File: darwin.l

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;;
;; DO NOT EDIT THIS FILE
;;
;; this file is automatically generated from /home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/models/DARWIN.dae on (Linux W540-nozawa 3.8.0-35-generic x86_64) at Mon May 26 02:24:34 2014

;;
;; /home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/build $ /home/nozawa/ros/groovy/jsk-ros-pkg/jsk_model_tools/euscollada/bin/collada2eus /home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/models/DARWIN.dae /home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/models/darwin.yaml /home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/models/darwin.l 
;;

;; copy euscollada-robot class definition from euscollada/src/euscollada-robot.l
;;
(defclass euscollada-robot
;; This euscollada-robot class is for robots converted from collada files.
;; This class provides :init-ending override.
  :super robot-model
  :slots ()
  )
(defmethod euscollada-robot
  (:init-ending
   ()
   ;; fix all links' mass properties ;; root link relative (collada) -> link local (euslisp)
   (dolist (l links)
     (setq (l . acentroid) (send l :inverse-transform-vector
                                 (send (send (car links) :worldcoords) :transform-vector
                                       (l . acentroid))))
     (setq (l . inertia-tensor) (m* (transpose (send l :worldrot))
                                    (m* (send (car links) :worldrot)
                                        (l . inertia-tensor))))
     )
   (send-super :init-ending)
   (send self :make-collision-model-for-links)

   ;;
   (dolist (j (mapcan #'(lambda (x) (if (and (derivedp (cdr x) joint)
					     (not (memq (cdr x) (send self :joint-list))))
					(list (cdr x)))) (send self :slots)))
     (send (send j :child-link) :add-joint j)
     (send (send j :child-link) :add-parent-link (send j :parent-link))
     (send (send j :parent-link) :add-child-links (send j :child-link)))
   )
  ;; fullbody-inverse-kinematics overwrite
  ;;  reduce root-link's weight based on leg's joint limit
  ;;  increase stop and cog-gain
  (:fullbody-inverse-kinematics
   (target-coords &rest args &key (stop 250) (cog-gain 2.0) (additional-weight-list) &allow-other-keys)
   (let* ((leg-ul (send self :calc-union-link-list (send self :legs :links))))
     (send self :reset-joint-angle-limit-weight-old leg-ul)
     (send-message* self robot-model :fullbody-inverse-kinematics
                    target-coords
                    :stop stop :cog-gain cog-gain
                    :additional-weight-list
                    (append
                     additional-weight-list
                     (list
                      (list (car (send self :links))
                            #'(lambda ()
                                ;; set root-link 6dof-joint's weight based on legs' joint limit
                                (let* ((min-weight
                                        (reduce #'(lambda (x y) (min x y))
                                                (coerce (send self :calc-inverse-kinematics-weight-from-link-list
                                                              leg-ul :union-link-list leg-ul) cons))))
                                  (fill (instantiate float-vector 6) min-weight)))
                            )
                      ))
                    args)
     ))
  ;; make collision model from faces or gl-vertices
  (:make-collision-model-for-links
   (&key (fat 0) (collision-func 'pqp-collision-check) ((:links ls) (send self :links)))
   (dolist (ll ls)
     (unless (send ll :get (read-from-string (format nil ":~Amodel"
                                                     (string-right-trim "-COLLISION-CHECK" (string collision-func)))))
       (send ll
             (read-from-string
              (format nil ":make-~Amodel"
                      (string-right-trim "-COLLISION-CHECK" (string collision-func))))
             :fat fat
             :faces (flatten (mapcar #'(lambda (x)
                                         (cond
                                          ((find-method x :def-gl-vertices)
                                           (send (x . glvertices) :convert-to-faces :wrt :world))
                                          (t
                                           (send x :faces))))
                                     (send ll :bodies)))))
     )
   )
  )

;; copy euscollada-body class definition from euscollada/src/euscollada-robot.l
(defclass collada-body
  :super body
  :slots (glvertices)
  )
(defmethod collada-body
  (:draw (vwr)
   (when glvertices
     (send glvertices :draw vwr)))
  (:set-color (&rest args)
   (send-super* :set-color args)
   (when glvertices (send* glvertices :set-color args)))
  )
;;
(defun DARWIN () (setq *DARWIN* (instance DARWIN-robot :init)))

(defclass DARWIN-robot
  :super euscollada-robot
  :slots (NECK_jt HEADL_jt PELVYL_jt PELVL_jt LEGUPPERL_jt LEGLOWERL_jt ANKLEL_jt FOOTL_jt PELVYR_jt PELVR_jt LEGUPPERR_jt LEGLOWERR_jt ANKLER_jt FOOTR_jt SHOULDERL_jt ARMUPPERL_jt ARMLOWERL_jt SHOULDERR_jt ARMUPPERR_jt ARMLOWERR_jt HEAD_LINK_lk NECK_LINK_lk FOOTL_LINK_lk ANKLEL_LINK_lk LEGLOWERL_LINK_lk LEGUPPERL_LINK_lk PELVL_LINK_lk PELVYL_LINK_lk FOOTR_LINK_lk ANKLER_LINK_lk LEGLOWERR_LINK_lk LEGUPPERR_LINK_lk PELVR_LINK_lk PELVYR_LINK_lk ARMLOWERL_LINK_lk ARMUPPERL_LINK_lk SHOULDERL_LINK_lk ARMLOWERR_LINK_lk ARMUPPERR_LINK_lk SHOULDERR_LINK_lk BODY_LINK_lk gsensor-sensor-coords gyrometer-sensor-coords Camera-sensor-coords ))
(defmethod DARWIN-robot
  (:init
   (&rest args)
   (let ()
     (send-super* :init :name "DARWIN" args)

     ;; node id=v1.node2, name=HEAD_LINK, sid=node2
     (let ( b_g1_2_geom0 b_g1_2_geom1 b_g1_2_geom2 b_g1_2_geom3 b_g1_2_geom4)
       ;; define bodyset-link for HEAD_LINK : v1.node2
       (setq b_g1_2_geom0 (instance DARWIN_g1_2_geom0 :init))

       ;; writeTransform(name=b_g1_2_geom0,domNode=HEAD_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_2_geom0 :transform localcds :world)
       )
       (setq b_g1_2_geom1 (instance DARWIN_g1_2_geom1 :init))

       ;; writeTransform(name=b_g1_2_geom1,domNode=HEAD_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_2_geom1 :transform localcds :world)
       )
       (setq b_g1_2_geom2 (instance DARWIN_g1_2_geom2 :init))

       ;; writeTransform(name=b_g1_2_geom2,domNode=HEAD_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_2_geom2 :transform localcds :world)
       )
       (setq b_g1_2_geom3 (instance DARWIN_g1_2_geom3 :init))

       ;; writeTransform(name=b_g1_2_geom3,domNode=HEAD_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_2_geom3 :transform localcds :world)
       )
       (setq b_g1_2_geom4 (instance DARWIN_g1_2_geom4 :init))

       ;; writeTransform(name=b_g1_2_geom4,domNode=HEAD_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_2_geom4 :transform localcds :world)
       )
       (send b_g1_2_geom0 :assoc b_g1_2_geom1)
       (send b_g1_2_geom0 :assoc b_g1_2_geom2)
       (send b_g1_2_geom0 :assoc b_g1_2_geom3)
       (send b_g1_2_geom0 :assoc b_g1_2_geom4)
       (setq HEAD_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_2_geom0 b_g1_2_geom1 b_g1_2_geom2 b_g1_2_geom3 b_g1_2_geom4)
                       :name "HEAD_LINK"))
       (send HEAD_LINK_lk :weight 158.042)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector 0.0000000000000000e+00 5.1000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector 6.3919799999999999e-02 1.8564500000000002e+01 7.6666200000000000e+00) :rot (matrix-exponent (scale 2.6417336902212489e+00 (float-vector 6.7167945353074188e-01 6.6302432332952410e-01 -3.3052300733545109e-01))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (HEAD_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0474191171695740e+05 1.2396566143164740e+05 1.2929242685139530e+05))) (transpose (send tmp-c :worldrot))))
         (setq (HEAD_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=HEAD_LINK_lk,domNode=HEAD_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send HEAD_LINK_lk :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
       ;;1;
       (setq Camera-sensor-coords (make-cascoords :name "Camera" :coords (send HEAD_LINK_lk :copy-worldcoords)))
       (send Camera-sensor-coords :put :sensor-type :base_pinhole_camera)
       (send Camera-sensor-coords :put :sensor-id 3)
       (send Camera-sensor-coords :transform (make-coords :pos #f( 0.0000000000000000e+00 3.2907400000000003e+01 3.5981600000000000e+01) :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 -1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) :angle 3.1415899999999999e+00))
       (send HEAD_LINK_lk :assoc Camera-sensor-coords)
       )

     ;; node id=v1.node1, name=NECK_LINK, sid=node1
     (let ( b_g1_1_geom0)
       ;; define bodyset-link for NECK_LINK : v1.node1
       (setq b_g1_1_geom0 (instance DARWIN_g1_1_geom0 :init))

       ;; writeTransform(name=b_g1_1_geom0,domNode=NECK_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_1_geom0 :transform localcds :world)
       )
       (setq NECK_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_1_geom0)
                       :name "NECK_LINK"))
       (send NECK_LINK_lk :weight 24.358)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector 0.0000000000000000e+00 5.1000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 1.4242800000000000e+00 -1.6567599999999999e+01 -7.1281100000000008e-01) :rot (matrix-exponent (scale 3.1377311432741881e+00 (float-vector -9.0408980651002557e-02 9.9545007233138982e-01 3.0089362124802201e-02))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (NECK_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 5.0356695238550246e+03 8.2854422988662136e+03 1.1391364177278760e+04))) (transpose (send tmp-c :worldrot))))
         (setq (NECK_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=NECK_LINK_lk,domNode=NECK_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send NECK_LINK_lk :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 5.1000000000000000e+01 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       ;;1;

       ;; writeTransform(name=HEAD_LINK_lk,domNode=NECK_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 5.1000000000000000e+01 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       (send HEAD_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send NECK_LINK_lk :assoc HEAD_LINK_lk)
       )

     ;; node id=v1.node8, name=FOOTL_LINK, sid=node8
     (let ( b_g1_8_geom0 b_g1_8_geom1)
       ;; define bodyset-link for FOOTL_LINK : v1.node8
       (setq b_g1_8_geom0 (instance DARWIN_g1_8_geom0 :init))

       ;; writeTransform(name=b_g1_8_geom0,domNode=FOOTL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_8_geom0 :transform localcds :world)
       )
       (setq b_g1_8_geom1 (instance DARWIN_g1_8_geom1 :init))

       ;; writeTransform(name=b_g1_8_geom1,domNode=FOOTL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_8_geom1 :transform localcds :world)
       )
       (send b_g1_8_geom0 :assoc b_g1_8_geom1)
       (setq FOOTL_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_8_geom0 b_g1_8_geom1)
                       :name "FOOTL_LINK"))
       (send FOOTL_LINK_lk :weight 79.446)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 9.5058799999999994e+00 -2.5995300000000000e+01 -5.0287700000000002e-01) :rot (matrix-exponent (scale 3.1374881783494764e+00 (float-vector 6.3355814941524424e-02 9.9794679653010854e-01 9.3931894684097673e-03))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (FOOTL_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 6.8003221353508503e+04 8.8232016045823475e+04 3.5821522600668002e+04))) (transpose (send tmp-c :worldrot))))
         (setq (FOOTL_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=FOOTL_LINK_lk,domNode=FOOTL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send FOOTL_LINK_lk :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       ;;1;
       )

     ;; node id=v1.node7, name=ANKLEL_LINK, sid=node7
     (let ( b_g1_7_geom0)
       ;; define bodyset-link for ANKLEL_LINK : v1.node7
       (setq b_g1_7_geom0 (instance DARWIN_g1_7_geom0 :init))

       ;; writeTransform(name=b_g1_7_geom0,domNode=ANKLEL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_7_geom0 :transform localcds :world)
       )
       (setq ANKLEL_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_7_geom0)
                       :name "ANKLEL_LINK"))
       (send ANKLEL_LINK_lk :weight 167.108)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector -2.1373200000000001e-01 1.3873099999999999e+01 -1.8536100000000001e+01) :rot (matrix-exponent (scale 3.0379497570860514e+00 (float-vector -9.9932043867120068e-01 3.6659460910665437e-02 3.8398931936168461e-03))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (ANKLEL_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2106265191898300e+05 1.0967651340802430e+05 4.1131904672992692e+04))) (transpose (send tmp-c :worldrot))))
         (setq (ANKLEL_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=ANKLEL_LINK_lk,domNode=ANKLEL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send ANKLEL_LINK_lk :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
       ;;1;

       ;; writeTransform(name=FOOTL_LINK_lk,domNode=ANKLEL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
       (send FOOTL_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send ANKLEL_LINK_lk :assoc FOOTL_LINK_lk)
       )

     ;; node id=v1.node6, name=LEGLOWERL_LINK, sid=node6
     (let ( b_g1_6_geom0)
       ;; define bodyset-link for LEGLOWERL_LINK : v1.node6
       (setq b_g1_6_geom0 (instance DARWIN_g1_6_geom0 :init))

       ;; writeTransform(name=b_g1_6_geom0,domNode=LEGLOWERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_6_geom0 :transform localcds :world)
       )
       (setq LEGLOWERL_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_6_geom0)
                       :name "LEGLOWERL_LINK"))
       (send LEGLOWERL_LINK_lk :weight 70.310)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector -5.9246900000000002e-01 -3.9045499999999997e+01 6.5476299999999998e+00) :rot (matrix-exponent (scale 3.0125423596492524e+00 (float-vector -6.9866362538497062e-01 7.1259944941643427e-01 6.3805667893410523e-02))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (LEGLOWERL_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 4.3916891334151958e+04 9.3388120663165115e+04 1.1636003800268300e+05))) (transpose (send tmp-c :worldrot))))
         (setq (LEGLOWERL_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=LEGLOWERL_LINK_lk,domNode=LEGLOWERL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send LEGLOWERL_LINK_lk :transform
             (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
       ;;1;

       ;; writeTransform(name=ANKLEL_LINK_lk,domNode=LEGLOWERL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
       (send ANKLEL_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send LEGLOWERL_LINK_lk :assoc ANKLEL_LINK_lk)
       )

     ;; node id=v1.node5, name=LEGUPPERL_LINK, sid=node5
     (let ( b_g1_5_geom0 b_g1_5_geom1)
       ;; define bodyset-link for LEGUPPERL_LINK : v1.node5
       (setq b_g1_5_geom0 (instance DARWIN_g1_5_geom0 :init))

       ;; writeTransform(name=b_g1_5_geom0,domNode=LEGUPPERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_5_geom0 :transform localcds :world)
       )
       (setq b_g1_5_geom1 (instance DARWIN_g1_5_geom1 :init))

       ;; writeTransform(name=b_g1_5_geom1,domNode=LEGUPPERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_5_geom1 :transform localcds :world)
       )
       (send b_g1_5_geom0 :assoc b_g1_5_geom1)
       (setq LEGUPPERL_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_5_geom0 b_g1_5_geom1)
                       :name "LEGUPPERL_LINK"))
       (send LEGUPPERL_LINK_lk :weight 119.043)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector -3.2263500000000001e-01 -6.2965499999999992e+01 6.9190600000000002e-01) :rot (matrix-exponent (scale 3.1349165357532121e+00 (float-vector -7.0052749830315086e-01 -7.1349838760778816e-01 -1.3463840544786290e-02))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (LEGUPPERL_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.2779794154093579e+04 9.7969132072394365e+04 1.1504953377351201e+05))) (transpose (send tmp-c :worldrot))))
         (setq (LEGUPPERL_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=LEGUPPERL_LINK_lk,domNode=LEGUPPERL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send LEGUPPERL_LINK_lk :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
       ;;1;

       ;; writeTransform(name=LEGLOWERL_LINK_lk,domNode=LEGUPPERL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
       (send LEGLOWERL_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send LEGUPPERL_LINK_lk :assoc LEGLOWERL_LINK_lk)
       )

     ;; node id=v1.node4, name=PELVL_LINK, sid=node4
     (let ( b_g1_4_geom0)
       ;; define bodyset-link for PELVL_LINK : v1.node4
       (setq b_g1_4_geom0 (instance DARWIN_g1_4_geom0 :init))

       ;; writeTransform(name=b_g1_4_geom0,domNode=PELVL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_4_geom0 :transform localcds :world)
       )
       (setq PELVL_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_4_geom0)
                       :name "PELVL_LINK"))
       (send PELVL_LINK_lk :weight 167.108)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 7.9982799999999993e-02 -1.3873099999999999e+01 -1.8242400000000000e+01) :rot (matrix-exponent (scale 2.1278186543466693e+00 (float-vector -5.8206765894392221e-01 -6.1841948818868531e-01 -5.2797213661327491e-01))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (PELVL_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 4.1133583174242623e+04 1.2304396677250660e+05 1.1170008005325080e+05))) (transpose (send tmp-c :worldrot))))
         (setq (PELVL_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=PELVL_LINK_lk,domNode=PELVL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send PELVL_LINK_lk :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)) :local)
       ;;1;

       ;; writeTransform(name=LEGUPPERL_LINK_lk,domNode=PELVL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)) :local)
       (send LEGUPPERL_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send PELVL_LINK_lk :assoc LEGUPPERL_LINK_lk)
       )

     ;; node id=v1.node3, name=PELVYL_LINK, sid=node3
     (let ( b_g1_3_geom0)
       ;; define bodyset-link for PELVYL_LINK : v1.node3
       (setq b_g1_3_geom0 (instance DARWIN_g1_3_geom0 :init))

       ;; writeTransform(name=b_g1_3_geom0,domNode=PELVYL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_3_geom0 :transform localcds :world)
       )
       (setq PELVYL_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_3_geom0)
                       :name "PELVYL_LINK"))
       (send PELVYL_LINK_lk :weight 27.069)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 1.8437200000000001e+01 4.8013500000000003e-01) :rot (matrix-exponent (scale 3.0434509163188275e+00 (float-vector 7.0625355896011288e-01 -4.9110293344152837e-02 -7.0625355896011288e-01))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (PELVYL_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 6.0800445741485273e+03 1.1431265425851470e+04 1.5019139999999999e+04))) (transpose (send tmp-c :worldrot))))
         (setq (PELVYL_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=PELVYL_LINK_lk,domNode=PELVYL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send PELVYL_LINK_lk :transform
             (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       ;;1;

       ;; writeTransform(name=PELVL_LINK_lk,domNode=PELVYL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       (send PELVL_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send PELVYL_LINK_lk :assoc PELVL_LINK_lk)
       )

     ;; node id=v1.node14, name=FOOTR_LINK, sid=node14
     (let ( b_g1_14_geom0 b_g1_14_geom1)
       ;; define bodyset-link for FOOTR_LINK : v1.node14
       (setq b_g1_14_geom0 (instance DARWIN_g1_14_geom0 :init))

       ;; writeTransform(name=b_g1_14_geom0,domNode=FOOTR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_14_geom0 :transform localcds :world)
       )
       (setq b_g1_14_geom1 (instance DARWIN_g1_14_geom1 :init))

       ;; writeTransform(name=b_g1_14_geom1,domNode=FOOTR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_14_geom1 :transform localcds :world)
       )
       (send b_g1_14_geom0 :assoc b_g1_14_geom1)
       (setq FOOTR_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_14_geom0 b_g1_14_geom1)
                       :name "FOOTR_LINK"))
       (send FOOTR_LINK_lk :weight 79.446)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector -9.5058799999999994e+00 -2.5995300000000000e+01 -5.0287700000000002e-01) :rot (matrix-exponent (scale 3.1374881783494764e+00 (float-vector 6.3355814941524424e-02 -9.9794679653010854e-01 -9.3931894684097673e-03))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (FOOTR_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 6.8003221353508503e+04 8.8232016045823475e+04 3.5821522600668002e+04))) (transpose (send tmp-c :worldrot))))
         (setq (FOOTR_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=FOOTR_LINK_lk,domNode=FOOTR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send FOOTR_LINK_lk :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       ;;1;
       )

     ;; node id=v1.node13, name=ANKLER_LINK, sid=node13
     (let ( b_g1_13_geom0)
       ;; define bodyset-link for ANKLER_LINK : v1.node13
       (setq b_g1_13_geom0 (instance DARWIN_g1_13_geom0 :init))

       ;; writeTransform(name=b_g1_13_geom0,domNode=ANKLER_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_13_geom0 :transform localcds :world)
       )
       (setq ANKLER_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_13_geom0)
                       :name "ANKLER_LINK"))
       (send ANKLER_LINK_lk :weight 167.108)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector 2.1373200000000001e-01 1.3873099999999999e+01 -1.8536100000000001e+01) :rot (matrix-exponent (scale 3.0379497570860514e+00 (float-vector -9.9932043867120068e-01 -3.6659460910665437e-02 -3.8398931936168461e-03))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (ANKLER_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2106265191898300e+05 1.0967651340802430e+05 4.1131904672992692e+04))) (transpose (send tmp-c :worldrot))))
         (setq (ANKLER_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=ANKLER_LINK_lk,domNode=ANKLER_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send ANKLER_LINK_lk :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
       ;;1;

       ;; writeTransform(name=FOOTR_LINK_lk,domNode=ANKLER_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
       (send FOOTR_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send ANKLER_LINK_lk :assoc FOOTR_LINK_lk)
       )

     ;; node id=v1.node12, name=LEGLOWERR_LINK, sid=node12
     (let ( b_g1_12_geom0)
       ;; define bodyset-link for LEGLOWERR_LINK : v1.node12
       (setq b_g1_12_geom0 (instance DARWIN_g1_12_geom0 :init))

       ;; writeTransform(name=b_g1_12_geom0,domNode=LEGLOWERR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_12_geom0 :transform localcds :world)
       )
       (setq LEGLOWERR_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_12_geom0)
                       :name "LEGLOWERR_LINK"))
       (send LEGLOWERR_LINK_lk :weight 70.310)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector 5.9246900000000002e-01 -3.9045499999999997e+01 6.5476299999999998e+00) :rot (matrix-exponent (scale 3.0125423596492524e+00 (float-vector -6.9866362538497062e-01 -7.1259944941643427e-01 -6.3805667893410523e-02))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (LEGLOWERR_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 4.3916891334151958e+04 9.3388120663165115e+04 1.1636003800268300e+05))) (transpose (send tmp-c :worldrot))))
         (setq (LEGLOWERR_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=LEGLOWERR_LINK_lk,domNode=LEGLOWERR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send LEGLOWERR_LINK_lk :transform
             (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
       ;;1;

       ;; writeTransform(name=ANKLER_LINK_lk,domNode=LEGLOWERR_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
       (send ANKLER_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send LEGLOWERR_LINK_lk :assoc ANKLER_LINK_lk)
       )

     ;; node id=v1.node11, name=LEGUPPERR_LINK, sid=node11
     (let ( b_g1_11_geom0 b_g1_11_geom1)
       ;; define bodyset-link for LEGUPPERR_LINK : v1.node11
       (setq b_g1_11_geom0 (instance DARWIN_g1_11_geom0 :init))

       ;; writeTransform(name=b_g1_11_geom0,domNode=LEGUPPERR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_11_geom0 :transform localcds :world)
       )
       (setq b_g1_11_geom1 (instance DARWIN_g1_11_geom1 :init))

       ;; writeTransform(name=b_g1_11_geom1,domNode=LEGUPPERR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_11_geom1 :transform localcds :world)
       )
       (send b_g1_11_geom0 :assoc b_g1_11_geom1)
       (setq LEGUPPERR_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_11_geom0 b_g1_11_geom1)
                       :name "LEGUPPERR_LINK"))
       (send LEGUPPERR_LINK_lk :weight 119.043)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
                          (make-coords :pos (float-vector 3.2263500000000001e-01 -6.2965499999999992e+01 6.9190600000000002e-01) :rot (matrix-exponent (scale 3.1349165357532121e+00 (float-vector -7.0052749830315086e-01 7.1349838760778816e-01 1.3463840544786290e-02))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (LEGUPPERR_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.2779794154093579e+04 9.7969132072394365e+04 1.1504953377351201e+05))) (transpose (send tmp-c :worldrot))))
         (setq (LEGUPPERR_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=LEGUPPERR_LINK_lk,domNode=LEGUPPERR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send LEGUPPERR_LINK_lk :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
       ;;1;

       ;; writeTransform(name=LEGLOWERR_LINK_lk,domNode=LEGUPPERR_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
       (send LEGLOWERR_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send LEGUPPERR_LINK_lk :assoc LEGLOWERR_LINK_lk)
       )

     ;; node id=v1.node10, name=PELVR_LINK, sid=node10
     (let ( b_g1_10_geom0)
       ;; define bodyset-link for PELVR_LINK : v1.node10
       (setq b_g1_10_geom0 (instance DARWIN_g1_10_geom0 :init))

       ;; writeTransform(name=b_g1_10_geom0,domNode=PELVR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_10_geom0 :transform localcds :world)
       )
       (setq PELVR_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_10_geom0)
                       :name "PELVR_LINK"))
       (send PELVR_LINK_lk :weight 167.108)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector -7.9982799999999993e-02 -1.3873099999999999e+01 -1.8242400000000000e+01) :rot (matrix-exponent (scale 2.1278186543466693e+00 (float-vector -5.8206765894392221e-01 6.1841948818868531e-01 5.2797213661327491e-01))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (PELVR_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 4.1133583174242623e+04 1.2304396677250660e+05 1.1170008005325080e+05))) (transpose (send tmp-c :worldrot))))
         (setq (PELVR_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=PELVR_LINK_lk,domNode=PELVR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send PELVR_LINK_lk :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       ;;1;

       ;; writeTransform(name=LEGUPPERR_LINK_lk,domNode=PELVR_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       (send LEGUPPERR_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send PELVR_LINK_lk :assoc LEGUPPERR_LINK_lk)
       )

     ;; node id=v1.node9, name=PELVYR_LINK, sid=node9
     (let ( b_g1_9_geom0)
       ;; define bodyset-link for PELVYR_LINK : v1.node9
       (setq b_g1_9_geom0 (instance DARWIN_g1_9_geom0 :init))

       ;; writeTransform(name=b_g1_9_geom0,domNode=PELVYR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_9_geom0 :transform localcds :world)
       )
       (setq PELVYR_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_9_geom0)
                       :name "PELVYR_LINK"))
       (send PELVYR_LINK_lk :weight 27.069)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 1.8437200000000001e+01 4.8013500000000003e-01) :rot (matrix-exponent (scale 3.0434509163188275e+00 (float-vector 7.0625355896011288e-01 -4.9110293344152837e-02 -7.0625355896011288e-01))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (PELVYR_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 6.0800445741485273e+03 1.1431265425851470e+04 1.5019139999999999e+04))) (transpose (send tmp-c :worldrot))))
         (setq (PELVYR_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=PELVYR_LINK_lk,domNode=PELVYR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send PELVYR_LINK_lk :transform
             (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       ;;1;

       ;; writeTransform(name=PELVR_LINK_lk,domNode=PELVYR_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       (send PELVR_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send PELVYR_LINK_lk :assoc PELVR_LINK_lk)
       )

     ;; node id=v1.node17, name=ARMLOWERL_LINK, sid=node17
     (let ( b_g1_17_geom0 b_g1_17_geom1)
       ;; define bodyset-link for ARMLOWERL_LINK : v1.node17
       (setq b_g1_17_geom0 (instance DARWIN_g1_17_geom0 :init))

       ;; writeTransform(name=b_g1_17_geom0,domNode=ARMLOWERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_17_geom0 :transform localcds :world)
       )
       (setq b_g1_17_geom1 (instance DARWIN_g1_17_geom1 :init))

       ;; writeTransform(name=b_g1_17_geom1,domNode=ARMLOWERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_17_geom1 :transform localcds :world)
       )
       (send b_g1_17_geom0 :assoc b_g1_17_geom1)
       (setq ARMLOWERL_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_17_geom0 b_g1_17_geom1)
                       :name "ARMLOWERL_LINK"))
       (send ARMLOWERL_LINK_lk :weight 59.288)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector 8.2000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 -1.6000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 -6.0000000000000000e+01 1.6000000000000000e+01) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector -6.6656399999999998e+00 -4.5838200000000001e+01 -1.3490100000000000e+01) :rot (matrix-exponent (scale 2.9760139441600675e+00 (float-vector 6.7568311286212879e-01 7.1948377229020299e-01 1.6060956510744590e-01))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (ARMLOWERL_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 2.0133453213244429e+04 8.7250196688268130e+04 8.7509020098487366e+04))) (transpose (send tmp-c :worldrot))))
         (setq (ARMLOWERL_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=ARMLOWERL_LINK_lk,domNode=ARMLOWERL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send ARMLOWERL_LINK_lk :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 -6.0000000000000000e+01 1.6000000000000000e+01)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       ;;1;
       )

     ;; node id=v1.node16, name=ARMUPPERL_LINK, sid=node16
     (let ( b_g1_16_geom0 b_g1_16_geom1)
       ;; define bodyset-link for ARMUPPERL_LINK : v1.node16
       (setq b_g1_16_geom0 (instance DARWIN_g1_16_geom0 :init))

       ;; writeTransform(name=b_g1_16_geom0,domNode=ARMUPPERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_16_geom0 :transform localcds :world)
       )
       (setq b_g1_16_geom1 (instance DARWIN_g1_16_geom1 :init))

       ;; writeTransform(name=b_g1_16_geom1,domNode=ARMUPPERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_16_geom1 :transform localcds :world)
       )
       (send b_g1_16_geom0 :assoc b_g1_16_geom1)
       (setq ARMUPPERL_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_16_geom0 b_g1_16_geom1)
                       :name "ARMUPPERL_LINK"))
       (send ARMUPPERL_LINK_lk :weight 168.377)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector 8.2000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 -1.6000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector -6.5978700000000001e-01 -3.6238999999999997e+01 7.3406499999999997e-01) :rot (matrix-exponent (scale 3.0536040154524287e+00 (float-vector 6.9767694686712622e-01 -7.1586843670211486e-01 -2.7915213483607960e-02))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (ARMUPPERL_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.7993496366358580e+04 1.2214582307550621e+05 1.1294910055813529e+05))) (transpose (send tmp-c :worldrot))))
         (setq (ARMUPPERL_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=ARMUPPERL_LINK_lk,domNode=ARMUPPERL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send ARMUPPERL_LINK_lk :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 -1.6000000000000000e+01 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       ;;1;

       ;; writeTransform(name=ARMLOWERL_LINK_lk,domNode=ARMUPPERL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 -1.6000000000000000e+01 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       (send ARMLOWERL_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send ARMUPPERL_LINK_lk :assoc ARMLOWERL_LINK_lk)
       )

     ;; node id=v1.node15, name=SHOULDERL_LINK, sid=node15
     (let ( b_g1_15_geom0)
       ;; define bodyset-link for SHOULDERL_LINK : v1.node15
       (setq b_g1_15_geom0 (instance DARWIN_g1_15_geom0 :init))

       ;; writeTransform(name=b_g1_15_geom0,domNode=SHOULDERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_15_geom0 :transform localcds :world)
       )
       (setq SHOULDERL_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_15_geom0)
                       :name "SHOULDERL_LINK"))
       (send SHOULDERL_LINK_lk :weight 25.913)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector 8.2000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 1.3522599999999999e+01 -5.7359999999999998e+00 1.3935700000000000e+00) :rot (matrix-exponent (scale 2.9784753662822205e+00 (float-vector -9.0152708129163261e-01 -4.3076394013834662e-01 4.1126020647236819e-02))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (SHOULDERL_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.1874225568272839e+04 8.5164409727040656e+03 5.3730394590230972e+03))) (transpose (send tmp-c :worldrot))))
         (setq (SHOULDERL_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=SHOULDERL_LINK_lk,domNode=SHOULDERL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send SHOULDERL_LINK_lk :transform
             (make-coords :pos (float-vector 8.2000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       ;;1;

       ;; writeTransform(name=ARMUPPERL_LINK_lk,domNode=SHOULDERL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector 8.2000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       (send ARMUPPERL_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send SHOULDERL_LINK_lk :assoc ARMUPPERL_LINK_lk)
       )

     ;; node id=v1.node20, name=ARMLOWERR_LINK, sid=node20
     (let ( b_g1_20_geom0 b_g1_20_geom1)
       ;; define bodyset-link for ARMLOWERR_LINK : v1.node20
       (setq b_g1_20_geom0 (instance DARWIN_g1_20_geom0 :init))

       ;; writeTransform(name=b_g1_20_geom0,domNode=ARMLOWERR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_20_geom0 :transform localcds :world)
       )
       (setq b_g1_20_geom1 (instance DARWIN_g1_20_geom1 :init))

       ;; writeTransform(name=b_g1_20_geom1,domNode=ARMLOWERR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_20_geom1 :transform localcds :world)
       )
       (send b_g1_20_geom0 :assoc b_g1_20_geom1)
       (setq ARMLOWERR_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_20_geom0 b_g1_20_geom1)
                       :name "ARMLOWERR_LINK"))
       (send ARMLOWERR_LINK_lk :weight 59.288)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector -8.2000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 -1.6000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 -6.0000000000000000e+01 1.6000000000000000e+01) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 6.6656399999999998e+00 -4.5838200000000001e+01 -1.3490100000000000e+01) :rot (matrix-exponent (scale 2.9760139441600675e+00 (float-vector 6.7568311286212879e-01 -7.1948377229020299e-01 -1.6060956510744590e-01))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (ARMLOWERR_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 2.0133453213244429e+04 8.7250196688268130e+04 8.7509020098487366e+04))) (transpose (send tmp-c :worldrot))))
         (setq (ARMLOWERR_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=ARMLOWERR_LINK_lk,domNode=ARMLOWERR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send ARMLOWERR_LINK_lk :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 -6.0000000000000000e+01 1.6000000000000000e+01)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       ;;1;
       )

     ;; node id=v1.node19, name=ARMUPPERR_LINK, sid=node19
     (let ( b_g1_19_geom0 b_g1_19_geom1)
       ;; define bodyset-link for ARMUPPERR_LINK : v1.node19
       (setq b_g1_19_geom0 (instance DARWIN_g1_19_geom0 :init))

       ;; writeTransform(name=b_g1_19_geom0,domNode=ARMUPPERR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_19_geom0 :transform localcds :world)
       )
       (setq b_g1_19_geom1 (instance DARWIN_g1_19_geom1 :init))

       ;; writeTransform(name=b_g1_19_geom1,domNode=ARMUPPERR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_19_geom1 :transform localcds :world)
       )
       (send b_g1_19_geom0 :assoc b_g1_19_geom1)
       (setq ARMUPPERR_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_19_geom0 b_g1_19_geom1)
                       :name "ARMUPPERR_LINK"))
       (send ARMUPPERR_LINK_lk :weight 168.377)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector -8.2000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 0.0000000000000000e+00 -1.6000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector 6.5978700000000001e-01 -3.6238999999999997e+01 7.3406499999999997e-01) :rot (matrix-exponent (scale 3.0536040154524287e+00 (float-vector 6.9767694686712622e-01 7.1586843670211486e-01 2.7915213483607960e-02))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (ARMUPPERR_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.7993496366358580e+04 1.2214582307550621e+05 1.1294910055813529e+05))) (transpose (send tmp-c :worldrot))))
         (setq (ARMUPPERR_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=ARMUPPERR_LINK_lk,domNode=ARMUPPERR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send ARMUPPERR_LINK_lk :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 -1.6000000000000000e+01 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       ;;1;

       ;; writeTransform(name=ARMLOWERR_LINK_lk,domNode=ARMUPPERR_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 -1.6000000000000000e+01 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       (send ARMLOWERR_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send ARMUPPERR_LINK_lk :assoc ARMLOWERR_LINK_lk)
       )

     ;; node id=v1.node18, name=SHOULDERR_LINK, sid=node18
     (let ( b_g1_18_geom0)
       ;; define bodyset-link for SHOULDERR_LINK : v1.node18
       (setq b_g1_18_geom0 (instance DARWIN_g1_18_geom0 :init))

       ;; writeTransform(name=b_g1_18_geom0,domNode=SHOULDERR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_18_geom0 :transform localcds :world)
       )
       (setq SHOULDERR_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_18_geom0)
                       :name "SHOULDERR_LINK"))
       (send SHOULDERR_LINK_lk :weight 25.913)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector -8.2000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
                          (make-coords :pos (float-vector -1.3522599999999999e+01 -5.7359999999999998e+00 1.3935700000000000e+00) :rot (matrix-exponent (scale 2.9784753662822205e+00 (float-vector -9.0152708129163261e-01 -4.3076394013834662e-01 4.1126020647236819e-02))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (SHOULDERR_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.1874225568272839e+04 8.5164409727040656e+03 5.3730394590230972e+03))) (transpose (send tmp-c :worldrot))))
         (setq (SHOULDERR_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=SHOULDERR_LINK_lk,domNode=SHOULDERR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
       (send SHOULDERR_LINK_lk :transform
             (make-coords :pos (float-vector -8.2000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       ;;1;

       ;; writeTransform(name=ARMUPPERR_LINK_lk,domNode=SHOULDERR_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector -8.2000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00)
                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
       (send ARMUPPERR_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send SHOULDERR_LINK_lk :assoc ARMUPPERR_LINK_lk)
       )

     ;; node id=v1.node0, name=BODY_LINK, sid=node0
     (let ( b_g1_0_geom0)
       ;; define bodyset-link for BODY_LINK : v1.node0
       (setq b_g1_0_geom0 (instance DARWIN_g1_0_geom0 :init))

