instance face :init :vertices (list (float-vector -10.15 21.0799 12.0) (float-vector -10.15 21.0799 10.0) (float-vector -5.0 19.7 10.0) (float-vector -5.0 19.7 12.0)))
(instance face :init :vertices (list (float-vector -5.0 19.7 40.0) (float-vector -10.15 21.0799 40.0) (float-vector -10.15 21.0799 38.0) (float-vector -5.0 19.7 38.0)))
(instance face :init :vertices (list (float-vector -13.9201 24.85 12.0) (float-vector -13.9201 24.85 10.0) (float-vector -10.15 21.0799 10.0) (float-vector -10.15 21.0799 12.0)))
(instance face :init :vertices (list (float-vector -10.15 21.0799 40.0) (float-vector -13.9201 24.85 40.0) (float-vector -13.9201 24.85 38.0) (float-vector -10.15 21.0799 38.0)))
(instance face :init :vertices (list (float-vector -15.3 30.0 12.0) (float-vector -15.3 30.0 10.0) (float-vector -13.9201 24.85 10.0) (float-vector -13.9201 24.85 12.0)))
(instance face :init :vertices (list (float-vector -13.9201 24.85 40.0) (float-vector -15.3 30.0 40.0) (float-vector -15.3 30.0 38.0) (float-vector -13.9201 24.85 38.0)))
(instance face :init :vertices (list (float-vector -13.9201 35.15 12.0) (float-vector -13.9201 35.15 10.0) (float-vector -15.3 30.0 10.0) (float-vector -15.3 30.0 12.0)))
(instance face :init :vertices (list (float-vector -15.3 30.0 40.0) (float-vector -13.9201 35.15 40.0) (float-vector -13.9201 35.15 38.0) (float-vector -15.3 30.0 38.0)))
(instance face :init :vertices (list (float-vector -10.15 38.9201 12.0) (float-vector -10.15 38.9201 10.0) (float-vector -13.9201 35.15 10.0) (float-vector -13.9201 35.15 12.0)))
(instance face :init :vertices (list (float-vector -13.9201 35.15 40.0) (float-vector -10.15 38.9201 40.0) (float-vector -10.15 38.9201 38.0) (float-vector -13.9201 35.15 38.0)))
(instance face :init :vertices (list (float-vector -10.15 38.9201 10.0) (float-vector -5.0 40.3 10.0) (float-vector 0.15 38.9201 10.0) (float-vector 3.92006 35.15 10.0) (float-vector 5.3 30.0 10.0) (float-vector 3.92006 24.85 10.0) (float-vector 0.15 21.0799 10.0) (float-vector -5.0 19.7 10.0) (float-vector -10.15 21.0799 10.0) (float-vector -13.9201 24.85 10.0) (float-vector -15.3 30.0 10.0) (float-vector -13.9201 35.15 10.0)))
(instance face :init :vertices (list (float-vector -5.0 40.3 10.0) (float-vector -10.15 38.9201 10.0) (float-vector -10.15 38.9201 12.0) (float-vector -5.0 40.3 12.0)))
(instance face :init :vertices (list (float-vector -10.15 38.9201 40.0) (float-vector -5.0 40.3 40.0) (float-vector -5.0 40.3 38.0) (float-vector -10.15 38.9201 38.0)))
(instance face :init :vertices (list (float-vector -5.0 40.3 40.0) (float-vector -10.15 38.9201 40.0) (float-vector -13.9201 35.15 40.0) (float-vector -15.3 30.0 40.0) (float-vector -13.9201 24.85 40.0) (float-vector -10.15 21.0799 40.0) (float-vector -5.0 19.7 40.0) (float-vector 0.15 21.0799 40.0) (float-vector 3.92006 24.85 40.0) (float-vector 5.3 30.0 40.0) (float-vector 3.92006 35.15 40.0) (float-vector 0.15 38.9201 40.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 95.0 19.0 11.0) (float-vector -25.0 19.0 11.0) (float-vector -25.0 19.0 3.73205) (float-vector -24.0 19.0 3.73205) (float-vector -24.0 19.0 -3.73205) (float-vector -25.0 19.0 -3.73205) (float-vector -25.0 19.0 -11.0) (float-vector 95.0 19.0 -11.0)))
(instance face :init :vertices (list (float-vector -25.0 19.0 -11.0) (float-vector -25.0 26.2679 -11.0) (float-vector -24.0 26.2679 -11.0) (float-vector -24.0 33.7321 -11.0) (float-vector -25.0 33.7321 -11.0) (float-vector -25.0 41.0 -11.0) (float-vector 95.0 41.0 -11.0) (float-vector 95.0 19.0 -11.0)))
(instance face :init :vertices (list (float-vector -25.0 41.0 -11.0) (float-vector -25.0 41.0 -3.73205) (float-vector -24.0 41.0 -3.73205) (float-vector -24.0 41.0 3.73205) (float-vector -25.0 41.0 3.73205) (float-vector -25.0 41.0 11.0) (float-vector 95.0 41.0 11.0) (float-vector 95.0 41.0 -11.0)))
(instance face :init :vertices (list (float-vector 95.0 41.0 11.0) (float-vector 95.0 19.0 11.0) (float-vector 95.0 19.0 -11.0) (float-vector 95.0 41.0 -11.0)))