       ;; writeTransform(name=b_g1_0_geom0,domNode=BODY_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=1, matrixCount=0
       (let ((localcds (make-coords)))
       (send b_g1_0_geom0 :transform localcds :world)
       )
       (setq BODY_LINK_lk
             (instance bodyset-link
                       :init (make-cascoords)
                       :bodies (list  b_g1_0_geom0)
                       :name "BODY_LINK"))
       (send BODY_LINK_lk :weight 975.599)
       (let ((tmp-c-list (list
                          (make-coords :pos (float-vector -3.1158900000000003e+00 -3.9443700000000000e+01 -1.9663100000000000e+01) :rot (matrix-exponent (scale 2.8295052717154130e+00 (float-vector 2.1884496932460190e-01 -6.6843732519288523e-01 7.1084345793591930e-01))))
                          ))
             (tmp-c (make-coords)))
         (dolist (cc tmp-c-list)
           (setq tmp-c (send tmp-c :transform cc)))
         (setq (BODY_LINK_lk . inertia-tensor)
               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.8832115101343952e+06 6.5372537461838461e+06 6.3985347436817624e+06))) (transpose (send tmp-c :worldrot))))
         (setq (BODY_LINK_lk . acentroid) (send tmp-c :worldpos))
        )

       ;; writeTransform(name=BODY_LINK_lk,domNode=BODY_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=1, matrixCount=0
       (send BODY_LINK_lk :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 3.4613100000000003e+02)
                          :angle 2.0943999999999998e+00 :axis (float-vector 5.7735026918962573e-01 5.7735026918962573e-01 5.7735026918962573e-01)) :local)
       ;;1;

       ;; writeTransform(name=NECK_LINK_lk,domNode=BODY_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=1, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 3.4613100000000003e+02)
                          :angle 2.0943999999999998e+00 :axis (float-vector 5.7735026918962573e-01 5.7735026918962573e-01 5.7735026918962573e-01)) :local)
       (send NECK_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send BODY_LINK_lk :assoc NECK_LINK_lk)

       ;; writeTransform(name=PELVYL_LINK_lk,domNode=BODY_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=1, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 3.4613100000000003e+02)
                          :angle 2.0943999999999998e+00 :axis (float-vector 5.7735026918962573e-01 5.7735026918962573e-01 5.7735026918962573e-01)) :local)
       (send PELVYL_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send BODY_LINK_lk :assoc PELVYL_LINK_lk)

       ;; writeTransform(name=PELVYR_LINK_lk,domNode=BODY_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=1, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 3.4613100000000003e+02)
                          :angle 2.0943999999999998e+00 :axis (float-vector 5.7735026918962573e-01 5.7735026918962573e-01 5.7735026918962573e-01)) :local)
       (send PELVYR_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send BODY_LINK_lk :assoc PELVYR_LINK_lk)

       ;; writeTransform(name=SHOULDERL_LINK_lk,domNode=BODY_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=1, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 3.4613100000000003e+02)
                          :angle 2.0943999999999998e+00 :axis (float-vector 5.7735026918962573e-01 5.7735026918962573e-01 5.7735026918962573e-01)) :local)
       (send SHOULDERL_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send BODY_LINK_lk :assoc SHOULDERL_LINK_lk)

       ;; writeTransform(name=SHOULDERR_LINK_lk,domNode=BODY_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=1, matrixCount=0
       (let ((localcds (make-coords)))
       (send localcds :transform
             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 3.4613100000000003e+02)
                          :angle 2.0943999999999998e+00 :axis (float-vector 5.7735026918962573e-01 5.7735026918962573e-01 5.7735026918962573e-01)) :local)
       (send SHOULDERR_LINK_lk :transform localcds :world)
       )
       ;;2;
       (send BODY_LINK_lk :assoc SHOULDERR_LINK_lk)
       (setq gsensor-sensor-coords (make-cascoords :name "gsensor" :coords (send BODY_LINK_lk :copy-worldcoords)))
       (send gsensor-sensor-coords :put :sensor-type :base_imu)
       (send gsensor-sensor-coords :put :sensor-id 1)
       (send gsensor-sensor-coords :transform (make-coords :pos #f( 0.0000000000000000e+00 -6.8406400000000005e+01 -1.0000000000000000e+01) :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) :angle 1.5708000000000000e+00))
       (send BODY_LINK_lk :assoc gsensor-sensor-coords)
       (setq gyrometer-sensor-coords (make-cascoords :name "gyrometer" :coords (send BODY_LINK_lk :copy-worldcoords)))
       (send gyrometer-sensor-coords :put :sensor-type :base_imu)
       (send gyrometer-sensor-coords :put :sensor-id 2)
       (send gyrometer-sensor-coords :transform (make-coords :pos #f( 0.0000000000000000e+00 -6.8406400000000005e+01 1.0000000000000000e+01) :axis (let ((tmp-axis (float-vector -5.7735026918962573e-01 5.7735026918962573e-01 5.7735026918962573e-01))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) :angle 2.0943999999999998e+00))
       (send BODY_LINK_lk :assoc gyrometer-sensor-coords)
       )

     (send self :assoc BODY_LINK_lk)
     (setq HEADL_jt
           (instance rotational-joint :init
                     :name "HEADL"
                     :parent-link NECK_LINK_lk :child-link HEAD_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq FOOTL_jt
           (instance rotational-joint :init
                     :name "FOOTL"
                     :parent-link ANKLEL_LINK_lk :child-link FOOTL_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq ANKLEL_jt
           (instance rotational-joint :init
                     :name "ANKLEL"
                     :parent-link LEGLOWERL_LINK_lk :child-link ANKLEL_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq LEGLOWERL_jt
           (instance rotational-joint :init
                     :name "LEGLOWERL"
                     :parent-link LEGUPPERL_LINK_lk :child-link LEGLOWERL_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq LEGUPPERL_jt
           (instance rotational-joint :init
                     :name "LEGUPPERL"
                     :parent-link PELVL_LINK_lk :child-link LEGUPPERL_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq PELVL_jt
           (instance rotational-joint :init
                     :name "PELVL"
                     :parent-link PELVYL_LINK_lk :child-link PELVL_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq FOOTR_jt
           (instance rotational-joint :init
                     :name "FOOTR"
                     :parent-link ANKLER_LINK_lk :child-link FOOTR_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq ANKLER_jt
           (instance rotational-joint :init
                     :name "ANKLER"
                     :parent-link LEGLOWERR_LINK_lk :child-link ANKLER_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq LEGLOWERR_jt
           (instance rotational-joint :init
                     :name "LEGLOWERR"
                     :parent-link LEGUPPERR_LINK_lk :child-link LEGLOWERR_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq LEGUPPERR_jt
           (instance rotational-joint :init
                     :name "LEGUPPERR"
                     :parent-link PELVR_LINK_lk :child-link LEGUPPERR_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq PELVR_jt
           (instance rotational-joint :init
                     :name "PELVR"
                     :parent-link PELVYR_LINK_lk :child-link PELVR_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq ARMLOWERL_jt
           (instance rotational-joint :init
                     :name "ARMLOWERL"
                     :parent-link ARMUPPERL_LINK_lk :child-link ARMLOWERL_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq ARMUPPERL_jt
           (instance rotational-joint :init
                     :name "ARMUPPERL"
                     :parent-link SHOULDERL_LINK_lk :child-link ARMUPPERL_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq ARMLOWERR_jt
           (instance rotational-joint :init
                     :name "ARMLOWERR"
                     :parent-link ARMUPPERR_LINK_lk :child-link ARMLOWERR_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq ARMUPPERR_jt
           (instance rotational-joint :init
                     :name "ARMUPPERR"
                     :parent-link SHOULDERR_LINK_lk :child-link ARMUPPERR_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq NECK_jt
           (instance rotational-joint :init
                     :name "NECK"
                     :parent-link BODY_LINK_lk :child-link NECK_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq PELVYL_jt
           (instance rotational-joint :init
                     :name "PELVYL"
                     :parent-link BODY_LINK_lk :child-link PELVYL_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq PELVYR_jt
           (instance rotational-joint :init
                     :name "PELVYR"
                     :parent-link BODY_LINK_lk :child-link PELVYR_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq SHOULDERL_jt
           (instance rotational-joint :init
                     :name "SHOULDERL"
                     :parent-link BODY_LINK_lk :child-link SHOULDERL_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))
     (setq SHOULDERR_jt
           (instance rotational-joint :init
                     :name "SHOULDERR"
                     :parent-link BODY_LINK_lk :child-link SHOULDERR_LINK_lk
                     :max-joint-torque 0.000000
                     :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis))
                     :min *-inf* :max *inf*
                     ))

     ;; end coords from openrave manipulater tag
     ;; end coords from yaml file
     (setq head-end-coords (make-cascoords :coords (send HEAD_LINK_lk :copy-worldcoords) :name :head-end-coords))
     (send head-end-coords :translate (float-vector 0.0000000000000000e+00 3.2907400000000003e+01 3.5981600000000000e+01))
     (send head-end-coords :rotate 3.1415926535897931e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))
     (send HEAD_LINK_lk :assoc head-end-coords)
     (setq lleg-end-coords (make-cascoords :coords (send FOOTL_LINK_lk :copy-worldcoords) :name :lleg-end-coords))
     (send lleg-end-coords :translate (float-vector 0.0000000000000000e+00 -3.3751000000000005e+01 0.0000000000000000e+00))
     (send lleg-end-coords :rotate 2.0943951023931953e+00 (float-vector -5.7735000000000003e-01 -5.7735000000000003e-01 -5.7735000000000003e-01))
     (send FOOTL_LINK_lk :assoc lleg-end-coords)
     (setq rleg-end-coords (make-cascoords :coords (send FOOTR_LINK_lk :copy-worldcoords) :name :rleg-end-coords))
     (send rleg-end-coords :translate (float-vector 0.0000000000000000e+00 -3.3751000000000005e+01 0.0000000000000000e+00))
     (send rleg-end-coords :rotate 2.0943951023931953e+00 (float-vector -5.7735000000000003e-01 -5.7735000000000003e-01 -5.7735000000000003e-01))
     (send FOOTR_LINK_lk :assoc rleg-end-coords)
     (setq larm-end-coords (make-cascoords :coords (send ARMLOWERL_LINK_lk :copy-worldcoords) :name :larm-end-coords))
     (send larm-end-coords :translate (float-vector 0.0000000000000000e+00 -9.0000000000000000e+01 0.0000000000000000e+00))
     (send ARMLOWERL_LINK_lk :assoc larm-end-coords)
     (setq rarm-end-coords (make-cascoords :coords (send ARMLOWERR_LINK_lk :copy-worldcoords) :name :rarm-end-coords))
     (send rarm-end-coords :translate (float-vector 0.0000000000000000e+00 -9.0000000000000000e+01 0.0000000000000000e+00))
     (send ARMLOWERR_LINK_lk :assoc rarm-end-coords)

     ;; limbs
     (setq head (list NECK_LINK_lk HEAD_LINK_lk))

     (setq head-root-link (labels ((find-parent (l) (if (find (send l :parent) head) (find-parent (send l :parent)) l))) (find-parent (car head))))
     (setq lleg (list PELVYL_LINK_lk PELVL_LINK_lk LEGUPPERL_LINK_lk LEGLOWERL_LINK_lk ANKLEL_LINK_lk FOOTL_LINK_lk))

     (setq lleg-root-link (labels ((find-parent (l) (if (find (send l :parent) lleg) (find-parent (send l :parent)) l))) (find-parent (car lleg))))
     (setq rleg (list PELVYR_LINK_lk PELVR_LINK_lk LEGUPPERR_LINK_lk LEGLOWERR_LINK_lk ANKLER_LINK_lk FOOTR_LINK_lk))

     (setq rleg-root-link (labels ((find-parent (l) (if (find (send l :parent) rleg) (find-parent (send l :parent)) l))) (find-parent (car rleg))))
     (setq larm (list SHOULDERL_LINK_lk ARMUPPERL_LINK_lk ARMLOWERL_LINK_lk))

     (setq larm-root-link (labels ((find-parent (l) (if (find (send l :parent) larm) (find-parent (send l :parent)) l))) (find-parent (car larm))))
     (setq rarm (list SHOULDERR_LINK_lk ARMUPPERR_LINK_lk ARMLOWERR_LINK_lk))

     (setq rarm-root-link (labels ((find-parent (l) (if (find (send l :parent) rarm) (find-parent (send l :parent)) l))) (find-parent (car rarm))))

     ;; links
     (setq links (list BODY_LINK_lk NECK_LINK_lk HEAD_LINK_lk PELVYL_LINK_lk PELVL_LINK_lk LEGUPPERL_LINK_lk LEGLOWERL_LINK_lk ANKLEL_LINK_lk FOOTL_LINK_lk PELVYR_LINK_lk PELVR_LINK_lk LEGUPPERR_LINK_lk LEGLOWERR_LINK_lk ANKLER_LINK_lk FOOTR_LINK_lk SHOULDERL_LINK_lk ARMUPPERL_LINK_lk ARMLOWERL_LINK_lk SHOULDERR_LINK_lk ARMUPPERR_LINK_lk ARMLOWERR_LINK_lk))
     ;; joint-list
     (setq joint-list (list NECK_jt HEADL_jt PELVYL_jt PELVL_jt LEGUPPERL_jt LEGLOWERL_jt ANKLEL_jt FOOTL_jt PELVYR_jt PELVR_jt LEGUPPERR_jt LEGLOWERR_jt ANKLER_jt FOOTR_jt SHOULDERL_jt ARMUPPERL_jt ARMLOWERL_jt SHOULDERR_jt ARMUPPERR_jt ARMLOWERR_jt))

    ;; attach_sensor
    (setq force-sensors (list ))
    (setq imu-sensors (list gsensor-sensor-coords gyrometer-sensor-coords ))
    (setq cameras (list Camera-sensor-coords ))
     ;; init-ending
     (send self :init-ending)

     ;; overwrite bodies to return draw-things links not (send link :bodies)
     (setq bodies (flatten (mapcar #'(lambda (b) (if (find-method b :bodies) (send b :bodies))) (list HEAD_LINK_lk NECK_LINK_lk FOOTL_LINK_lk ANKLEL_LINK_lk LEGLOWERL_LINK_lk LEGUPPERL_LINK_lk PELVL_LINK_lk PELVYL_LINK_lk FOOTR_LINK_lk ANKLER_LINK_lk LEGLOWERR_LINK_lk LEGUPPERR_LINK_lk PELVR_LINK_lk PELVYR_LINK_lk ARMLOWERL_LINK_lk ARMUPPERL_LINK_lk SHOULDERL_LINK_lk ARMLOWERR_LINK_lk ARMUPPERR_LINK_lk SHOULDERR_LINK_lk BODY_LINK_lk))))

     (send self :reset-pose) ;; :set reset-pose

     self)) ;; :init

    ;; pre-defined pose methods
    (:reset-pose () (send self :angle-vector (float-vector 0.000000 20.000000 0.000000 0.000000 -15.000000 30.000000 -15.000000 0.000000 0.000000 0.000000 -15.000000 30.000000 -15.000000 0.000000 30.000000 20.000000 -60.000000 30.000000 -20.000000 -60.000000)))

    ;; all joints
    (:NECK (&rest args) (forward-message-to NECK_jt args))
    (:HEADL (&rest args) (forward-message-to HEADL_jt args))
    (:PELVYL (&rest args) (forward-message-to PELVYL_jt args))
    (:PELVL (&rest args) (forward-message-to PELVL_jt args))
    (:LEGUPPERL (&rest args) (forward-message-to LEGUPPERL_jt args))
    (:LEGLOWERL (&rest args) (forward-message-to LEGLOWERL_jt args))
    (:ANKLEL (&rest args) (forward-message-to ANKLEL_jt args))
    (:FOOTL (&rest args) (forward-message-to FOOTL_jt args))
    (:PELVYR (&rest args) (forward-message-to PELVYR_jt args))
    (:PELVR (&rest args) (forward-message-to PELVR_jt args))
    (:LEGUPPERR (&rest args) (forward-message-to LEGUPPERR_jt args))
    (:LEGLOWERR (&rest args) (forward-message-to LEGLOWERR_jt args))
    (:ANKLER (&rest args) (forward-message-to ANKLER_jt args))
    (:FOOTR (&rest args) (forward-message-to FOOTR_jt args))
    (:SHOULDERL (&rest args) (forward-message-to SHOULDERL_jt args))
    (:ARMUPPERL (&rest args) (forward-message-to ARMUPPERL_jt args))
    (:ARMLOWERL (&rest args) (forward-message-to ARMLOWERL_jt args))
    (:SHOULDERR (&rest args) (forward-message-to SHOULDERR_jt args))
    (:ARMUPPERR (&rest args) (forward-message-to ARMUPPERR_jt args))
    (:ARMLOWERR (&rest args) (forward-message-to ARMLOWERR_jt args))

    ;; all links forwarding
    (:links (&rest args)
     (if (null args) (return-from :links (send-super :links)))
     (let ((key (car args))
           (nargs (cdr args)))
       (unless (keywordp key)
         (return-from :links (send-super* :links args)))
       (case key
         (:HEAD_LINK (forward-message-to HEAD_LINK_lk nargs))
         (:NECK_LINK (forward-message-to NECK_LINK_lk nargs))
         (:FOOTL_LINK (forward-message-to FOOTL_LINK_lk nargs))
         (:ANKLEL_LINK (forward-message-to ANKLEL_LINK_lk nargs))
         (:LEGLOWERL_LINK (forward-message-to LEGLOWERL_LINK_lk nargs))
         (:LEGUPPERL_LINK (forward-message-to LEGUPPERL_LINK_lk nargs))
         (:PELVL_LINK (forward-message-to PELVL_LINK_lk nargs))
         (:PELVYL_LINK (forward-message-to PELVYL_LINK_lk nargs))
         (:FOOTR_LINK (forward-message-to FOOTR_LINK_lk nargs))
         (:ANKLER_LINK (forward-message-to ANKLER_LINK_lk nargs))
         (:LEGLOWERR_LINK (forward-message-to LEGLOWERR_LINK_lk nargs))
         (:LEGUPPERR_LINK (forward-message-to LEGUPPERR_LINK_lk nargs))
         (:PELVR_LINK (forward-message-to PELVR_LINK_lk nargs))
         (:PELVYR_LINK (forward-message-to PELVYR_LINK_lk nargs))
         (:ARMLOWERL_LINK (forward-message-to ARMLOWERL_LINK_lk nargs))
         (:ARMUPPERL_LINK (forward-message-to ARMUPPERL_LINK_lk nargs))
         (:SHOULDERL_LINK (forward-message-to SHOULDERL_LINK_lk nargs))
         (:ARMLOWERR_LINK (forward-message-to ARMLOWERR_LINK_lk nargs))
         (:ARMUPPERR_LINK (forward-message-to ARMUPPERR_LINK_lk nargs))
         (:SHOULDERR_LINK (forward-message-to SHOULDERR_LINK_lk nargs))
         (:BODY_LINK (forward-message-to BODY_LINK_lk nargs))
         (t (send-super* :links args)))))

    ;; all links
    (:HEAD_LINK_lk (&rest args) (forward-message-to HEAD_LINK_lk args))
    (:NECK_LINK_lk (&rest args) (forward-message-to NECK_LINK_lk args))
    (:FOOTL_LINK_lk (&rest args) (forward-message-to FOOTL_LINK_lk args))
    (:ANKLEL_LINK_lk (&rest args) (forward-message-to ANKLEL_LINK_lk args))
    (:LEGLOWERL_LINK_lk (&rest args) (forward-message-to LEGLOWERL_LINK_lk args))
    (:LEGUPPERL_LINK_lk (&rest args) (forward-message-to LEGUPPERL_LINK_lk args))
    (:PELVL_LINK_lk (&rest args) (forward-message-to PELVL_LINK_lk args))
    (:PELVYL_LINK_lk (&rest args) (forward-message-to PELVYL_LINK_lk args))
    (:FOOTR_LINK_lk (&rest args) (forward-message-to FOOTR_LINK_lk args))
    (:ANKLER_LINK_lk (&rest args) (forward-message-to ANKLER_LINK_lk args))
    (:LEGLOWERR_LINK_lk (&rest args) (forward-message-to LEGLOWERR_LINK_lk args))
    (:LEGUPPERR_LINK_lk (&rest args) (forward-message-to LEGUPPERR_LINK_lk args))
    (:PELVR_LINK_lk (&rest args) (forward-message-to PELVR_LINK_lk args))
    (:PELVYR_LINK_lk (&rest args) (forward-message-to PELVYR_LINK_lk args))
    (:ARMLOWERL_LINK_lk (&rest args) (forward-message-to ARMLOWERL_LINK_lk args))
    (:ARMUPPERL_LINK_lk (&rest args) (forward-message-to ARMUPPERL_LINK_lk args))
    (:SHOULDERL_LINK_lk (&rest args) (forward-message-to SHOULDERL_LINK_lk args))
    (:ARMLOWERR_LINK_lk (&rest args) (forward-message-to ARMLOWERR_LINK_lk args))
    (:ARMUPPERR_LINK_lk (&rest args) (forward-message-to ARMUPPERR_LINK_lk args))
    (:SHOULDERR_LINK_lk (&rest args) (forward-message-to SHOULDERR_LINK_lk args))
    (:BODY_LINK_lk (&rest args) (forward-message-to BODY_LINK_lk args))

    ;; all manipulator

    ;; user-defined joint
    (:head-neck-y (&rest args) (forward-message-to NECK_jt args))
    (:head-neck-p (&rest args) (forward-message-to HEADL_jt args))
    (:lleg-crotch-y (&rest args) (forward-message-to PELVYL_jt args))
    (:lleg-crotch-r (&rest args) (forward-message-to PELVL_jt args))
    (:lleg-crotch-p (&rest args) (forward-message-to LEGUPPERL_jt args))
    (:lleg-knee-p (&rest args) (forward-message-to LEGLOWERL_jt args))
    (:lleg-ankle-p (&rest args) (forward-message-to ANKLEL_jt args))
    (:lleg-ankle-r (&rest args) (forward-message-to FOOTL_jt args))
    (:rleg-crotch-y (&rest args) (forward-message-to PELVYR_jt args))
    (:rleg-crotch-r (&rest args) (forward-message-to PELVR_jt args))
    (:rleg-crotch-p (&rest args) (forward-message-to LEGUPPERR_jt args))
    (:rleg-knee-p (&rest args) (forward-message-to LEGLOWERR_jt args))
    (:rleg-ankle-p (&rest args) (forward-message-to ANKLER_jt args))
    (:rleg-ankle-r (&rest args) (forward-message-to FOOTR_jt args))
    (:larm-shoulder-p (&rest args) (forward-message-to SHOULDERL_jt args))
    (:larm-shoulder-r (&rest args) (forward-message-to ARMUPPERL_jt args))
    (:larm-elbow-p (&rest args) (forward-message-to ARMLOWERL_jt args))
    (:rarm-shoulder-p (&rest args) (forward-message-to SHOULDERR_jt args))
    (:rarm-shoulder-r (&rest args) (forward-message-to ARMUPPERR_jt args))
    (:rarm-elbow-p (&rest args) (forward-message-to ARMLOWERR_jt args))

    ;; attach_sensor
    (:gsensor (&rest args) (forward-message-to gsensor-sensor-coords args))
    (:gyrometer (&rest args) (forward-message-to gyrometer-sensor-coords args))
    (:Camera (&rest args) (forward-message-to Camera-sensor-coords args))
  )

(defclass DARWIN_g1_0_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_0_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.301961 0.301961 0.301961 1.000000))
           ))
           (list :indices #i( 16 7 6 6 7 17 30 5 2 3 5 31 30 6 5 5 6 31 6 30 16 17 31 6 57 61 59 60 62 58 42 44 68 69 45 43 70 54 55 55 54 71 48 54 70 71 54 49 70 55 50 51 55 71 40 42 68 69 43 41 46 44 78 78 45 47 16 95 18 19 96 17 16 30 95 96 31 17 52 105 107 108 106 53 87 89 79 80 90 88 93 109 91 92 110 94 83 109 93 94 110 84 83 93 85 86 94 84 28 105 52 53 106 29 72 46 76 77 47 73 72 76 74 75 77 73 48 70 76 77 71 49 48 76 46 47 77 49 97 119 111 112 120 98 125 81 79 80 82 126 109 125 91 92 126 110 79 89 125 126 90 80 89 91 125 126 92 90 121 119 81 82 120 122 123 121 81 82 122 124 125 123 81 82 124 126 111 113 115 116 114 112 115 101 99 100 102 116 99 97 111 112 98 100 99 111 115 116 112 100 115 117 107 108 118 116 115 107 105 106 108 116 103 101 115 116 102 104 103 115 105 106 116 104 125 109 107 108 110 126 125 107 117 118 108 126 95 81 119 120 82 96 95 119 97 98 120 96 115 123 117 118 124 116 123 125 117 118 126 124 113 121 115 116 122 114 121 123 115 116 124 122 111 119 113 114 120 112 119 121 113 114 122 120 50 109 83 84 110 51 44 46 87 88 47 45 44 87 79 80 88 45 76 70 85 86 71 77 76 85 93 94 86 77 74 76 93 94 77 75 74 93 91 92 94 75 72 74 91 92 75 73 72 91 89 90 92 73 46 72 89 90 73 47 46 89 87 88 90 47 50 85 70 71 86 51 50 83 85 86 84 51 68 44 79 80 45 69 68 79 81 82 80 69 46 78 54 54 78 47 46 54 48 49 54 47 42 66 44 45 66 43 66 78 44 45 78 66 57 40 67 67 41 58 57 67 65 65 67 58 59 66 42 43 66 60 59 64 66 66 64 60 57 63 61 62 63 58 57 65 63 63 65 58 61 64 59 60 64 62 61 63 64 64 63 62 57 59 40 41 60 58 59 42 40 41 43 60 52 50 55 55 51 53 52 55 56 56 55 53 13 39 14 15 39 13 14 39 35 36 39 15 2 32 37 38 33 3 37 32 35 36 33 38 0 35 32 33 36 1 0 14 35 36 15 1 34 0 32 33 1 34 0 34 4 4 34 1 2 5 32 33 5 3 32 5 34 34 5 33 14 0 4 4 1 15 4 13 14 15 13 4 107 127 52 53 128 108 127 50 52 53 51 128 107 109 127 128 110 108 127 109 50 51 110 128 35 133 37 38 134 36 68 81 139 140 82 69 81 141 139 140 142 82 95 141 81 82 142 96 95 143 141 142 144 96 95 145 143 144 146 96 95 37 145 146 38 96 30 37 95 96 38 31 2 37 30 31 38 3 35 39 67 67 39 36 133 35 67 67 36 134 137 133 67 67 134 138 129 137 67 67 138 130 135 129 67 67 130 136 131 135 67 67 136 132 40 131 67 67 132 41 9 22 10 10 23 9 10 22 24 25 23 10 12 52 56 56 53 12 24 26 147 148 27 25 26 28 149 150 29 27 151 10 24 25 10 152 151 24 147 148 25 152 149 147 26 27 148 150 155 157 153 154 157 156 153 157 158 158 157 154 147 149 155 156 150 148 159 22 9 9 23 160 9 8 159 160 8 9 161 159 8 8 160 162 22 159 163 164 160 23 167 97 99 100 98 168 99 22 167 168 23 100 167 22 163 164 23 168 97 167 165 166 168 98 171 169 173 174 170 172 179 173 177 178 174 180 171 173 179 180 174 172 179 177 175 176 178 180 181 161 8 8 162 182 8 7 183 184 7 8 183 7 16 17 7 184 183 181 8 8 182 184 20 161 185 186 162 21 185 165 20 21 166 186 97 165 187 188 166 98 189 18 95 96 19 190 95 97 189 190 98 96 189 97 187 188 98 190 161 181 185 186 182 162 16 18 183 184 19 17 187 165 185 186 166 188 201 191 195 196 192 202 201 193 191 192 194 202 195 199 197 198 200 196 195 191 199 200 192 196 208 210 217 218 211 209 12 28 52 53 29 12 213 219 212 212 219 214 215 219 213 214 219 216 217 219 215 216 219 218 210 219 217 218 219 211 11 149 12 12 150 11 12 149 28 29 150 12 206 208 215 216 209 207 208 217 215 216 218 209 206 213 204 205 214 207 206 215 213 214 216 207 204 212 203 203 212 205 204 213 212 212 214 205 181 183 199 200 184 182 183 197 199 200 198 184 189 187 193 194 188 190 189 193 201 202 194 190 18 189 195 196 190 19 189 201 195 196 202 190 185 181 199 200 182 186 185 199 191 192 200 186 183 18 195 196 19 184 183 195 197 198 196 184 187 185 191 192 186 188 187 191 193 194 192 188 161 20 179 180 21 162 161 179 175 176 180 162 159 161 177 178 162 160 161 175 177 178 176 162 163 159 173 174 160 164 159 177 173 174 178 160 20 165 179 180 166 21 165 171 179 180 172 166 167 163 173 174 164 168 167 173 169 170 174 168 165 167 171 172 168 166 167 169 171 172 170 168 11 155 149 150 156 11 11 157 155 156 157 11 147 153 151 152 154 148 147 155 153 154 156 148 151 158 10 10 158 152 151 153 158 158 154 152 22 99 24 25 100 23 24 99 101 102 100 25 24 101 26 27 102 25 26 101 103 104 102 27 26 103 28 29 104 27 28 103 105 106 104 29 40 68 139 140 69 41 40 139 131 132 140 41 129 145 137 138 146 130 129 143 145 146 144 130 137 37 133 134 38 138 137 145 37 38 146 138 129 135 141 142 136 130 129 141 143 144 142 130 135 131 139 140 132 136 135 139 141 142 140 136))
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           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 220 -> 36 faces
   (instance faceset :init :faces (list
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  )

(defclass DARWIN_g1_1_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_1_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000))
           ))
           (list :indices #i( 2 3 4 1 2 4 1 4 5 0 1 5 0 5 6 0 6 7 10 12 11 10 13 12 9 13 10 8 13 9 8 14 13 15 14 8 24 25 31 31 25 26 31 26 30 30 26 29 29 26 27 29 27 28 41 40 47 41 47 42 42 47 46 42 46 45 42 45 43 43 45 44 39 31 30 39 30 38 38 30 29 38 29 37 37 29 28 37 28 36 36 28 27 36 27 35 35 27 26 35 26 34 34 26 25 34 25 33 33 25 24 33 24 32 31 39 32 31 32 24 19 21 20 19 18 21 23 21 22 23 20 21 16 22 17 16 23 22 17 22 18 18 22 21 19 23 16 19 20 23 8 0 7 8 7 15 6 14 15 6 15 7 5 13 14 5 14 6 4 12 13 4 13 5 3 11 12 3 12 4 2 10 11 2 11 3 1 9 10 1 10 2 0 8 9 0 9 1 71 70 62 71 62 63 70 69 61 70 61 62 69 68 60 69 60 61 68 67 59 68 59 60 67 66 58 67 58 59 66 65 57 66 57 58 65 64 56 65 56 57 63 56 64 63 64 71 52 51 50 53 52 50 53 50 49 53 49 48 54 53 48 54 48 55 56 63 57 63 58 57 63 62 58 62 61 58 61 59 58 61 60 59 71 64 65 71 65 66 71 66 70 70 66 67 70 67 69 69 67 68 76 72 75 76 79 72 77 74 73 78 77 73 79 73 72 79 78 73 72 74 75 72 73 74 76 74 77 76 75 74 40 41 54 40 54 55 41 42 53 41 53 54 42 43 52 42 52 53 43 44 51 43 51 52 44 45 50 44 50 51 45 46 49 45 49 50 46 47 48 46 48 49 40 55 48 40 48 47 17 18 77 17 77 78 18 19 76 18 76 77 16 17 78 16 78 79 16 79 76 16 76 19))
           (list :vertices #2f((2.0874200820922852e+01 8.9758005142211914e+00 8.4753999710083008e+00)(2.0874099731445312e+01 5.6419998407363892e-01 1.1973899841308594e+01)(2.0874200820922852e+01 -7.9164004325866699e+00 8.4753999710083008e+00)(2.0874399185180664e+01 -1.1414900779724121e+01 2.9299998655915260e-02)(2.0874698638916016e+01 -7.9164004325866699e+00 -8.4167995452880859e+00)(2.0874799728393555e+01 5.6419998407363892e-01 -1.1915300369262695e+01)(2.0874698638916016e+01 8.9758005142211914e+00 -8.4167995452880859e+00)(2.0874399185180664e+01 1.2474300384521484e+01 2.9299998655915260e-02)(1.9045398712158203e+01 8.9758005142211914e+00 8.4753999710083008e+00)(1.9045301437377930e+01 5.6419998407363892e-01 1.1973899841308594e+01)(1.9045398712158203e+01 -7.9164004325866699e+00 8.4753999710083008e+00)(1.9045700073242188e+01 -1.1414900779724121e+01 2.9299998655915260e-02)(1.9045999526977539e+01 -7.9164004325866699e+00 -8.4169006347656250e+00)(1.9046100616455078e+01 5.6419998407363892e-01 -1.1915300369262695e+01)(1.9045999526977539e+01 8.9758005142211914e+00 -8.4167995452880859e+00)(1.9045700073242188e+01 1.2474300384521484e+01 2.9299998655915260e-02)(2.2193399429321289e+01 -3.0868400573730469e+01 -1.0805100440979004e+01)(2.2192699432373047e+01 -3.0868400573730469e+01 1.1001000404357910e+01)(2.0874099731445312e+01 -2.9476600646972656e+01 1.1001000404357910e+01)(2.0874799728393555e+01 -2.9476600646972656e+01 -1.0805199623107910e+01)(2.0874799728393555e+01 5.6419998407363892e-01 -1.0805199623107910e+01)(2.0874099731445312e+01 5.6419998407363892e-01 1.1001000404357910e+01)(2.2192699432373047e+01 5.6419998407363892e-01 1.1001000404357910e+01)(2.2193399429321289e+01 5.6419998407363892e-01 -1.0805100440979004e+01)(-8.7983999252319336e+00 -3.2753200531005859e+01 2.3799998685717583e-02)(-6.2281999588012695e+00 -3.2753200531005859e+01 -6.1800999641418457e+00)(-2.3799998685717583e-02 -3.2753200531005859e+01 -8.7497005462646484e+00)(6.1803998947143555e+00 -3.2753200531005859e+01 -6.1797003746032715e+00)(8.7501001358032227e+00 -3.2753200531005859e+01 2.4399999529123306e-02)(6.1799998283386230e+00 -3.2753200531005859e+01 6.2282996177673340e+00)(-2.4399999529123306e-02 -3.2753200531005859e+01 8.7979001998901367e+00)(-6.2286996841430664e+00 -3.2753200531005859e+01 6.2279000282287598e+00)(-8.7983999252319336e+00 -3.0868400573730469e+01 2.3799998685717583e-02)(-6.2281999588012695e+00 -3.0868400573730469e+01 -6.1800999641418457e+00)(-2.3799998685717583e-02 -3.0868400573730469e+01 -8.7497005462646484e+00)(6.1803998947143555e+00 -3.0868400573730469e+01 -6.1797003746032715e+00)(8.7501001358032227e+00 -3.0868400573730469e+01 2.4399999529123306e-02)(6.1799998283386230e+00 -3.0868400573730469e+01 6.2282996177673340e+00)(-2.4399999529123306e-02 -3.0868400573730469e+01 8.7979001998901367e+00)(-6.2286996841430664e+00 -3.0868400573730469e+01 6.2279000282287598e+00)(2.2567199707031250e+01 4.7427997589111328e+00 2.9400000348687172e-02)(2.2567300796508789e+01 3.5099000930786133e+00 -2.9470000267028809e+00)(2.2567399978637695e+01 5.5279999971389771e-01 -4.1799001693725586e+00)(2.2567300796508789e+01 -2.4429001808166504e+00 -2.9470000267028809e+00)(2.2567199707031250e+01 -3.6756999492645264e+00 2.9400000348687172e-02)(2.2567100524902344e+01 -2.4429001808166504e+00 3.0058000087738037e+00)(2.2567100524902344e+01 5.5279999971389771e-01 4.2385997772216797e+00)(2.2567100524902344e+01 3.5099000930786133e+00 3.0058000087738037e+00)(-2.2567199707031250e+01 3.5099000930786133e+00 3.0050001144409180e+00)(-2.2567199707031250e+01 5.5279999971389771e-01 4.2379002571105957e+00)(-2.2567199707031250e+01 -2.4429001808166504e+00 3.0050001144409180e+00)(-2.2567199707031250e+01 -3.6756999492645264e+00 2.8599999845027924e-02)(-2.2567199707031250e+01 -2.4429001808166504e+00 -2.9478001594543457e+00)(-2.2567199707031250e+01 5.5279999971389771e-01 -4.1806001663208008e+00)(-2.2567199707031250e+01 3.5099000930786133e+00 -2.9478001594543457e+00)(-2.2567199707031250e+01 4.7427997589111328e+00 2.8599999845027924e-02)(-1.9045700073242188e+01 1.2474300384521484e+01 2.8599999845027924e-02)(-1.9045700073242188e+01 8.9758005142211914e+00 -8.4175004959106445e+00)(-1.9045700073242188e+01 5.6419998407363892e-01 -1.1916000366210938e+01)(-1.9045700073242188e+01 -7.9164004325866699e+00 -8.4175004959106445e+00)(-1.9045700073242188e+01 -1.1414900779724121e+01 2.8599999845027924e-02)(-1.9045700073242188e+01 -7.9164004325866699e+00 8.4746999740600586e+00)(-1.9045700073242188e+01 5.6419998407363892e-01 1.1973200798034668e+01)(-1.9045700073242188e+01 8.9758005142211914e+00 8.4746999740600586e+00)(-2.0874500274658203e+01 1.2474300384521484e+01 2.8599999845027924e-02)(-2.0874399185180664e+01 8.9758005142211914e+00 -8.4175004959106445e+00)(-2.0874399185180664e+01 5.6419998407363892e-01 -1.1916000366210938e+01)(-2.0874399185180664e+01 -7.9164004325866699e+00 -8.4175004959106445e+00)(-2.0874500274658203e+01 -1.1414900779724121e+01 2.8599999845027924e-02)(-2.0874500274658203e+01 -7.9164004325866699e+00 8.4746999740600586e+00)(-2.0874500274658203e+01 5.6419998407363892e-01 1.1973200798034668e+01)(-2.0874500274658203e+01 8.9758005142211914e+00 8.4746999740600586e+00)(-2.2192998886108398e+01 5.6419998407363892e-01 -1.0805900573730469e+01)(-2.2192998886108398e+01 5.6419998407363892e-01 1.1000200271606445e+01)(-2.0874500274658203e+01 5.6419998407363892e-01 1.1000200271606445e+01)(-2.0874399185180664e+01 5.6419998407363892e-01 -1.0805900573730469e+01)(-2.0874399185180664e+01 -2.9476600646972656e+01 -1.0805900573730469e+01)(-2.0874500274658203e+01 -2.9476600646972656e+01 1.1000200271606445e+01)(-2.2192998886108398e+01 -3.0868400573730469e+01 1.1000200271606445e+01)(-2.2192998886108398e+01 -3.0868400573730469e+01 -1.0805900573730469e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 80 -> 9 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector 2.2193400189280510e+01 -3.0868399888277054e+01 -1.0805100202560425e+01) (float-vector 2.0874800160527229e+01 5.6419998873025179e-01 -1.1915300041437149e+01) (float-vector -2.0874399691820145e+01 5.6419998873025179e-01 -1.1916000396013260e+01) (float-vector -2.2192999720573425e+01 -3.0868399888277054e+01 -1.0805900208652020e+01)))
    (instance face :init :vertices (list (float-vector -2.2192999720573425e+01 -3.0868399888277054e+01 1.1000200174748898e+01) (float-vector -2.0874500274658203e+01 5.6419998873025179e-01 1.1973200365900993e+01) (float-vector 2.0874099805951118e+01 5.6419998873025179e-01 1.1973899789154530e+01) (float-vector 2.2192699834704399e+01 -3.0868399888277054e+01 1.1001000180840492e+01)))
    (instance face :init :vertices (list (float-vector 2.2193400189280510e+01 -3.0868399888277054e+01 -1.0805100202560425e+01) (float-vector -2.2192999720573425e+01 -3.0868399888277054e+01 -1.0805900208652020e+01) (float-vector -2.2192999720573425e+01 -3.0868399888277054e+01 1.1000200174748898e+01) (float-vector 2.2192699834704399e+01 -3.0868399888277054e+01 1.1001000180840492e+01)))
    (instance face :init :vertices (list (float-vector 2.0874099805951118e+01 5.6419998873025179e-01 1.1973899789154530e+01) (float-vector 1.9045399501919746e+01 8.9758001267910004e+00 8.4753995761275291e+00) (float-vector 2.0874399691820145e+01 1.2474300339818001e+01 2.9299999368959107e-02) (float-vector 2.0874699577689171e+01 8.9758001267910004e+00 -8.4167998284101486e+00) (float-vector 2.0874800160527229e+01 5.6419998873025179e-01 -1.1915300041437149e+01) (float-vector 2.2193400189280510e+01 -3.0868399888277054e+01 -1.0805100202560425e+01) (float-vector 2.2192699834704399e+01 -3.0868399888277054e+01 1.1001000180840492e+01)))
    (instance face :init :vertices (list (float-vector 2.0874699577689171e+01 8.9758001267910004e+00 -8.4167998284101486e+00) (float-vector 2.0874399691820145e+01 1.2474300339818001e+01 2.9299999368959107e-02) (float-vector -1.9045699387788773e+01 1.2474300339818001e+01 2.8599999495781958e-02) (float-vector -1.9045699387788773e+01 8.9758001267910004e+00 -8.4175001829862595e+00)))
    (instance face :init :vertices (list (float-vector 2.0874699577689171e+01 8.9758001267910004e+00 -8.4167998284101486e+00) (float-vector -1.9045699387788773e+01 8.9758001267910004e+00 -8.4175001829862595e+00) (float-vector -2.0874399691820145e+01 5.6419998873025179e-01 -1.1916000396013260e+01) (float-vector 2.0874800160527229e+01 5.6419998873025179e-01 -1.1915300041437149e+01)))
    (instance face :init :vertices (list (float-vector -2.0874399691820145e+01 5.6419998873025179e-01 -1.1916000396013260e+01) (float-vector -1.9045699387788773e+01 8.9758001267910004e+00 -8.4175001829862595e+00) (float-vector -1.9045699387788773e+01 1.2474300339818001e+01 2.8599999495781958e-02) (float-vector -2.0874500274658203e+01 8.9758001267910004e+00 8.4747001528739929e+00) (float-vector -2.0874500274658203e+01 5.6419998873025179e-01 1.1973200365900993e+01) (float-vector -2.2192999720573425e+01 -3.0868399888277054e+01 1.1000200174748898e+01) (float-vector -2.2192999720573425e+01 -3.0868399888277054e+01 -1.0805900208652020e+01)))
    (instance face :init :vertices (list (float-vector -2.0874500274658203e+01 8.9758001267910004e+00 8.4747001528739929e+00) (float-vector 1.9045399501919746e+01 8.9758001267910004e+00 8.4753995761275291e+00) (float-vector 2.0874099805951118e+01 5.6419998873025179e-01 1.1973899789154530e+01) (float-vector -2.0874500274658203e+01 5.6419998873025179e-01 1.1973200365900993e+01)))
    (instance face :init :vertices (list (float-vector -2.0874500274658203e+01 8.9758001267910004e+00 8.4747001528739929e+00) (float-vector -1.9045699387788773e+01 1.2474300339818001e+01 2.8599999495781958e-02) (float-vector 2.0874399691820145e+01 1.2474300339818001e+01 2.9299999368959107e-02) (float-vector 1.9045399501919746e+01 8.9758001267910004e+00 8.4753995761275291e+00)))
    ))
   )
  )

(defclass DARWIN_g1_2_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_2_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.301961 0.301961 0.301961 1.000000))
           ))
           (list :indices #i( 18 16 14 15 17 19 20 18 14 15 19 21 20 14 12 13 15 21 22 20 12 13 21 23 24 22 12 13 23 25 24 12 10 11 13 25 197 24 10 11 25 198 197 10 8 9 11 198 197 8 6 7 9 198 199 197 6 7 198 200 199 6 4 5 7 200 199 4 2 3 5 200 187 48 185 186 49 188 122 48 187 188 49 123 124 122 187 188 123 125 124 187 189 190 188 125 126 124 189 190 125 127 126 189 191 192 190 127 126 191 193 194 192 127 128 126 193 194 127 129 130 128 193 194 129 131 130 193 195 196 194 131 116 138 137 137 138 117 34 118 116 117 119 35 114 116 137 137 117 115 181 116 114 115 117 182 34 116 181 182 117 35 183 34 181 182 35 184 179 181 114 115 182 180 16 181 179 180 182 17 114 137 136 136 137 115 112 114 136 136 115 113 179 114 112 113 115 180 177 179 112 113 180 178 14 179 177 178 180 15 16 179 14 15 180 17 112 136 135 135 136 113 110 112 135 135 113 111 177 112 110 111 113 178 12 14 177 178 15 13 175 177 110 111 178 176 12 177 175 176 178 13 10 12 175 176 13 11 110 135 134 134 135 111 108 110 134 134 111 109 175 110 108 109 111 176 173 175 108 109 176 174 10 175 173 174 176 11 8 10 173 174 11 9 108 134 133 133 134 109 106 108 133 133 109 107 173 108 106 107 109 174 171 173 106 107 174 172 8 173 171 172 174 9 6 8 171 172 9 7 169 171 106 107 172 170 6 171 169 170 172 7 104 106 133 133 107 105 169 106 104 105 107 170 4 6 169 170 7 5 104 133 132 132 133 105 167 4 169 170 5 168 167 169 104 105 170 168 102 104 132 132 105 103 167 104 102 103 105 168 102 132 156 156 132 103 165 167 102 103 168 166 100 165 102 103 166 101 118 30 139 139 31 119 32 30 118 119 31 33 118 139 138 138 139 119 116 118 138 138 119 117 32 118 34 35 119 33 34 183 36 37 184 35 36 183 38 39 184 37 18 38 183 184 39 19 18 40 38 39 41 19 44 185 46 47 186 45 46 185 48 49 186 47 28 139 30 31 139 29 140 139 28 29 139 140 140 28 58 59 29 140 141 140 58 59 140 141 141 58 56 57 59 141 142 141 56 57 141 142 142 56 54 55 57 142 143 54 52 53 55 143 142 54 143 143 55 142 52 120 143 143 121 53 50 120 52 53 121 51 48 122 120 121 123 49 50 48 120 121 49 51 122 205 120 121 206 123 122 203 205 206 204 123 122 201 203 204 202 123 124 146 145 145 146 125 126 146 124 125 146 127 128 146 126 127 146 129 128 147 146 146 147 129 201 145 144 144 145 202 122 145 201 202 145 123 124 145 122 123 145 125 100 154 98 99 154 101 100 155 154 154 155 101 102 155 100 101 155 103 102 156 155 155 156 103 163 2 165 166 3 164 0 2 163 164 3 1 195 199 26 27 200 196 157 195 26 27 196 158 130 195 157 158 196 131 161 163 98 99 164 162 0 163 161 162 164 1 94 130 157 158 131 95 161 98 96 97 99 162 26 0 161 162 1 27 159 161 96 97 162 160 26 161 159 160 162 27 157 26 159 160 27 158 157 159 96 97 160 158 94 157 96 97 158 95 2 4 167 168 5 3 165 2 167 168 3 166 94 96 98 99 97 95 0 26 199 200 27 1 0 199 2 3 200 1 120 205 207 208 206 121 120 207 143 143 208 121 16 18 183 184 19 17 16 183 181 182 184 17 44 209 185 186 210 45 189 213 191 192 214 190 193 215 195 196 216 194 130 224 128 129 225 131 130 150 224 225 151 131 130 219 150 151 220 131 130 152 219 220 153 131 94 98 221 222 99 95 152 94 221 222 95 153 152 130 94 95 131 153 221 98 154 154 99 222 221 154 223 223 154 222 152 221 223 223 222 153 152 223 149 149 223 153 219 152 218 218 153 220 152 149 218 218 149 153 150 219 148 148 220 151 219 218 148 148 218 220 224 150 217 217 151 225 150 148 217 217 148 151 128 224 217 217 225 129 128 217 147 147 217 129 197 199 215 216 200 198 199 195 215 216 196 200 191 213 215 216 214 192 191 215 193 194 216 192 187 211 189 190 212 188 211 213 189 190 214 212 185 209 211 212 210 186 185 211 187 188 212 186 20 209 42 43 210 21 209 44 42 43 45 210 18 20 40 41 21 19 20 42 40 41 43 21 24 197 215 216 198 25 24 215 213 214 216 25 22 24 211 212 25 23 24 213 211 212 214 25 20 22 209 210 23 21 22 211 209 210 212 23 98 163 165 166 164 99 98 165 100 101 166 99))
           (list :vertices #2f((3.9230499267578125e+01 2.2101800918579102e+01 -5.7064498901367188e+01)(-3.9230499267578125e+01 2.2101800918579102e+01 -5.7064498901367188e+01)(4.0592201232910156e+01 1.5209899902343750e+01 -4.0174800872802734e+01)(-4.0592201232910156e+01 1.5209899902343750e+01 -4.0174800872802734e+01)(4.1135501861572266e+01 8.1424999237060547e+00 -3.3436298370361328e+01)(-4.1135501861572266e+01 8.1424999237060547e+00 -3.3436298370361328e+01)(4.1629398345947266e+01 -7.6870000362396240e-01 -2.7310300827026367e+01)(-4.1629398345947266e+01 -7.6870000362396240e-01 -2.7310300827026367e+01)(4.2407299041748047e+01 -7.2214999198913574e+00 -1.7662099838256836e+01)(-4.2407299041748047e+01 -7.2214999198913574e+00 -1.7662099838256836e+01)(4.3340103149414062e+01 -8.6732006072998047e+00 -6.0919003486633301e+00)(-4.3340103149414062e+01 -8.6732006072998047e+00 -6.0919003486633301e+00)(4.4197002410888672e+01 -6.1456003189086914e+00 4.5363001823425293e+00)(-4.4197002410888672e+01 -6.1456003189086914e+00 4.5363001823425293e+00)(4.4954502105712891e+01 6.5320003032684326e-01 1.3931699752807617e+01)(-4.4954502105712891e+01 6.5320003032684326e-01 1.3931699752807617e+01)(4.5251399993896484e+01 1.0862199783325195e+01 1.7614299774169922e+01)(-4.5251399993896484e+01 1.0862199783325195e+01 1.7614299774169922e+01)(4.5251399993896484e+01 2.1256401062011719e+01 1.7614099502563477e+01)(-4.5251399993896484e+01 2.1256401062011719e+01 1.7614099502563477e+01)(4.4905700683593750e+01 3.0062700271606445e+01 1.3752799987792969e+01)(-4.4905700683593750e+01 3.0062700271606445e+01 1.3752799987792969e+01)(4.4250701904296875e+01 3.5397899627685547e+01 5.2024002075195312e+00)(-4.4250701904296875e+01 3.5397899627685547e+01 5.2024002075195312e+00)(4.3384899139404297e+01 3.8103199005126953e+01 -5.5371999740600586e+00)(-4.3384899139404297e+01 3.8103199005126953e+01 -5.5371999740600586e+00)(3.8476001739501953e+01 3.6336196899414062e+01 -6.6423294067382812e+01)(-3.8476001739501953e+01 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           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 226 -> 54 faces
   (instance faceset :init :faces (list
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    (instance face :init :vertices (list (float-vector 1.9516799598932266e+01 6.0201000422239304e+01 -1.8916500732302666e+01) (float-vector 2.7498800307512283e+01 5.4967001080513000e+01 2.6082000695168972e+00) (float-vector 0.0000000000000000e+00 6.0971599072217941e+01 1.0753200389444828e+01)))
    (instance face :init :vertices (list (float-vector 2.7498800307512283e+01 5.4967001080513000e+01 2.6082000695168972e+00) (float-vector 1.9516799598932266e+01 6.0201000422239304e+01 -1.8916500732302666e+01) (float-vector 2.7669299393892288e+01 5.4336499422788620e+01 -2.4478599429130554e+01) (float-vector 3.6887198686599731e+01 4.7700900584459305e+01 -2.2338998969644308e+00)))
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    (instance face :init :vertices (list (float-vector 3.2729301601648331e+01 -1.4282899908721447e+01 -2.4364599958062172e+01) (float-vector 3.3460598438978195e+01 -1.7121499404311180e+01 -2.5047000963240862e+00) (float-vector 3.4875798970460892e+01 -1.1917600408196449e+01 1.0510999709367752e+01) (float-vector 4.4197000563144684e+01 -6.1456002295017242e+00 4.5362999662756920e+00) (float-vector 4.2407300323247910e+01 -7.2214999236166477e+00 -1.7662100493907928e+01)))
    (instance face :init :vertices (list (float-vector 1.8697300925850868e+01 -1.2160900048911572e+01 -3.9449799805879593e+01) (float-vector 2.0790800452232361e+01 -1.9475599750876427e+01 -2.6618499308824539e+01) (float-vector 3.2729301601648331e+01 -1.4282899908721447e+01 -2.4364599958062172e+01) (float-vector 3.9230499416589737e+01 2.2101800888776779e+01 -5.7064499706029892e+01) (float-vector 1.8425500020384789e+01 -9.9169998429715633e-01 -5.1584001630544662e+01)))
    (instance face :init :vertices (list (float-vector 0.0000000000000000e+00 -2.2019000723958015e+01 -1.8099999579135329e-02) (float-vector 3.3460598438978195e+01 -1.7121499404311180e+01 -2.5047000963240862e+00) (float-vector 3.2729301601648331e+01 -1.4282899908721447e+01 -2.4364599958062172e+01) (float-vector 2.0790800452232361e+01 -1.9475599750876427e+01 -2.6618499308824539e+01) (float-vector 0.0000000000000000e+00 -2.1346600726246834e+01 -2.7811899781227112e+01) (float-vector -1.8575899302959442e+01 -2.1181799471378326e+01 -1.4515999704599380e+01)))
    (instance face :init :vertices (list (float-vector -3.6887198686599731e+01 4.7700900584459305e+01 -2.2338998969644308e+00) (float-vector -2.7498800307512283e+01 5.4967001080513000e+01 2.6082000695168972e+00) (float-vector -2.6948500424623489e+01 4.6165499836206436e+01 2.3225000128149986e+01) (float-vector -4.4905699789524078e+01 3.0062699690461159e+01 1.3752800412476063e+01) (float-vector -4.4250700622797012e+01 3.5397898405790329e+01 5.2024000324308872e+00)))
    (instance face :init :vertices (list (float-vector -1.9516799598932266e+01 6.0201000422239304e+01 -1.8916500732302666e+01) (float-vector -2.7498800307512283e+01 5.4967001080513000e+01 2.6082000695168972e+00) (float-vector -3.6887198686599731e+01 4.7700900584459305e+01 -2.2338998969644308e+00) (float-vector -3.8476001471281052e+01 3.6336198449134827e+01 -6.6423296928405762e+01) (float-vector -1.9517799839377403e+01 4.6431500464677811e+01 -7.9550802707672119e+01)))
    (instance face :init :vertices (list (float-vector -3.6887198686599731e+01 4.7700900584459305e+01 -2.2338998969644308e+00) (float-vector -4.4250700622797012e+01 3.5397898405790329e+01 5.2024000324308872e+00) (float-vector -3.8476001471281052e+01 3.6336198449134827e+01 -6.6423296928405762e+01)))
    ))
   )
  )

(defclass DARWIN_g1_2_geom1
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_2_geom1
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.140000 0.140000 0.140000 1.000000))
           ))
           (list :indices #i( 62 92 60 61 93 63 64 92 62 63 93 65 66 92 64 65 93 67 68 92 66 67 93 69 70 92 68 69 93 71 72 92 70 71 93 73 74 92 72 73 93 75 76 92 74 75 93 77 78 92 76 77 93 79 80 92 78 79 93 81 82 92 80 81 93 83 84 92 82 83 93 85 86 92 84 85 93 87 88 92 86 87 93 89 90 92 88 89 93 91 60 92 90 91 93 61))
           (list :vertices #2f((3.9230499267578125e+01 2.2101800918579102e+01 -5.7064498901367188e+01)(-3.9230499267578125e+01 2.2101800918579102e+01 -5.7064498901367188e+01)(4.0592201232910156e+01 1.5209899902343750e+01 -4.0174800872802734e+01)(-4.0592201232910156e+01 1.5209899902343750e+01 -4.0174800872802734e+01)(4.1135501861572266e+01 8.1424999237060547e+00 -3.3436298370361328e+01)(-4.1135501861572266e+01 8.1424999237060547e+00 -3.3436298370361328e+01)(4.1629398345947266e+01 -7.6870000362396240e-01 -2.7310300827026367e+01)(-4.1629398345947266e+01 -7.6870000362396240e-01 -2.7310300827026367e+01)(4.2407299041748047e+01 -7.2214999198913574e+00 -1.7662099838256836e+01)(-4.2407299041748047e+01 -7.2214999198913574e+00 -1.7662099838256836e+01)(4.3340103149414062e+01 -8.6732006072998047e+00 -6.0919003486633301e+00)(-4.3340103149414062e+01 -8.6732006072998047e+00 -6.0919003486633301e+00)(4.4197002410888672e+01 -6.1456003189086914e+00 4.5363001823425293e+00)(-4.4197002410888672e+01 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           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 226 -> 54 faces
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    (instance face :init :vertices (list (float-vector 0.0000000000000000e+00 -6.1623998917639256e+00 2.6557400822639465e+01) (float-vector 0.0000000000000000e+00 -1.5655599534511566e+01 1.5435899607837200e+01) (float-vector -3.4875798970460892e+01 -1.1917600408196449e+01 1.0510999709367752e+01) (float-vector -3.0369099229574203e+01 1.4045999851077795e+00 2.7617400512099266e+01)))
    (instance face :init :vertices (list (float-vector 3.4875798970460892e+01 -1.1917600408196449e+01 1.0510999709367752e+01) (float-vector 0.0000000000000000e+00 -1.5655599534511566e+01 1.5435899607837200e+01) (float-vector 0.0000000000000000e+00 -6.1623998917639256e+00 2.6557400822639465e+01) (float-vector 0.0000000000000000e+00 7.4754999950528145e+00 3.7886399775743484e+01) (float-vector 1.6489300876855850e+01 6.6883000545203686e+00 3.4974098205566406e+01) (float-vector 3.5207301378250122e+01 -3.9471997879445553e+00 2.1215500310063362e+01)))
    (instance face :init :vertices (list (float-vector 2.6948500424623489e+01 4.6165499836206436e+01 2.3225000128149986e+01) (float-vector 3.6957900971174240e+01 2.7014499530196190e+01 2.4146599695086479e+01) (float-vector 2.0130900666117668e+01 1.8738400191068649e+01 3.4924298524856567e+01) (float-vector 1.0121500119566917e+01 3.7889398634433746e+01 3.4002598375082016e+01)))
    (instance face :init :vertices (list (float-vector 4.5251399278640747e+01 1.0862199589610100e+01 1.7614299431443214e+01) (float-vector 3.5207301378250122e+01 -3.9471997879445553e+00 2.1215500310063362e+01) (float-vector 1.6489300876855850e+01 6.6883000545203686e+00 3.4974098205566406e+01) (float-vector 2.0130900666117668e+01 1.8738400191068649e+01 3.4924298524856567e+01) (float-vector 3.6957900971174240e+01 2.7014499530196190e+01 2.4146599695086479e+01) (float-vector 4.5251399278640747e+01 2.1256400272250175e+01 1.7614100128412247e+01)))
    (instance face :init :vertices (list (float-vector 4.5251399278640747e+01 2.1256400272250175e+01 1.7614100128412247e+01) (float-vector 3.6957900971174240e+01 2.7014499530196190e+01 2.4146599695086479e+01) (float-vector 2.6948500424623489e+01 4.6165499836206436e+01 2.3225000128149986e+01) (float-vector 4.4905699789524078e+01 3.0062699690461159e+01 1.3752800412476063e+01)))
    (instance face :init :vertices (list (float-vector -1.2045400217175484e+01 6.0519501566886902e+01 4.6780998818576336e+00) (float-vector -2.7498800307512283e+01 5.4967001080513000e+01 2.6082000695168972e+00) (float-vector -1.9516799598932266e+01 6.0201000422239304e+01 -1.8916500732302666e+01)))
    (instance face :init :vertices (list (float-vector -4.9843001179397106e+00 5.1013000309467316e+01 2.5881299749016762e+01) (float-vector -2.6948500424623489e+01 4.6165499836206436e+01 2.3225000128149986e+01) (float-vector -2.7498800307512283e+01 5.4967001080513000e+01 2.6082000695168972e+00) (float-vector -1.2045400217175484e+01 6.0519501566886902e+01 4.6780998818576336e+00) (float-vector 0.0000000000000000e+00 6.0971599072217941e+01 1.0753200389444828e+01) (float-vector 8.9779999107122421e+00 5.4020799696445465e+01 2.1885499358177185e+01)))
    (instance face :init :vertices (list (float-vector -2.2567499428987503e+01 3.2575901597738266e+01 -7.3540002107620239e+01) (float-vector -1.8425500020384789e+01 -9.9169998429715633e-01 -5.1584001630544662e+01) (float-vector 1.8425500020384789e+01 -9.9169998429715633e-01 -5.1584001630544662e+01) (float-vector 2.2567499428987503e+01 3.2575901597738266e+01 -7.3540002107620239e+01)))
    (instance face :init :vertices (list (float-vector -1.8425500020384789e+01 -9.9169998429715633e-01 -5.1584001630544662e+01) (float-vector -3.9230499416589737e+01 2.2101800888776779e+01 -5.7064499706029892e+01) (float-vector -3.2729301601648331e+01 -1.4282899908721447e+01 -2.4364599958062172e+01) (float-vector -2.0790800452232361e+01 -1.9475599750876427e+01 -2.6618499308824539e+01)))
    (instance face :init :vertices (list (float-vector -3.8476001471281052e+01 3.6336198449134827e+01 -6.6423296928405762e+01) (float-vector -3.9230499416589737e+01 2.2101800888776779e+01 -5.7064499706029892e+01) (float-vector -1.8425500020384789e+01 -9.9169998429715633e-01 -5.1584001630544662e+01) (float-vector -2.2567499428987503e+01 3.2575901597738266e+01 -7.3540002107620239e+01)))
    (instance face :init :vertices (list (float-vector 0.0000000000000000e+00 -2.1346600726246834e+01 -2.7811899781227112e+01) (float-vector 1.8697300925850868e+01 -1.2160900048911572e+01 -3.9449799805879593e+01) (float-vector 1.8425500020384789e+01 -9.9169998429715633e-01 -5.1584001630544662e+01) (float-vector -1.8425500020384789e+01 -9.9169998429715633e-01 -5.1584001630544662e+01) (float-vector -2.0790800452232361e+01 -1.9475599750876427e+01 -2.6618499308824539e+01)))
    (instance face :init :vertices (list (float-vector -3.0369099229574203e+01 1.4045999851077795e+00 2.7617400512099266e+01) (float-vector -4.4954501092433929e+01 6.5320002613589168e-01 1.3931700028479099e+01) (float-vector -4.5251399278640747e+01 1.0862199589610100e+01 1.7614299431443214e+01)))
    (instance face :init :vertices (list (float-vector -4.5251399278640747e+01 1.0862199589610100e+01 1.7614299431443214e+01) (float-vector -4.4954501092433929e+01 6.5320002613589168e-01 1.3931700028479099e+01) (float-vector -4.4197000563144684e+01 -6.1456002295017242e+00 4.5362999662756920e+00) (float-vector -4.2407300323247910e+01 -7.2214999236166477e+00 -1.7662100493907928e+01) (float-vector -3.9230499416589737e+01 2.2101800888776779e+01 -5.7064499706029892e+01) (float-vector -3.8476001471281052e+01 3.6336198449134827e+01 -6.6423296928405762e+01) (float-vector -4.4250700622797012e+01 3.5397898405790329e+01 5.2024000324308872e+00) (float-vector -4.4905699789524078e+01 3.0062699690461159e+01 1.3752800412476063e+01)))
    (instance face :init :vertices (list (float-vector -4.4197000563144684e+01 -6.1456002295017242e+00 4.5362999662756920e+00) (float-vector -4.4954501092433929e+01 6.5320002613589168e-01 1.3931700028479099e+01) (float-vector -3.0369099229574203e+01 1.4045999851077795e+00 2.7617400512099266e+01) (float-vector -3.4875798970460892e+01 -1.1917600408196449e+01 1.0510999709367752e+01)))
    (instance face :init :vertices (list (float-vector -3.3460598438978195e+01 -1.7121499404311180e+01 -2.5047000963240862e+00) (float-vector 0.0000000000000000e+00 -2.2019000723958015e+01 -1.8099999579135329e-02) (float-vector -1.8575899302959442e+01 -2.1181799471378326e+01 -1.4515999704599380e+01)))
    (instance face :init :vertices (list (float-vector -3.3460598438978195e+01 -1.7121499404311180e+01 -2.5047000963240862e+00) (float-vector -3.4875798970460892e+01 -1.1917600408196449e+01 1.0510999709367752e+01) (float-vector 0.0000000000000000e+00 -1.5655599534511566e+01 1.5435899607837200e+01) (float-vector 0.0000000000000000e+00 -2.2019000723958015e+01 -1.8099999579135329e-02)))
    (instance face :init :vertices (list (float-vector -3.3460598438978195e+01 -1.7121499404311180e+01 -2.5047000963240862e+00) (float-vector -1.8575899302959442e+01 -2.1181799471378326e+01 -1.4515999704599380e+01) (float-vector -2.0790800452232361e+01 -1.9475599750876427e+01 -2.6618499308824539e+01) (float-vector -3.2729301601648331e+01 -1.4282899908721447e+01 -2.4364599958062172e+01)))
    (instance face :init :vertices (list (float-vector -3.4875798970460892e+01 -1.1917600408196449e+01 1.0510999709367752e+01) (float-vector -3.3460598438978195e+01 -1.7121499404311180e+01 -2.5047000963240862e+00) (float-vector -3.2729301601648331e+01 -1.4282899908721447e+01 -2.4364599958062172e+01) (float-vector -4.2407300323247910e+01 -7.2214999236166477e+00 -1.7662100493907928e+01) (float-vector -4.4197000563144684e+01 -6.1456002295017242e+00 4.5362999662756920e+00)))
    (instance face :init :vertices (list (float-vector 3.9230499416589737e+01 2.2101800888776779e+01 -5.7064499706029892e+01) (float-vector 3.2729301601648331e+01 -1.4282899908721447e+01 -2.4364599958062172e+01) (float-vector 4.2407300323247910e+01 -7.2214999236166477e+00 -1.7662100493907928e+01)))
    (instance face :init :vertices (list (float-vector 3.2729301601648331e+01 -1.4282899908721447e+01 -2.4364599958062172e+01) (float-vector 3.3460598438978195e+01 -1.7121499404311180e+01 -2.5047000963240862e+00) (float-vector 3.4875798970460892e+01 -1.1917600408196449e+01 1.0510999709367752e+01) (float-vector 4.4197000563144684e+01 -6.1456002295017242e+00 4.5362999662756920e+00) (float-vector 4.2407300323247910e+01 -7.2214999236166477e+00 -1.7662100493907928e+01)))
    (instance face :init :vertices (list (float-vector 1.8697300925850868e+01 -1.2160900048911572e+01 -3.9449799805879593e+01) (float-vector 2.0790800452232361e+01 -1.9475599750876427e+01 -2.6618499308824539e+01) (float-vector 3.2729301601648331e+01 -1.4282899908721447e+01 -2.4364599958062172e+01) (float-vector 3.9230499416589737e+01 2.2101800888776779e+01 -5.7064499706029892e+01) (float-vector 1.8425500020384789e+01 -9.9169998429715633e-01 -5.1584001630544662e+01)))
    (instance face :init :vertices (list (float-vector 0.0000000000000000e+00 -2.2019000723958015e+01 -1.8099999579135329e-02) (float-vector 3.3460598438978195e+01 -1.7121499404311180e+01 -2.5047000963240862e+00) (float-vector 3.2729301601648331e+01 -1.4282899908721447e+01 -2.4364599958062172e+01) (float-vector 2.0790800452232361e+01 -1.9475599750876427e+01 -2.6618499308824539e+01) (float-vector 0.0000000000000000e+00 -2.1346600726246834e+01 -2.7811899781227112e+01) (float-vector -1.8575899302959442e+01 -2.1181799471378326e+01 -1.4515999704599380e+01)))
    (instance face :init :vertices (list (float-vector -3.6887198686599731e+01 4.7700900584459305e+01 -2.2338998969644308e+00) (float-vector -2.7498800307512283e+01 5.4967001080513000e+01 2.6082000695168972e+00) (float-vector -2.6948500424623489e+01 4.6165499836206436e+01 2.3225000128149986e+01) (float-vector -4.4905699789524078e+01 3.0062699690461159e+01 1.3752800412476063e+01) (float-vector -4.4250700622797012e+01 3.5397898405790329e+01 5.2024000324308872e+00)))
    (instance face :init :vertices (list (float-vector -1.9516799598932266e+01 6.0201000422239304e+01 -1.8916500732302666e+01) (float-vector -2.7498800307512283e+01 5.4967001080513000e+01 2.6082000695168972e+00) (float-vector -3.6887198686599731e+01 4.7700900584459305e+01 -2.2338998969644308e+00) (float-vector -3.8476001471281052e+01 3.6336198449134827e+01 -6.6423296928405762e+01) (float-vector -1.9517799839377403e+01 4.6431500464677811e+01 -7.9550802707672119e+01)))
    (instance face :init :vertices (list (float-vector -3.6887198686599731e+01 4.7700900584459305e+01 -2.2338998969644308e+00) (float-vector -4.4250700622797012e+01 3.5397898405790329e+01 5.2024000324308872e+00) (float-vector -3.8476001471281052e+01 3.6336198449134827e+01 -6.6423296928405762e+01)))
    ))
   )
  )

(defclass DARWIN_g1_2_geom2
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_2_geom2
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000))
             (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000))
           ))
           (list :indices #i( 0 8 1 9 0 1 1 8 6 7 9 1 1 6 4 5 7 1 1 4 2 3 5 1))
           (list :vertices #2f((0.0000000000000000e+00 4.8854598999023438e+01 2.8577899932861328e+01)(0.0000000000000000e+00 5.7406002044677734e+01 1.8059900283813477e+01)(7.0464000701904297e+00 5.7378097534179688e+01 1.7279998779296875e+01)(-7.0464000701904297e+00 5.7378097534179688e+01 1.7279998779296875e+01)(8.3894004821777344e+00 5.5985801696777344e+01 1.9199001312255859e+01)(-8.3894004821777344e+00 5.5985801696777344e+01 1.9199001312255859e+01)(8.9779996871948242e+00 5.4020801544189453e+01 2.1885499954223633e+01)(-8.9779996871948242e+00 5.4020801544189453e+01 2.1885499954223633e+01)(4.9843001365661621e+00 5.1013000488281250e+01 2.5881299972534180e+01)(-4.9843001365661621e+00 5.1013000488281250e+01 2.5881299972534180e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 10 -> 4 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector 0.0000000000000000e+00 4.8854600638151169e+01 2.8577899560332298e+01) (float-vector 8.9779999107122421e+00 5.4020799696445465e+01 2.1885499358177185e+01) (float-vector -8.9779999107122421e+00 5.4020799696445465e+01 2.1885499358177185e+01)))
    (instance face :init :vertices (list (float-vector 8.9779999107122421e+00 5.4020799696445465e+01 2.1885499358177185e+01) (float-vector 0.0000000000000000e+00 5.7406000792980194e+01 1.8059900030493736e+01) (float-vector -8.9779999107122421e+00 5.4020799696445465e+01 2.1885499358177185e+01)))
    (instance face :init :vertices (list (float-vector 0.0000000000000000e+00 5.7406000792980194e+01 1.8059900030493736e+01) (float-vector 0.0000000000000000e+00 4.8854600638151169e+01 2.8577899560332298e+01) (float-vector -8.9779999107122421e+00 5.4020799696445465e+01 2.1885499358177185e+01)))
    (instance face :init :vertices (list (float-vector 0.0000000000000000e+00 4.8854600638151169e+01 2.8577899560332298e+01) (float-vector 0.0000000000000000e+00 5.7406000792980194e+01 1.8059900030493736e+01) (float-vector 8.9779999107122421e+00 5.4020799696445465e+01 2.1885499358177185e+01)))
    ))
   )
  )