(instance face :init :vertices (list (float-vector -25.0 41.0 11.0) (float-vector -25.0 33.7321 11.0) (float-vector -24.0 33.7321 11.0) (float-vector -24.0 26.2679 11.0) (float-vector -25.0 26.2679 11.0) (float-vector -25.0 19.0 11.0) (float-vector 95.0 19.0 11.0) (float-vector 95.0 41.0 11.0)))
(instance face :init :vertices (list (float-vector -25.0 26.2679 -11.0) (float-vector -25.0 19.0 -11.0) (float-vector -25.0 19.0 -3.73205) (float-vector -25.0 19.6077 -6.0) (float-vector -25.0 24.0 -10.3923)))
(instance face :init :vertices (list (float-vector -25.0 41.0 -3.73205) (float-vector -25.0 41.0 -11.0) (float-vector -25.0 33.7321 -11.0) (float-vector -25.0 36.0 -10.3923) (float-vector -25.0 40.3923 -6.0)))
(instance face :init :vertices (list (float-vector -25.0 19.0 11.0) (float-vector -25.0 26.2679 11.0) (float-vector -25.0 24.0 10.3923) (float-vector -25.0 19.6077 6.0) (float-vector -25.0 19.0 3.73205)))
(instance face :init :vertices (list (float-vector -25.0 33.7321 11.0) (float-vector -25.0 41.0 11.0) (float-vector -25.0 41.0 3.73205) (float-vector -25.0 40.3923 6.0) (float-vector -25.0 36.0 10.3923)))
(instance face :init :vertices (list (float-vector -50.5 18.0 -5.958929e-15) (float-vector -24.0 18.0 -6.416644e-15) (float-vector -24.0 19.0 3.73205) (float-vector -25.0 19.0 3.73205) (float-vector -25.0 19.6077 6.0) (float-vector -50.5 19.6077 6.0)))
(instance face :init :vertices (list (float-vector -25.0 24.0 10.3923) (float-vector -50.5 24.0 10.3923) (float-vector -50.5 19.6077 6.0) (float-vector -25.0 19.6077 6.0)))
(instance face :init :vertices (list (float-vector -24.0 26.2679 11.0) (float-vector -24.0 30.0 12.0) (float-vector -50.5 30.0 12.0) (float-vector -50.5 24.0 10.3923) (float-vector -25.0 24.0 10.3923) (float-vector -25.0 26.2679 11.0)))
(instance face :init :vertices (list (float-vector -24.0 30.0 12.0) (float-vector -24.0 33.7321 11.0) (float-vector -25.0 33.7321 11.0) (float-vector -25.0 36.0 10.3923) (float-vector -50.5 36.0 10.3923) (float-vector -50.5 30.0 12.0)))
(instance face :init :vertices (list (float-vector -25.0 40.3923 6.0) (float-vector -50.5 40.3923 6.0) (float-vector -50.5 36.0 10.3923) (float-vector -25.0 36.0 10.3923)))
(instance face :init :vertices (list (float-vector -24.0 41.0 3.73205) (float-vector -24.0 42.0 6.249843e-15) (float-vector -50.5 42.0 6.707559e-15) (float-vector -50.5 40.3923 6.0) (float-vector -25.0 40.3923 6.0) (float-vector -25.0 41.0 3.73205)))
(instance face :init :vertices (list (float-vector -24.0 42.0 6.249843e-15) (float-vector -24.0 41.0 -3.73205) (float-vector -25.0 41.0 -3.73205) (float-vector -25.0 40.3923 -6.0) (float-vector -50.5 40.3923 -6.0) (float-vector -50.5 42.0 6.707559e-15)))
(instance face :init :vertices (list (float-vector -25.0 36.0 -10.3923) (float-vector -50.5 36.0 -10.3923) (float-vector -50.5 40.3923 -6.0) (float-vector -25.0 40.3923 -6.0)))
(instance face :init :vertices (list (float-vector -24.0 33.7321 -11.0) (float-vector -24.0 30.0 -12.0) (float-vector -50.5 30.0 -12.0) (float-vector -50.5 36.0 -10.3923) (float-vector -25.0 36.0 -10.3923) (float-vector -25.0 33.7321 -11.0)))
(instance face :init :vertices (list (float-vector -24.0 30.0 -12.0) (float-vector -24.0 26.2679 -11.0) (float-vector -25.0 26.2679 -11.0) (float-vector -25.0 24.0 -10.3923) (float-vector -50.5 24.0 -10.3923) (float-vector -50.5 30.0 -12.0)))
(instance face :init :vertices (list (float-vector -25.0 19.6077 -6.0) (float-vector -50.5 19.6077 -6.0) (float-vector -50.5 24.0 -10.3923) (float-vector -25.0 24.0 -10.3923)))
(instance face :init :vertices (list (float-vector -50.5 19.6077 -6.0) (float-vector -50.5 18.0 -5.958929e-15) (float-vector -50.5 19.6077 6.0) (float-vector -50.5 24.0 10.3923) (float-vector -50.5 30.0 12.0) (float-vector -50.5 36.0 10.3923) (float-vector -50.5 40.3923 6.0) (float-vector -50.5 42.0 6.707559e-15) (float-vector -50.5 40.3923 -6.0) (float-vector -50.5 36.0 -10.3923) (float-vector -50.5 30.0 -12.0) (float-vector -50.5 24.0 -10.3923)))
(instance face :init :vertices (list (float-vector -24.0 19.0 -3.73205) (float-vector -24.0 18.0 -6.416644e-15) (float-vector -50.5 18.0 -5.958929e-15) (float-vector -50.5 19.6077 -6.0) (float-vector -25.0 19.6077 -6.0) (float-vector -25.0 19.0 -3.73205)))