(defclass DARWIN_g1_2_geom3
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_2_geom3
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000))
             (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000))
           ))
           (list :indices #i( 0 32 62 63 33 1 0 62 30 31 63 1 0 2 34 35 3 1 0 34 32 33 35 1 2 4 36 37 5 3 2 36 34 35 37 3 6 8 40 41 9 7 6 40 38 39 41 7 8 10 42 43 11 9 8 42 40 41 43 9 10 12 44 45 13 11 10 44 42 43 45 11 14 16 48 49 17 15 14 48 46 47 49 15 16 18 50 51 19 17 16 50 48 49 51 17 18 20 52 53 21 19 18 52 50 51 53 19 22 24 56 57 25 23 22 56 54 55 57 23 24 26 58 59 27 25 24 58 56 57 59 25 26 28 60 61 29 27 26 60 58 59 61 27 28 30 62 63 31 29 28 62 60 61 63 29 4 6 38 39 7 5 4 38 36 37 39 5 12 14 46 47 15 13 12 46 44 45 47 13 20 22 54 55 23 21 20 54 52 53 55 21))
           (list :vertices #2f((1.1641200065612793e+01 2.6599901199340820e+01 3.6695499420166016e+01)(-1.1641200065612793e+01 2.6599901199340820e+01 3.6695499420166016e+01)(1.5255399703979492e+01 2.1863199234008789e+01 3.6364799499511719e+01)(-1.5255399703979492e+01 2.1863199234008789e+01 3.6364799499511719e+01)(2.0130901336669922e+01 1.8738399505615234e+01 3.4924297332763672e+01)(-2.0130901336669922e+01 1.8738399505615234e+01 3.4924297332763672e+01)(2.5525299072265625e+01 1.7701499938964844e+01 3.2593101501464844e+01)(-2.5525299072265625e+01 1.7701499938964844e+01 3.2593101501464844e+01)(3.0617399215698242e+01 1.8910100936889648e+01 2.9726301193237305e+01)(-3.0617399215698242e+01 1.8910100936889648e+01 2.9726301193237305e+01)(3.4631999969482422e+01 2.2180400848388672e+01 2.6760299682617188e+01)(-3.4631999969482422e+01 2.2180400848388672e+01 2.6760299682617188e+01)(3.6957901000976562e+01 2.7014499664306641e+01 2.4146598815917969e+01)(-3.6957901000976562e+01 2.7014499664306641e+01 2.4146598815917969e+01)(3.7241001129150391e+01 3.2676300048828125e+01 2.2283199310302734e+01)(-3.7241001129150391e+01 3.2676300048828125e+01 2.2283199310302734e+01)(3.5438198089599609e+01 3.8304000854492188e+01 2.1453699111938477e+01)(-3.5438198089599609e+01 3.8304000854492188e+01 2.1453699111938477e+01)(3.1823900222778320e+01 4.3040802001953125e+01 2.1784400939941406e+01)(-3.1823900222778320e+01 4.3040802001953125e+01 2.1784400939941406e+01)(2.6948499679565430e+01 4.6165500640869141e+01 2.3225000381469727e+01)(-2.6948499679565430e+01 4.6165500640869141e+01 2.3225000381469727e+01)(2.1554100036621094e+01 4.7202400207519531e+01 2.5556100845336914e+01)(-2.1554100036621094e+01 4.7202400207519531e+01 2.5556100845336914e+01)(1.6461999893188477e+01 4.5993801116943359e+01 2.8422899246215820e+01)(-1.6461999893188477e+01 4.5993801116943359e+01 2.8422899246215820e+01)(1.2447400093078613e+01 4.2723499298095703e+01 3.1388900756835938e+01)(-1.2447400093078613e+01 4.2723499298095703e+01 3.1388900756835938e+01)(1.0121500015258789e+01 3.7889400482177734e+01 3.4002597808837891e+01)(-1.0121500015258789e+01 3.7889400482177734e+01 3.4002597808837891e+01)(9.8384008407592773e+00 3.2227600097656250e+01 3.5866001129150391e+01)(-9.8384008407592773e+00 3.2227600097656250e+01 3.5866001129150391e+01)(1.7441499710083008e+01 2.9452699661254883e+01 3.2980400085449219e+01)(-1.7441499710083008e+01 2.9452699661254883e+01 3.2980400085449219e+01)(1.9293901443481445e+01 2.7025100708007812e+01 3.2811000823974609e+01)(-1.9293901443481445e+01 2.7025100708007812e+01 3.2811000823974609e+01)(2.1792600631713867e+01 2.5423599243164062e+01 3.2072601318359375e+01)(-2.1792600631713867e+01 2.5423599243164062e+01 3.2072601318359375e+01)(2.4557300567626953e+01 2.4892099380493164e+01 3.0877899169921875e+01)(-2.4557300567626953e+01 2.4892099380493164e+01 3.0877899169921875e+01)(2.7167100906372070e+01 2.5511600494384766e+01 2.9408599853515625e+01)(-2.7167100906372070e+01 2.5511600494384766e+01 2.9408599853515625e+01)(2.9224699020385742e+01 2.7187700271606445e+01 2.7888498306274414e+01)(-2.9224699020385742e+01 2.7187700271606445e+01 2.7888498306274414e+01)(3.0416698455810547e+01 2.9665199279785156e+01 2.6548999786376953e+01)(-3.0416698455810547e+01 2.9665199279785156e+01 2.6548999786376953e+01)(3.0561800003051758e+01 3.2566902160644531e+01 2.5593898773193359e+01)(-3.0561800003051758e+01 3.2566902160644531e+01 2.5593898773193359e+01)(2.9637800216674805e+01 3.5451198577880859e+01 2.5168800354003906e+01)(-2.9637800216674805e+01 3.5451198577880859e+01 2.5168800354003906e+01)(2.7785499572753906e+01 3.7878902435302734e+01 2.5338298797607422e+01)(-2.7785499572753906e+01 3.7878902435302734e+01 2.5338298797607422e+01)(2.5286798477172852e+01 3.9480297088623047e+01 2.6076599121093750e+01)(-2.5286798477172852e+01 3.9480297088623047e+01 2.6076599121093750e+01)(2.2522001266479492e+01 4.0011802673339844e+01 2.7271301269531250e+01)(-2.2522001266479492e+01 4.0011802673339844e+01 2.7271301269531250e+01)(1.9912300109863281e+01 3.9392299652099609e+01 2.8740600585937500e+01)(-1.9912300109863281e+01 3.9392299652099609e+01 2.8740600585937500e+01)(1.7854700088500977e+01 3.7716300964355469e+01 3.0260700225830078e+01)(-1.7854700088500977e+01 3.7716300964355469e+01 3.0260700225830078e+01)(1.6662700653076172e+01 3.5238700866699219e+01 3.1600299835205078e+01)(-1.6662700653076172e+01 3.5238700866699219e+01 3.1600299835205078e+01)(1.6517599105834961e+01 3.2336997985839844e+01 3.2555301666259766e+01)(-1.6517599105834961e+01 3.2336997985839844e+01 3.2555301666259766e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 64 -> 9 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector -3.7241000682115555e+01 3.2676298171281815e+01 2.2283200174570084e+01) (float-vector -2.5525299832224846e+01 1.7701499164104462e+01 3.2593101263046265e+01) (float-vector 2.5525299832224846e+01 1.7701499164104462e+01 3.2593101263046265e+01) (float-vector 3.7241000682115555e+01 3.2676298171281815e+01 2.2283200174570084e+01)))
    (instance face :init :vertices (list (float-vector -3.1823899596929550e+01 4.3040800839662552e+01 2.1784400567412376e+01) (float-vector -3.7241000682115555e+01 3.2676298171281815e+01 2.2283200174570084e+01) (float-vector 3.7241000682115555e+01 3.2676298171281815e+01 2.2283200174570084e+01) (float-vector 3.1823899596929550e+01 4.3040800839662552e+01 2.1784400567412376e+01)))
    (instance face :init :vertices (list (float-vector -3.1823899596929550e+01 4.3040800839662552e+01 2.1784400567412376e+01) (float-vector 3.1823899596929550e+01 4.3040800839662552e+01 2.1784400567412376e+01) (float-vector 2.1554099395871162e+01 4.7202400863170624e+01 2.5556100532412529e+01) (float-vector -2.1554099395871162e+01 4.7202400863170624e+01 2.5556100532412529e+01)))
    (instance face :init :vertices (list (float-vector -1.2447400018572807e+01 4.2723499238491058e+01 3.1388901174068451e+01) (float-vector -2.1554099395871162e+01 4.7202400863170624e+01 2.5556100532412529e+01) (float-vector 2.1554099395871162e+01 4.7202400863170624e+01 2.5556100532412529e+01)))
    (instance face :init :vertices (list (float-vector -3.7241000682115555e+01 3.2676298171281815e+01 2.2283200174570084e+01) (float-vector -3.1823899596929550e+01 4.3040800839662552e+01 2.1784400567412376e+01) (float-vector -2.1554099395871162e+01 4.7202400863170624e+01 2.5556100532412529e+01) (float-vector -1.2447400018572807e+01 4.2723499238491058e+01 3.1388901174068451e+01) (float-vector -9.8384004086256027e+00 3.2227601855993271e+01 3.5865999758243561e+01) (float-vector -1.5255399979650974e+01 2.1863199770450592e+01 3.6364801228046417e+01) (float-vector -2.5525299832224846e+01 1.7701499164104462e+01 3.2593101263046265e+01)))
    (instance face :init :vertices (list (float-vector -9.8384004086256027e+00 3.2227601855993271e+01 3.5865999758243561e+01) (float-vector -1.2447400018572807e+01 4.2723499238491058e+01 3.1388901174068451e+01) (float-vector 2.1554099395871162e+01 4.7202400863170624e+01 2.5556100532412529e+01) (float-vector 9.8384004086256027e+00 3.2227601855993271e+01 3.5865999758243561e+01)))
    (instance face :init :vertices (list (float-vector 2.5525299832224846e+01 1.7701499164104462e+01 3.2593101263046265e+01) (float-vector 1.5255399979650974e+01 2.1863199770450592e+01 3.6364801228046417e+01) (float-vector 9.8384004086256027e+00 3.2227601855993271e+01 3.5865999758243561e+01) (float-vector 2.1554099395871162e+01 4.7202400863170624e+01 2.5556100532412529e+01) (float-vector 3.1823899596929550e+01 4.3040800839662552e+01 2.1784400567412376e+01) (float-vector 3.7241000682115555e+01 3.2676298171281815e+01 2.2283200174570084e+01)))
    (instance face :init :vertices (list (float-vector -1.5255399979650974e+01 2.1863199770450592e+01 3.6364801228046417e+01) (float-vector 1.5255399979650974e+01 2.1863199770450592e+01 3.6364801228046417e+01) (float-vector 2.5525299832224846e+01 1.7701499164104462e+01 3.2593101263046265e+01) (float-vector -2.5525299832224846e+01 1.7701499164104462e+01 3.2593101263046265e+01)))
    (instance face :init :vertices (list (float-vector 9.8384004086256027e+00 3.2227601855993271e+01 3.5865999758243561e+01) (float-vector 1.5255399979650974e+01 2.1863199770450592e+01 3.6364801228046417e+01) (float-vector -1.5255399979650974e+01 2.1863199770450592e+01 3.6364801228046417e+01) (float-vector -9.8384004086256027e+00 3.2227601855993271e+01 3.5865999758243561e+01)))
    ))
   )
  )

(defclass DARWIN_g1_2_geom4
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_2_geom4
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000))
           ))
           (list :indices #i( 0 10 4 1 5 6 2 7 8 3 9 11 9 3 2 9 2 8 10 0 3 10 3 11 7 2 1 7 1 6 0 4 5 0 5 1 0 1 2 0 2 3))
           (list :vertices #2f((-1.2901957035064697e+00 3.3552799224853516e+01 3.7605804443359375e+01)(-1.2901974916458130e+00 3.1054201126098633e+01 3.6961200714111328e+01)(1.2902026176452637e+00 3.1054201126098633e+01 3.6961196899414062e+01)(1.2902044057846069e+00 3.3552799224853516e+01 3.7605796813964844e+01)(-3.0927002429962158e+00 3.4003002166748047e+01 3.5860408782958984e+01)(-3.0927019119262695e+00 3.1504400253295898e+01 3.5215908050537109e+01)(-1.2902033329010010e+00 2.9759099960327148e+01 3.4765605926513672e+01)(1.2900967597961426e+00 2.9758998870849609e+01 3.4765598297119141e+01)(3.0926978588104248e+00 3.1504400253295898e+01 3.5215892791748047e+01)(3.0926997661590576e+00 3.4003002166748047e+01 3.5860393524169922e+01)(-1.2901991605758667e+00 3.5748401641845703e+01 3.6310703277587891e+01)(1.2902009487152100e+00 3.5748401641845703e+01 3.6310695648193359e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector -1.2901957379654050e+00 3.3552799373865128e+01 3.7605803459882736e+01) (float-vector -1.2901974841952324e+00 3.1054200604557991e+01 3.6961201578378677e+01) (float-vector 1.2902026064693928e+00 3.1054200604557991e+01 3.6961197853088379e+01)))
    (instance face :init :vertices (list (float-vector 1.2902043526992202e+00 3.3552799373865128e+01 3.7605796009302139e+01) (float-vector -3.0927001498639584e+00 3.4003000706434250e+01 3.5860408097505569e+01) (float-vector -3.0927020125091076e+00 3.1504400074481964e+01 3.5215906798839569e+01)))
    (instance face :init :vertices (list (float-vector -1.2902033049613237e+00 2.9759099707007408e+01 3.4765604883432388e+01) (float-vector 1.2900967849418521e+00 2.9758999124169350e+01 3.4765597432851791e+01) (float-vector 3.0926978215575218e+00 3.1504400074481964e+01 3.5215891897678375e+01)))
    (instance face :init :vertices (list (float-vector 3.0926996842026711e+00 3.4003000706434250e+01 3.5860393196344376e+01) (float-vector -1.2901991140097380e+00 3.5748399794101715e+01 3.6310702562332153e+01) (float-vector 1.2902009766548872e+00 3.5748399794101715e+01 3.6310695111751556e+01)))
    ))
   )
  )

(defclass DARWIN_g1_3_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_3_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000))
           ))
           (list :indices #i( 1 2 3 40 1 3 40 3 4 0 40 4 0 4 5 0 5 6 9 11 10 9 12 11 8 12 9 7 12 8 7 13 12 14 13 7 46 47 53 53 47 48 53 48 52 52 48 51 51 48 49 51 49 50 28 27 26 42 28 26 42 26 25 29 42 25 29 25 24 29 24 23 20 18 19 20 17 18 21 17 20 22 17 21 22 16 17 15 16 22 69 68 62 62 68 67 62 67 63 63 67 64 64 67 66 64 66 65 71 70 77 71 77 72 72 77 76 72 76 75 72 75 73 73 75 74 63 77 62 63 76 77 64 76 63 64 75 76 65 75 64 65 74 75 66 74 65 66 73 74 67 73 66 67 72 73 68 72 67 68 71 72 69 71 68 69 70 71 62 70 69 62 77 70 61 53 52 61 52 60 60 52 51 60 51 59 59 51 50 59 50 58 58 50 49 58 49 57 57 49 48 57 48 56 56 48 47 56 47 55 55 47 46 55 46 54 53 61 54 53 54 46 38 34 37 38 41 34 36 40 39 36 35 40 34 36 37 34 35 36 42 38 45 42 41 38 44 40 43 44 39 40 33 45 31 33 42 45 30 43 32 30 44 43 34 42 33 34 41 42 32 43 35 35 43 40 36 44 30 36 39 44 31 45 37 37 45 38 30 31 36 36 31 37 33 35 34 33 32 35 30 33 31 30 32 33 29 22 21 29 21 42 42 21 20 42 20 28 28 20 19 28 19 27 27 19 18 27 18 26 26 18 17 26 17 25 25 17 16 25 16 24 24 16 15 24 15 23 23 15 22 23 22 29 7 0 6 7 6 14 5 13 14 5 14 6 4 12 13 4 13 5 3 11 12 3 12 4 2 10 11 2 11 3 1 9 10 1 10 2 40 8 9 40 9 1 0 7 8 0 8 40))
           (list :vertices #2f((8.4461002349853516e+00 -8.4461002349853516e+00 2.4727800369262695e+01)(8.4461002349853516e+00 8.4461002349853516e+00 2.4727800369262695e+01)(0.0000000000000000e+00 1.1944600105285645e+01 2.4727800369262695e+01)(-8.4461002349853516e+00 8.4461002349853516e+00 2.4727800369262695e+01)(-1.1944600105285645e+01 -3.4499999135732651e-02 2.4727800369262695e+01)(-8.4461002349853516e+00 -8.4461002349853516e+00 2.4727800369262695e+01)(0.0000000000000000e+00 -1.1944600105285645e+01 2.4727800369262695e+01)(8.4461002349853516e+00 -8.4461002349853516e+00 2.2563999176025391e+01)(1.1944600105285645e+01 -3.4499999135732651e-02 2.2563999176025391e+01)(8.4461002349853516e+00 8.4461002349853516e+00 2.2563999176025391e+01)(0.0000000000000000e+00 1.1944600105285645e+01 2.2563999176025391e+01)(-8.4461002349853516e+00 8.4461002349853516e+00 2.2563999176025391e+01)(-1.1944600105285645e+01 -3.4499999135732651e-02 2.2563999176025391e+01)(-8.4461002349853516e+00 -8.4461002349853516e+00 2.2563999176025391e+01)(0.0000000000000000e+00 -1.1944600105285645e+01 2.2563999176025391e+01)(0.0000000000000000e+00 -1.1944600105285645e+01 -2.5861200332641602e+01)(-8.4461002349853516e+00 -8.4461002349853516e+00 -2.5861200332641602e+01)(-1.1944600105285645e+01 -3.4499999135732651e-02 -2.5861200332641602e+01)(-8.4461002349853516e+00 8.4461002349853516e+00 -2.5861200332641602e+01)(0.0000000000000000e+00 1.1944600105285645e+01 -2.5861200332641602e+01)(8.4461002349853516e+00 8.4461002349853516e+00 -2.5861200332641602e+01)(1.1944600105285645e+01 -3.4499999135732651e-02 -2.5861200332641602e+01)(8.4461002349853516e+00 -8.4461002349853516e+00 -2.5861200332641602e+01)(0.0000000000000000e+00 -1.1944600105285645e+01 -2.3814300537109375e+01)(-8.4461002349853516e+00 -8.4461002349853516e+00 -2.3814300537109375e+01)(-1.1944600105285645e+01 -3.4499999135732651e-02 -2.3814300537109375e+01)(-8.4461002349853516e+00 8.4461002349853516e+00 -2.3814300537109375e+01)(0.0000000000000000e+00 1.1944600105285645e+01 -2.3814300537109375e+01)(8.4461002349853516e+00 8.4461002349853516e+00 -2.3814300537109375e+01)(8.4461002349853516e+00 -8.4461002349853516e+00 -2.3814300537109375e+01)(-1.0834500312805176e+01 3.1398097991943359e+01 2.6288000106811523e+01)(-1.0834500312805176e+01 3.1398097991943359e+01 -2.3814300537109375e+01)(1.0971600532531738e+01 3.1398097991943359e+01 2.6288000106811523e+01)(1.0971600532531738e+01 3.1398097991943359e+01 -2.3814300537109375e+01)(1.0971600532531738e+01 3.0006299972534180e+01 -2.2288000106811523e+01)(1.0971600532531738e+01 3.0006299972534180e+01 2.4727800369262695e+01)(-1.0834500312805176e+01 3.0006299972534180e+01 2.4727800369262695e+01)(-1.0834500312805176e+01 3.0006299972534180e+01 -2.2288000106811523e+01)(-1.0834500312805176e+01 -3.4499999135732651e-02 -2.2288000106811523e+01)(-1.0834500312805176e+01 -3.4499999135732651e-02 2.4727800369262695e+01)(1.0971600532531738e+01 -3.4499999135732651e-02 2.4727800369262695e+01)(1.0971600532531738e+01 -3.4499999135732651e-02 -2.2288000106811523e+01)(1.0971600532531738e+01 -3.4499999135732651e-02 -2.3814300537109375e+01)(1.0971600532531738e+01 -3.4499999135732651e-02 2.6288000106811523e+01)(-1.0834500312805176e+01 -3.4499999135732651e-02 2.6288000106811523e+01)(-1.0834500312805176e+01 -3.4499999135732651e-02 -2.3814300537109375e+01)(0.0000000000000000e+00 3.3282897949218750e+01 -1.0381999969482422e+01)(-7.3411998748779297e+00 3.3282897949218750e+01 -7.3411998748779297e+00)(-1.0381999969482422e+01 3.3282897949218750e+01 0.0000000000000000e+00)(-7.3411998748779297e+00 3.3282897949218750e+01 7.3411998748779297e+00)(0.0000000000000000e+00 3.3282897949218750e+01 1.0381999969482422e+01)(7.3411998748779297e+00 3.3282897949218750e+01 7.3411998748779297e+00)(1.0381999969482422e+01 3.3282897949218750e+01 0.0000000000000000e+00)(7.3411998748779297e+00 3.3282897949218750e+01 -7.3411998748779297e+00)(0.0000000000000000e+00 3.1398097991943359e+01 -1.0381999969482422e+01)(-7.3411998748779297e+00 3.1398097991943359e+01 -7.3411998748779297e+00)(-1.0381999969482422e+01 3.1398097991943359e+01 0.0000000000000000e+00)(-7.3411998748779297e+00 3.1398097991943359e+01 7.3411998748779297e+00)(0.0000000000000000e+00 3.1398097991943359e+01 1.0381999969482422e+01)(7.3411998748779297e+00 3.1398097991943359e+01 7.3411998748779297e+00)(1.0381999969482422e+01 3.1398097991943359e+01 0.0000000000000000e+00)(7.3411998748779297e+00 3.1398097991943359e+01 -7.3411998748779297e+00)(2.9764001369476318e+00 -2.9802000522613525e+00 -2.6381200790405273e+01)(4.2093000411987305e+00 -2.3099999874830246e-02 -2.6381200790405273e+01)(2.9764001369476318e+00 2.9725999832153320e+00 -2.6381200790405273e+01)(0.0000000000000000e+00 4.2053999900817871e+00 -2.6381200790405273e+01)(-2.9764001369476318e+00 2.9725999832153320e+00 -2.6381200790405273e+01)(-4.2093000411987305e+00 -2.3099999874830246e-02 -2.6381200790405273e+01)(-2.9764001369476318e+00 -2.9802000522613525e+00 -2.6381200790405273e+01)(0.0000000000000000e+00 -4.2130999565124512e+00 -2.6381200790405273e+01)(0.0000000000000000e+00 -4.2130999565124512e+00 2.6730800628662109e+01)(-2.9764001369476318e+00 -2.9802000522613525e+00 2.6730800628662109e+01)(-4.2093000411987305e+00 -2.3099999874830246e-02 2.6730800628662109e+01)(-2.9764001369476318e+00 2.9725999832153320e+00 2.6730800628662109e+01)(0.0000000000000000e+00 4.2053999900817871e+00 2.6730800628662109e+01)(2.9764001369476318e+00 2.9725999832153320e+00 2.6730800628662109e+01)(4.2093000411987305e+00 -2.3099999874830246e-02 2.6730800628662109e+01)(2.9764001369476318e+00 -2.9802000522613525e+00 2.6730800628662109e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 78 -> 10 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector -1.1944600380957127e+01 -3.4500000765547156e-02 2.4727800861001015e+01) (float-vector -1.0834500193595886e+01 3.1398098915815353e+01 2.6288000866770744e+01) (float-vector 1.0971600189805031e+01 3.1398098915815353e+01 2.6288000866770744e+01) (float-vector 1.1944600380957127e+01 -3.4500000765547156e-02 2.2563999518752098e+01) (float-vector 8.4461001679301262e+00 -8.4461001679301262e+00 2.4727800861001015e+01) (float-vector 0.0000000000000000e+00 -1.1944600380957127e+01 2.4727800861001015e+01) (float-vector -8.4461001679301262e+00 -8.4461001679301262e+00 2.4727800861001015e+01)))
    (instance face :init :vertices (list (float-vector -1.0382000356912613e+01 3.3282898366451263e+01 0.0000000000000000e+00) (float-vector 1.0971600189805031e+01 3.1398098915815353e+01 -2.3814300075173378e+01) (float-vector 1.0971600189805031e+01 3.1398098915815353e+01 2.6288000866770744e+01) (float-vector -1.0834500193595886e+01 3.1398098915815353e+01 2.6288000866770744e+01)))
    (instance face :init :vertices (list (float-vector 8.4461001679301262e+00 -8.4461001679301262e+00 -2.5861199945211411e+01) (float-vector 0.0000000000000000e+00 -1.1944600380957127e+01 -2.5861199945211411e+01) (float-vector 0.0000000000000000e+00 -1.1944600380957127e+01 2.4727800861001015e+01) (float-vector 8.4461001679301262e+00 -8.4461001679301262e+00 2.4727800861001015e+01)))
    (instance face :init :vertices (list (float-vector 1.1944600380957127e+01 -3.4500000765547156e-02 -2.5861199945211411e+01) (float-vector 8.4461001679301262e+00 -8.4461001679301262e+00 -2.5861199945211411e+01) (float-vector 8.4461001679301262e+00 -8.4461001679301262e+00 2.4727800861001015e+01) (float-vector 1.1944600380957127e+01 -3.4500000765547156e-02 2.2563999518752098e+01)))
    (instance face :init :vertices (list (float-vector 1.0971600189805031e+01 3.1398098915815353e+01 -2.3814300075173378e+01) (float-vector 1.1944600380957127e+01 -3.4500000765547156e-02 -2.5861199945211411e+01) (float-vector 1.1944600380957127e+01 -3.4500000765547156e-02 2.2563999518752098e+01) (float-vector 1.0971600189805031e+01 3.1398098915815353e+01 2.6288000866770744e+01)))
    (instance face :init :vertices (list (float-vector -1.0834500193595886e+01 3.1398098915815353e+01 -2.3814300075173378e+01) (float-vector 1.0971600189805031e+01 3.1398098915815353e+01 -2.3814300075173378e+01) (float-vector -1.0382000356912613e+01 3.3282898366451263e+01 0.0000000000000000e+00)))
    (instance face :init :vertices (list (float-vector -1.1944600380957127e+01 -3.4500000765547156e-02 -2.5861199945211411e+01) (float-vector -1.0834500193595886e+01 3.1398098915815353e+01 -2.3814300075173378e+01) (float-vector -1.0382000356912613e+01 3.3282898366451263e+01 0.0000000000000000e+00) (float-vector -1.0834500193595886e+01 3.1398098915815353e+01 2.6288000866770744e+01) (float-vector -1.1944600380957127e+01 -3.4500000765547156e-02 2.4727800861001015e+01)))
    (instance face :init :vertices (list (float-vector -1.0834500193595886e+01 3.1398098915815353e+01 -2.3814300075173378e+01) (float-vector -1.1944600380957127e+01 -3.4500000765547156e-02 -2.5861199945211411e+01) (float-vector -8.4461001679301262e+00 -8.4461001679301262e+00 -2.5861199945211411e+01) (float-vector 0.0000000000000000e+00 -1.1944600380957127e+01 -2.5861199945211411e+01) (float-vector 8.4461001679301262e+00 -8.4461001679301262e+00 -2.5861199945211411e+01) (float-vector 1.1944600380957127e+01 -3.4500000765547156e-02 -2.5861199945211411e+01) (float-vector 1.0971600189805031e+01 3.1398098915815353e+01 -2.3814300075173378e+01)))
    (instance face :init :vertices (list (float-vector -8.4461001679301262e+00 -8.4461001679301262e+00 -2.5861199945211411e+01) (float-vector -1.1944600380957127e+01 -3.4500000765547156e-02 -2.5861199945211411e+01) (float-vector -1.1944600380957127e+01 -3.4500000765547156e-02 2.4727800861001015e+01) (float-vector -8.4461001679301262e+00 -8.4461001679301262e+00 2.4727800861001015e+01)))
    (instance face :init :vertices (list (float-vector 0.0000000000000000e+00 -1.1944600380957127e+01 -2.5861199945211411e+01) (float-vector -8.4461001679301262e+00 -8.4461001679301262e+00 -2.5861199945211411e+01) (float-vector -8.4461001679301262e+00 -8.4461001679301262e+00 2.4727800861001015e+01) (float-vector 0.0000000000000000e+00 -1.1944600380957127e+01 2.4727800861001015e+01)))
    ))
   )
  )

(defclass DARWIN_g1_4_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_4_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.140000 0.140000 0.140000 1.000000))
           ))
           (list :indices #i( 0 14 1 15 3 2 1 14 17 2 16 15 16 20 15 21 17 14 22 33 25 27 35 24 5 26 19 4 18 27 4 27 28 1 28 27 1 17 28 5 29 26 2 26 29 2 29 16 33 36 25 35 30 24 33 22 20 35 27 18 31 28 17 37 29 5 75 74 77 75 77 76 73 70 71 73 71 72 77 73 72 77 72 76 75 71 70 75 70 74 64 68 69 64 69 65 62 66 67 62 67 63 66 69 68 66 68 67 64 65 62 64 62 63 46 47 51 46 51 50 56 46 59 56 49 46 46 48 47 46 49 48 47 48 57 47 57 60 55 51 61 55 52 51 54 58 50 54 50 53 50 52 53 50 51 52 38 42 51 38 51 47 6 38 47 6 47 60 6 60 61 6 61 10 10 61 51 10 51 42 11 43 50 11 50 58 39 46 50 39 50 43 7 11 58 7 58 59 7 59 46 7 46 39 9 57 48 9 48 41 9 13 55 9 55 57 13 45 52 13 52 55 8 40 49 8 49 56 12 54 53 12 53 44 8 54 12 8 56 54 40 44 53 40 53 49 55 60 57 55 61 60 56 58 54 56 59 58 48 53 52 48 49 53 40 8 12 40 12 44 9 41 45 9 45 13 38 6 10 38 10 42 7 39 43 7 43 11 36 33 32 36 32 37 30 35 34 30 34 31 29 37 16 37 32 16 28 31 34 28 34 4 1 27 26 1 26 2 26 25 19 25 36 19 24 25 26 24 26 27 23 24 30 23 30 21 23 22 25 23 25 24 14 15 20 14 20 21 20 22 23 20 23 21 36 37 5 36 5 19 34 35 18 34 18 4 32 33 20 32 20 16 30 31 17 30 17 21 14 0 3 14 3 15 0 1 2 0 2 3 45 41 48 45 48 52))
           (list :vertices #2f((1.8043899536132812e+01 1.1576100349426270e+01 2.1473199844360352e+01)(1.8044599533081055e+01 1.1576100349426270e+01 -1.9162399291992188e+01)(-1.7573099136352539e+01 1.1576100349426270e+01 -1.9162399291992188e+01)(-1.7573799133300781e+01 1.1576100349426270e+01 2.1473199844360352e+01)(1.8044500350952148e+01 -3.9089698791503906e+01 -1.4130499839782715e+01)(-1.7573099136352539e+01 -3.9089698791503906e+01 -1.4130499839782715e+01)(-1.7572900772094727e+01 -2.7495199203491211e+01 -2.6833599090576172e+01)(-1.7572299957275391e+01 -2.7495199203491211e+01 -6.1848899841308594e+01)(1.8045301437377930e+01 -2.7495199203491211e+01 -6.1848201751708984e+01)(1.8044700622558594e+01 -2.7495199203491211e+01 -2.6833000183105469e+01)(-1.7572900772094727e+01 5.7493996620178223e+00 -2.6833599090576172e+01)(-1.7572299957275391e+01 5.7493996620178223e+00 -6.1848899841308594e+01)(1.8045301437377930e+01 5.7493996620178223e+00 -6.1848201751708984e+01)(1.8044700622558594e+01 5.7493996620178223e+00 -2.6833000183105469e+01)(1.8043899536132812e+01 -1.2828000068664551e+01 2.1473199844360352e+01)(-1.7573799133300781e+01 -1.2828000068664551e+01 2.1473199844360352e+01)(-1.7573699951171875e+01 -1.2828000068664551e+01 1.7325599670410156e+01)(1.8043899536132812e+01 -1.2828000068664551e+01 1.7325599670410156e+01)(1.5586899757385254e+01 -3.9089698791503906e+01 -1.4130399703979492e+01)(-1.5108600616455078e+01 -3.9089698791503906e+01 -1.4130700111389160e+01)(-1.5107699394226074e+01 -1.2828000068664551e+01 1.7325500488281250e+01)(1.5587699890136719e+01 -1.2828000068664551e+01 1.7325799942016602e+01)(-1.5107600212097168e+01 -1.2828000068664551e+01 1.1390700340270996e+01)(1.5587800025939941e+01 -1.2828000068664551e+01 1.1391300201416016e+01)(1.5587800025939941e+01 -3.3072502136230469e+01 1.1391300201416016e+01)(-1.5107600212097168e+01 -3.3072502136230469e+01 1.1390700340270996e+01)(-1.5107099533081055e+01 -3.3072502136230469e+01 -1.9051700592041016e+01)(1.5588399887084961e+01 -3.3072502136230469e+01 -1.9051399230957031e+01)(1.8044599533081055e+01 -3.3072502136230469e+01 -1.9051300048828125e+01)(-1.7573099136352539e+01 -3.3072502136230469e+01 -1.9051799774169922e+01)(1.5587699890136719e+01 -3.3072502136230469e+01 1.7325799942016602e+01)(1.8043899536132812e+01 -3.3072502136230469e+01 1.7325599670410156e+01)(-1.7573699951171875e+01 -3.3072502136230469e+01 1.7325599670410156e+01)(-1.5107699394226074e+01 -3.3072502136230469e+01 1.7325500488281250e+01)(1.8044000625610352e+01 -3.9089698791503906e+01 1.1391300201416016e+01)(1.5587599754333496e+01 -3.9089698791503906e+01 1.1391300201416016e+01)(-1.5107899665832520e+01 -3.9089698791503906e+01 1.1390700340270996e+01)(-1.7573600769042969e+01 -3.9089698791503906e+01 1.1390700340270996e+01)(-1.7572900772094727e+01 -2.7495199203491211e+01 -2.9659399032592773e+01)(-1.7572399139404297e+01 -2.7495199203491211e+01 -5.9022300720214844e+01)(1.8045301437377930e+01 -2.7495199203491211e+01 -5.9021598815917969e+01)(1.8044799804687500e+01 -2.7495199203491211e+01 -2.9658800125122070e+01)(-1.7572900772094727e+01 5.7493996620178223e+00 -2.9659399032592773e+01)(-1.7572399139404297e+01 5.7493996620178223e+00 -5.9022300720214844e+01)(1.8045301437377930e+01 5.7493996620178223e+00 -5.9021598815917969e+01)(1.8044799804687500e+01 5.7493996620178223e+00 -2.9658800125122070e+01)(-1.2542900085449219e+01 -3.3321998596191406e+01 -5.9022197723388672e+01)(-1.2543499946594238e+01 -3.3321998596191406e+01 -2.9659299850463867e+01)(1.2850799560546875e+01 -3.3321998596191406e+01 -2.9658901214599609e+01)(1.2851299285888672e+01 -3.3321998596191406e+01 -5.9021701812744141e+01)(-1.2542900085449219e+01 1.1576100349426270e+01 -5.9022197723388672e+01)(-1.2543499946594238e+01 1.1576100349426270e+01 -2.9659299850463867e+01)(1.2850799560546875e+01 1.1576100349426270e+01 -2.9658901214599609e+01)(1.2851299285888672e+01 1.1576100349426270e+01 -5.9021701812744141e+01)(1.2851400375366211e+01 1.1576100349426270e+01 -6.1848300933837891e+01)(1.2850799560546875e+01 1.1576100349426270e+01 -2.6833099365234375e+01)(1.2851400375366211e+01 -3.3321998596191406e+01 -6.1848300933837891e+01)(1.2850799560546875e+01 -3.3321998596191406e+01 -2.6833099365234375e+01)(-1.2542900085449219e+01 1.1576100349426270e+01 -6.1848800659179688e+01)(-1.2542900085449219e+01 -3.3321998596191406e+01 -6.1848800659179688e+01)(-1.2543499946594238e+01 -3.3321998596191406e+01 -2.6833499908447266e+01)(-1.2543499946594238e+01 1.1576100349426270e+01 -2.6833499908447266e+01)(-9.7553997039794922e+00 -9.4034996032714844e+00 -1.5765199661254883e+01)(-9.7551994323730469e+00 -9.4034996032714844e+00 -3.0751600265502930e+01)(-9.7551994323730469e+00 -1.5364300727844238e+01 -3.0751600265502930e+01)(-9.7554998397827148e+00 -1.5364300727844238e+01 -1.5765199661254883e+01)(1.0062399864196777e+01 -9.4034004211425781e+00 -1.5764899253845215e+01)(1.0062700271606445e+01 -9.4034004211425781e+00 -3.0751298904418945e+01)(1.0062599182128906e+01 -1.5364199638366699e+01 -3.0751298904418945e+01)(1.0062399864196777e+01 -1.5364199638366699e+01 -1.5764899253845215e+01)(1.0062299728393555e+01 -3.2448501586914062e+01 -1.5764899253845215e+01)(1.0062599182128906e+01 -3.2448501586914062e+01 -3.0751298904418945e+01)(1.0062599182128906e+01 -2.6487798690795898e+01 -3.0751298904418945e+01)(1.0062399864196777e+01 -2.6487798690795898e+01 -1.5764899253845215e+01)(-9.7554998397827148e+00 -3.2448600769042969e+01 -1.5765199661254883e+01)(-9.7551994323730469e+00 -3.2448600769042969e+01 -3.0751600265502930e+01)(-9.7551994323730469e+00 -2.6487798690795898e+01 -3.0751600265502930e+01)(-9.7554998397827148e+00 -2.6487798690795898e+01 -1.5765199661254883e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 78 -> 14 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector 1.5587699599564075e+01 -3.3072501420974731e+01 1.7325799912214279e+01) (float-vector 1.8043899908661842e+01 -1.2827999889850616e+01 2.1473199129104614e+01) (float-vector 1.8043899908661842e+01 1.1576100252568722e+01 2.1473199129104614e+01) (float-vector 1.8045300617814064e+01 5.7493997737765312e+00 -6.1848200857639313e+01) (float-vector 1.8045300617814064e+01 -2.7495199814438820e+01 -6.1848200857639313e+01) (float-vector 1.8044499680399895e+01 -3.9089698344469070e+01 -1.4130500145256519e+01)))
    (instance face :init :vertices (list (float-vector 1.2851400300860405e+01 1.1576100252568722e+01 -6.1848301440477371e+01) (float-vector 1.8045300617814064e+01 5.7493997737765312e+00 -6.1848200857639313e+01) (float-vector 1.8043899908661842e+01 1.1576100252568722e+01 2.1473199129104614e+01)))
    (instance face :init :vertices (list (float-vector 1.8043899908661842e+01 1.1576100252568722e+01 2.1473199129104614e+01) (float-vector -1.7573799937963486e+01 1.1576100252568722e+01 2.1473199129104614e+01) (float-vector -1.2542899698019028e+01 1.1576100252568722e+01 -6.1848800629377365e+01) (float-vector 1.2851400300860405e+01 1.1576100252568722e+01 -6.1848301440477371e+01)))
    (instance face :init :vertices (list (float-vector 1.2851400300860405e+01 -3.3321999013423920e+01 -6.1848301440477371e+01) (float-vector 1.8044499680399895e+01 -3.9089698344469070e+01 -1.4130500145256519e+01) (float-vector 1.8045300617814064e+01 -2.7495199814438820e+01 -6.1848200857639313e+01)))
    (instance face :init :vertices (list (float-vector -1.7573600634932518e+01 -3.9089698344469070e+01 1.1390700004994869e+01) (float-vector 1.5587699599564075e+01 -3.3072501420974731e+01 1.7325799912214279e+01) (float-vector 1.8044499680399895e+01 -3.9089698344469070e+01 -1.4130500145256519e+01)))
    (instance face :init :vertices (list (float-vector -1.7572300508618355e+01 5.7493997737765312e+00 -6.1848901212215424e+01) (float-vector -1.2542899698019028e+01 1.1576100252568722e+01 -6.1848800629377365e+01) (float-vector -1.7573799937963486e+01 1.1576100252568722e+01 2.1473199129104614e+01)))
    (instance face :init :vertices (list (float-vector -1.7573799937963486e+01 -1.2827999889850616e+01 2.1473199129104614e+01) (float-vector -1.7573799937963486e+01 1.1576100252568722e+01 2.1473199129104614e+01) (float-vector 1.8043899908661842e+01 1.1576100252568722e+01 2.1473199129104614e+01) (float-vector 1.8043899908661842e+01 -1.2827999889850616e+01 2.1473199129104614e+01)))
    (instance face :init :vertices (list (float-vector 1.2851400300860405e+01 1.1576100252568722e+01 -6.1848301440477371e+01) (float-vector -1.2542899698019028e+01 1.1576100252568722e+01 -6.1848800629377365e+01) (float-vector -1.7572300508618355e+01 5.7493997737765312e+00 -6.1848901212215424e+01) (float-vector -1.7572300508618355e+01 -2.7495199814438820e+01 -6.1848901212215424e+01) (float-vector -1.2542899698019028e+01 -3.3321999013423920e+01 -6.1848800629377365e+01) (float-vector 1.2851400300860405e+01 -3.3321999013423920e+01 -6.1848301440477371e+01) (float-vector 1.8045300617814064e+01 -2.7495199814438820e+01 -6.1848200857639313e+01) (float-vector 1.8045300617814064e+01 5.7493997737765312e+00 -6.1848200857639313e+01)))
    (instance face :init :vertices (list (float-vector -1.7573600634932518e+01 -3.9089698344469070e+01 1.1390700004994869e+01) (float-vector -1.7573699355125427e+01 -3.3072501420974731e+01 1.7325600609183311e+01) (float-vector 1.5587699599564075e+01 -3.3072501420974731e+01 1.7325799912214279e+01)))
    (instance face :init :vertices (list (float-vector -1.7573699355125427e+01 -3.3072501420974731e+01 1.7325600609183311e+01) (float-vector -1.7573799937963486e+01 -1.2827999889850616e+01 2.1473199129104614e+01) (float-vector 1.8043899908661842e+01 -1.2827999889850616e+01 2.1473199129104614e+01) (float-vector 1.5587699599564075e+01 -3.3072501420974731e+01 1.7325799912214279e+01)))
    (instance face :init :vertices (list (float-vector -1.7573099583387375e+01 -3.9089698344469070e+01 -1.4130500145256519e+01) (float-vector -1.2542899698019028e+01 -3.3321999013423920e+01 -6.1848800629377365e+01) (float-vector -1.7572300508618355e+01 -2.7495199814438820e+01 -6.1848901212215424e+01)))
    (instance face :init :vertices (list (float-vector -1.7573099583387375e+01 -3.9089698344469070e+01 -1.4130500145256519e+01) (float-vector -1.7573600634932518e+01 -3.9089698344469070e+01 1.1390700004994869e+01) (float-vector 1.8044499680399895e+01 -3.9089698344469070e+01 -1.4130500145256519e+01)))
    (instance face :init :vertices (list (float-vector -1.7573799937963486e+01 -1.2827999889850616e+01 2.1473199129104614e+01) (float-vector -1.7573699355125427e+01 -3.3072501420974731e+01 1.7325600609183311e+01) (float-vector -1.7573600634932518e+01 -3.9089698344469070e+01 1.1390700004994869e+01) (float-vector -1.7573099583387375e+01 -3.9089698344469070e+01 -1.4130500145256519e+01) (float-vector -1.7572300508618355e+01 -2.7495199814438820e+01 -6.1848901212215424e+01) (float-vector -1.7572300508618355e+01 5.7493997737765312e+00 -6.1848901212215424e+01) (float-vector -1.7573799937963486e+01 1.1576100252568722e+01 2.1473199129104614e+01)))
    (instance face :init :vertices (list (float-vector -1.7573099583387375e+01 -3.9089698344469070e+01 -1.4130500145256519e+01) (float-vector 1.8044499680399895e+01 -3.9089698344469070e+01 -1.4130500145256519e+01) (float-vector 1.2851400300860405e+01 -3.3321999013423920e+01 -6.1848301440477371e+01) (float-vector -1.2542899698019028e+01 -3.3321999013423920e+01 -6.1848800629377365e+01)))
    ))
   )
  )

(defclass DARWIN_g1_5_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_5_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.301961 0.301961 0.301961 1.000000))
           ))
           (list :indices #i( 50 48 46 47 49 51 64 58 46 47 59 65 64 46 44 45 47 65 52 56 54 55 57 53 58 56 50 51 57 59 58 50 46 47 51 59 58 64 62 63 65 59 58 62 60 61 63 59 76 74 78 79 75 77 42 64 44 45 65 43 72 66 74 75 67 73 74 66 64 65 67 75 74 64 78 79 65 75 70 68 66 67 69 71 70 66 72 73 67 71 78 64 42 43 65 79 42 40 78 79 41 43 52 82 56 57 83 53 82 50 56 57 51 83 104 102 106 107 103 105 88 92 90 91 93 89 92 100 94 95 101 93 100 98 96 97 99 101 94 100 96 97 101 95 88 110 108 109 111 89 102 84 106 107 85 103 114 108 112 109 115 113 100 108 114 109 101 115 92 108 100 109 93 101 92 88 108 89 93 109 122 118 124 119 123 125 126 118 122 119 127 123 118 116 120 117 119 121 126 116 118 117 127 119 114 116 126 117 115 127 114 112 116 113 115 117 44 46 112 113 47 45 46 116 112 113 117 47 46 48 116 117 49 47 48 120 116 117 121 49 48 50 120 121 51 49 50 118 120 121 119 51 84 102 118 119 103 85 102 124 118 119 125 103 62 64 114 115 65 63 62 114 126 127 115 63 60 62 126 127 63 61 60 126 122 123 127 61 58 60 122 123 61 59 58 122 124 125 123 59 56 58 124 125 59 57 56 124 102 103 125 57 64 66 114 115 67 65 66 100 114 115 101 67 86 104 106 107 105 86 86 106 87 87 107 86 78 40 110 111 41 79 78 110 88 89 111 79 40 42 108 109 43 41 40 108 110 111 109 41 54 56 102 103 57 55 54 102 104 105 103 55 66 68 100 101 69 67 68 98 100 101 99 69 68 70 98 99 71 69 70 96 98 99 97 71 72 74 92 93 75 73 72 92 94 95 93 73 74 76 92 93 77 75 76 90 92 93 91 77 76 78 88 89 79 77 76 88 90 91 89 77 70 72 96 97 73 71 72 94 96 97 95 73 81 54 104 105 55 81 81 104 86 86 105 81 52 80 106 107 80 53 80 87 106 107 87 80 82 52 84 85 53 83 52 106 84 85 107 53 52 54 81 81 55 53 52 81 80 80 81 53 45 43 109 45 109 113 108 42 44 108 44 112 83 51 119 83 119 85 118 50 82 118 82 84))
           (list :vertices #2f((1.4867500305175781e+01 -5.5076202392578125e+01 1.1640399932861328e+01)(1.4866600036621094e+01 -1.0543399810791016e+02 1.1641200065612793e+01)(1.4868000030517578e+01 -5.5076698303222656e+01 -1.3753900527954102e+01)(1.4867000579833984e+01 -1.0543499755859375e+02 -1.3753100395202637e+01)(1.0463199615478516e+01 -1.0543499755859375e+02 -1.3753199577331543e+01)(1.0462800025939941e+01 -1.0543399810791016e+02 1.1641099929809570e+01)(1.0464200019836426e+01 -5.5076599121093750e+01 -1.3753999710083008e+01)(1.0463800430297852e+01 -5.5076099395751953e+01 1.1640299797058105e+01)(1.0463399887084961e+01 -9.9520599365234375e+01 -1.8947200775146484e+01)(1.0462800025939941e+01 -9.9519897460937500e+01 1.6670400619506836e+01)(1.0464200019836426e+01 -6.0990798950195312e+01 -1.8947799682617188e+01)(1.0463600158691406e+01 -6.0990200042724609e+01 1.6669799804687500e+01)(1.4867199897766113e+01 -9.9520698547363281e+01 -1.8947099685668945e+01)(1.4866600036621094e+01 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-1.3314199447631836e+01)(-2.1668199539184570e+01 3.2574999332427979e+00 -1.3314199447631836e+01)(2.1668199539184570e+01 8.6289005279541016e+00 -1.0208100318908691e+01)(-2.1668199539184570e+01 8.6289005279541016e+00 -1.0208100318908691e+01)(2.1668100357055664e+01 1.1765100479125977e+01 -4.8145999908447266e+00)(-2.1668100357055664e+01 1.1765100479125977e+01 -4.8145999908447266e+00)(2.1667999267578125e+01 1.1921999931335449e+01 2.1157000064849854e+00)(-2.1667999267578125e+01 1.1921999931335449e+01 2.1157000064849854e+00)(1.8237899780273438e+01 -3.8306499481201172e+01 2.1042398452758789e+01)(-1.8237899780273438e+01 -3.8306499481201172e+01 2.1042398452758789e+01)(1.4208899497985840e+01 -3.9389301300048828e+01 2.4564899444580078e+01)(-1.4208899497985840e+01 -3.9389301300048828e+01 2.4564899444580078e+01)(1.4197500228881836e+01 -7.4814605712890625e+01 2.4564899444580078e+01)(-1.4197500228881836e+01 -7.4814605712890625e+01 2.4564899444580078e+01)(2.1667999267578125e+01 -1.0766000366210938e+02 -8.2870000600814819e-01)(-2.1667999267578125e+01 -1.0766000366210938e+02 -8.2870000600814819e-01)(2.1668199539184570e+01 -1.0490499877929688e+02 -8.3083000183105469e+00)(-2.1668199539184570e+01 -1.0490499877929688e+02 -8.3083000183105469e+00)(2.1667900085449219e+01 -1.0556600189208984e+02 7.0037999153137207e+00)(-2.1667900085449219e+01 -1.0556600189208984e+02 7.0037999153137207e+00)(2.1667900085449219e+01 8.8187999725341797e+00 7.0037999153137207e+00)(-2.1667900085449219e+01 8.8187999725341797e+00 7.0037999153137207e+00)(2.0639499664306641e+01 -1.0024900054931641e+02 1.1240500450134277e+01)(-2.0639499664306641e+01 -1.0024900054931641e+02 1.1240500450134277e+01)(1.8717899322509766e+01 -7.4814605712890625e+01 1.9044399261474609e+01)(-1.8717899322509766e+01 -7.4814605712890625e+01 1.9044399261474609e+01)(1.8761299133300781e+01 -7.9843002319335938e+01 1.9044399261474609e+01)(-1.8761299133300781e+01 -7.9843002319335938e+01 1.9044399261474609e+01)(1.8473699569702148e+01 -2.1032299041748047e+01 1.9985200881958008e+01)(-1.8473699569702148e+01 -2.1032299041748047e+01 1.9985200881958008e+01)(1.8423900604248047e+01 -3.5573501586914062e+01 2.0294599533081055e+01)(-1.8423900604248047e+01 -3.5573501586914062e+01 2.0294599533081055e+01)(2.0612699508666992e+01 3.7187998294830322e+00 1.1241800308227539e+01)(-2.0612699508666992e+01 3.7187998294830322e+00 1.1241800308227539e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 128 -> 21 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector 1.0463399812579155e+01 -9.9520601332187653e+01 -1.8947200849652290e+01) (float-vector 2.6871299371123314e+01 -6.8631701171398163e+01 -1.8906600773334503e+01) (float-vector 2.6871200650930405e+01 3.2575000077486038e+00 -1.3231099583208561e+01) (float-vector -2.6871200650930405e+01 3.2575000077486038e+00 -1.3231099583208561e+01) (float-vector -2.6871299371123314e+01 -6.8631701171398163e+01 -1.8906600773334503e+01)))
    (instance face :init :vertices (list (float-vector -2.4706099182367325e+01 3.7187999114394188e+00 1.1241800151765347e+01) (float-vector -2.6870999485254288e+01 1.1921999976038933e+01 2.1987000945955515e+00) (float-vector 2.6870999485254288e+01 1.1921999976038933e+01 2.1987000945955515e+00) (float-vector 2.4706099182367325e+01 3.7187999114394188e+00 1.1241800151765347e+01)))
    (instance face :init :vertices (list (float-vector -1.5142199583351612e+01 -3.9389301091432571e+01 2.5601999834179878e+01) (float-vector -2.4706099182367325e+01 3.7187999114394188e+00 1.1241800151765347e+01) (float-vector 2.4706099182367325e+01 3.7187999114394188e+00 1.1241800151765347e+01) (float-vector 1.5142199583351612e+01 -3.9389301091432571e+01 2.5601999834179878e+01)))
    (instance face :init :vertices (list (float-vector -1.5130800195038319e+01 -7.4814602732658386e+01 2.5601999834179878e+01) (float-vector -1.5142199583351612e+01 -3.9389301091432571e+01 2.5601999834179878e+01) (float-vector 1.5142199583351612e+01 -3.9389301091432571e+01 2.5601999834179878e+01) (float-vector 1.5130800195038319e+01 -7.4814602732658386e+01 2.5601999834179878e+01)))
    (instance face :init :vertices (list (float-vector 1.8206199631094933e+01 -1.0543499886989594e+02 -1.3752999715507030e+01) (float-vector 2.6871200650930405e+01 -9.9846802651882172e+01 -1.2474399991333485e+01) (float-vector 2.6871299371123314e+01 -6.8631701171398163e+01 -1.8906600773334503e+01) (float-vector 1.0463399812579155e+01 -9.9520601332187653e+01 -1.8947200849652290e+01)))
    (instance face :init :vertices (list (float-vector 2.6870900765061378e+01 -1.0556600242853165e+02 7.0039001293480396e+00) (float-vector 1.5130800195038319e+01 -7.4814602732658386e+01 2.5601999834179878e+01) (float-vector 1.5142199583351612e+01 -3.9389301091432571e+01 2.5601999834179878e+01) (float-vector 2.4706099182367325e+01 3.7187999114394188e+00 1.1241800151765347e+01)))
    (instance face :init :vertices (list (float-vector 1.8205799162387848e+01 -1.0543400049209595e+02 1.1641300283372402e+01) (float-vector 1.5130800195038319e+01 -7.4814602732658386e+01 2.5601999834179878e+01) (float-vector 2.6870900765061378e+01 -1.0556600242853165e+02 7.0039001293480396e+00)))
    (instance face :init :vertices (list (float-vector 1.5130800195038319e+01 -7.4814602732658386e+01 2.5601999834179878e+01) (float-vector 1.8205799162387848e+01 -1.0543400049209595e+02 1.1641300283372402e+01) (float-vector -1.7768699675798416e+01 -1.0543300211429596e+02 1.1640200391411781e+01) (float-vector -1.5130800195038319e+01 -7.4814602732658386e+01 2.5601999834179878e+01)))
    (instance face :init :vertices (list (float-vector -1.4771400019526482e+01 -9.9519699811935425e+01 -1.8948100507259369e+01) (float-vector 1.0463399812579155e+01 -9.9520601332187653e+01 -1.8947200849652290e+01) (float-vector -2.6871299371123314e+01 -6.8631701171398163e+01 -1.8906600773334503e+01)))
    (instance face :init :vertices (list (float-vector -2.6870900765061378e+01 -1.0556600242853165e+02 7.0039001293480396e+00) (float-vector -1.5130800195038319e+01 -7.4814602732658386e+01 2.5601999834179878e+01) (float-vector -1.7768699675798416e+01 -1.0543300211429596e+02 1.1640200391411781e+01)))
    (instance face :init :vertices (list (float-vector -2.6870900765061378e+01 -1.0556600242853165e+02 7.0039001293480396e+00) (float-vector -2.4706099182367325e+01 3.7187999114394188e+00 1.1241800151765347e+01) (float-vector -1.5142199583351612e+01 -3.9389301091432571e+01 2.5601999834179878e+01) (float-vector -1.5130800195038319e+01 -7.4814602732658386e+01 2.5601999834179878e+01)))
    (instance face :init :vertices (list (float-vector 1.8206199631094933e+01 -1.0543499886989594e+02 -1.3752999715507030e+01) (float-vector 2.6870999485254288e+01 -1.0766000300645828e+02 -7.4559997301548719e-01) (float-vector 2.6871200650930405e+01 -9.9846802651882172e+01 -1.2474399991333485e+01)))
    (instance face :init :vertices (list (float-vector 2.6870999485254288e+01 1.1921999976038933e+01 2.1987000945955515e+00) (float-vector 2.6871100068092346e+01 1.1765100061893463e+01 -4.7315000556409359e+00) (float-vector 2.6871200650930405e+01 3.2575000077486038e+00 -1.3231099583208561e+01) (float-vector 2.6871299371123314e+01 -6.8631701171398163e+01 -1.8906600773334503e+01) (float-vector 2.6871200650930405e+01 -9.9846802651882172e+01 -1.2474399991333485e+01) (float-vector 2.6870999485254288e+01 -1.0766000300645828e+02 -7.4559997301548719e-01) (float-vector 2.6870900765061378e+01 -1.0556600242853165e+02 7.0039001293480396e+00) (float-vector 2.4706099182367325e+01 3.7187999114394188e+00 1.1241800151765347e+01)))
    (instance face :init :vertices (list (float-vector -2.6871100068092346e+01 1.1765100061893463e+01 -4.7315000556409359e+00) (float-vector 2.6871100068092346e+01 1.1765100061893463e+01 -4.7315000556409359e+00) (float-vector 2.6870999485254288e+01 1.1921999976038933e+01 2.1987000945955515e+00) (float-vector -2.6870999485254288e+01 1.1921999976038933e+01 2.1987000945955515e+00)))
    (instance face :init :vertices (list (float-vector -2.6871100068092346e+01 1.1765100061893463e+01 -4.7315000556409359e+00) (float-vector -2.6871200650930405e+01 3.2575000077486038e+00 -1.3231099583208561e+01) (float-vector 2.6871200650930405e+01 3.2575000077486038e+00 -1.3231099583208561e+01) (float-vector 2.6871100068092346e+01 1.1765100061893463e+01 -4.7315000556409359e+00)))
    (instance face :init :vertices (list (float-vector -1.4771400019526482e+01 -9.9519699811935425e+01 -1.8948100507259369e+01) (float-vector -1.7768200486898422e+01 -1.0543400049209595e+02 -1.3754099607467651e+01) (float-vector 1.8206199631094933e+01 -1.0543499886989594e+02 -1.3752999715507030e+01) (float-vector 1.0463399812579155e+01 -9.9520601332187653e+01 -1.8947200849652290e+01)))
    (instance face :init :vertices (list (float-vector -1.7768200486898422e+01 -1.0543400049209595e+02 -1.3754099607467651e+01) (float-vector -1.4771400019526482e+01 -9.9519699811935425e+01 -1.8948100507259369e+01) (float-vector -2.6871299371123314e+01 -6.8631701171398163e+01 -1.8906600773334503e+01) (float-vector -2.6871200650930405e+01 -9.9846802651882172e+01 -1.2474399991333485e+01)))
    (instance face :init :vertices (list (float-vector -2.6870999485254288e+01 -1.0766000300645828e+02 -7.4559997301548719e-01) (float-vector -1.7768200486898422e+01 -1.0543400049209595e+02 -1.3754099607467651e+01) (float-vector -2.6871200650930405e+01 -9.9846802651882172e+01 -1.2474399991333485e+01)))
    (instance face :init :vertices (list (float-vector -2.6870900765061378e+01 -1.0556600242853165e+02 7.0039001293480396e+00) (float-vector -2.6870999485254288e+01 -1.0766000300645828e+02 -7.4559997301548719e-01) (float-vector -2.6871200650930405e+01 -9.9846802651882172e+01 -1.2474399991333485e+01) (float-vector -2.6871299371123314e+01 -6.8631701171398163e+01 -1.8906600773334503e+01) (float-vector -2.6871200650930405e+01 3.2575000077486038e+00 -1.3231099583208561e+01) (float-vector -2.6871100068092346e+01 1.1765100061893463e+01 -4.7315000556409359e+00) (float-vector -2.6870999485254288e+01 1.1921999976038933e+01 2.1987000945955515e+00) (float-vector -2.4706099182367325e+01 3.7187999114394188e+00 1.1241800151765347e+01)))
    (instance face :init :vertices (list (float-vector -2.6870999485254288e+01 -1.0766000300645828e+02 -7.4559997301548719e-01) (float-vector 2.6870999485254288e+01 -1.0766000300645828e+02 -7.4559997301548719e-01) (float-vector 1.8206199631094933e+01 -1.0543499886989594e+02 -1.3752999715507030e+01) (float-vector -1.7768200486898422e+01 -1.0543400049209595e+02 -1.3754099607467651e+01)))
    (instance face :init :vertices (list (float-vector 2.6870900765061378e+01 -1.0556600242853165e+02 7.0039001293480396e+00) (float-vector 2.6870999485254288e+01 -1.0766000300645828e+02 -7.4559997301548719e-01) (float-vector -2.6870999485254288e+01 -1.0766000300645828e+02 -7.4559997301548719e-01) (float-vector -2.6870900765061378e+01 -1.0556600242853165e+02 7.0039001293480396e+00) (float-vector -1.7768699675798416e+01 -1.0543300211429596e+02 1.1640200391411781e+01) (float-vector 1.8205799162387848e+01 -1.0543400049209595e+02 1.1641300283372402e+01)))
    ))
   )
  )

(defclass DARWIN_g1_5_geom1
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_5_geom1
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.140000 0.140000 0.140000 1.000000))
           ))
           (list :indices #i( 32 36 33 33 36 38 35 37 34 35 39 37 33 38 39 33 39 35 32 37 36 32 34 37 38 36 37 38 37 39 32 35 34 32 33 35 20 22 18 20 18 16 17 19 23 17 23 21 23 27 25 23 25 21 19 29 28 19 17 29 28 27 23 28 23 19 21 25 29 21 29 17 31 24 20 31 20 16 18 30 31 18 31 16 24 26 22 24 22 20 22 26 30 22 30 18 9 5 1 9 1 13 7 5 9 7 9 11 0 15 13 0 13 1 0 7 11 0 11 15 10 6 2 10 2 14 3 4 8 3 8 12 12 2 3 12 14 2 8 4 6 8 6 10 14 12 8 14 8 10 11 9 13 11 13 15))
           (list :vertices #2f((1.4867500305175781e+01 -5.5076202392578125e+01 1.1640399932861328e+01)(1.4866600036621094e+01 -1.0543399810791016e+02 1.1641200065612793e+01)(1.4868000030517578e+01 -5.5076698303222656e+01 -1.3753900527954102e+01)(1.4867000579833984e+01 -1.0543499755859375e+02 -1.3753100395202637e+01)(1.0463199615478516e+01 -1.0543499755859375e+02 -1.3753199577331543e+01)(1.0462800025939941e+01 -1.0543399810791016e+02 1.1641099929809570e+01)(1.0464200019836426e+01 -5.5076599121093750e+01 -1.3753999710083008e+01)(1.0463800430297852e+01 -5.5076099395751953e+01 1.1640299797058105e+01)(1.0463399887084961e+01 -9.9520599365234375e+01 -1.8947200775146484e+01)(1.0462800025939941e+01 -9.9519897460937500e+01 1.6670400619506836e+01)(1.0464200019836426e+01 -6.0990798950195312e+01 -1.8947799682617188e+01)(1.0463600158691406e+01 -6.0990200042724609e+01 1.6669799804687500e+01)(1.4867199897766113e+01 -9.9520698547363281e+01 -1.8947099685668945e+01)(1.4866600036621094e+01 -9.9520103454589844e+01 1.6670501708984375e+01)(1.4868000030517578e+01 -6.0990898132324219e+01 -1.8947700500488281e+01)(1.4867300033569336e+01 -6.0990299224853516e+01 1.6669898986816406e+01)(-1.0367499351501465e+01 -6.0989398956298828e+01 1.6668998718261719e+01)(-1.0366800308227539e+01 -6.0990097045898438e+01 -1.8948598861694336e+01)(-1.0368200302124023e+01 -9.9519203186035156e+01 1.6669599533081055e+01)(-1.0367600440979004e+01 -9.9519798278808594e+01 -1.8947999954223633e+01)(-1.4771200180053711e+01 -6.0989299774169922e+01 1.6668901443481445e+01)(-1.4770600318908691e+01 -6.0989902496337891e+01 -1.8948699951171875e+01)(-1.4771999359130859e+01 -9.9519096374511719e+01 1.6669500350952148e+01)(-1.4771400451660156e+01 -9.9519699096679688e+01 -1.8948101043701172e+01)(-1.4770999908447266e+01 -5.5075298309326172e+01 1.1639400482177734e+01)(-1.4770600318908691e+01 -5.5075702667236328e+01 -1.3754799842834473e+01)(-1.4771999359130859e+01 -1.0543299865722656e+02 1.1640200614929199e+01)(-1.4771600723266602e+01 -1.0543399810791016e+02 -1.3754099845886230e+01)(-1.0367799758911133e+01 -1.0543399810791016e+02 -1.3753999710083008e+01)(-1.0366800308227539e+01 -5.5075798034667969e+01 -1.3754799842834473e+01)(-1.0368200302124023e+01 -1.0543299865722656e+02 1.1640299797058105e+01)(-1.0367300033569336e+01 -5.5075401306152344e+01 1.1639499664306641e+01)(1.8206199645996094e+01 -1.0543499755859375e+02 -1.3752999305725098e+01)(1.8207199096679688e+01 -5.5076698303222656e+01 -1.3753799438476562e+01)(1.8205799102783203e+01 -1.0543399810791016e+02 1.1641300201416016e+01)(1.8206798553466797e+01 -5.5076301574707031e+01 1.1640500068664551e+01)(-1.7768199920654297e+01 -1.0543399810791016e+02 -1.3754099845886230e+01)(-1.7768699645996094e+01 -1.0543299865722656e+02 1.1640200614929199e+01)(-1.7767200469970703e+01 -5.5075599670410156e+01 -1.3754899978637695e+01)(-1.7767700195312500e+01 -5.5075199127197266e+01 1.1639400482177734e+01)(2.6871200561523438e+01 -1.0490499877929688e+02 -8.2253007888793945e+00)(-2.6871200561523438e+01 -1.0490499877929688e+02 -8.2253007888793945e+00)(2.6871000289916992e+01 -1.0766000366210938e+02 -7.4559998512268066e-01)(-2.6871000289916992e+01 -1.0766000366210938e+02 -7.4559998512268066e-01)(2.6870901107788086e+01 -1.0556600189208984e+02 7.0039000511169434e+00)(-2.6870901107788086e+01 -1.0556600189208984e+02 7.0039000511169434e+00)(2.4707500457763672e+01 -1.0024900054931641e+02 1.1240500450134277e+01)(-2.4707500457763672e+01 -1.0024900054931641e+02 1.1240500450134277e+01)(2.0727500915527344e+01 -7.9843002319335938e+01 1.9044500350952148e+01)(-2.0727500915527344e+01 -7.9843002319335938e+01 1.9044500350952148e+01)(2.0718000411987305e+01 -7.4814605712890625e+01 1.9044500350952148e+01)(-2.0718000411987305e+01 -7.4814605712890625e+01 1.9044500350952148e+01)(1.5130800247192383e+01 -7.4814605712890625e+01 2.5601999282836914e+01)(-1.5130800247192383e+01 -7.4814605712890625e+01 2.5601999282836914e+01)(1.5142199516296387e+01 -3.9389301300048828e+01 2.5601999282836914e+01)(-1.5142199516296387e+01 -3.9389301300048828e+01 2.5601999282836914e+01)(1.9171199798583984e+01 -3.8306499481201172e+01 2.2079401016235352e+01)(-1.9171199798583984e+01 -3.8306499481201172e+01 2.2079401016235352e+01)(2.0084999084472656e+01 -3.5573501586914062e+01 2.0294599533081055e+01)(-2.0084999084472656e+01 -3.5573501586914062e+01 2.0294599533081055e+01)(2.0236499786376953e+01 -2.1032299041748047e+01 1.9985200881958008e+01)(-2.0236499786376953e+01 -2.1032299041748047e+01 1.9985200881958008e+01)(2.4706098556518555e+01 3.7187998294830322e+00 1.1241800308227539e+01)(-2.4706098556518555e+01 3.7187998294830322e+00 1.1241800308227539e+01)(2.6870901107788086e+01 8.8187999725341797e+00 7.0039000511169434e+00)(-2.6870901107788086e+01 8.8187999725341797e+00 7.0039000511169434e+00)(2.6871000289916992e+01 1.1921999931335449e+01 2.1987001895904541e+00)(-2.6871000289916992e+01 1.1921999931335449e+01 2.1987001895904541e+00)(2.6871099472045898e+01 1.1765100479125977e+01 -4.7315001487731934e+00)(-2.6871099472045898e+01 1.1765100479125977e+01 -4.7315001487731934e+00)(2.6871200561523438e+01 8.6289005279541016e+00 -1.0125100135803223e+01)(-2.6871200561523438e+01 8.6289005279541016e+00 -1.0125100135803223e+01)(2.6871200561523438e+01 3.2574999332427979e+00 -1.3231099128723145e+01)(-2.6871200561523438e+01 3.2574999332427979e+00 -1.3231099128723145e+01)(2.6871200561523438e+01 -5.2929599761962891e+01 -1.2095999717712402e+01)(-2.6871200561523438e+01 -5.2929599761962891e+01 -1.2095999717712402e+01)(2.6871299743652344e+01 -6.8631698608398438e+01 -1.8906600952148438e+01)(-2.6871299743652344e+01 -6.8631698608398438e+01 -1.8906600952148438e+01)(2.6871200561523438e+01 -9.9846801757812500e+01 -1.2474399566650391e+01)(-2.6871200561523438e+01 -9.9846801757812500e+01 -1.2474399566650391e+01)(0.0000000000000000e+00 -7.4814605712890625e+01 2.5601699829101562e+01)(0.0000000000000000e+00 -3.9389301300048828e+01 2.5601699829101562e+01)(1.9171199798583984e+01 -7.4814605712890625e+01 2.2079401016235352e+01)(-1.9171199798583984e+01 -7.4814605712890625e+01 2.2079401016235352e+01)(1.8237899780273438e+01 -7.4814605712890625e+01 2.1042398452758789e+01)(-1.8237899780273438e+01 -7.4814605712890625e+01 2.1042398452758789e+01)(0.0000000000000000e+00 -3.9389301300048828e+01 2.4564701080322266e+01)(0.0000000000000000e+00 -7.4814605712890625e+01 2.4564701080322266e+01)(2.1668199539184570e+01 -9.9846801757812500e+01 -1.2557499885559082e+01)(-2.1668199539184570e+01 -9.9846801757812500e+01 -1.2557499885559082e+01)(2.1668300628662109e+01 -6.8631698608398438e+01 -1.8989601135253906e+01)(-2.1668300628662109e+01 -6.8631698608398438e+01 -1.8989601135253906e+01)(2.1668199539184570e+01 -5.2929599761962891e+01 -1.2179100036621094e+01)(-2.1668199539184570e+01 -5.2929599761962891e+01 -1.2179100036621094e+01)(2.1668199539184570e+01 3.2574999332427979e+00 -1.3314199447631836e+01)(-2.1668199539184570e+01 3.2574999332427979e+00 -1.3314199447631836e+01)(2.1668199539184570e+01 8.6289005279541016e+00 -1.0208100318908691e+01)(-2.1668199539184570e+01 8.6289005279541016e+00 -1.0208100318908691e+01)(2.1668100357055664e+01 1.1765100479125977e+01 -4.8145999908447266e+00)(-2.1668100357055664e+01 1.1765100479125977e+01 -4.8145999908447266e+00)(2.1667999267578125e+01 1.1921999931335449e+01 2.1157000064849854e+00)(-2.1667999267578125e+01 1.1921999931335449e+01 2.1157000064849854e+00)(1.8237899780273438e+01 -3.8306499481201172e+01 2.1042398452758789e+01)(-1.8237899780273438e+01 -3.8306499481201172e+01 2.1042398452758789e+01)(1.4208899497985840e+01 -3.9389301300048828e+01 2.4564899444580078e+01)(-1.4208899497985840e+01 -3.9389301300048828e+01 2.4564899444580078e+01)(1.4197500228881836e+01 -7.4814605712890625e+01 2.4564899444580078e+01)(-1.4197500228881836e+01 -7.4814605712890625e+01 2.4564899444580078e+01)(2.1667999267578125e+01 -1.0766000366210938e+02 -8.2870000600814819e-01)(-2.1667999267578125e+01 -1.0766000366210938e+02 -8.2870000600814819e-01)(2.1668199539184570e+01 -1.0490499877929688e+02 -8.3083000183105469e+00)(-2.1668199539184570e+01 -1.0490499877929688e+02 -8.3083000183105469e+00)(2.1667900085449219e+01 -1.0556600189208984e+02 7.0037999153137207e+00)(-2.1667900085449219e+01 -1.0556600189208984e+02 7.0037999153137207e+00)(2.1667900085449219e+01 8.8187999725341797e+00 7.0037999153137207e+00)(-2.1667900085449219e+01 8.8187999725341797e+00 7.0037999153137207e+00)(2.0639499664306641e+01 -1.0024900054931641e+02 1.1240500450134277e+01)(-2.0639499664306641e+01 -1.0024900054931641e+02 1.1240500450134277e+01)(1.8717899322509766e+01 -7.4814605712890625e+01 1.9044399261474609e+01)(-1.8717899322509766e+01 -7.4814605712890625e+01 1.9044399261474609e+01)(1.8761299133300781e+01 -7.9843002319335938e+01 1.9044399261474609e+01)(-1.8761299133300781e+01 -7.9843002319335938e+01 1.9044399261474609e+01)(1.8473699569702148e+01 -2.1032299041748047e+01 1.9985200881958008e+01)(-1.8473699569702148e+01 -2.1032299041748047e+01 1.9985200881958008e+01)(1.8423900604248047e+01 -3.5573501586914062e+01 2.0294599533081055e+01)(-1.8423900604248047e+01 -3.5573501586914062e+01 2.0294599533081055e+01)(2.0612699508666992e+01 3.7187998294830322e+00 1.1241800308227539e+01)(-2.0612699508666992e+01 3.7187998294830322e+00 1.1241800308227539e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 128 -> 21 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector 1.0463399812579155e+01 -9.9520601332187653e+01 -1.8947200849652290e+01) (float-vector 2.6871299371123314e+01 -6.8631701171398163e+01 -1.8906600773334503e+01) (float-vector 2.6871200650930405e+01 3.2575000077486038e+00 -1.3231099583208561e+01) (float-vector -2.6871200650930405e+01 3.2575000077486038e+00 -1.3231099583208561e+01) (float-vector -2.6871299371123314e+01 -6.8631701171398163e+01 -1.8906600773334503e+01)))
    (instance face :init :vertices (list (float-vector -2.4706099182367325e+01 3.7187999114394188e+00 1.1241800151765347e+01) (float-vector -2.6870999485254288e+01 1.1921999976038933e+01 2.1987000945955515e+00) (float-vector 2.6870999485254288e+01 1.1921999976038933e+01 2.1987000945955515e+00) (float-vector 2.4706099182367325e+01 3.7187999114394188e+00 1.1241800151765347e+01)))
    (instance face :init :vertices (list (float-vector -1.5142199583351612e+01 -3.9389301091432571e+01 2.5601999834179878e+01) (float-vector -2.4706099182367325e+01 3.7187999114394188e+00 1.1241800151765347e+01) (float-vector 2.4706099182367325e+01 3.7187999114394188e+00 1.1241800151765347e+01) (float-vector 1.5142199583351612e+01 -3.9389301091432571e+01 2.5601999834179878e+01)))
    (instance face :init :vertices (list (float-vector -1.5130800195038319e+01 -7.4814602732658386e+01 2.5601999834179878e+01) (float-vector -1.5142199583351612e+01 -3.9389301091432571e+01 2.5601999834179878e+01) (float-vector 1.5142199583351612e+01 -3.9389301091432571e+01 2.5601999834179878e+01) (float-vector 1.5130800195038319e+01 -7.4814602732658386e+01 2.5601999834179878e+01)))
    (instance face :init :vertices (list (float-vector 1.8206199631094933e+01 -1.0543499886989594e+02 -1.3752999715507030e+01) (float-vector 2.6871200650930405e+01 -9.9846802651882172e+01 -1.2474399991333485e+01) (float-vector 2.6871299371123314e+01 -6.8631701171398163e+01 -1.8906600773334503e+01) (float-vector 1.0463399812579155e+01 -9.9520601332187653e+01 -1.8947200849652290e+01)))
    (instance face :init :vertices (list (float-vector 2.6870900765061378e+01 -1.0556600242853165e+02 7.0039001293480396e+00) (float-vector 1.5130800195038319e+01 -7.4814602732658386e+01 2.5601999834179878e+01) (float-vector 1.5142199583351612e+01 -3.9389301091432571e+01 2.5601999834179878e+01) (float-vector 2.4706099182367325e+01 3.7187999114394188e+00 1.1241800151765347e+01)))
    (instance face :init :vertices (list (float-vector 1.8205799162387848e+01 -1.0543400049209595e+02 1.1641300283372402e+01) (float-vector 1.5130800195038319e+01 -7.4814602732658386e+01 2.5601999834179878e+01) (float-vector 2.6870900765061378e+01 -1.0556600242853165e+02 7.0039001293480396e+00)))
    (instance face :init :vertices (list (float-vector 1.5130800195038319e+01 -7.4814602732658386e+01 2.5601999834179878e+01) (float-vector 1.8205799162387848e+01 -1.0543400049209595e+02 1.1641300283372402e+01) (float-vector -1.7768699675798416e+01 -1.0543300211429596e+02 1.1640200391411781e+01) (float-vector -1.5130800195038319e+01 -7.4814602732658386e+01 2.5601999834179878e+01)))
    (instance face :init :vertices (list (float-vector -1.4771400019526482e+01 -9.9519699811935425e+01 -1.8948100507259369e+01) (float-vector 1.0463399812579155e+01 -9.9520601332187653e+01 -1.8947200849652290e+01) (float-vector -2.6871299371123314e+01 -6.8631701171398163e+01 -1.8906600773334503e+01)))
    (instance face :init :vertices (list (float-vector -2.6870900765061378e+01 -1.0556600242853165e+02 7.0039001293480396e+00) (float-vector -1.5130800195038319e+01 -7.4814602732658386e+01 2.5601999834179878e+01) (float-vector -1.7768699675798416e+01 -1.0543300211429596e+02 1.1640200391411781e+01)))
    (instance face :init :vertices (list (float-vector -2.6870900765061378e+01 -1.0556600242853165e+02 7.0039001293480396e+00) (float-vector -2.4706099182367325e+01 3.7187999114394188e+00 1.1241800151765347e+01) (float-vector -1.5142199583351612e+01 -3.9389301091432571e+01 2.5601999834179878e+01) (float-vector -1.5130800195038319e+01 -7.4814602732658386e+01 2.5601999834179878e+01)))
    (instance face :init :vertices (list (float-vector 1.8206199631094933e+01 -1.0543499886989594e+02 -1.3752999715507030e+01) (float-vector 2.6870999485254288e+01 -1.0766000300645828e+02 -7.4559997301548719e-01) (float-vector 2.6871200650930405e+01 -9.9846802651882172e+01 -1.2474399991333485e+01)))
    (instance face :init :vertices (list (float-vector 2.6870999485254288e+01 1.1921999976038933e+01 2.1987000945955515e+00) (float-vector 2.6871100068092346e+01 1.1765100061893463e+01 -4.7315000556409359e+00) (float-vector 2.6871200650930405e+01 3.2575000077486038e+00 -1.3231099583208561e+01) (float-vector 2.6871299371123314e+01 -6.8631701171398163e+01 -1.8906600773334503e+01) (float-vector 2.6871200650930405e+01 -9.9846802651882172e+01 -1.2474399991333485e+01) (float-vector 2.6870999485254288e+01 -1.0766000300645828e+02 -7.4559997301548719e-01) (float-vector 2.6870900765061378e+01 -1.0556600242853165e+02 7.0039001293480396e+00) (float-vector 2.4706099182367325e+01 3.7187999114394188e+00 1.1241800151765347e+01)))
    (instance face :init :vertices (list (float-vector -2.6871100068092346e+01 1.1765100061893463e+01 -4.7315000556409359e+00) (float-vector 2.6871100068092346e+01 1.1765100061893463e+01 -4.7315000556409359e+00) (float-vector 2.6870999485254288e+01 1.1921999976038933e+01 2.1987000945955515e+00) (float-vector -2.6870999485254288e+01 1.1921999976038933e+01 2.1987000945955515e+00)))
    (instance face :init :vertices (list (float-vector -2.6871100068092346e+01 1.1765100061893463e+01 -4.7315000556409359e+00) (float-vector -2.6871200650930405e+01 3.2575000077486038e+00 -1.3231099583208561e+01) (float-vector 2.6871200650930405e+01 3.2575000077486038e+00 -1.3231099583208561e+01) (float-vector 2.6871100068092346e+01 1.1765100061893463e+01 -4.7315000556409359e+00)))
    (instance face :init :vertices (list (float-vector -1.4771400019526482e+01 -9.9519699811935425e+01 -1.8948100507259369e+01) (float-vector -1.7768200486898422e+01 -1.0543400049209595e+02 -1.3754099607467651e+01) (float-vector 1.8206199631094933e+01 -1.0543499886989594e+02 -1.3752999715507030e+01) (float-vector 1.0463399812579155e+01 -9.9520601332187653e+01 -1.8947200849652290e+01)))
    (instance face :init :vertices (list (float-vector -1.7768200486898422e+01 -1.0543400049209595e+02 -1.3754099607467651e+01) (float-vector -1.4771400019526482e+01 -9.9519699811935425e+01 -1.8948100507259369e+01) (float-vector -2.6871299371123314e+01 -6.8631701171398163e+01 -1.8906600773334503e+01) (float-vector -2.6871200650930405e+01 -9.9846802651882172e+01 -1.2474399991333485e+01)))
    (instance face :init :vertices (list (float-vector -2.6870999485254288e+01 -1.0766000300645828e+02 -7.4559997301548719e-01) (float-vector -1.7768200486898422e+01 -1.0543400049209595e+02 -1.3754099607467651e+01) (float-vector -2.6871200650930405e+01 -9.9846802651882172e+01 -1.2474399991333485e+01)))
    (instance face :init :vertices (list (float-vector -2.6870900765061378e+01 -1.0556600242853165e+02 7.0039001293480396e+00) (float-vector -2.6870999485254288e+01 -1.0766000300645828e+02 -7.4559997301548719e-01) (float-vector -2.6871200650930405e+01 -9.9846802651882172e+01 -1.2474399991333485e+01) (float-vector -2.6871299371123314e+01 -6.8631701171398163e+01 -1.8906600773334503e+01) (float-vector -2.6871200650930405e+01 3.2575000077486038e+00 -1.3231099583208561e+01) (float-vector -2.6871100068092346e+01 1.1765100061893463e+01 -4.7315000556409359e+00) (float-vector -2.6870999485254288e+01 1.1921999976038933e+01 2.1987000945955515e+00) (float-vector -2.4706099182367325e+01 3.7187999114394188e+00 1.1241800151765347e+01)))
    (instance face :init :vertices (list (float-vector -2.6870999485254288e+01 -1.0766000300645828e+02 -7.4559997301548719e-01) (float-vector 2.6870999485254288e+01 -1.0766000300645828e+02 -7.4559997301548719e-01) (float-vector 1.8206199631094933e+01 -1.0543499886989594e+02 -1.3752999715507030e+01) (float-vector -1.7768200486898422e+01 -1.0543400049209595e+02 -1.3754099607467651e+01)))
    (instance face :init :vertices (list (float-vector 2.6870900765061378e+01 -1.0556600242853165e+02 7.0039001293480396e+00) (float-vector 2.6870999485254288e+01 -1.0766000300645828e+02 -7.4559997301548719e-01) (float-vector -2.6870999485254288e+01 -1.0766000300645828e+02 -7.4559997301548719e-01) (float-vector -2.6870900765061378e+01 -1.0556600242853165e+02 7.0039001293480396e+00) (float-vector -1.7768699675798416e+01 -1.0543300211429596e+02 1.1640200391411781e+01) (float-vector 1.8205799162387848e+01 -1.0543400049209595e+02 1.1641300283372402e+01)))
    ))
   )
  )