(instance face :init :vertices (list (float-vector -24.0 33.7321 11.0) (float-vector -24.0 30.0 12.0) (float-vector -24.0 26.2679 11.0)))
(instance face :init :vertices (list (float-vector -24.0 41.0 -3.73205) (float-vector -24.0 42.0 6.249843e-15) (float-vector -24.0 41.0 3.73205)))
(instance face :init :vertices (list (float-vector -24.0 26.2679 -11.0) (float-vector -24.0 30.0 -12.0) (float-vector -24.0 33.7321 -11.0)))
(instance face :init :vertices (list (float-vector -24.0 18.0 -6.416644e-15) (float-vector -24.0 19.0 -3.73205) (float-vector -24.0 19.0 3.73205)))
))
))
(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 :gray40)
(setq blink15 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-tilt-p :weight 193.441 :centroid (float-vector 17.7396 29.1559 5.94496) :inertia-tensor #2f((45107.9 -2896.71 15895.2) (-2896.71 3.384540e+05 -970.754) (15895.2 -970.754 3.163579e+05))))
;; definition of :head-wrist
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -14.0 -10.0 -28.0) (float-vector 10.0 -10.0 -28.0) (float-vector 10.0 65.0 -28.0) (float-vector -14.0 65.0 -28.0)))
(instance face :init :vertices (list (float-vector -14.0 -10.0 27.0) (float-vector -14.0 25.0 27.0) (float-vector -14.0 25.0 -27.0) (float-vector -14.0 -10.0 -27.0) (float-vector -14.0 -10.0 -28.0) (float-vector -14.0 65.0 -28.0) (float-vector -14.0 65.0 28.0) (float-vector -14.0 -10.0 28.0)))
(instance face :init :vertices (list (float-vector -14.0 -10.0 28.0) (float-vector -14.0 65.0 28.0) (float-vector 10.0 65.0 28.0) (float-vector 10.0 -10.0 28.0)))
(instance face :init :vertices (list (float-vector 10.0 65.0 -30.0) (float-vector 10.0 65.0 -28.0) (float-vector 10.0 -10.0 -28.0) (float-vector 10.0 -10.0 -30.0)))
(instance face :init :vertices (list (float-vector 10.0 -10.0 30.0) (float-vector 10.0 -10.0 28.0) (float-vector 10.0 65.0 28.0) (float-vector 10.0 65.0 30.0)))
(instance face :init :vertices (list (float-vector 10.0 65.0 -30.0) (float-vector 10.0 -10.0 -30.0) (float-vector -15.0 -10.0 -30.0) (float-vector -15.0 65.0 -30.0)))
(instance face :init :vertices (list (float-vector 10.0 -10.0 30.0) (float-vector 10.0 65.0 30.0) (float-vector -15.0 65.0 30.0) (float-vector -15.0 -10.0 30.0)))
(instance face :init :vertices (list (float-vector -15.0 -10.0 -30.0) (float-vector 10.0 -10.0 -30.0) (float-vector 10.0 -10.0 -28.0) (float-vector -14.0 -10.0 -28.0) (float-vector -14.0 -10.0 -27.0) (float-vector -15.0 -10.0 -27.0)))
(instance face :init :vertices (list (float-vector -15.0 -10.0 27.0) (float-vector -14.0 -10.0 27.0) (float-vector -14.0 -10.0 28.0) (float-vector 10.0 -10.0 28.0) (float-vector 10.0 -10.0 30.0) (float-vector -15.0 -10.0 30.0)))
(instance face :init :vertices (list (float-vector -15.0 65.0 30.0) (float-vector 10.0 65.0 30.0) (float-vector 10.0 65.0 28.0) (float-vector -14.0 65.0 28.0) (float-vector -14.0 65.0 -28.0) (float-vector 10.0 65.0 -28.0) (float-vector 10.0 65.0 -30.0) (float-vector -15.0 65.0 -30.0)))
(instance face :init :vertices (list (float-vector -15.0 65.0 -30.0) (float-vector -15.0 -10.0 -30.0) (float-vector -15.0 -10.0 -27.0) (float-vector -15.0 25.0 -27.0) (float-vector -15.0 25.0 27.0) (float-vector -15.0 -10.0 27.0) (float-vector -15.0 -10.0 30.0) (float-vector -15.0 65.0 30.0)))
(instance face :init :vertices (list (float-vector -14.0 25.0 27.0) (float-vector -14.0 -10.0 27.0) (float-vector -15.0 -10.0 27.0) (float-vector -15.0 25.0 27.0)))
(instance face :init :vertices (list (float-vector -14.0 25.0 -27.0) (float-vector -14.0 25.0 27.0) (float-vector -15.0 25.0 27.0) (float-vector -15.0 25.0 -27.0)))
(instance face :init :vertices (list (float-vector -15.0 25.0 -27.0) (float-vector -15.0 -10.0 -27.0) (float-vector -14.0 -10.0 -27.0) (float-vector -14.0 25.0 -27.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -31.5 35.5 10.0) (float-vector -31.5 64.5 10.0) (float-vector -31.5 64.5 -18.0) (float-vector -31.5 35.5 -18.0)))
(instance face :init :vertices (list (float-vector -31.5 64.5 -18.0) (float-vector -18.5 64.5 -18.0) (float-vector -18.5 35.5 -18.0) (float-vector -31.5 35.5 -18.0)))