(defclass DARWIN_g1_6_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_6_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.301961 0.301961 0.301961 1.000000))
           ))
           (list :indices #i( 10 12 14 15 13 11 10 14 16 17 15 11 8 10 16 17 11 9 8 16 18 19 17 9 6 8 18 19 9 7 18 0 6 7 1 19 6 0 4 5 1 7 4 0 2 3 1 5 30 22 20 21 23 31 24 22 30 31 23 25 30 20 28 29 21 31 32 24 30 31 25 33 26 24 32 33 25 27 0 18 26 27 19 1 34 26 32 33 27 35 0 26 34 35 27 1 55 22 24 25 23 56 26 18 55 56 19 27 26 55 24 25 56 27 22 55 47 48 56 23 53 45 47 53 47 55 54 56 48 54 48 46 18 16 53 18 53 55 19 56 54 19 54 17 45 53 51 52 54 46 16 14 51 16 51 53 17 54 52 17 52 15 14 12 49 14 49 51 15 52 50 15 50 13 39 45 41 42 46 40 41 45 51 52 46 42 43 41 51 43 51 49 44 50 52 44 52 42 37 36 39 37 39 41 37 42 40 37 40 36 38 37 41 38 41 43 38 44 42 38 42 37 49 12 69 49 69 91 50 92 70 50 70 13 12 10 67 12 67 69 13 70 68 13 68 11 10 8 65 10 65 67 11 68 66 11 66 9 8 6 63 8 63 65 9 66 64 9 64 7 6 4 61 6 61 63 7 64 62 7 62 5 85 43 49 85 49 91 86 92 50 86 50 44 4 2 59 4 59 61 5 62 60 5 60 3 2 0 57 2 57 59 3 60 58 3 58 1 57 0 34 57 34 81 58 82 35 58 35 1 34 32 79 34 79 81 35 82 80 35 80 33 32 30 77 32 77 79 33 80 78 33 78 31 30 28 75 30 75 77 31 78 76 31 76 29 28 20 71 28 71 75 29 76 72 29 72 21 71 20 22 71 22 73 72 74 23 72 23 21 73 22 47 73 47 89 74 90 48 74 48 23 47 45 87 47 87 89 48 90 88 48 88 46 45 39 83 45 83 87 46 88 84 46 84 40 94 38 43 94 43 85 94 86 44 94 44 38 39 36 93 39 93 83 40 84 93 40 93 36 85 83 93 85 93 94 86 94 93 86 93 84 87 83 85 87 85 91 88 92 86 88 86 84 87 91 89 90 92 88 73 89 91 92 90 74 69 73 91 92 74 70 69 71 73 74 72 70 69 75 71 72 76 70 79 75 69 70 76 80 81 79 69 70 80 82 57 81 69 70 82 58 79 77 75 76 78 80 63 57 65 66 58 64 61 57 63 64 58 62 59 57 61 62 58 60 57 69 65 66 70 58 65 69 67 68 70 66))
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           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 95 -> 19 faces
   (instance faceset :init :faces (list
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    (instance face :init :vertices (list (float-vector 2.7590999379754066e+01 -9.9927201867103577e+01 -1.1483799666166306e+01) (float-vector 2.1211100742220879e+01 -1.0427299886941910e+02 -6.3471999019384384e+00) (float-vector 2.4521600455045700e+01 -1.0427299886941910e+02 4.2722001671791077e+00)))
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    (instance face :init :vertices (list (float-vector 2.1886799484491348e+01 -8.6234100162982941e+01 2.0516799762845039e+01) (float-vector 2.7590699493885040e+01 -9.9926799535751343e+01 8.8045001029968262e+00) (float-vector 2.4521600455045700e+01 -1.0427299886941910e+02 4.2722001671791077e+00) (float-vector -2.4521600455045700e+01 -1.0427299886941910e+02 4.2722001671791077e+00) (float-vector -2.7590699493885040e+01 -9.9926799535751343e+01 8.8045001029968262e+00) (float-vector -2.1886799484491348e+01 -8.6234100162982941e+01 2.0516799762845039e+01)))
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    (instance face :init :vertices (list (float-vector 1.9983800128102303e+01 -5.8324199169874191e+01 2.7195500209927559e+01) (float-vector 2.1886799484491348e+01 -8.6234100162982941e+01 2.0516799762845039e+01) (float-vector -2.1886799484491348e+01 -8.6234100162982941e+01 2.0516799762845039e+01) (float-vector -1.9983800128102303e+01 -5.8324199169874191e+01 2.7195500209927559e+01)))
    ))
   )
  )

(defclass DARWIN_g1_7_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_7_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.140000 0.140000 0.140000 1.000000))
           ))
           (list :indices #i( 0 1 14 15 2 3 1 17 14 2 15 16 16 15 20 21 14 17 22 25 33 27 24 35 5 19 26 4 27 18 4 28 27 1 27 28 1 28 17 5 26 29 2 29 26 2 16 29 33 25 36 35 24 30 33 20 22 35 18 27 31 17 28 37 5 29 75 77 74 75 76 77 73 71 70 73 72 71 77 72 73 77 76 72 75 70 71 75 74 70 64 69 68 64 65 69 62 67 66 62 63 67 66 68 69 66 67 68 64 62 65 64 63 62 46 51 47 46 50 51 56 59 46 56 46 49 46 47 48 46 48 49 47 57 48 47 60 57 55 61 51 55 51 52 54 50 58 54 53 50 50 53 52 50 52 51 38 51 42 38 47 51 6 47 38 6 60 47 6 61 60 6 10 61 10 51 61 10 42 51 11 50 43 11 58 50 39 50 46 39 43 50 7 58 11 7 59 58 7 46 59 7 39 46 9 48 57 9 41 48 9 55 13 9 57 55 13 52 45 13 55 52 8 49 40 8 56 49 12 53 54 12 44 53 8 12 54 8 54 56 40 53 44 40 49 53 55 57 60 55 60 61 56 54 58 56 58 59 48 52 53 48 53 49 40 12 8 40 44 12 9 45 41 9 13 45 38 10 6 38 42 10 7 43 39 7 11 43 36 32 33 36 37 32 30 34 35 30 31 34 29 16 37 37 16 32 28 34 31 28 4 34 1 26 27 1 2 26 26 19 25 25 19 36 24 26 25 24 27 26 23 30 24 23 21 30 23 25 22 23 24 25 14 20 15 14 21 20 20 23 22 20 21 23 36 5 37 36 19 5 34 18 35 34 4 18 32 20 33 32 16 20 30 17 31 30 21 17 3 0 14 14 15 3 0 2 1 0 3 2 48 41 45 48 45 52))
           (list :vertices #2f((1.8043498992919922e+01 -1.2196400642395020e+01 2.1474401473999023e+01)(1.8044198989868164e+01 -1.2200599670410156e+01 -1.9161199569702148e+01)(-1.7573499679565430e+01 -1.2199399948120117e+01 -1.9161199569702148e+01)(-1.7574199676513672e+01 -1.2195099830627441e+01 2.1474498748779297e+01)(1.8045799255371094e+01 3.8465801239013672e+01 -1.4134599685668945e+01)(-1.7571800231933594e+01 3.8467102050781250e+01 -1.4134599685668945e+01)(-1.7572000503540039e+01 2.6871200561523438e+01 -2.6836400985717773e+01)(-1.7571401596069336e+01 2.6867500305175781e+01 -6.1851699829101562e+01)(1.8046300888061523e+01 2.6866300582885742e+01 -6.1851100921630859e+01)(1.8045700073242188e+01 2.6869899749755859e+01 -2.6835800170898438e+01)(-1.7573099136352539e+01 -6.3733997344970703e+00 -2.6832899093627930e+01)(-1.7572500228881836e+01 -6.3770999908447266e+00 -6.1848201751708984e+01)(1.8045099258422852e+01 -6.3783001899719238e+00 -6.1847602844238281e+01)(1.8044500350952148e+01 -6.3747000694274902e+00 -2.6832300186157227e+01)(1.8044300079345703e+01 1.2207799911499023e+01 2.1471900939941406e+01)(-1.7573301315307617e+01 1.2208999633789062e+01 2.1471900939941406e+01)(-1.7573301315307617e+01 1.2208600044250488e+01 1.7324300765991211e+01)(1.8044399261474609e+01 1.2207300186157227e+01 1.7324300765991211e+01)(1.5588300704956055e+01 3.8465896606445312e+01 -1.4134399414062500e+01)(-1.5107199668884277e+01 3.8467002868652344e+01 -1.4134700775146484e+01)(-1.5107299804687500e+01 1.2208499908447266e+01 1.7324199676513672e+01)(1.5588199615478516e+01 1.2207400321960449e+01 1.7324499130249023e+01)(-1.5107199668884277e+01 1.2207900047302246e+01 1.1389399528503418e+01)(1.5588300704956055e+01 1.2206800460815430e+01 1.1389999389648438e+01)(1.5588999748229980e+01 3.2451301574707031e+01 1.1387900352478027e+01)(-1.5106499671936035e+01 3.2452400207519531e+01 1.1387299537658691e+01)(-1.5105900764465332e+01 3.2449199676513672e+01 -1.9055099487304688e+01)(1.5589499473571777e+01 3.2448101043701172e+01 -1.9054800033569336e+01)(1.8045700073242188e+01 3.2448001861572266e+01 -1.9054800033569336e+01)(-1.7571899414062500e+01 3.2449302673339844e+01 -1.9055200576782227e+01)(1.5588899612426758e+01 3.2451900482177734e+01 1.7322401046752930e+01)(1.8045099258422852e+01 3.2451801300048828e+01 1.7322198867797852e+01)(-1.7572601318359375e+01 3.2453102111816406e+01 1.7322198867797852e+01)(-1.5106599807739258e+01 3.2452999114990234e+01 1.7322000503540039e+01)(1.8045398712158203e+01 3.8468498229980469e+01 1.1387299537658691e+01)(1.5588999748229980e+01 3.8468597412109375e+01 1.1387200355529785e+01)(-1.5106499671936035e+01 3.8469600677490234e+01 1.1386699676513672e+01)(-1.7572200775146484e+01 3.8469699859619141e+01 1.1386600494384766e+01)(-1.7571899414062500e+01 2.6870901107788086e+01 -2.9662199020385742e+01)(-1.7571401596069336e+01 2.6867799758911133e+01 -5.9025100708007812e+01)(1.8046199798583984e+01 2.6866600036621094e+01 -5.9024501800537109e+01)(1.8045700073242188e+01 2.6869699478149414e+01 -2.9661600112915039e+01)(-1.7573099136352539e+01 -6.3737001419067383e+00 -2.9658800125122070e+01)(-1.7572601318359375e+01 -6.3768000602722168e+00 -5.9021598815917969e+01)(1.8045099258422852e+01 -6.3780002593994141e+00 -5.9020999908447266e+01)(1.8044500350952148e+01 -6.3750000000000000e+00 -2.9658100128173828e+01)(-1.2541799545288086e+01 3.2694400787353516e+01 -5.9025600433349609e+01)(-1.2542300224304199e+01 3.2697498321533203e+01 -2.9662799835205078e+01)(1.2852000236511230e+01 3.2696601867675781e+01 -2.9662300109863281e+01)(1.2852499961853027e+01 3.2693500518798828e+01 -5.9025199890136719e+01)(-1.2543399810791016e+01 -1.2203700065612793e+01 -5.9020900726318359e+01)(-1.2543899536132812e+01 -1.2200599670410156e+01 -2.9658100128173828e+01)(1.2850399971008301e+01 -1.2201499938964844e+01 -2.9657600402832031e+01)(1.2850900650024414e+01 -1.2204599380493164e+01 -5.9020500183105469e+01)(1.2850999832153320e+01 -1.2204900741577148e+01 -6.1847099304199219e+01)(1.2850399971008301e+01 -1.2201200485229492e+01 -2.6831800460815430e+01)(1.2852499961853027e+01 3.2693199157714844e+01 -6.1851799011230469e+01)(1.2851900100708008e+01 3.2696899414062500e+01 -2.6836500167846680e+01)(-1.2543300628662109e+01 -1.2203999519348145e+01 -6.1847499847412109e+01)(-1.2541700363159180e+01 3.2694099426269531e+01 -6.1852203369140625e+01)(-1.2542399406433105e+01 3.2697799682617188e+01 -2.6836999893188477e+01)(-1.2543899536132812e+01 -1.2200299263000488e+01 -2.6832300186157227e+01)(-9.7551002502441406e+00 8.7803001403808594e+00 -1.5766200065612793e+01)(-9.7548999786376953e+00 8.7788000106811523e+00 -3.0752500534057617e+01)(-9.7546997070312500e+00 1.4739600181579590e+01 -3.0753200531005859e+01)(-9.7548999786376953e+00 1.4741100311279297e+01 -1.5766799926757812e+01)(1.0062700271606445e+01 8.7796001434326172e+00 -1.5765899658203125e+01)(1.0062999725341797e+01 8.7779998779296875e+00 -3.0752201080322266e+01)(1.0063199996948242e+01 1.4738800048828125e+01 -3.0752799987792969e+01)(1.0062900543212891e+01 1.4740400314331055e+01 -1.5766499519348145e+01)(1.0063500404357910e+01 3.1824701309204102e+01 -1.5768301010131836e+01)(1.0063700675964355e+01 3.1823198318481445e+01 -3.0754600524902344e+01)(1.0063500404357910e+01 2.5862400054931641e+01 -3.0753999710083008e+01)(1.0063300132751465e+01 2.5863901138305664e+01 -1.5767600059509277e+01)(-9.7543992996215820e+00 3.1825502395629883e+01 -1.5768600463867188e+01)(-9.7540998458862305e+00 3.1823900222778320e+01 -3.0755001068115234e+01)(-9.7543001174926758e+00 2.5863100051879883e+01 -3.0754299163818359e+01)(-9.7545995712280273e+00 2.5864700317382812e+01 -1.5768000602722168e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 78 -> 11 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector -1.2543300166726112e+01 -1.2203999795019627e+01 -6.1847500503063202e+01) (float-vector -1.7572499811649323e+01 -6.3771000131964684e+00 -6.1848200857639313e+01) (float-vector -1.7574200406670570e+01 -1.2195100076496601e+01 2.1474499255418777e+01)))
    (instance face :init :vertices (list (float-vector 1.8044300377368927e+01 1.2207799591124058e+01 2.1471900865435600e+01) (float-vector 1.8043499439954758e+01 -1.2196400202810764e+01 2.1474400535225868e+01) (float-vector -1.7574200406670570e+01 -1.2195100076496601e+01 2.1474499255418777e+01) (float-vector -1.7573300749063492e+01 1.2209000065922737e+01 2.1471900865435600e+01)))
    (instance face :init :vertices (list (float-vector 1.8045099452137947e+01 -6.3783000223338604e+00 -6.1847601085901260e+01) (float-vector 1.2850999832153320e+01 -1.2204900383949280e+01 -6.1847098171710968e+01) (float-vector 1.8043499439954758e+01 -1.2196400202810764e+01 2.1474400535225868e+01)))
    (instance face :init :vertices (list (float-vector -1.7572499811649323e+01 -6.3771000131964684e+00 -6.1848200857639313e+01) (float-vector -1.2543300166726112e+01 -1.2203999795019627e+01 -6.1847500503063202e+01) (float-vector 1.2850999832153320e+01 -1.2204900383949280e+01 -6.1847098171710968e+01) (float-vector 1.8045099452137947e+01 -6.3783000223338604e+00 -6.1847601085901260e+01) (float-vector 1.8046300858259201e+01 2.6866300031542778e+01 -6.1851099133491516e+01) (float-vector 1.2852500192821026e+01 3.2693199813365936e+01 -6.1851799488067627e+01) (float-vector -1.2541700154542923e+01 3.2694101333618164e+01 -6.1852201819419861e+01)))
    (instance face :init :vertices (list (float-vector 1.2850999832153320e+01 -1.2204900383949280e+01 -6.1847098171710968e+01) (float-vector -1.2543300166726112e+01 -1.2203999795019627e+01 -6.1847500503063202e+01) (float-vector -1.7574200406670570e+01 -1.2195100076496601e+01 2.1474499255418777e+01) (float-vector 1.8043499439954758e+01 -1.2196400202810764e+01 2.1474400535225868e+01)))
    (instance face :init :vertices (list (float-vector 1.8045799806714058e+01 3.8465801626443863e+01 -1.4134599827229977e+01) (float-vector 1.2852500192821026e+01 3.2693199813365936e+01 -6.1851799488067627e+01) (float-vector 1.8046300858259201e+01 2.6866300031542778e+01 -6.1851099133491516e+01)))
    (instance face :init :vertices (list (float-vector 1.2852500192821026e+01 3.2693199813365936e+01 -6.1851799488067627e+01) (float-vector 1.8045799806714058e+01 3.8465801626443863e+01 -1.4134599827229977e+01) (float-vector 1.8045399338006973e+01 3.8468498736619949e+01 1.1387299746274948e+01) (float-vector -1.7572199925780296e+01 3.8469698280096054e+01 1.1386600323021412e+01) (float-vector -1.2541700154542923e+01 3.2694101333618164e+01 -6.1852201819419861e+01)))
    (instance face :init :vertices (list (float-vector -1.7574200406670570e+01 -1.2195100076496601e+01 2.1474499255418777e+01) (float-vector -1.7572499811649323e+01 -6.3771000131964684e+00 -6.1848200857639313e+01) (float-vector -1.2541700154542923e+01 3.2694101333618164e+01 -6.1852201819419861e+01) (float-vector -1.7572199925780296e+01 3.8469698280096054e+01 1.1386600323021412e+01) (float-vector -1.7572600394487381e+01 3.2453101128339767e+01 1.7322199419140816e+01) (float-vector -1.7573300749063492e+01 1.2209000065922737e+01 2.1471900865435600e+01)))
    (instance face :init :vertices (list (float-vector 1.8044300377368927e+01 1.2207799591124058e+01 2.1471900865435600e+01) (float-vector 1.8045099452137947e+01 3.2451801002025604e+01 1.7322199419140816e+01) (float-vector 1.8045399338006973e+01 3.8468498736619949e+01 1.1387299746274948e+01) (float-vector 1.8045799806714058e+01 3.8465801626443863e+01 -1.4134599827229977e+01) (float-vector 1.8046300858259201e+01 2.6866300031542778e+01 -6.1851099133491516e+01) (float-vector 1.8045099452137947e+01 -6.3783000223338604e+00 -6.1847601085901260e+01) (float-vector 1.8043499439954758e+01 -1.2196400202810764e+01 2.1474400535225868e+01)))
    (instance face :init :vertices (list (float-vector -1.7572600394487381e+01 3.2453101128339767e+01 1.7322199419140816e+01) (float-vector 1.8045099452137947e+01 3.2451801002025604e+01 1.7322199419140816e+01) (float-vector 1.8044300377368927e+01 1.2207799591124058e+01 2.1471900865435600e+01) (float-vector -1.7573300749063492e+01 1.2209000065922737e+01 2.1471900865435600e+01)))
    (instance face :init :vertices (list (float-vector 1.8045399338006973e+01 3.8468498736619949e+01 1.1387299746274948e+01) (float-vector 1.8045099452137947e+01 3.2451801002025604e+01 1.7322199419140816e+01) (float-vector -1.7572600394487381e+01 3.2453101128339767e+01 1.7322199419140816e+01) (float-vector -1.7572199925780296e+01 3.8469698280096054e+01 1.1386600323021412e+01)))
    ))
   )
  )

(defclass DARWIN_g1_8_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_8_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.301961 0.301961 0.301961 1.000000))
           ))
           (list :indices #i( 76 70 66 71 77 67 70 76 75 76 69 75 68 77 74 77 71 74 67 73 79 64 79 73 64 77 79 63 77 64 63 71 77 62 76 70 65 72 78 66 78 72 62 65 76 65 78 76 66 69 78 69 76 78 67 79 68 79 77 68 75 74 71 75 71 70 75 69 66 75 66 72 74 75 72 74 72 73 68 74 67 74 73 67 73 72 64 72 65 64 62 70 71 62 71 63 62 63 64 62 64 65))
           (list :vertices #2f((-8.7402000427246094e+00 6.7737998962402344e+00 2.4694299697875977e+01)(-8.7402000427246094e+00 -1.0118500709533691e+01 2.4696100234985352e+01)(-2.9409998655319214e-01 -1.3616899490356445e+01 2.4697000503540039e+01)(8.1519994735717773e+00 -1.0118399620056152e+01 2.4697198867797852e+01)(1.1650500297546387e+01 -1.6378999948501587e+00 2.4696599960327148e+01)(8.1519994735717773e+00 6.7737998962402344e+00 2.4695501327514648e+01)(-2.9409998655319214e-01 1.0272299766540527e+01 2.4694499969482422e+01)(-8.7400999069213867e+00 6.7734999656677246e+00 2.2530500411987305e+01)(-1.2238600730895996e+01 -1.6381000280380249e+00 2.2531099319458008e+01)(-8.7400999069213867e+00 -1.0118700027465820e+01 2.2532199859619141e+01)(-2.9399999976158142e-01 -1.3617199897766113e+01 2.2533201217651367e+01)(8.1521005630493164e+00 -1.0118700027465820e+01 2.2533399581909180e+01)(1.1650599479675293e+01 -1.6381000280380249e+00 2.2532800674438477e+01)(8.1521005630493164e+00 6.7734999656677246e+00 2.2531600952148438e+01)(-2.9399999976158142e-01 1.0272000312805176e+01 2.2530698776245117e+01)(-2.9060000181198120e-01 1.0266999244689941e+01 -2.5894500732421875e+01)(8.1554994583129883e+00 6.7684998512268066e+00 -2.5893600463867188e+01)(1.1653999328613281e+01 -1.6432000398635864e+00 -2.5892499923706055e+01)(8.1554994583129883e+00 -1.0123700141906738e+01 -2.5891799926757812e+01)(-2.9060000181198120e-01 -1.3622200012207031e+01 -2.5892000198364258e+01)(-8.7367000579833984e+00 -1.0123700141906738e+01 -2.5893001556396484e+01)(-1.2235199928283691e+01 -1.6432000398635864e+00 -2.5894100189208984e+01)(-8.7367000579833984e+00 6.7684998512268066e+00 -2.5894800186157227e+01)(-2.9069998860359192e-01 1.0267199516296387e+01 -2.3847698211669922e+01)(8.1554002761840820e+00 6.7687001228332520e+00 -2.3846700668334961e+01)(1.1653900146484375e+01 -1.6430000066757202e+00 -2.3845600128173828e+01)(8.1554002761840820e+00 -1.0123499870300293e+01 -2.3844900131225586e+01)(-2.9069998860359192e-01 -1.3621999740600586e+01 -2.3845199584960938e+01)(-8.7369003295898438e+00 -1.0123499870300293e+01 -2.3846099853515625e+01)(-8.7369003295898438e+00 6.7687001228332520e+00 -2.3847900390625000e+01)(1.0540300369262695e+01 -3.0911401748657227e+01 2.6259799957275391e+01)(1.0543800354003906e+01 -3.0916700363159180e+01 -2.3842500686645508e+01)(-1.1265800476074219e+01 -3.0911401748657227e+01 2.6258298873901367e+01)(-1.1262300491333008e+01 -3.0916700363159180e+01 -2.3843999862670898e+01)(-1.1262399673461914e+01 -2.9524799346923828e+01 -2.2317800521850586e+01)(-1.1265699386596680e+01 -2.9519800186157227e+01 2.4697999954223633e+01)(1.0540399551391602e+01 -2.9519800186157227e+01 2.4699499130249023e+01)(1.0543700218200684e+01 -2.9524799346923828e+01 -2.2316299438476562e+01)(1.0543600082397461e+01 -1.6428000926971436e+00 -2.2319400787353516e+01)(1.0540399551391602e+01 -1.6378999948501587e+00 2.4696498870849609e+01)(-1.1265800476074219e+01 -1.6378999948501587e+00 2.4694999694824219e+01)(-1.1262499809265137e+01 -1.6428000926971436e+00 -2.2320899963378906e+01)(-1.1262399673461914e+01 -1.6430000066757202e+00 -2.3847200393676758e+01)(-1.1265899658203125e+01 -1.6376999616622925e+00 2.6255098342895508e+01)(1.0540300369262695e+01 -1.6376999616622925e+00 2.6256698608398438e+01)(1.0543700218200684e+01 -1.6430000066757202e+00 -2.3845701217651367e+01)(-3.2669999599456787e+00 1.3025000095367432e+00 -2.6413799285888672e+01)(-4.4998002052307129e+00 -1.6546000242233276e+00 -2.6413600921630859e+01)(-3.2669999599456787e+00 -4.6503000259399414e+00 -2.6413200378417969e+01)(-2.9060000181198120e-01 -5.8831000328063965e+00 -2.6412799835205078e+01)(2.6858000755310059e+00 -4.6503000259399414e+00 -2.6412799835205078e+01)(3.9186999797821045e+00 -1.6546000242233276e+00 -2.6413000106811523e+01)(2.6858000755310059e+00 1.3025000095367432e+00 -2.6413400650024414e+01)(-2.9060000181198120e-01 2.5353999137878418e+00 -2.6413700103759766e+01)(-2.9429998993873596e-01 2.5408999919891357e+00 2.6698301315307617e+01)(2.6821000576019287e+00 1.3080999851226807e+00 2.6698600769042969e+01)(3.9149997234344482e+00 -1.6490999460220337e+00 2.6698999404907227e+01)(2.6821000576019287e+00 -4.6447000503540039e+00 2.6699199676513672e+01)(-2.9429998993873596e-01 -5.8776001930236816e+00 2.6699100494384766e+01)(-3.2707002162933350e+00 -4.6447000503540039e+00 2.6698799133300781e+01)(-4.5034999847412109e+00 -1.6490999460220337e+00 2.6698398590087891e+01)(-3.2707002162933350e+00 1.3080999851226807e+00 2.6698200225830078e+01)(-2.2159399032592773e+01 -1.8295400619506836e+01 -5.3232799530029297e+01)(4.4003097534179688e+01 -1.8296600341796875e+01 -5.3230503082275391e+01)(4.4002799987792969e+01 -3.3510700225830078e+01 -5.3229701995849609e+01)(-2.2159698486328125e+01 -3.3549396514892578e+01 -5.3231998443603516e+01)(-1.4545499801635742e+01 -3.3544101715087891e+01 5.0727199554443359e+01)(3.7651100158691406e+01 -3.3505100250244141e+01 5.0366199493408203e+01)(3.7651298522949219e+01 -2.3899101257324219e+01 5.0365699768066406e+01)(-1.4545399665832520e+01 -2.3898199081420898e+01 5.0726699829101562e+01)(-2.2162000656127930e+01 -1.8291500091552734e+01 2.1181499481201172e+01)(4.4000499725341797e+01 -1.8292701721191406e+01 2.1183799743652344e+01)(-7.5757002830505371e+00 -3.3544101715087891e+01 5.2178401947021484e+01)(2.9826299667358398e+01 -3.3544799804687500e+01 5.2179702758789062e+01)(2.9826499938964844e+01 -2.3898899078369141e+01 5.2179199218750000e+01)(-7.5755000114440918e+00 -2.3898199081420898e+01 5.2177898406982422e+01)(-2.2162899017333984e+01 -2.2660200119018555e+01 4.4768600463867188e+01)(4.3999599456787109e+01 -2.2661300659179688e+01 4.4770900726318359e+01)(-2.2163101196289062e+01 -3.3504402160644531e+01 4.4769100189208984e+01)(4.3999401092529297e+01 -3.3505500793457031e+01 4.4771400451660156e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 80 -> 14 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector 4.4003099203109741e+01 -1.8296599388122559e+01 -5.3230501711368561e+01) (float-vector 4.4000498950481415e+01 -1.8292700871825218e+01 2.1183799952268600e+01) (float-vector -2.9409999842755497e-01 1.0272299870848656e+01 2.4694500491023064e+01) (float-vector -2.9060000088065863e-01 1.0266999714076519e+01 -2.5894500315189362e+01)))
    (instance face :init :vertices (list (float-vector -8.7401997298002243e+00 6.7738001234829426e+00 2.4694299325346947e+01) (float-vector -8.7366998195648193e+00 6.7684999667108059e+00 -2.5894800201058388e+01) (float-vector -2.9060000088065863e-01 1.0266999714076519e+01 -2.5894500315189362e+01) (float-vector -2.9409999842755497e-01 1.0272299870848656e+01 2.4694500491023064e+01)))
    (instance face :init :vertices (list (float-vector -8.7366998195648193e+00 6.7684999667108059e+00 -2.5894800201058388e+01) (float-vector -2.2159399464726448e+01 -1.8295399844646454e+01 -5.3232800215482712e+01) (float-vector 4.4003099203109741e+01 -1.8296599388122559e+01 -5.3230501711368561e+01) (float-vector -2.9060000088065863e-01 1.0266999714076519e+01 -2.5894500315189362e+01)))
    (instance face :init :vertices (list (float-vector 4.4000498950481415e+01 -1.8292700871825218e+01 2.1183799952268600e+01) (float-vector 4.3999601155519485e+01 -2.2661300376057625e+01 4.4770900160074234e+01) (float-vector -2.9409999842755497e-01 1.0272299870848656e+01 2.4694500491023064e+01)))
    (instance face :init :vertices (list (float-vector 4.4002801179885864e+01 -3.3510699868202209e+01 -5.3229700773954391e+01) (float-vector 4.3999399989843369e+01 -3.3505499362945557e+01 4.4771399348974228e+01) (float-vector 4.3999601155519485e+01 -2.2661300376057625e+01 4.4770900160074234e+01) (float-vector 4.4000498950481415e+01 -1.8292700871825218e+01 2.1183799952268600e+01) (float-vector 4.4003099203109741e+01 -1.8296599388122559e+01 -5.3230501711368561e+01)))
    (instance face :init :vertices (list (float-vector 4.4002801179885864e+01 -3.3510699868202209e+01 -5.3229700773954391e+01) (float-vector 4.4003099203109741e+01 -1.8296599388122559e+01 -5.3230501711368561e+01) (float-vector -2.2159399464726448e+01 -1.8295399844646454e+01 -5.3232800215482712e+01) (float-vector -2.2159699350595474e+01 -3.3549398183822632e+01 -5.3231999278068542e+01)))
    (instance face :init :vertices (list (float-vector -7.5754998251795769e+00 -2.3898199200630188e+01 5.2177898585796356e+01) (float-vector -2.2162899374961853e+01 -2.2660199552774429e+01 4.4768601655960083e+01) (float-vector -8.7401997298002243e+00 6.7738001234829426e+00 2.4694299325346947e+01)))
    (instance face :init :vertices (list (float-vector -2.2162899374961853e+01 -2.2660199552774429e+01 4.4768601655960083e+01) (float-vector -7.5754998251795769e+00 -2.3898199200630188e+01 5.2177898585796356e+01) (float-vector -7.5757000595331192e+00 -3.3544100821018219e+01 5.2178401499986649e+01) (float-vector -2.2163100540637970e+01 -3.3504400402307510e+01 4.4769100844860077e+01)))
    (instance face :init :vertices (list (float-vector -2.2162899374961853e+01 -2.2660199552774429e+01 4.4768601655960083e+01) (float-vector -2.2163100540637970e+01 -3.3504400402307510e+01 4.4769100844860077e+01) (float-vector -2.2159699350595474e+01 -3.3549398183822632e+01 -5.3231999278068542e+01) (float-vector -2.2159399464726448e+01 -1.8295399844646454e+01 -5.3232800215482712e+01)))
    (instance face :init :vertices (list (float-vector -8.7366998195648193e+00 6.7684999667108059e+00 -2.5894800201058388e+01) (float-vector -8.7401997298002243e+00 6.7738001234829426e+00 2.4694299325346947e+01) (float-vector -2.2162899374961853e+01 -2.2660199552774429e+01 4.4768601655960083e+01) (float-vector -2.2159399464726448e+01 -1.8295399844646454e+01 -5.3232800215482712e+01)))
    (instance face :init :vertices (list (float-vector -7.5757000595331192e+00 -3.3544100821018219e+01 5.2178401499986649e+01) (float-vector 3.7651099264621735e+01 -3.3505100756883621e+01 5.0366200506687164e+01) (float-vector 4.3999399989843369e+01 -3.3505499362945557e+01 4.4771399348974228e+01) (float-vector 4.4002801179885864e+01 -3.3510699868202209e+01 -5.3229700773954391e+01) (float-vector -2.2159699350595474e+01 -3.3549398183822632e+01 -5.3231999278068542e+01) (float-vector -2.2163100540637970e+01 -3.3504400402307510e+01 4.4769100844860077e+01)))
    (instance face :init :vertices (list (float-vector 2.9826499521732330e+01 -2.3898899555206299e+01 5.2179198712110519e+01) (float-vector 3.7651099264621735e+01 -3.3505100756883621e+01 5.0366200506687164e+01) (float-vector -7.5757000595331192e+00 -3.3544100821018219e+01 5.2178401499986649e+01) (float-vector -7.5754998251795769e+00 -2.3898199200630188e+01 5.2177898585796356e+01)))
    (instance face :init :vertices (list (float-vector 4.3999601155519485e+01 -2.2661300376057625e+01 4.4770900160074234e+01) (float-vector 4.3999399989843369e+01 -3.3505499362945557e+01 4.4771399348974228e+01) (float-vector 3.7651099264621735e+01 -3.3505100756883621e+01 5.0366200506687164e+01) (float-vector 2.9826499521732330e+01 -2.3898899555206299e+01 5.2179198712110519e+01)))
    (instance face :init :vertices (list (float-vector -8.7401997298002243e+00 6.7738001234829426e+00 2.4694299325346947e+01) (float-vector -2.9409999842755497e-01 1.0272299870848656e+01 2.4694500491023064e+01) (float-vector 4.3999601155519485e+01 -2.2661300376057625e+01 4.4770900160074234e+01) (float-vector 2.9826499521732330e+01 -2.3898899555206299e+01 5.2179198712110519e+01) (float-vector -7.5754998251795769e+00 -2.3898199200630188e+01 5.2177898585796356e+01)))
    ))
   )
  )