(instance face :init :vertices (list (float-vector -18.5 64.5 -18.0) (float-vector -18.5 64.5 10.0) (float-vector -18.5 35.5 10.0) (float-vector -18.5 35.5 -18.0)))
(instance face :init :vertices (list (float-vector -18.5 35.5 10.0) (float-vector -31.5 35.5 10.0) (float-vector -31.5 35.5 -18.0) (float-vector -18.5 35.5 -18.0))
:holes (list
(instance hole :init :vertices (list (float-vector -29.7631 35.5 5.75) (float-vector -27.75 35.5 7.76314) (float-vector -25.0 35.5 8.5) (float-vector -22.25 35.5 7.76314) (float-vector -20.2369 35.5 5.75) (float-vector -19.5 35.5 3.0) (float-vector -20.2369 35.5 0.25) (float-vector -22.25 35.5 -1.76314) (float-vector -25.0 35.5 -2.5) (float-vector -27.75 35.5 -1.76314) (float-vector -29.7631 35.5 0.25) (float-vector -30.5 35.5 3.0)))
))
(instance face :init :vertices (list (float-vector -18.5 64.5 10.0) (float-vector -31.5 64.5 10.0) (float-vector -31.5 35.5 10.0) (float-vector -18.5 35.5 10.0)))
(instance face :init :vertices (list (float-vector -31.5 64.5 10.0) (float-vector -18.5 64.5 10.0) (float-vector -18.5 64.5 -18.0) (float-vector -31.5 64.5 -18.0))
:holes (list
(instance hole :init :vertices (list (float-vector -27.75 64.5 7.76314) (float-vector -29.7631 64.5 5.75) (float-vector -30.5 64.5 3.0) (float-vector -29.7631 64.5 0.25) (float-vector -27.75 64.5 -1.76314) (float-vector -25.0 64.5 -2.5) (float-vector -22.25 64.5 -1.76314) (float-vector -20.2369 64.5 0.25) (float-vector -19.5 64.5 3.0) (float-vector -20.2369 64.5 5.75) (float-vector -22.25 64.5 7.76314) (float-vector -25.0 64.5 8.5)))
))
(instance face :init :vertices (list (float-vector -30.5 33.5 3.0) (float-vector -30.5 35.5 3.0) (float-vector -29.7631 35.5 0.25) (float-vector -29.7631 33.5 0.25)))
(instance face :init :vertices (list (float-vector -30.5 64.5 3.0) (float-vector -30.5 66.5 3.0) (float-vector -29.7631 66.5 0.25) (float-vector -29.7631 64.5 0.25)))
(instance face :init :vertices (list (float-vector -27.75 35.5 -1.76314) (float-vector -27.75 33.5 -1.76314) (float-vector -29.7631 33.5 0.25) (float-vector -29.7631 35.5 0.25)))
(instance face :init :vertices (list (float-vector -29.7631 66.5 0.25) (float-vector -27.75 66.5 -1.76314) (float-vector -27.75 64.5 -1.76314) (float-vector -29.7631 64.5 0.25)))
(instance face :init :vertices (list (float-vector -25.0 35.5 -2.5) (float-vector -25.0 33.5 -2.5) (float-vector -27.75 33.5 -1.76314) (float-vector -27.75 35.5 -1.76314)))
(instance face :init :vertices (list (float-vector -27.75 66.5 -1.76314) (float-vector -25.0 66.5 -2.5) (float-vector -25.0 64.5 -2.5) (float-vector -27.75 64.5 -1.76314)))
(instance face :init :vertices (list (float-vector -22.25 35.5 -1.76314) (float-vector -22.25 33.5 -1.76314) (float-vector -25.0 33.5 -2.5) (float-vector -25.0 35.5 -2.5)))
(instance face :init :vertices (list (float-vector -25.0 66.5 -2.5) (float-vector -22.25 66.5 -1.76314) (float-vector -22.25 64.5 -1.76314) (float-vector -25.0 64.5 -2.5)))
(instance face :init :vertices (list (float-vector -20.2369 35.5 0.25) (float-vector -20.2369 33.5 0.25) (float-vector -22.25 33.5 -1.76314) (float-vector -22.25 35.5 -1.76314)))
(instance face :init :vertices (list (float-vector -22.25 66.5 -1.76314) (float-vector -20.2369 66.5 0.25) (float-vector -20.2369 64.5 0.25) (float-vector -22.25 64.5 -1.76314)))
(instance face :init :vertices (list (float-vector -19.5 35.5 3.0) (float-vector -19.5 33.5 3.0) (float-vector -20.2369 33.5 0.25) (float-vector -20.2369 35.5 0.25)))
(instance face :init :vertices (list (float-vector -20.2369 66.5 0.25) (float-vector -19.5 66.5 3.0) (float-vector -19.5 64.5 3.0) (float-vector -20.2369 64.5 0.25)))
(instance face :init :vertices (list (float-vector -20.2369 35.5 5.75) (float-vector -20.2369 33.5 5.75) (float-vector -19.5 33.5 3.0) (float-vector -19.5 35.5 3.0)))
(instance face :init :vertices (list (float-vector -19.5 66.5 3.0) (float-vector -20.2369 66.5 5.75) (float-vector -20.2369 64.5 5.75) (float-vector -19.5 64.5 3.0)))
(instance face :init :vertices (list (float-vector -22.25 35.5 7.76314) (float-vector -22.25 33.5 7.76314) (float-vector -20.2369 33.5 5.75) (float-vector -20.2369 35.5 5.75)))
(instance face :init :vertices (list (float-vector -20.2369 66.5 5.75) (float-vector -22.25 66.5 7.76314) (float-vector -22.25 64.5 7.76314) (float-vector -20.2369 64.5 5.75)))
(instance face :init :vertices (list (float-vector -25.0 35.5 8.5) (float-vector -25.0 33.5 8.5) (float-vector -22.25 33.5 7.76314) (float-vector -22.25 35.5 7.76314)))
(instance face :init :vertices (list (float-vector -22.25 66.5 7.76314) (float-vector -25.0 66.5 8.5) (float-vector -25.0 64.5 8.5) (float-vector -22.25 64.5 7.76314)))
(instance face :init :vertices (list (float-vector -27.75 35.5 7.76314) (float-vector -27.75 33.5 7.76314) (float-vector -25.0 33.5 8.5) (float-vector -25.0 35.5 8.5)))
(instance face :init :vertices (list (float-vector -25.0 66.5 8.5) (float-vector -27.75 66.5 7.76314) (float-vector -27.75 64.5 7.76314) (float-vector -25.0 64.5 8.5)))
(instance face :init :vertices (list (float-vector -29.7631 35.5 5.75) (float-vector -29.7631 33.5 5.75) (float-vector -27.75 33.5 7.76314) (float-vector -27.75 35.5 7.76314)))
(instance face :init :vertices (list (float-vector -27.75 66.5 7.76314) (float-vector -29.7631 66.5 5.75) (float-vector -29.7631 64.5 5.75) (float-vector -27.75 64.5 7.76314)))
(instance face :init :vertices (list (float-vector -29.7631 33.5 5.75) (float-vector -30.5 33.5 3.0) (float-vector -29.7631 33.5 0.25) (float-vector -27.75 33.5 -1.76314) (float-vector -25.0 33.5 -2.5) (float-vector -22.25 33.5 -1.76314) (float-vector -20.2369 33.5 0.25) (float-vector -19.5 33.5 3.0) (float-vector -20.2369 33.5 5.75) (float-vector -22.25 33.5 7.76314) (float-vector -25.0 33.5 8.5) (float-vector -27.75 33.5 7.76314)))
(instance face :init :vertices (list (float-vector -30.5 33.5 3.0) (float-vector -29.7631 33.5 5.75) (float-vector -29.7631 35.5 5.75) (float-vector -30.5 35.5 3.0)))
(instance face :init :vertices (list (float-vector -29.7631 66.5 5.75) (float-vector -30.5 66.5 3.0) (float-vector -30.5 64.5 3.0) (float-vector -29.7631 64.5 5.75)))
(instance face :init :vertices (list (float-vector -30.5 66.5 3.0) (float-vector -29.7631 66.5 5.75) (float-vector -27.75 66.5 7.76314) (float-vector -25.0 66.5 8.5) (float-vector -22.25 66.5 7.76314) (float-vector -20.2369 66.5 5.75) (float-vector -19.5 66.5 3.0) (float-vector -20.2369 66.5 0.25) (float-vector -22.25 66.5 -1.76314) (float-vector -25.0 66.5 -2.5) (float-vector -27.75 66.5 -1.76314) (float-vector -29.7631 66.5 0.25)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(send (elt bc 1) :set-color :gray40)
(setq blink8 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-wrist :weight 27 :centroid (float-vector -21.3566 46.5469 -3.06964) :inertia-tensor #2f((3252.2 276.783 -55.9195) (276.783 2049.91 52.999) (-55.9195 52.999 2406.03))))
;; definition of :head-gripper
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 0.0 -27.5) (float-vector 10.0 35.0 -27.5) (float-vector 10.0 35.0 27.5) (float-vector 10.0 0.0 27.5) (float-vector 10.0 0.0 26.5) (float-vector 10.0 34.0 26.5) (float-vector 10.0 34.0 -26.5) (float-vector 10.0 0.0 -26.5)))
(instance face :init :vertices (list (float-vector -10.0 35.0 -27.5) (float-vector -10.0 35.0 27.5) (float-vector 10.0 35.0 27.5) (float-vector 10.0 35.0 -27.5)))
(instance face :init :vertices (list (float-vector -10.0 0.0 -27.5) (float-vector -10.0 0.0 -26.5) (float-vector -10.0 34.0 -26.5) (float-vector -10.0 34.0 26.5) (float-vector -10.0 0.0 26.5) (float-vector -10.0 0.0 27.5) (float-vector -10.0 35.0 27.5) (float-vector -10.0 35.0 -27.5)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 27.5) (float-vector -10.0 0.0 27.5) (float-vector -10.0 0.0 26.5) (float-vector -7.07107 -7.07107 26.5)))
(instance face :init :vertices (list (float-vector -7.07107 -7.07107 -27.5) (float-vector -7.07107 -7.07107 -26.5) (float-vector -10.0 0.0 -26.5) (float-vector -10.0 0.0 -27.5)))
(instance face :init :vertices (list (float-vector 0.0 -10.0 27.5) (float-vector -7.07107 -7.07107 27.5) (float-vector -7.07107 -7.07107 26.5) (float-vector 0.0 -10.0 26.5)))