(defclass DARWIN_g1_8_geom1
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_8_geom1
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000))
           ))
           (list :indices #i( 1 2 3 40 1 3 40 3 4 0 40 4 0 4 5 0 5 6 9 11 10 9 12 11 8 12 9 7 12 8 7 13 12 14 13 7 28 27 26 42 28 26 42 26 25 29 42 25 29 25 24 29 24 23 20 18 19 20 17 18 21 17 20 22 17 21 22 16 17 15 16 22 53 52 46 46 52 51 46 51 47 47 51 48 48 51 50 48 50 49 55 54 61 55 61 56 56 61 60 56 60 59 56 59 57 57 59 58 47 61 46 47 60 61 48 60 47 48 59 60 49 59 48 49 58 59 50 58 49 50 57 58 51 57 50 51 56 57 52 56 51 52 55 56 53 55 52 53 54 55 46 54 53 46 61 54 38 34 37 38 41 34 36 40 39 36 35 40 42 38 45 42 41 38 44 40 43 44 39 40 33 45 31 33 42 45 30 43 32 30 44 43 34 42 33 34 41 42 32 43 35 35 43 40 36 44 30 36 39 44 31 45 37 37 45 38 29 22 21 29 21 42 42 21 20 42 20 28 28 20 19 28 19 27 27 19 18 27 18 26 26 18 17 26 17 25 25 17 16 25 16 24 24 16 15 24 15 23 23 15 22 23 22 29 7 0 6 7 6 14 5 13 14 5 14 6 4 12 13 4 13 5 3 11 12 3 12 4 2 10 11 2 11 3 1 9 10 1 10 2 40 8 9 40 9 1 0 7 8 0 8 40))
           (list :vertices #2f((-8.7402000427246094e+00 6.7737998962402344e+00 2.4694299697875977e+01)(-8.7402000427246094e+00 -1.0118500709533691e+01 2.4696100234985352e+01)(-2.9409998655319214e-01 -1.3616899490356445e+01 2.4697000503540039e+01)(8.1519994735717773e+00 -1.0118399620056152e+01 2.4697198867797852e+01)(1.1650500297546387e+01 -1.6378999948501587e+00 2.4696599960327148e+01)(8.1519994735717773e+00 6.7737998962402344e+00 2.4695501327514648e+01)(-2.9409998655319214e-01 1.0272299766540527e+01 2.4694499969482422e+01)(-8.7400999069213867e+00 6.7734999656677246e+00 2.2530500411987305e+01)(-1.2238600730895996e+01 -1.6381000280380249e+00 2.2531099319458008e+01)(-8.7400999069213867e+00 -1.0118700027465820e+01 2.2532199859619141e+01)(-2.9399999976158142e-01 -1.3617199897766113e+01 2.2533201217651367e+01)(8.1521005630493164e+00 -1.0118700027465820e+01 2.2533399581909180e+01)(1.1650599479675293e+01 -1.6381000280380249e+00 2.2532800674438477e+01)(8.1521005630493164e+00 6.7734999656677246e+00 2.2531600952148438e+01)(-2.9399999976158142e-01 1.0272000312805176e+01 2.2530698776245117e+01)(-2.9060000181198120e-01 1.0266999244689941e+01 -2.5894500732421875e+01)(8.1554994583129883e+00 6.7684998512268066e+00 -2.5893600463867188e+01)(1.1653999328613281e+01 -1.6432000398635864e+00 -2.5892499923706055e+01)(8.1554994583129883e+00 -1.0123700141906738e+01 -2.5891799926757812e+01)(-2.9060000181198120e-01 -1.3622200012207031e+01 -2.5892000198364258e+01)(-8.7367000579833984e+00 -1.0123700141906738e+01 -2.5893001556396484e+01)(-1.2235199928283691e+01 -1.6432000398635864e+00 -2.5894100189208984e+01)(-8.7367000579833984e+00 6.7684998512268066e+00 -2.5894800186157227e+01)(-2.9069998860359192e-01 1.0267199516296387e+01 -2.3847698211669922e+01)(8.1554002761840820e+00 6.7687001228332520e+00 -2.3846700668334961e+01)(1.1653900146484375e+01 -1.6430000066757202e+00 -2.3845600128173828e+01)(8.1554002761840820e+00 -1.0123499870300293e+01 -2.3844900131225586e+01)(-2.9069998860359192e-01 -1.3621999740600586e+01 -2.3845199584960938e+01)(-8.7369003295898438e+00 -1.0123499870300293e+01 -2.3846099853515625e+01)(-8.7369003295898438e+00 6.7687001228332520e+00 -2.3847900390625000e+01)(1.0540300369262695e+01 -3.0911401748657227e+01 2.6259799957275391e+01)(1.0543800354003906e+01 -3.0916700363159180e+01 -2.3842500686645508e+01)(-1.1265800476074219e+01 -3.0911401748657227e+01 2.6258298873901367e+01)(-1.1262300491333008e+01 -3.0916700363159180e+01 -2.3843999862670898e+01)(-1.1262399673461914e+01 -2.9524799346923828e+01 -2.2317800521850586e+01)(-1.1265699386596680e+01 -2.9519800186157227e+01 2.4697999954223633e+01)(1.0540399551391602e+01 -2.9519800186157227e+01 2.4699499130249023e+01)(1.0543700218200684e+01 -2.9524799346923828e+01 -2.2316299438476562e+01)(1.0543600082397461e+01 -1.6428000926971436e+00 -2.2319400787353516e+01)(1.0540399551391602e+01 -1.6378999948501587e+00 2.4696498870849609e+01)(-1.1265800476074219e+01 -1.6378999948501587e+00 2.4694999694824219e+01)(-1.1262499809265137e+01 -1.6428000926971436e+00 -2.2320899963378906e+01)(-1.1262399673461914e+01 -1.6430000066757202e+00 -2.3847200393676758e+01)(-1.1265899658203125e+01 -1.6376999616622925e+00 2.6255098342895508e+01)(1.0540300369262695e+01 -1.6376999616622925e+00 2.6256698608398438e+01)(1.0543700218200684e+01 -1.6430000066757202e+00 -2.3845701217651367e+01)(-3.2669999599456787e+00 1.3025000095367432e+00 -2.6413799285888672e+01)(-4.4998002052307129e+00 -1.6546000242233276e+00 -2.6413600921630859e+01)(-3.2669999599456787e+00 -4.6503000259399414e+00 -2.6413200378417969e+01)(-2.9060000181198120e-01 -5.8831000328063965e+00 -2.6412799835205078e+01)(2.6858000755310059e+00 -4.6503000259399414e+00 -2.6412799835205078e+01)(3.9186999797821045e+00 -1.6546000242233276e+00 -2.6413000106811523e+01)(2.6858000755310059e+00 1.3025000095367432e+00 -2.6413400650024414e+01)(-2.9060000181198120e-01 2.5353999137878418e+00 -2.6413700103759766e+01)(-2.9429998993873596e-01 2.5408999919891357e+00 2.6698301315307617e+01)(2.6821000576019287e+00 1.3080999851226807e+00 2.6698600769042969e+01)(3.9149997234344482e+00 -1.6490999460220337e+00 2.6698999404907227e+01)(2.6821000576019287e+00 -4.6447000503540039e+00 2.6699199676513672e+01)(-2.9429998993873596e-01 -5.8776001930236816e+00 2.6699100494384766e+01)(-3.2707002162933350e+00 -4.6447000503540039e+00 2.6698799133300781e+01)(-4.5034999847412109e+00 -1.6490999460220337e+00 2.6698398590087891e+01)(-3.2707002162933350e+00 1.3080999851226807e+00 2.6698200225830078e+01)(-2.2159399032592773e+01 -1.8295400619506836e+01 -5.3232799530029297e+01)(4.4003097534179688e+01 -1.8296600341796875e+01 -5.3230503082275391e+01)(4.4002799987792969e+01 -3.3510700225830078e+01 -5.3229701995849609e+01)(-2.2159698486328125e+01 -3.3549396514892578e+01 -5.3231998443603516e+01)(-1.4545499801635742e+01 -3.3544101715087891e+01 5.0727199554443359e+01)(3.7651100158691406e+01 -3.3505100250244141e+01 5.0366199493408203e+01)(3.7651298522949219e+01 -2.3899101257324219e+01 5.0365699768066406e+01)(-1.4545399665832520e+01 -2.3898199081420898e+01 5.0726699829101562e+01)(-2.2162000656127930e+01 -1.8291500091552734e+01 2.1181499481201172e+01)(4.4000499725341797e+01 -1.8292701721191406e+01 2.1183799743652344e+01)(-7.5757002830505371e+00 -3.3544101715087891e+01 5.2178401947021484e+01)(2.9826299667358398e+01 -3.3544799804687500e+01 5.2179702758789062e+01)(2.9826499938964844e+01 -2.3898899078369141e+01 5.2179199218750000e+01)(-7.5755000114440918e+00 -2.3898199081420898e+01 5.2177898406982422e+01)(-2.2162899017333984e+01 -2.2660200119018555e+01 4.4768600463867188e+01)(4.3999599456787109e+01 -2.2661300659179688e+01 4.4770900726318359e+01)(-2.2163101196289062e+01 -3.3504402160644531e+01 4.4769100189208984e+01)(4.3999401092529297e+01 -3.3505500793457031e+01 4.4771400451660156e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 80 -> 14 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector 4.4003099203109741e+01 -1.8296599388122559e+01 -5.3230501711368561e+01) (float-vector 4.4000498950481415e+01 -1.8292700871825218e+01 2.1183799952268600e+01) (float-vector -2.9409999842755497e-01 1.0272299870848656e+01 2.4694500491023064e+01) (float-vector -2.9060000088065863e-01 1.0266999714076519e+01 -2.5894500315189362e+01)))
    (instance face :init :vertices (list (float-vector -8.7401997298002243e+00 6.7738001234829426e+00 2.4694299325346947e+01) (float-vector -8.7366998195648193e+00 6.7684999667108059e+00 -2.5894800201058388e+01) (float-vector -2.9060000088065863e-01 1.0266999714076519e+01 -2.5894500315189362e+01) (float-vector -2.9409999842755497e-01 1.0272299870848656e+01 2.4694500491023064e+01)))
    (instance face :init :vertices (list (float-vector -8.7366998195648193e+00 6.7684999667108059e+00 -2.5894800201058388e+01) (float-vector -2.2159399464726448e+01 -1.8295399844646454e+01 -5.3232800215482712e+01) (float-vector 4.4003099203109741e+01 -1.8296599388122559e+01 -5.3230501711368561e+01) (float-vector -2.9060000088065863e-01 1.0266999714076519e+01 -2.5894500315189362e+01)))
    (instance face :init :vertices (list (float-vector 4.4000498950481415e+01 -1.8292700871825218e+01 2.1183799952268600e+01) (float-vector 4.3999601155519485e+01 -2.2661300376057625e+01 4.4770900160074234e+01) (float-vector -2.9409999842755497e-01 1.0272299870848656e+01 2.4694500491023064e+01)))
    (instance face :init :vertices (list (float-vector 4.4002801179885864e+01 -3.3510699868202209e+01 -5.3229700773954391e+01) (float-vector 4.3999399989843369e+01 -3.3505499362945557e+01 4.4771399348974228e+01) (float-vector 4.3999601155519485e+01 -2.2661300376057625e+01 4.4770900160074234e+01) (float-vector 4.4000498950481415e+01 -1.8292700871825218e+01 2.1183799952268600e+01) (float-vector 4.4003099203109741e+01 -1.8296599388122559e+01 -5.3230501711368561e+01)))
    (instance face :init :vertices (list (float-vector 4.4002801179885864e+01 -3.3510699868202209e+01 -5.3229700773954391e+01) (float-vector 4.4003099203109741e+01 -1.8296599388122559e+01 -5.3230501711368561e+01) (float-vector -2.2159399464726448e+01 -1.8295399844646454e+01 -5.3232800215482712e+01) (float-vector -2.2159699350595474e+01 -3.3549398183822632e+01 -5.3231999278068542e+01)))
    (instance face :init :vertices (list (float-vector -7.5754998251795769e+00 -2.3898199200630188e+01 5.2177898585796356e+01) (float-vector -2.2162899374961853e+01 -2.2660199552774429e+01 4.4768601655960083e+01) (float-vector -8.7401997298002243e+00 6.7738001234829426e+00 2.4694299325346947e+01)))
    (instance face :init :vertices (list (float-vector -2.2162899374961853e+01 -2.2660199552774429e+01 4.4768601655960083e+01) (float-vector -7.5754998251795769e+00 -2.3898199200630188e+01 5.2177898585796356e+01) (float-vector -7.5757000595331192e+00 -3.3544100821018219e+01 5.2178401499986649e+01) (float-vector -2.2163100540637970e+01 -3.3504400402307510e+01 4.4769100844860077e+01)))
    (instance face :init :vertices (list (float-vector -2.2162899374961853e+01 -2.2660199552774429e+01 4.4768601655960083e+01) (float-vector -2.2163100540637970e+01 -3.3504400402307510e+01 4.4769100844860077e+01) (float-vector -2.2159699350595474e+01 -3.3549398183822632e+01 -5.3231999278068542e+01) (float-vector -2.2159399464726448e+01 -1.8295399844646454e+01 -5.3232800215482712e+01)))
    (instance face :init :vertices (list (float-vector -8.7366998195648193e+00 6.7684999667108059e+00 -2.5894800201058388e+01) (float-vector -8.7401997298002243e+00 6.7738001234829426e+00 2.4694299325346947e+01) (float-vector -2.2162899374961853e+01 -2.2660199552774429e+01 4.4768601655960083e+01) (float-vector -2.2159399464726448e+01 -1.8295399844646454e+01 -5.3232800215482712e+01)))
    (instance face :init :vertices (list (float-vector -7.5757000595331192e+00 -3.3544100821018219e+01 5.2178401499986649e+01) (float-vector 3.7651099264621735e+01 -3.3505100756883621e+01 5.0366200506687164e+01) (float-vector 4.3999399989843369e+01 -3.3505499362945557e+01 4.4771399348974228e+01) (float-vector 4.4002801179885864e+01 -3.3510699868202209e+01 -5.3229700773954391e+01) (float-vector -2.2159699350595474e+01 -3.3549398183822632e+01 -5.3231999278068542e+01) (float-vector -2.2163100540637970e+01 -3.3504400402307510e+01 4.4769100844860077e+01)))
    (instance face :init :vertices (list (float-vector 2.9826499521732330e+01 -2.3898899555206299e+01 5.2179198712110519e+01) (float-vector 3.7651099264621735e+01 -3.3505100756883621e+01 5.0366200506687164e+01) (float-vector -7.5757000595331192e+00 -3.3544100821018219e+01 5.2178401499986649e+01) (float-vector -7.5754998251795769e+00 -2.3898199200630188e+01 5.2177898585796356e+01)))
    (instance face :init :vertices (list (float-vector 4.3999601155519485e+01 -2.2661300376057625e+01 4.4770900160074234e+01) (float-vector 4.3999399989843369e+01 -3.3505499362945557e+01 4.4771399348974228e+01) (float-vector 3.7651099264621735e+01 -3.3505100756883621e+01 5.0366200506687164e+01) (float-vector 2.9826499521732330e+01 -2.3898899555206299e+01 5.2179198712110519e+01)))
    (instance face :init :vertices (list (float-vector -8.7401997298002243e+00 6.7738001234829426e+00 2.4694299325346947e+01) (float-vector -2.9409999842755497e-01 1.0272299870848656e+01 2.4694500491023064e+01) (float-vector 4.3999601155519485e+01 -2.2661300376057625e+01 4.4770900160074234e+01) (float-vector 2.9826499521732330e+01 -2.3898899555206299e+01 5.2179198712110519e+01) (float-vector -7.5754998251795769e+00 -2.3898199200630188e+01 5.2177898585796356e+01)))
    ))
   )
  )

(defclass DARWIN_g1_9_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_9_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000))
           ))
           (list :indices #i( 1 3 2 40 3 1 40 4 3 0 4 40 0 5 4 0 6 5 9 10 11 9 11 12 8 9 12 7 8 12 7 12 13 14 7 13 46 53 47 53 48 47 53 52 48 52 51 48 51 49 48 51 50 49 28 26 27 42 26 28 42 25 26 29 25 42 29 24 25 29 23 24 20 19 18 20 18 17 21 20 17 22 21 17 22 17 16 15 22 16 69 62 68 62 67 68 62 63 67 63 64 67 64 66 67 64 65 66 71 77 70 71 72 77 72 76 77 72 75 76 72 73 75 73 74 75 63 62 77 63 77 76 64 63 76 64 76 75 65 64 75 65 75 74 66 65 74 66 74 73 67 66 73 67 73 72 68 67 72 68 72 71 69 68 71 69 71 70 62 69 70 62 70 77 61 52 53 61 60 52 60 51 52 60 59 51 59 50 51 59 58 50 58 49 50 58 57 49 57 48 49 57 56 48 56 47 48 56 55 47 55 46 47 55 54 46 53 54 61 53 46 54 38 37 34 38 34 41 36 39 40 36 40 35 34 37 36 34 36 35 42 45 38 42 38 41 44 43 40 44 40 39 33 31 45 33 45 42 30 32 43 30 43 44 34 33 42 34 42 41 32 35 43 35 40 43 36 30 44 36 44 39 31 37 45 37 38 45 30 36 31 36 37 31 33 34 35 33 35 32 30 31 33 30 33 32 29 21 22 29 42 21 42 20 21 42 28 20 28 19 20 28 27 19 27 18 19 27 26 18 26 17 18 26 25 17 25 16 17 25 24 16 24 15 16 24 23 15 23 22 15 23 29 22 6 0 7 7 14 6 5 14 13 5 6 14 4 13 12 4 5 13 3 12 11 3 4 12 2 11 10 2 3 11 1 10 9 1 2 10 40 9 8 40 1 9 0 8 7 0 40 8))
           (list :vertices #2f((-8.4469995498657227e+00 -8.4461002349853516e+00 2.4727499008178711e+01)(-8.4469995498657227e+00 8.4461002349853516e+00 2.4727499008178711e+01)(-8.9999998454004526e-04 1.1944600105285645e+01 2.4727800369262695e+01)(8.4451999664306641e+00 8.4461002349853516e+00 2.4728099822998047e+01)(1.1943699836730957e+01 -3.4499999135732651e-02 2.4728199005126953e+01)(8.4451999664306641e+00 -8.4461002349853516e+00 2.4728099822998047e+01)(-8.9999998454004526e-04 -1.1944600105285645e+01 2.4727800369262695e+01)(-8.4469003677368164e+00 -8.4461002349853516e+00 2.2563699722290039e+01)(-1.1945400238037109e+01 -3.4499999135732651e-02 2.2563600540161133e+01)(-8.4469003677368164e+00 8.4461002349853516e+00 2.2563699722290039e+01)(-8.0000003799796104e-04 1.1944600105285645e+01 2.2563999176025391e+01)(8.4453001022338867e+00 8.4461002349853516e+00 2.2564298629760742e+01)(1.1943799972534180e+01 -3.4499999135732651e-02 2.2564399719238281e+01)(8.4453001022338867e+00 -8.4461002349853516e+00 2.2564298629760742e+01)(-8.0000003799796104e-04 -1.1944600105285645e+01 2.2563999176025391e+01)(8.9999998454004526e-04 -1.1944600105285645e+01 -2.5861200332641602e+01)(8.4469995498657227e+00 -8.4461002349853516e+00 -2.5860900878906250e+01)(1.1945500373840332e+01 -3.4499999135732651e-02 -2.5860799789428711e+01)(8.4469995498657227e+00 8.4461002349853516e+00 -2.5860900878906250e+01)(8.9999998454004526e-04 1.1944600105285645e+01 -2.5861200332641602e+01)(-8.4451999664306641e+00 8.4461002349853516e+00 -2.5861499786376953e+01)(-1.1943699836730957e+01 -3.4499999135732651e-02 -2.5861600875854492e+01)(-8.4451999664306641e+00 -8.4461002349853516e+00 -2.5861499786376953e+01)(8.0000003799796104e-04 -1.1944600105285645e+01 -2.3814300537109375e+01)(8.4469003677368164e+00 -8.4461002349853516e+00 -2.3814100265502930e+01)(1.1945400238037109e+01 -3.4499999135732651e-02 -2.3813899993896484e+01)(8.4469003677368164e+00 8.4461002349853516e+00 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2.4727399826049805e+01)(-1.0970899581909180e+01 -3.4499999135732651e-02 -2.2288400650024414e+01)(-1.0970800399780273e+01 -3.4499999135732651e-02 -2.3814701080322266e+01)(-1.0972599983215332e+01 -3.4499999135732651e-02 2.6287599563598633e+01)(1.0833600044250488e+01 -3.4499999135732651e-02 2.6288398742675781e+01)(1.0835300445556641e+01 -3.4499999135732651e-02 -2.3814001083374023e+01)(3.0000001424923539e-04 3.3282897949218750e+01 -1.0381999969482422e+01)(7.3413996696472168e+00 3.3282897949218750e+01 -7.3408999443054199e+00)(1.0381999969482422e+01 3.3282897949218750e+01 4.0000001899898052e-04)(7.3408999443054199e+00 3.3282897949218750e+01 7.3413996696472168e+00)(-4.0000001899898052e-04 3.3282897949218750e+01 1.0381999969482422e+01)(-7.3413996696472168e+00 3.3282897949218750e+01 7.3408999443054199e+00)(-1.0381999969482422e+01 3.3282897949218750e+01 -4.0000001899898052e-04)(-7.3408999443054199e+00 3.3282897949218750e+01 -7.3413996696472168e+00)(4.0000001899898052e-04 3.1398097991943359e+01 -1.0381999969482422e+01)(7.3413996696472168e+00 3.1398097991943359e+01 -7.3408999443054199e+00)(1.0381999969482422e+01 3.1398097991943359e+01 4.0000001899898052e-04)(7.3408999443054199e+00 3.1398097991943359e+01 7.3413996696472168e+00)(-4.0000001899898052e-04 3.1398097991943359e+01 1.0381999969482422e+01)(-7.3413996696472168e+00 3.1398097991943359e+01 7.3408999443054199e+00)(-1.0381999969482422e+01 3.1398097991943359e+01 -4.0000001899898052e-04)(-7.3408999443054199e+00 3.1398097991943359e+01 -7.3413996696472168e+00)(-2.9754998683929443e+00 -2.9802000522613525e+00 -2.6381299972534180e+01)(-4.2082996368408203e+00 -2.3099999874830246e-02 -2.6381399154663086e+01)(-2.9754998683929443e+00 2.9725999832153320e+00 -2.6381299972534180e+01)(8.9999998454004526e-04 4.2053999900817871e+00 -2.6381200790405273e+01)(2.9772999286651611e+00 2.9725999832153320e+00 -2.6381099700927734e+01)(4.2102003097534180e+00 -2.3099999874830246e-02 -2.6381099700927734e+01)(2.9772999286651611e+00 -2.9802000522613525e+00 -2.6381099700927734e+01)(8.9999998454004526e-04 -4.2130999565124512e+00 -2.6381200790405273e+01)(-8.9999998454004526e-04 -4.2130999565124512e+00 2.6730800628662109e+01)(2.9754998683929443e+00 -2.9802000522613525e+00 2.6730899810791016e+01)(4.2082996368408203e+00 -2.3099999874830246e-02 2.6730899810791016e+01)(2.9754998683929443e+00 2.9725999832153320e+00 2.6730899810791016e+01)(-8.9999998454004526e-04 4.2053999900817871e+00 2.6730800628662109e+01)(-2.9772999286651611e+00 2.9725999832153320e+00 2.6730699539184570e+01)(-4.2102003097534180e+00 -2.3099999874830246e-02 2.6730600357055664e+01)(-2.9772999286651611e+00 -2.9802000522613525e+00 2.6730699539184570e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 78 -> 11 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector -1.0970800183713436e+01 3.1398098915815353e+01 -2.3814700543880463e+01) (float-vector -1.0972600430250168e+01 3.1398098915815353e+01 2.6287600398063660e+01) (float-vector -1.0972600430250168e+01 -3.4500000765547156e-02 2.6287600398063660e+01) (float-vector -1.1943699792027473e+01 -3.4500000765547156e-02 -2.5861600413918495e+01)))
    (instance face :init :vertices (list (float-vector 1.0833599604666233e+01 3.1398098915815353e+01 2.6288399472832680e+01) (float-vector -1.0972600430250168e+01 3.1398098915815353e+01 2.6287600398063660e+01) (float-vector -1.0970800183713436e+01 3.1398098915815353e+01 -2.3814700543880463e+01) (float-vector 1.0382000356912613e+01 3.3282898366451263e+01 4.0000000467443897e-04)))
    (instance face :init :vertices (list (float-vector 1.0835300199687481e+01 3.1398098915815353e+01 -2.3814000189304352e+01) (float-vector 1.0382000356912613e+01 3.3282898366451263e+01 4.0000000467443897e-04) (float-vector -1.0970800183713436e+01 3.1398098915815353e+01 -2.3814700543880463e+01)))
    (instance face :init :vertices (list (float-vector 1.0835300199687481e+01 3.1398098915815353e+01 -2.3814000189304352e+01) (float-vector 1.1945500038564205e+01 -3.4500000765547156e-02 -2.5860799476504326e+01) (float-vector 1.1943699792027473e+01 -3.4500000765547156e-02 2.4728199467062950e+01) (float-vector 1.0833599604666233e+01 3.1398098915815353e+01 2.6288399472832680e+01) (float-vector 1.0382000356912613e+01 3.3282898366451263e+01 4.0000000467443897e-04)))
    (instance face :init :vertices (list (float-vector -8.4453001618385315e+00 -8.4461001679301262e+00 -2.3814599961042404e+01) (float-vector 8.9999997499035089e-04 -1.1944600380957127e+01 -2.5861199945211411e+01) (float-vector -1.1943699792027473e+01 -3.4500000765547156e-02 -2.5861600413918495e+01)))
    (instance face :init :vertices (list (float-vector 8.4469998255372047e+00 -8.4461001679301262e+00 -2.5860900059342384e+01) (float-vector 1.1945500038564205e+01 -3.4500000765547156e-02 -2.5860799476504326e+01) (float-vector 1.0835300199687481e+01 3.1398098915815353e+01 -2.3814000189304352e+01) (float-vector -1.0970800183713436e+01 3.1398098915815353e+01 -2.3814700543880463e+01) (float-vector -1.1943699792027473e+01 -3.4500000765547156e-02 -2.5861600413918495e+01) (float-vector 8.9999997499035089e-04 -1.1944600380957127e+01 -2.5861199945211411e+01)))
    (instance face :init :vertices (list (float-vector -8.4469998255372047e+00 -8.4461001679301262e+00 2.4727499112486839e+01) (float-vector -8.4453001618385315e+00 -8.4461001679301262e+00 -2.3814599961042404e+01) (float-vector -1.1943699792027473e+01 -3.4500000765547156e-02 -2.5861600413918495e+01) (float-vector -1.0972600430250168e+01 -3.4500000765547156e-02 2.6287600398063660e+01)))
    (instance face :init :vertices (list (float-vector -8.9999997499035089e-04 -1.1944600380957127e+01 2.4727800861001015e+01) (float-vector 8.9999997499035089e-04 -1.1944600380957127e+01 -2.5861199945211411e+01) (float-vector -8.4453001618385315e+00 -8.4461001679301262e+00 -2.3814599961042404e+01) (float-vector -8.4469998255372047e+00 -8.4461001679301262e+00 2.4727499112486839e+01)))
    (instance face :init :vertices (list (float-vector 1.1943699792027473e+01 -3.4500000765547156e-02 2.4728199467062950e+01) (float-vector 8.4451995790004730e+00 -8.4461001679301262e+00 2.4728100746870041e+01) (float-vector -8.9999997499035089e-04 -1.1944600380957127e+01 2.4727800861001015e+01) (float-vector -8.4469998255372047e+00 -8.4461001679301262e+00 2.4727499112486839e+01) (float-vector -1.0972600430250168e+01 -3.4500000765547156e-02 2.6287600398063660e+01) (float-vector -1.0972600430250168e+01 3.1398098915815353e+01 2.6287600398063660e+01) (float-vector 1.0833599604666233e+01 3.1398098915815353e+01 2.6288399472832680e+01)))
    (instance face :init :vertices (list (float-vector 8.4469998255372047e+00 -8.4461001679301262e+00 -2.5860900059342384e+01) (float-vector 8.4451995790004730e+00 -8.4461001679301262e+00 2.4728100746870041e+01) (float-vector 1.1943699792027473e+01 -3.4500000765547156e-02 2.4728199467062950e+01) (float-vector 1.1945500038564205e+01 -3.4500000765547156e-02 -2.5860799476504326e+01)))
    (instance face :init :vertices (list (float-vector -8.9999997499035089e-04 -1.1944600380957127e+01 2.4727800861001015e+01) (float-vector 8.4451995790004730e+00 -8.4461001679301262e+00 2.4728100746870041e+01) (float-vector 8.4469998255372047e+00 -8.4461001679301262e+00 -2.5860900059342384e+01) (float-vector 8.9999997499035089e-04 -1.1944600380957127e+01 -2.5861199945211411e+01)))
    ))
   )
  )

(defclass DARWIN_g1_10_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_10_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.140000 0.140000 0.140000 1.000000))
           ))
           (list :indices #i( 0 1 14 15 2 3 1 17 14 2 15 16 16 15 20 21 14 17 22 25 33 27 24 35 5 19 26 4 27 18 4 28 27 1 27 28 1 28 17 5 26 29 2 29 26 2 16 29 33 25 36 35 24 30 33 20 22 35 18 27 31 17 28 37 5 29 75 77 74 75 76 77 73 71 70 73 72 71 77 72 73 77 76 72 75 70 71 75 74 70 64 69 68 64 65 69 62 67 66 62 63 67 66 68 69 66 67 68 64 62 65 64 63 62 46 51 47 46 50 51 56 59 46 56 46 49 46 47 48 46 48 49 47 57 48 47 60 57 55 61 51 55 51 52 54 50 58 54 53 50 50 53 52 50 52 51 38 51 42 38 47 51 6 47 38 6 60 47 6 61 60 6 10 61 10 51 61 10 42 51 11 50 43 11 58 50 39 50 46 39 43 50 7 58 11 7 59 58 7 46 59 7 39 46 9 48 57 9 41 48 9 55 13 9 57 55 13 52 45 13 55 52 8 49 40 8 56 49 12 53 54 12 44 53 8 12 54 8 54 56 40 53 44 40 49 53 55 57 60 55 60 61 56 54 58 56 58 59 48 52 53 48 53 49 40 12 8 40 44 12 9 45 41 9 13 45 38 10 6 38 42 10 7 43 39 7 11 43 36 32 33 36 37 32 30 34 35 30 31 34 29 16 37 37 16 32 28 34 31 28 4 34 1 26 27 1 2 26 26 19 25 25 19 36 24 26 25 24 27 26 23 30 24 23 21 30 23 25 22 23 24 25 14 20 15 14 21 20 20 23 22 20 21 23 36 5 37 36 19 5 34 18 35 34 4 18 32 20 33 32 16 20 30 17 31 30 21 17 3 0 14 14 15 3 0 2 1 0 3 2 48 41 45 48 45 52))
           (list :vertices #2f((-1.8042699813842773e+01 1.1576799392700195e+01 2.1473800659179688e+01)(-1.8044799804687500e+01 1.1576799392700195e+01 -1.9161800384521484e+01)(1.7572799682617188e+01 1.1575499534606934e+01 -1.9163000106811523e+01)(1.7574901580810547e+01 1.1575499534606934e+01 2.1472599029541016e+01)(-1.8046400070190430e+01 -3.9089099884033203e+01 -1.4129899978637695e+01)(1.7571300506591797e+01 -3.9090396881103516e+01 -1.4131099700927734e+01)(1.7571001052856445e+01 -2.7495800018310547e+01 -2.6834199905395508e+01)(1.7569198608398438e+01 -2.7495800018310547e+01 -6.1849502563476562e+01)(-1.8048400878906250e+01 -2.7494600296020508e+01 -6.1847602844238281e+01)(-1.8046600341796875e+01 -2.7494600296020508e+01 -2.6832300186157227e+01)(1.7572200775146484e+01 5.7487998008728027e+00 -2.6834199905395508e+01)(1.7570400238037109e+01 5.7487998008728027e+00 -6.1849502563476562e+01)(-1.8047298431396484e+01 5.7500000000000000e+00 -6.1847602844238281e+01)(-1.8045499801635742e+01 5.7500000000000000e+00 -2.6832300186157227e+01)(-1.8043600082397461e+01 -1.2827299118041992e+01 2.1473800659179688e+01)(1.7574100494384766e+01 -1.2828599929809570e+01 2.1472599029541016e+01)(1.7573900222778320e+01 -1.2828599929809570e+01 1.7325000762939453e+01)(-1.8043798446655273e+01 -1.2827299118041992e+01 1.7326299667358398e+01)(-1.5588800430297852e+01 -3.9089199066162109e+01 -1.4129799842834473e+01)(1.5106699943542480e+01 -3.9090301513671875e+01 -1.4131199836730957e+01)(1.5107899665832520e+01 -1.2828499794006348e+01 1.7324899673461914e+01)(-1.5587599754333496e+01 -1.2827400207519531e+01 1.7326299667358398e+01)(1.5107600212097168e+01 -1.2828499794006348e+01 1.1390199661254883e+01)(-1.5587900161743164e+01 -1.2827400207519531e+01 1.1391799926757812e+01)(-1.5588600158691406e+01 -3.3071903228759766e+01 1.1391799926757812e+01)(1.5106899261474609e+01 -3.3073001861572266e+01 1.1390199661254883e+01)(1.5105299949645996e+01 -3.3073001861572266e+01 -1.9052200317382812e+01)(-1.5590200424194336e+01 -3.3071903228759766e+01 -1.9050798416137695e+01)(-1.8046400070190430e+01 -3.3071800231933594e+01 -1.9050701141357422e+01)(1.7571199417114258e+01 -3.3073101043701172e+01 -1.9052398681640625e+01)(-1.5588300704956055e+01 -3.3071903228759766e+01 1.7326299667358398e+01)(-1.8044500350952148e+01 -3.3071800231933594e+01 1.7326299667358398e+01)(1.7573099136352539e+01 -3.3073101043701172e+01 1.7325000762939453e+01)(1.5107199668884277e+01 -3.3073001861572266e+01 1.7324899673461914e+01)(-1.8045000076293945e+01 -3.9089099884033203e+01 1.1392000198364258e+01)(-1.5588600158691406e+01 -3.9089199066162109e+01 1.1391799926757812e+01)(1.5106899261474609e+01 -3.9090301513671875e+01 1.1390199661254883e+01)(1.7572601318359375e+01 -3.9090396881103516e+01 1.1390100479125977e+01)(1.7570899963378906e+01 -2.7495800018310547e+01 -2.9659999847412109e+01)(1.7569299697875977e+01 -2.7495800018310547e+01 -5.9022899627685547e+01)(-1.8048299789428711e+01 -2.7494600296020508e+01 -5.9020999908447266e+01)(-1.8046800613403320e+01 -2.7494600296020508e+01 -2.9658100128173828e+01)(1.7572000503540039e+01 5.7487998008728027e+00 -2.9659999847412109e+01)(1.7570499420166016e+01 5.7487998008728027e+00 -5.9022899627685547e+01)(-1.8047100067138672e+01 5.7500000000000000e+00 -5.9020999908447266e+01)(-1.8045600891113281e+01 5.7500000000000000e+00 -2.9658100128173828e+01)(1.2539699554443359e+01 -3.3322402954101562e+01 -5.9022602081298828e+01)(1.2541299819946289e+01 -3.3322402954101562e+01 -2.9659700393676758e+01)(-1.2853000640869141e+01 -3.3321498870849609e+01 -2.9658399581909180e+01)(-1.2854599952697754e+01 -3.3321498870849609e+01 -5.9021301269531250e+01)(1.2541299819946289e+01 1.1575699806213379e+01 -5.9022602081298828e+01)(1.2542799949645996e+01 1.1575699806213379e+01 -2.9659700393676758e+01)(-1.2851499557495117e+01 1.1576600074768066e+01 -2.9658399581909180e+01)(-1.2853000640869141e+01 1.1576600074768066e+01 -5.9021301269531250e+01)(-1.2853099822998047e+01 1.1576600074768066e+01 -6.1847900390625000e+01)(-1.2851299285888672e+01 1.1576600074768066e+01 -2.6832599639892578e+01)(-1.2854700088500977e+01 -3.3321498870849609e+01 -6.1847900390625000e+01)(-1.2852899551391602e+01 -3.3321498870849609e+01 -2.6832599639892578e+01)(1.2541100502014160e+01 1.1575699806213379e+01 -6.1849197387695312e+01)(1.2539600372314453e+01 -3.3322402954101562e+01 -6.1849197387695312e+01)(1.2541399955749512e+01 -3.3322402954101562e+01 -2.6833898544311523e+01)(1.2543000221252441e+01 1.1575699806213379e+01 -2.6833898544311523e+01)(9.7545995712280273e+00 -9.4038000106811523e+00 -1.5765600204467773e+01)(9.7538003921508789e+00 -9.4038000106811523e+00 -3.0751901626586914e+01)(9.7536001205444336e+00 -1.5364600181579590e+01 -3.0751901626586914e+01)(9.7543992996215820e+00 -1.5364600181579590e+01 -1.5765600204467773e+01)(-1.0063300132751465e+01 -9.4031000137329102e+00 -1.5764599800109863e+01)(-1.0064100265502930e+01 -9.4031000137329102e+00 -3.0750900268554688e+01)(-1.0064300537109375e+01 -1.5363800048828125e+01 -3.0750900268554688e+01)(-1.0063500404357910e+01 -1.5363800048828125e+01 -1.5764498710632324e+01)(-1.0064000129699707e+01 -3.2448200225830078e+01 -1.5764498710632324e+01)(-1.0064800262451172e+01 -3.2448200225830078e+01 -3.0750900268554688e+01)(-1.0064599990844727e+01 -2.6487400054931641e+01 -3.0750900268554688e+01)(-1.0063799858093262e+01 -2.6487400054931641e+01 -1.5764599800109863e+01)(9.7538003921508789e+00 -3.2449001312255859e+01 -1.5765600204467773e+01)(9.7530002593994141e+00 -3.2449001312255859e+01 -3.0751901626586914e+01)(9.7532005310058594e+00 -2.6488199234008789e+01 -3.0751901626586914e+01)(9.7540006637573242e+00 -2.6488199234008789e+01 -1.5765600204467773e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 78 -> 12 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector 1.7569199204444885e+01 -2.7495799586176872e+01 -6.1849500983953476e+01) (float-vector 1.2539600022137165e+01 -3.3322401344776154e+01 -6.1849199235439301e+01) (float-vector 1.7571300268173218e+01 -3.9090398699045181e+01 -1.4131099916994572e+01)))
    (instance face :init :vertices (list (float-vector 1.2541100382804871e+01 1.1575699783861637e+01 -6.1849199235439301e+01) (float-vector 1.7570400610566139e+01 5.7488000020384789e+00 -6.1849500983953476e+01) (float-vector 1.7574900761246681e+01 1.1575499549508095e+01 2.1472599357366562e+01)))
    (instance face :init :vertices (list (float-vector -1.8042700365185738e+01 1.1576799675822258e+01 2.1473800763487816e+01) (float-vector -1.8047099933028221e+01 5.7500000111758709e+00 -5.9020999819040298e+01) (float-vector -1.2853099964559078e+01 1.1576600372791290e+01 -6.1847899109125137e+01)))
    (instance face :init :vertices (list (float-vector 1.7574900761246681e+01 1.1575499549508095e+01 2.1472599357366562e+01) (float-vector -1.8042700365185738e+01 1.1576799675822258e+01 2.1473800763487816e+01) (float-vector -1.2853099964559078e+01 1.1576600372791290e+01 -6.1847899109125137e+01) (float-vector 1.2541100382804871e+01 1.1575699783861637e+01 -6.1849199235439301e+01)))
    (instance face :init :vertices (list (float-vector -1.8046399578452110e+01 -3.9089098572731018e+01 -1.4129900373518467e+01) (float-vector -1.2854699976742268e+01 -3.3321499824523926e+01 -6.1847899109125137e+01) (float-vector -1.8048400059342384e+01 -2.7494600042700768e+01 -6.1847601085901260e+01)))
    (instance face :init :vertices (list (float-vector 1.7570400610566139e+01 5.7488000020384789e+00 -6.1849500983953476e+01) (float-vector 1.2541100382804871e+01 1.1575699783861637e+01 -6.1849199235439301e+01) (float-vector -1.2853099964559078e+01 1.1576600372791290e+01 -6.1847899109125137e+01) (float-vector -1.8047099933028221e+01 5.7500000111758709e+00 -5.9020999819040298e+01) (float-vector -1.8048400059342384e+01 -2.7494600042700768e+01 -6.1847601085901260e+01) (float-vector -1.2854699976742268e+01 -3.3321499824523926e+01 -6.1847899109125137e+01) (float-vector 1.2539600022137165e+01 -3.3322401344776154e+01 -6.1849199235439301e+01) (float-vector 1.7569199204444885e+01 -2.7495799586176872e+01 -6.1849500983953476e+01)))
    (instance face :init :vertices (list (float-vector 1.2539600022137165e+01 -3.3322401344776154e+01 -6.1849199235439301e+01) (float-vector -1.2854699976742268e+01 -3.3321499824523926e+01 -6.1847899109125137e+01) (float-vector -1.8046399578452110e+01 -3.9089098572731018e+01 -1.4129900373518467e+01) (float-vector 1.7571300268173218e+01 -3.9090398699045181e+01 -1.4131099916994572e+01)))
    (instance face :init :vertices (list (float-vector -1.8042700365185738e+01 1.1576799675822258e+01 2.1473800763487816e+01) (float-vector -1.8044499680399895e+01 -3.3071801066398621e+01 1.7326299101114273e+01) (float-vector -1.8045000731945038e+01 -3.9089098572731018e+01 1.1392000131309032e+01) (float-vector -1.8046399578452110e+01 -3.9089098572731018e+01 -1.4129900373518467e+01) (float-vector -1.8048400059342384e+01 -2.7494600042700768e+01 -6.1847601085901260e+01) (float-vector -1.8047099933028221e+01 5.7500000111758709e+00 -5.9020999819040298e+01)))
    (instance face :init :vertices (list (float-vector -1.8044499680399895e+01 -3.3071801066398621e+01 1.7326299101114273e+01) (float-vector -1.8042700365185738e+01 1.1576799675822258e+01 2.1473800763487816e+01) (float-vector 1.7574900761246681e+01 1.1575499549508095e+01 2.1472599357366562e+01) (float-vector 1.7573099583387375e+01 -3.3073101192712784e+01 1.7325000837445259e+01)))
    (instance face :init :vertices (list (float-vector 1.7572600394487381e+01 -3.9090398699045181e+01 1.1390100233256817e+01) (float-vector 1.7573099583387375e+01 -3.3073101192712784e+01 1.7325000837445259e+01) (float-vector 1.7574900761246681e+01 1.1575499549508095e+01 2.1472599357366562e+01) (float-vector 1.7570400610566139e+01 5.7488000020384789e+00 -6.1849500983953476e+01) (float-vector 1.7569199204444885e+01 -2.7495799586176872e+01 -6.1849500983953476e+01) (float-vector 1.7571300268173218e+01 -3.9090398699045181e+01 -1.4131099916994572e+01)))
    (instance face :init :vertices (list (float-vector -1.8045000731945038e+01 -3.9089098572731018e+01 1.1392000131309032e+01) (float-vector 1.7572600394487381e+01 -3.9090398699045181e+01 1.1390100233256817e+01) (float-vector 1.7571300268173218e+01 -3.9090398699045181e+01 -1.4131099916994572e+01) (float-vector -1.8046399578452110e+01 -3.9089098572731018e+01 -1.4129900373518467e+01)))
    (instance face :init :vertices (list (float-vector 1.7573099583387375e+01 -3.3073101192712784e+01 1.7325000837445259e+01) (float-vector 1.7572600394487381e+01 -3.9090398699045181e+01 1.1390100233256817e+01) (float-vector -1.8045000731945038e+01 -3.9089098572731018e+01 1.1392000131309032e+01) (float-vector -1.8044499680399895e+01 -3.3071801066398621e+01 1.7326299101114273e+01)))
    ))
   )
  )