(instance face :init :vertices (list (float-vector 0.0 -10.0 -27.5) (float-vector 0.0 -10.0 -26.5) (float-vector -7.07107 -7.07107 -26.5) (float-vector -7.07107 -7.07107 -27.5)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 27.5) (float-vector 0.0 -10.0 27.5) (float-vector 0.0 -10.0 26.5) (float-vector 7.07107 -7.07107 26.5)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -27.5) (float-vector 7.07107 -7.07107 -26.5) (float-vector 0.0 -10.0 -26.5) (float-vector 0.0 -10.0 -27.5)))
(instance face :init :vertices (list (float-vector 10.0 0.0 27.5) (float-vector 10.0 35.0 27.5) (float-vector -10.0 35.0 27.5) (float-vector -10.0 0.0 27.5) (float-vector -7.07107 -7.07107 27.5) (float-vector 0.0 -10.0 27.5) (float-vector 7.07107 -7.07107 27.5)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 -27.5) (float-vector 0.0 -10.0 -27.5) (float-vector -7.07107 -7.07107 -27.5) (float-vector -10.0 0.0 -27.5) (float-vector -10.0 35.0 -27.5) (float-vector 10.0 35.0 -27.5) (float-vector 10.0 0.0 -27.5)))
(instance face :init :vertices (list (float-vector 7.07107 -7.07107 27.5) (float-vector 7.07107 -7.07107 26.5) (float-vector 10.0 0.0 26.5) (float-vector 10.0 0.0 27.5)))
(instance face :init :vertices (list (float-vector 10.0 0.0 -27.5) (float-vector 10.0 0.0 -26.5) (float-vector 7.07107 -7.07107 -26.5) (float-vector 7.07107 -7.07107 -27.5)))
(instance face :init :vertices (list (float-vector 10.0 34.0 26.5) (float-vector 10.0 0.0 26.5) (float-vector 7.07107 -7.07107 26.5) (float-vector 0.0 -10.0 26.5) (float-vector -7.07107 -7.07107 26.5) (float-vector -10.0 0.0 26.5) (float-vector -10.0 34.0 26.5)))
(instance face :init :vertices (list (float-vector 10.0 34.0 -26.5) (float-vector 10.0 34.0 26.5) (float-vector -10.0 34.0 26.5) (float-vector -10.0 34.0 -26.5)))
(instance face :init :vertices (list (float-vector -10.0 34.0 -26.5) (float-vector -10.0 0.0 -26.5) (float-vector -7.07107 -7.07107 -26.5) (float-vector 0.0 -10.0 -26.5) (float-vector 7.07107 -7.07107 -26.5) (float-vector 10.0 0.0 -26.5) (float-vector 10.0 34.0 -26.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray90)
(setq blink16 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-gripper :weight 7.40568 :centroid (float-vector 9.094947e-13 21.8503 -7.105427e-14) :inertia-tensor #2f((5594.48 -6.414004e-15 1.195151e-24) (-6.414004e-15 4229.52 -4.547474e-13) (1.195151e-24 -4.547474e-13 1858.67))))
;; definition of assoc
(send blink9 :newcoords (make-coords :pos (float-vector 0.0 65.0 0.0) :rot #2f((1.0 -4.930381e-32 -4.440892e-16) (-4.930381e-32 1.0 -2.220446e-16) (4.440892e-16 2.220446e-16 1.0))))
(send blink10 :assoc blink9)
(send blink10 :newcoords (make-coords :pos (float-vector 40.0 10.0 -10.0) :rot #2f((-1.110223e-16 1.0 5.551115e-17) (-2.220446e-16 -1.110223e-16 1.0) (1.0 5.551115e-17 2.220446e-16))))
(send blink11 :assoc blink10)
(send blink12 :newcoords (make-coords :pos (float-vector -2.842171e-14 65.0 0.0) :rot #2f((1.0 -4.930381e-32 -4.440892e-16) (-4.930381e-32 1.0 -2.220446e-16) (4.440892e-16 2.220446e-16 1.0))))
(send blink13 :assoc blink12)
(send blink13 :newcoords (make-coords :pos (float-vector 40.0 10.0 -10.0) :rot #2f((-1.110223e-16 1.0 5.551115e-17) (-2.220446e-16 -1.110223e-16 1.0) (1.0 5.551115e-17 2.220446e-16))))
(send blink14 :assoc blink13)
(send blink1 :newcoords (make-coords :pos (float-vector 0.0 65.0 -1.421085e-14) :rot #2f((1.0 2.220446e-16 2.220446e-16) (-2.220446e-16 1.0 2.220446e-16) (-2.220446e-16 -2.220446e-16 1.0))))
(send blink2 :assoc blink1)
(send blink2 :newcoords (make-coords :pos (float-vector 40.0 10.0 10.0) :rot #2f((-2.220446e-16 1.0 -2.220446e-16) (-2.220446e-16 -2.220446e-16 -1.0) (-1.0 -2.220446e-16 2.220446e-16))))
(send blink3 :assoc blink2)
(send blink4 :newcoords (make-coords :pos (float-vector 1.421085e-14 65.0 -1.421085e-14) :rot #2f((1.0 2.220446e-16 2.220446e-16) (-2.220446e-16 1.0 2.220446e-16) (-2.220446e-16 -2.220446e-16 1.0))))
(send blink5 :assoc blink4)
(send blink5 :newcoords (make-coords :pos (float-vector 40.0 10.0 10.0) :rot #2f((-2.220446e-16 1.0 -2.220446e-16) (-2.220446e-16 -2.220446e-16 -1.0) (-1.0 -2.220446e-16 2.220446e-16))))
(send blink6 :assoc blink5)
(send blink16 :newcoords (make-coords :pos (float-vector -25.0 50.0 3.0) :rot #2f((-1.0 -4.710277e-16 -3.140185e-16) (3.140185e-16 1.110223e-16 -1.0) (4.710277e-16 -1.0 -1.110223e-16))))
(send blink8 :assoc blink16)
(send blink8 :newcoords (make-coords :pos (float-vector -5.0 30.0 15.0) :rot #2f((5.551115e-16 1.0 -7.850462e-17) (-1.0 5.551115e-16 -7.850462e-17) (-7.850462e-17 7.850462e-17 1.0))))
(send blink15 :assoc blink8)
(send blink15 :newcoords (make-coords :pos (float-vector -2.755455e-15 0.0 45.0) :rot #2f((2.775558e-16 -1.110223e-16 -1.0) (-1.0 -2.775558e-16 -2.775558e-16) (-2.775558e-16 1.0 -1.665335e-16))))
(send blink7 :assoc blink15)
(send blink7 :newcoords (make-coords :pos (float-vector 90.0 6.494805e-14 20.0) :rot #2f((4.440892e-16 1.0 0.0) (-1.0 4.440892e-16 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink7)
(send blink6 :newcoords (make-coords :pos (float-vector 80.0 67.5 26.0) :rot #2f((-7.216450e-16 1.0 1.224647e-16) (1.0 7.216450e-16 9.860761e-32) (0.0 1.224647e-16 -1.0))))
(send blink0 :assoc blink6)
(send blink3 :newcoords (make-coords :pos (float-vector -80.0 67.5 26.0) :rot #2f((-7.216450e-16 1.0 1.224647e-16) (1.0 7.216450e-16 9.860761e-32) (0.0 1.224647e-16 -1.0))))
(send blink0 :assoc blink3)
(send blink14 :newcoords (make-coords :pos (float-vector 80.0 -67.5 26.0) :rot #2f((7.216450e-16 1.0 0.0) (-1.0 7.216450e-16 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink14)
(send blink11 :newcoords (make-coords :pos (float-vector -80.0 -67.5 26.0) :rot #2f((7.216450e-16 1.0 0.0) (-1.0 7.216450e-16 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink11)
(send self :assoc blink0)
;; definition of end-coords
;; definition of head-end-coords
(setq head-end-coords
(make-cascoords
:coords (send (send blink15 :copy-worldcoords) :transform
(make-coords :pos (float-vector -25.0 30.0 40.0) :rot #2f((3.885781e-16 1.665335e-16 -1.0) (-1.0 -6.106227e-16 -3.885781e-16) (-6.106227e-16 1.0 1.665335e-16))))))
(send blink15 :assoc head-end-coords)
;; definition of lfleg-end-coords
(setq lfleg-end-coords
(make-cascoords
:coords (send (send blink4 :copy-worldcoords) :transform
(make-coords :pos (float-vector 0.0 95.0 3.0) :rot #2f((1.0 2.220446e-16 1.665335e-16) (-2.220446e-16 1.0 -2.220446e-16) (-1.665335e-16 2.220446e-16 1.0))))))
(send blink4 :assoc lfleg-end-coords)
;; definition of lbleg-end-coords
(setq lbleg-end-coords
(make-cascoords
:coords (send (send blink1 :copy-worldcoords) :transform
(make-coords :pos (float-vector 2.842171e-14 95.0 3.0) :rot #2f((1.0 2.220446e-16 1.665335e-16) (-2.220446e-16 1.0 -2.220446e-16) (-1.665335e-16 2.220446e-16 1.0))))))
(send blink1 :assoc lbleg-end-coords)
;; definition of rfleg-end-coords
(setq rfleg-end-coords
(make-cascoords
:coords (send (send blink12 :copy-worldcoords) :transform
(make-coords :pos (float-vector 1.421085e-14 95.0 3.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))))
(send blink12 :assoc rfleg-end-coords)
;; definition of rbleg-end-coords
(setq rbleg-end-coords
(make-cascoords
:coords (send (send blink9 :copy-worldcoords) :transform
(make-coords :pos (float-vector 0.0 95.0 3.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))))
(send blink9 :assoc rbleg-end-coords)
;; definition of joint
;; definition of :head-pan-y
(setq joint6 (instance rotational-joint :init
:parent-link blink0 :child-link blink7 :name :head-pan-y :axis :-z
:min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :head-tilt-p
(setq joint14 (instance rotational-joint :init
:parent-link blink7 :child-link blink15 :name :head-tilt-p :axis :-z
:min 0.0 :max 180.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :head-wrist
(setq joint7 (instance rotational-joint :init
:parent-link blink15 :child-link blink8 :name :head-wrist :axis :-z
:min 0.0 :max 180.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :head-gripper
(setq joint15 (instance rotational-joint :init
:parent-link blink8 :child-link blink16 :name :head-gripper :axis :-z
:min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :lfleg-crotch-y
(setq joint5 (instance rotational-joint :init
:parent-link blink0 :child-link blink6 :name :lfleg-crotch-y :axis :-z
:min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :lfleg-knee-r
(setq joint4 (instance rotational-joint :init
:parent-link blink6 :child-link blink5 :name :lfleg-knee-r :axis :-z
:min -45.0 :max 135.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :lfleg-ankle-r
(setq joint3 (instance rotational-joint :init
:parent-link blink5 :child-link blink4 :name :lfleg-ankle-r :axis :-z
:min 0.0 :max 180.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :lbleg-crotch-y
(setq joint2 (instance rotational-joint :init
:parent-link blink0 :child-link blink3 :name :lbleg-crotch-y :axis :-z
:min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :lbleg-knee-r
(setq joint1 (instance rotational-joint :init
:parent-link blink3 :child-link blink2 :name :lbleg-knee-r :axis :-z
:min -45.0 :max 135.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :lbleg-ankle-r
(setq joint0 (instance rotational-joint :init
:parent-link blink2 :child-link blink1 :name :lbleg-ankle-r :axis :-z
:min 0.0 :max 180.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :rfleg-crotch-y
(setq joint13 (instance rotational-joint :init
:parent-link blink0 :child-link blink14 :name :rfleg-crotch-y :axis :-z
:min 0.0 :max 180.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :rfleg-knee-r
(setq joint12 (instance rotational-joint :init
:parent-link blink14 :child-link blink13 :name :rfleg-knee-r :axis :-z
:min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :rfleg-ankle-r
(setq joint11 (instance rotational-joint :init
:parent-link blink13 :child-link blink12 :name :rfleg-ankle-r :axis :-z
:min -90.0 :max 180.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :rbleg-crotch-y
(setq joint10 (instance rotational-joint :init
:parent-link blink0 :child-link blink11 :name :rbleg-crotch-y :axis :-z
:min 0.0 :max 180.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :rbleg-knee-r
(setq joint9 (instance rotational-joint :init
:parent-link blink11 :child-link blink10 :name :rbleg-knee-r :axis :-z
:min -90.0 :max 0.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :rbleg-ankle-r
(setq joint8 (instance rotational-joint :init
:parent-link blink10 :child-link blink9 :name :rbleg-ankle-r :axis :-z
:min -90.0 :max 180.0 :max-joint-velocity 5 :max-joint-torque 100))
(setq head-root-link blink7)
(setq head (list blink7 blink15 blink8 blink16))
(setq lfleg-root-link blink6)
(setq lfleg (list blink6 blink5 blink4))
(setq lbleg-root-link blink3)
(setq lbleg (list blink3 blink2 blink1))
(setq rfleg-root-link blink14)
(setq rfleg (list blink14 blink13 blink12))
(setq rbleg-root-link blink11)
(setq rbleg (list blink11 blink10 blink9))
;; init-ending
(setq links (list blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 blink8 blink9 blink10 blink11 blink12 blink13 blink14 blink15 blink16))
(setq joint-list (list joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12 joint13 joint14 joint15))
;; 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-pan-y (&rest args) (forward-message-to joint6 args))
(:head-tilt-p (&rest args) (forward-message-to joint14 args))
(:head-wrist (&rest args) (forward-message-to joint7 args))
(:head-gripper (&rest args) (forward-message-to joint15 args))
(:lfleg-crotch-y (&rest args) (forward-message-to joint5 args))
(:lfleg-knee-r (&rest args) (forward-message-to joint4 args))
(:lfleg-ankle-r (&rest args) (forward-message-to joint3 args))
(:lbleg-crotch-y (&rest args) (forward-message-to joint2 args))
(:lbleg-knee-r (&rest args) (forward-message-to joint1 args))
(:lbleg-ankle-r (&rest args) (forward-message-to joint0 args))
(:rfleg-crotch-y (&rest args) (forward-message-to joint13 args))
(:rfleg-knee-r (&rest args) (forward-message-to joint12 args))
(:rfleg-ankle-r (&rest args) (forward-message-to joint11 args))
(:rbleg-crotch-y (&rest args) (forward-message-to joint10 args))
(:rbleg-knee-r (&rest args) (forward-message-to joint9 args))
(:rbleg-ankle-r (&rest args) (forward-message-to joint8 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 tama (&rest args) (instance* tama-robot :init args))
;; (format *error-output* "(instance tama-robot :init) for generating model~%")
|