(defclass DARWIN_g1_11_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_11_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.301961 0.301961 0.301961 1.000000))
           ))
           (list :indices #i( 50 46 48 47 51 49 64 46 58 47 65 59 64 44 46 45 65 47 52 54 56 55 53 57 58 50 56 51 59 57 58 46 50 47 59 51 58 62 64 63 59 65 58 60 62 61 59 63 76 78 74 79 77 75 42 44 64 45 43 65 72 74 66 75 73 67 74 64 66 65 75 67 74 78 64 79 75 65 70 66 68 67 71 69 70 72 66 73 71 67 78 42 64 43 79 65 42 78 40 79 43 41 52 56 82 57 53 83 82 56 50 57 83 51 104 106 102 107 105 103 88 90 92 91 89 93 92 94 100 95 93 101 100 96 98 97 101 99 94 96 100 97 95 101 88 108 110 109 89 111 102 106 84 107 103 85 114 112 108 109 113 115 100 114 108 109 115 101 92 100 108 109 101 93 92 108 88 89 109 93 122 124 118 119 125 123 126 122 118 119 123 127 118 120 116 117 121 119 126 118 116 117 119 127 114 126 116 117 127 115 114 116 112 113 117 115 44 112 46 113 45 47 46 112 116 113 47 117 46 116 48 117 47 49 48 116 120 117 49 121 48 120 50 121 49 51 50 120 118 121 51 119 84 118 102 119 85 103 102 118 124 119 103 125 62 114 64 115 63 65 62 126 114 127 63 115 60 126 62 127 61 63 60 122 126 123 61 127 58 122 60 123 59 61 58 124 122 125 59 123 56 124 58 125 57 59 56 102 124 103 57 125 64 114 66 115 65 67 66 114 100 115 67 101 86 106 104 107 86 105 86 87 106 87 86 107 78 110 40 111 79 41 78 88 110 89 79 111 40 108 42 109 41 43 40 110 108 111 41 109 54 102 56 103 55 57 54 104 102 105 55 103 66 100 68 101 67 69 68 100 98 101 69 99 68 98 70 99 69 71 70 98 96 99 71 97 72 92 74 93 73 75 72 94 92 95 73 93 74 92 76 93 75 77 76 92 90 93 77 91 76 88 78 89 77 79 76 90 88 91 77 89 70 96 72 97 71 73 72 96 94 97 73 95 81 104 54 105 81 55 81 86 104 86 81 105 52 106 80 107 53 80 80 106 87 107 80 87 82 84 52 85 83 53 52 84 106 85 53 107 52 81 54 81 53 55 52 80 81 80 53 81 109 43 45 109 45 113 44 42 108 44 108 112 119 51 83 119 83 85 82 50 118 82 118 84))
           (list :vertices #2f((-1.4869100570678711e+01 -5.5075702667236328e+01 1.1640899658203125e+01)(-1.4869799613952637e+01 -1.0543399810791016e+02 1.1641699790954590e+01)(-1.4870399475097656e+01 -5.5076202392578125e+01 -1.3753399848937988e+01)(-1.4871199607849121e+01 -1.0543399810791016e+02 -1.3752599716186523e+01)(-1.0467399597167969e+01 -1.0543399810791016e+02 -1.3752799987792969e+01)(-1.0466099739074707e+01 -1.0543399810791016e+02 1.1641499519348145e+01)(-1.0466599464416504e+01 -5.5076202392578125e+01 -1.3753600120544434e+01)(-1.0465299606323242e+01 -5.5075798034667969e+01 1.1640699386596680e+01)(-1.0467599868774414e+01 -9.9520202636718750e+01 -1.8946899414062500e+01)(-1.0465700149536133e+01 -9.9519599914550781e+01 1.6670801162719727e+01)(-1.0467000007629395e+01 -6.0990501403808594e+01 -1.8947401046752930e+01)(-1.0465100288391113e+01 -6.0989799499511719e+01 1.6670198440551758e+01)(-1.4871299743652344e+01 -9.9520202636718750e+01 -1.8946599960327148e+01)(-1.4869500160217285e+01 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-3.9389301300048828e+01 2.5601699829101562e+01)(-1.9173101425170898e+01 -7.4813903808593750e+01 2.2080099105834961e+01)(1.9169399261474609e+01 -7.4815299987792969e+01 2.2078798294067383e+01)(-1.8239799499511719e+01 -7.4814002990722656e+01 2.1043001174926758e+01)(1.8236101150512695e+01 -7.4815299987792969e+01 2.1041799545288086e+01)(-5.0000002374872565e-04 -3.9389301300048828e+01 2.4564701080322266e+01)(-1.7999999690800905e-03 -7.4814605712890625e+01 2.4564701080322266e+01)(-2.1672201156616211e+01 -9.9846000671386719e+01 -1.2556699752807617e+01)(2.1664299011230469e+01 -9.9847503662109375e+01 -1.2558200836181641e+01)(-2.1671400070190430e+01 -6.8631004333496094e+01 -1.8988899230957031e+01)(2.1665298461914062e+01 -6.8632499694824219e+01 -1.8990398406982422e+01)(-2.1670499801635742e+01 -5.2928802490234375e+01 -1.2178299903869629e+01)(2.1666000366210938e+01 -5.2930400848388672e+01 -1.2179800033569336e+01)(-2.1668600082397461e+01 3.2583000659942627e+00 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-8.2789999246597290e-01)(2.1664199829101562e+01 -1.0766100311279297e+02 -8.2940000295639038e-01)(-2.1672100067138672e+01 -1.0490400695800781e+02 -8.3076000213623047e+00)(2.1664199829101562e+01 -1.0490599822998047e+02 -8.3091001510620117e+00)(-2.1671300888061523e+01 -1.0556499481201172e+02 7.0044999122619629e+00)(2.1664501190185547e+01 -1.0556700134277344e+02 7.0029997825622559e+00)(-2.1667299270629883e+01 8.8196001052856445e+00 7.0044999122619629e+00)(2.1668399810791016e+01 8.8180999755859375e+00 7.0029997825622559e+00)(-2.0642599105834961e+01 -1.0024800109863281e+02 1.1241200447082520e+01)(2.0636400222778320e+01 -1.0025000000000000e+02 1.1239700317382812e+01)(-1.8719799041748047e+01 -7.4814002990722656e+01 1.9045099258422852e+01)(1.8715999603271484e+01 -7.4815299987792969e+01 1.9043800354003906e+01)(-1.8763401031494141e+01 -7.9842407226562500e+01 1.9045099258422852e+01)(1.8759201049804688e+01 -7.9843696594238281e+01 1.9043800354003906e+01)(-1.8473699569702148e+01 -2.1031599044799805e+01 1.9985799789428711e+01)(1.8473699569702148e+01 -2.1032899856567383e+01 1.9984500885009766e+01)(-1.8424398422241211e+01 -3.5572902679443359e+01 2.0295200347900391e+01)(1.8423400878906250e+01 -3.5574199676513672e+01 2.0293901443481445e+01)(-2.0612199783325195e+01 3.7195000648498535e+00 1.1242499351501465e+01)(2.0613199234008789e+01 3.7181000709533691e+00 1.1241000175476074e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 128 -> 20 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector -1.8208999186754227e+01 -1.0543400049209595e+02 1.1641900055110455e+01) (float-vector -2.6874300092458725e+01 -1.0556499660015106e+02 7.0047997869551182e+00) (float-vector -1.5132499858736992e+01 -7.4814103543758392e+01 2.5602500885725021e+01)))
    (instance face :init :vertices (list (float-vector 2.6871500536799431e+01 1.1920999735593796e+01 2.1977999713271856e+00) (float-vector 2.4706700816750526e+01 3.7179000210016966e+00 1.1241000145673752e+01) (float-vector -2.4705599993467331e+01 3.7197000347077847e+00 1.1242699809372425e+01) (float-vector -2.6870500296354294e+01 1.1922899633646011e+01 2.1997001022100449e+00)))
    (instance face :init :vertices (list (float-vector 1.5141800045967102e+01 -3.9389900863170624e+01 2.5601400062441826e+01) (float-vector 2.4706700816750526e+01 3.7179000210016966e+00 1.1241000145673752e+01) (float-vector 2.0725399255752563e+01 -7.9843796789646149e+01 1.9043700769543648e+01) (float-vector 1.5129099600017071e+01 -7.4815101921558380e+01 2.5601400062441826e+01)))
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    ))
   )
  )

(defclass DARWIN_g1_11_geom1
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_11_geom1
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.140000 0.140000 0.140000 1.000000))
           ))
           (list :indices #i( 32 33 36 33 38 36 35 34 37 35 37 39 33 39 38 33 35 39 32 36 37 32 37 34 38 37 36 38 39 37 32 34 35 32 35 33 20 18 22 20 16 18 17 23 19 17 21 23 23 25 27 23 21 25 19 28 29 19 29 17 28 23 27 28 19 23 21 29 25 21 17 29 31 20 24 31 16 20 18 31 30 18 16 31 24 22 26 24 20 22 22 30 26 22 18 30 9 1 5 9 13 1 7 9 5 7 11 9 0 13 15 0 1 13 0 11 7 0 15 11 10 2 6 10 14 2 3 8 4 3 12 8 12 3 2 12 2 14 8 6 4 8 10 6 14 8 12 14 10 8 11 13 9 11 15 13))
           (list :vertices #2f((-1.4869100570678711e+01 -5.5075702667236328e+01 1.1640899658203125e+01)(-1.4869799613952637e+01 -1.0543399810791016e+02 1.1641699790954590e+01)(-1.4870399475097656e+01 -5.5076202392578125e+01 -1.3753399848937988e+01)(-1.4871199607849121e+01 -1.0543399810791016e+02 -1.3752599716186523e+01)(-1.0467399597167969e+01 -1.0543399810791016e+02 -1.3752799987792969e+01)(-1.0466099739074707e+01 -1.0543399810791016e+02 1.1641499519348145e+01)(-1.0466599464416504e+01 -5.5076202392578125e+01 -1.3753600120544434e+01)(-1.0465299606323242e+01 -5.5075798034667969e+01 1.1640699386596680e+01)(-1.0467599868774414e+01 -9.9520202636718750e+01 -1.8946899414062500e+01)(-1.0465700149536133e+01 -9.9519599914550781e+01 1.6670801162719727e+01)(-1.0467000007629395e+01 -6.0990501403808594e+01 -1.8947401046752930e+01)(-1.0465100288391113e+01 -6.0989799499511719e+01 1.6670198440551758e+01)(-1.4871299743652344e+01 -9.9520202636718750e+01 -1.8946599960327148e+01)(-1.4869500160217285e+01 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-3.9389301300048828e+01 2.5601699829101562e+01)(-1.9173101425170898e+01 -7.4813903808593750e+01 2.2080099105834961e+01)(1.9169399261474609e+01 -7.4815299987792969e+01 2.2078798294067383e+01)(-1.8239799499511719e+01 -7.4814002990722656e+01 2.1043001174926758e+01)(1.8236101150512695e+01 -7.4815299987792969e+01 2.1041799545288086e+01)(-5.0000002374872565e-04 -3.9389301300048828e+01 2.4564701080322266e+01)(-1.7999999690800905e-03 -7.4814605712890625e+01 2.4564701080322266e+01)(-2.1672201156616211e+01 -9.9846000671386719e+01 -1.2556699752807617e+01)(2.1664299011230469e+01 -9.9847503662109375e+01 -1.2558200836181641e+01)(-2.1671400070190430e+01 -6.8631004333496094e+01 -1.8988899230957031e+01)(2.1665298461914062e+01 -6.8632499694824219e+01 -1.8990398406982422e+01)(-2.1670499801635742e+01 -5.2928802490234375e+01 -1.2178299903869629e+01)(2.1666000366210938e+01 -5.2930400848388672e+01 -1.2179800033569336e+01)(-2.1668600082397461e+01 3.2583000659942627e+00 -1.3313399314880371e+01)(2.1667900085449219e+01 3.2567999362945557e+00 -1.3314900398254395e+01)(-2.1668199539184570e+01 8.6296997070312500e+00 -1.0207300186157227e+01)(2.1668100357055664e+01 8.6281995773315430e+00 -1.0208900451660156e+01)(-2.1667900085449219e+01 1.1765899658203125e+01 -4.8138003349304199e+00)(2.1668300628662109e+01 1.1764399528503418e+01 -4.8152999877929688e+00)(-2.1667499542236328e+01 1.1922699928283691e+01 2.1164000034332275e+00)(2.1668498992919922e+01 1.1921199798583984e+01 2.1148998737335205e+00)(-1.8238599777221680e+01 -3.8305801391601562e+01 2.1043001174926758e+01)(1.8237300872802734e+01 -3.8307102203369141e+01 2.1041799545288086e+01)(-1.4209499359130859e+01 -3.9388797760009766e+01 2.4565401077270508e+01)(1.4208399772644043e+01 -3.9389801025390625e+01 2.4564399719238281e+01)(-1.4199299812316895e+01 -7.4814102172851562e+01 2.4565401077270508e+01)(1.4195799827575684e+01 -7.4815101623535156e+01 2.4564399719238281e+01)(-2.1671800613403320e+01 -1.0765899658203125e+02 -8.2789999246597290e-01)(2.1664199829101562e+01 -1.0766100311279297e+02 -8.2940000295639038e-01)(-2.1672100067138672e+01 -1.0490400695800781e+02 -8.3076000213623047e+00)(2.1664199829101562e+01 -1.0490599822998047e+02 -8.3091001510620117e+00)(-2.1671300888061523e+01 -1.0556499481201172e+02 7.0044999122619629e+00)(2.1664501190185547e+01 -1.0556700134277344e+02 7.0029997825622559e+00)(-2.1667299270629883e+01 8.8196001052856445e+00 7.0044999122619629e+00)(2.1668399810791016e+01 8.8180999755859375e+00 7.0029997825622559e+00)(-2.0642599105834961e+01 -1.0024800109863281e+02 1.1241200447082520e+01)(2.0636400222778320e+01 -1.0025000000000000e+02 1.1239700317382812e+01)(-1.8719799041748047e+01 -7.4814002990722656e+01 1.9045099258422852e+01)(1.8715999603271484e+01 -7.4815299987792969e+01 1.9043800354003906e+01)(-1.8763401031494141e+01 -7.9842407226562500e+01 1.9045099258422852e+01)(1.8759201049804688e+01 -7.9843696594238281e+01 1.9043800354003906e+01)(-1.8473699569702148e+01 -2.1031599044799805e+01 1.9985799789428711e+01)(1.8473699569702148e+01 -2.1032899856567383e+01 1.9984500885009766e+01)(-1.8424398422241211e+01 -3.5572902679443359e+01 2.0295200347900391e+01)(1.8423400878906250e+01 -3.5574199676513672e+01 2.0293901443481445e+01)(-2.0612199783325195e+01 3.7195000648498535e+00 1.1242499351501465e+01)(2.0613199234008789e+01 3.7181000709533691e+00 1.1241000175476074e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 128 -> 20 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector -1.8208999186754227e+01 -1.0543400049209595e+02 1.1641900055110455e+01) (float-vector -2.6874300092458725e+01 -1.0556499660015106e+02 7.0047997869551182e+00) (float-vector -1.5132499858736992e+01 -7.4814103543758392e+01 2.5602500885725021e+01)))
    (instance face :init :vertices (list (float-vector 2.6871500536799431e+01 1.1920999735593796e+01 2.1977999713271856e+00) (float-vector 2.4706700816750526e+01 3.7179000210016966e+00 1.1241000145673752e+01) (float-vector -2.4705599993467331e+01 3.7197000347077847e+00 1.1242699809372425e+01) (float-vector -2.6870500296354294e+01 1.1922899633646011e+01 2.1997001022100449e+00)))
    (instance face :init :vertices (list (float-vector 1.5141800045967102e+01 -3.9389900863170624e+01 2.5601400062441826e+01) (float-vector 2.4706700816750526e+01 3.7179000210016966e+00 1.1241000145673752e+01) (float-vector 2.0725399255752563e+01 -7.9843796789646149e+01 1.9043700769543648e+01) (float-vector 1.5129099600017071e+01 -7.4815101921558380e+01 2.5601400062441826e+01)))
    (instance face :init :vertices (list (float-vector -1.5142699703574181e+01 -3.9388798177242279e+01 2.5602500885725021e+01) (float-vector -1.5132499858736992e+01 -7.4814103543758392e+01 2.5602500885725021e+01) (float-vector -2.6874300092458725e+01 -1.0556499660015106e+02 7.0047997869551182e+00) (float-vector -2.4705599993467331e+01 3.7197000347077847e+00 1.1242699809372425e+01)))
    (instance face :init :vertices (list (float-vector -1.5142699703574181e+01 -3.9388798177242279e+01 2.5602500885725021e+01) (float-vector 1.5141800045967102e+01 -3.9389900863170624e+01 2.5601400062441826e+01) (float-vector 1.5129099600017071e+01 -7.4815101921558380e+01 2.5601400062441826e+01) (float-vector -1.5132499858736992e+01 -7.4814103543758392e+01 2.5602500885725021e+01)))
    (instance face :init :vertices (list (float-vector 1.5141800045967102e+01 -3.9389900863170624e+01 2.5601400062441826e+01) (float-vector -1.5142699703574181e+01 -3.9388798177242279e+01 2.5602500885725021e+01) (float-vector -2.4705599993467331e+01 3.7197000347077847e+00 1.1242699809372425e+01) (float-vector 2.4706700816750526e+01 3.7179000210016966e+00 1.1241000145673752e+01)))
    (instance face :init :vertices (list (float-vector 2.6871299371123314e+01 1.1764200404286385e+01 -4.7324998304247856e+00) (float-vector 2.6871500536799431e+01 1.1920999735593796e+01 2.1977999713271856e+00) (float-vector -2.6870500296354294e+01 1.1922899633646011e+01 2.1997001022100449e+00) (float-vector -2.6870800182223320e+01 1.1766100302338600e+01 -4.7305999323725700e+00)))
    (instance face :init :vertices (list (float-vector 1.7765400931239128e+01 -1.0543400049209595e+02 1.1639500036835670e+01) (float-vector -1.8208999186754227e+01 -1.0543400049209595e+02 1.1641900055110455e+01) (float-vector -1.5132499858736992e+01 -7.4814103543758392e+01 2.5602500885725021e+01) (float-vector 1.5129099600017071e+01 -7.4815101921558380e+01 2.5601400062441826e+01)))
    (instance face :init :vertices (list (float-vector 2.6867300271987915e+01 -9.9847696721553802e+01 -1.2475299648940563e+01) (float-vector 1.7764100804924965e+01 -1.0543400049209595e+02 -1.3754700310528278e+01) (float-vector 2.6867300271987915e+01 -1.0766100138425827e+02 -7.4649997986853123e-01)))
    (instance face :init :vertices (list (float-vector 1.7764100804924965e+01 -1.0543400049209595e+02 -1.3754700310528278e+01) (float-vector 2.6867300271987915e+01 -9.9847696721553802e+01 -1.2475299648940563e+01) (float-vector 2.6868300512433052e+01 -6.8632602691650391e+01 -1.8907500430941582e+01) (float-vector 1.4767199754714966e+01 -9.9520199000835419e+01 -1.8948599696159363e+01)))
    (instance face :init :vertices (list (float-vector -2.6871599256992340e+01 3.2585000153630972e+00 -1.3230199925601482e+01) (float-vector -2.6874400675296783e+01 -6.8630799651145935e+01 -1.8905699253082275e+01) (float-vector -1.4871300198137760e+01 -9.9520199000835419e+01 -1.8946599215269089e+01) (float-vector 1.4767199754714966e+01 -9.9520199000835419e+01 -1.8948599696159363e+01) (float-vector 2.6868300512433052e+01 -6.8632602691650391e+01 -1.8907500430941582e+01) (float-vector 2.6870900765061378e+01 3.2565998844802380e+00 -1.3232099823653698e+01)))
    (instance face :init :vertices (list (float-vector -2.6870800182223320e+01 1.1766100302338600e+01 -4.7305999323725700e+00) (float-vector -2.6871599256992340e+01 3.2585000153630972e+00 -1.3230199925601482e+01) (float-vector 2.6870900765061378e+01 3.2565998844802380e+00 -1.3232099823653698e+01) (float-vector 2.6871299371123314e+01 1.1764200404286385e+01 -4.7324998304247856e+00)))
    (instance face :init :vertices (list (float-vector 2.4706700816750526e+01 3.7179000210016966e+00 1.1241000145673752e+01) (float-vector 2.6867499575018883e+01 -1.0556700080633163e+02 7.0028998889029026e+00) (float-vector 2.0725399255752563e+01 -7.9843796789646149e+01 1.9043700769543648e+01)))
    (instance face :init :vertices (list (float-vector -2.6874300092458725e+01 -1.0556499660015106e+02 7.0047997869551182e+00) (float-vector -1.8208999186754227e+01 -1.0543400049209595e+02 1.1641900055110455e+01) (float-vector 1.7765400931239128e+01 -1.0543400049209595e+02 1.1639500036835670e+01) (float-vector 2.6867499575018883e+01 -1.0556700080633163e+02 7.0028998889029026e+00) (float-vector 2.6867300271987915e+01 -1.0766100138425827e+02 -7.4649997986853123e-01) (float-vector -2.6874799281358719e+01 -1.0765899717807770e+02 -7.4470002437010407e-01)))
    (instance face :init :vertices (list (float-vector 2.6867300271987915e+01 -9.9847696721553802e+01 -1.2475299648940563e+01) (float-vector 2.6867300271987915e+01 -1.0766100138425827e+02 -7.4649997986853123e-01) (float-vector 2.6867499575018883e+01 -1.0556700080633163e+02 7.0028998889029026e+00) (float-vector 2.4706700816750526e+01 3.7179000210016966e+00 1.1241000145673752e+01) (float-vector 2.6871500536799431e+01 1.1920999735593796e+01 2.1977999713271856e+00) (float-vector 2.6871299371123314e+01 1.1764200404286385e+01 -4.7324998304247856e+00) (float-vector 2.6870900765061378e+01 3.2565998844802380e+00 -1.3232099823653698e+01) (float-vector 2.6868300512433052e+01 -6.8632602691650391e+01 -1.8907500430941582e+01)))
    (instance face :init :vertices (list (float-vector 2.0725399255752563e+01 -7.9843796789646149e+01 1.9043700769543648e+01) (float-vector 2.6867499575018883e+01 -1.0556700080633163e+02 7.0028998889029026e+00) (float-vector 1.7765400931239128e+01 -1.0543400049209595e+02 1.1639500036835670e+01) (float-vector 1.5129099600017071e+01 -7.4815101921558380e+01 2.5601400062441826e+01)))
    (instance face :init :vertices (list (float-vector -2.6874799281358719e+01 -1.0765899717807770e+02 -7.4470002437010407e-01) (float-vector -2.6875099167227745e+01 -1.0490400344133377e+02 -8.2243001088500023e+00) (float-vector -2.6874400675296783e+01 -6.8630799651145935e+01 -1.8905699253082275e+01) (float-vector -2.6871599256992340e+01 3.2585000153630972e+00 -1.3230199925601482e+01) (float-vector -2.6870800182223320e+01 1.1766100302338600e+01 -4.7305999323725700e+00) (float-vector -2.6870500296354294e+01 1.1922899633646011e+01 2.1997001022100449e+00) (float-vector -2.4705599993467331e+01 3.7197000347077847e+00 1.1242699809372425e+01) (float-vector -2.6874300092458725e+01 -1.0556499660015106e+02 7.0047997869551182e+00)))
    (instance face :init :vertices (list (float-vector 1.7764100804924965e+01 -1.0543400049209595e+02 -1.3754700310528278e+01) (float-vector -1.8210399895906448e+01 -1.0543400049209595e+02 -1.3752399943768978e+01) (float-vector -2.6875099167227745e+01 -1.0490400344133377e+02 -8.2243001088500023e+00) (float-vector -2.6874799281358719e+01 -1.0765899717807770e+02 -7.4470002437010407e-01) (float-vector 2.6867300271987915e+01 -1.0766100138425827e+02 -7.4649997986853123e-01)))
    (instance face :init :vertices (list (float-vector -1.4871300198137760e+01 -9.9520199000835419e+01 -1.8946599215269089e+01) (float-vector -1.8210399895906448e+01 -1.0543400049209595e+02 -1.3752399943768978e+01) (float-vector 1.7764100804924965e+01 -1.0543400049209595e+02 -1.3754700310528278e+01) (float-vector 1.4767199754714966e+01 -9.9520199000835419e+01 -1.8948599696159363e+01)))
    (instance face :init :vertices (list (float-vector -2.6875099167227745e+01 -1.0490400344133377e+02 -8.2243001088500023e+00) (float-vector -1.8210399895906448e+01 -1.0543400049209595e+02 -1.3752399943768978e+01) (float-vector -1.4871300198137760e+01 -9.9520199000835419e+01 -1.8946599215269089e+01) (float-vector -2.6874400675296783e+01 -6.8630799651145935e+01 -1.8905699253082275e+01)))
    ))
   )
  )

(defclass DARWIN_g1_12_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_12_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.301961 0.301961 0.301961 1.000000))
           ))
           (list :indices #i( 10 14 12 15 11 13 10 16 14 17 11 15 8 16 10 17 9 11 8 18 16 19 9 17 6 18 8 19 7 9 6 0 18 7 19 1 4 0 6 5 7 1 2 0 4 3 5 1 30 20 22 21 31 23 24 30 22 31 25 23 30 28 20 29 31 21 32 30 24 31 33 25 26 32 24 33 27 25 0 26 18 27 1 19 34 32 26 33 35 27 0 34 26 35 1 27 55 24 22 25 56 23 26 55 18 56 27 19 26 24 55 25 27 56 22 47 55 48 23 56 47 45 53 47 53 55 48 56 54 48 54 46 53 16 18 53 18 55 54 56 19 54 19 17 45 51 53 52 46 54 51 14 16 51 16 53 52 54 17 52 17 15 49 12 14 49 14 51 50 52 15 50 15 13 39 41 45 42 40 46 41 51 45 52 42 46 51 41 43 51 43 49 52 50 44 52 44 42 39 36 37 39 37 41 40 42 37 40 37 36 41 37 38 41 38 43 42 44 38 42 38 37 69 12 49 69 49 91 70 92 50 70 50 13 67 10 12 67 12 69 68 70 13 68 13 11 65 8 10 65 10 67 66 68 11 66 11 9 63 6 8 63 8 65 64 66 9 64 9 7 61 4 6 61 6 63 62 64 7 62 7 5 49 43 85 49 85 91 50 92 86 50 86 44 59 2 4 59 4 61 60 62 5 60 5 3 57 0 2 57 2 59 58 60 3 58 3 1 34 0 57 34 57 81 35 82 58 35 58 1 79 32 34 79 34 81 80 82 35 80 35 33 77 30 32 77 32 79 78 80 33 78 33 31 75 28 30 75 30 77 76 78 31 76 31 29 71 20 28 71 28 75 72 76 29 72 29 21 22 20 71 22 71 73 23 74 72 23 72 21 47 22 73 47 73 89 48 90 74 48 74 23 87 45 47 87 47 89 88 90 48 88 48 46 83 39 45 83 45 87 84 88 46 84 46 40 43 38 94 43 94 85 44 86 94 44 94 38 93 36 39 93 39 83 93 84 40 93 40 36 93 83 85 93 85 94 93 94 86 93 86 84 85 83 87 85 87 91 86 92 88 86 88 84 87 89 91 90 88 92 73 91 89 92 74 90 69 91 73 92 70 74 69 73 71 74 70 72 69 71 75 72 70 76 79 69 75 70 80 76 81 69 79 70 82 80 57 69 81 70 58 82 79 75 77 76 80 78 63 65 57 66 64 58 61 63 57 64 62 58 59 61 57 62 60 58 57 65 69 66 58 70 65 67 69 68 66 70))
           (list :vertices #2f((-3.2199302673339844e+01 -7.8427398681640625e+01 -3.6756702423095703e+01)(3.2184799194335938e+01 -7.8429702758789062e+01 -3.6758998870849609e+01)(-3.1106500625610352e+01 -3.9214000701904297e+01 -3.6824401855468750e+01)(3.1094699859619141e+01 -3.9216201782226562e+01 -3.6826499938964844e+01)(-3.0773900985717773e+01 -2.7310300827026367e+01 -2.1366399765014648e+01)(3.0763999938964844e+01 -2.7312398910522461e+01 -2.1368499755859375e+01)(-3.0367599487304688e+01 -1.2754100799560547e+01 -8.9622993469238281e+00)(3.0359600067138672e+01 -1.2756199836730957e+01 -8.9643993377685547e+00)(-2.9962699890136719e+01 1.7605000734329224e+00 -1.5365999937057495e+00)(2.9956199645996094e+01 1.7583999633789062e+00 -1.5385999679565430e+00)(-2.9552400588989258e+01 1.6466100692749023e+01 4.1363997459411621e+00)(2.9547300338745117e+01 1.6464099884033203e+01 4.1343002319335938e+00)(-2.9551900863647461e+01 1.6472299575805664e+01 1.3263299942016602e+01)(2.9547498703002930e+01 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    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 95 -> 22 faces
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    (instance face :init :vertices (list (float-vector 2.7584299445152283e+01 -9.9927797913551331e+01 8.8036004453897476e+00) (float-vector 2.6560699567198753e+01 -6.1153300106525421e+01 1.9043700769543648e+01) (float-vector 2.6674700900912285e+01 1.6467500478029251e+01 2.2595899179577827e+01) (float-vector 3.2054301351308823e+01 -8.5289001464843750e+01 -1.9313000375404954e+00)))
    (instance face :init :vertices (list (float-vector 2.6560699567198753e+01 -6.1153300106525421e+01 1.9043700769543648e+01) (float-vector 2.1881200373172760e+01 -8.6234800517559052e+01 2.0516000688076019e+01) (float-vector 1.9979400560259819e+01 -5.8324899524450302e+01 2.7194799855351448e+01) (float-vector 1.9983399659395218e+01 1.6465000808238983e+01 3.1248800456523895e+01) (float-vector 2.6674700900912285e+01 1.6467500478029251e+01 2.2595899179577827e+01)))
    (instance face :init :vertices (list (float-vector 1.9979400560259819e+01 -5.8324899524450302e+01 2.7194799855351448e+01) (float-vector -1.9987100735306740e+01 -1.4788899570703506e+01 3.0773600563406944e+01) (float-vector -1.9986599683761597e+01 1.6466399654746056e+01 3.1250201165676117e+01) (float-vector 1.9983399659395218e+01 1.6465000808238983e+01 3.1248800456523895e+01)))
    (instance face :init :vertices (list (float-vector 2.1881200373172760e+01 -8.6234800517559052e+01 2.0516000688076019e+01) (float-vector -2.1892299875617027e+01 -8.6233302950859070e+01 2.0517500117421150e+01) (float-vector -1.9987100735306740e+01 -1.4788899570703506e+01 3.0773600563406944e+01) (float-vector 1.9979400560259819e+01 -5.8324899524450302e+01 2.7194799855351448e+01)))
    ))
   )
  )

(defclass DARWIN_g1_13_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_13_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.140000 0.140000 0.140000 1.000000))
           ))
           (list :indices #i( 0 14 1 15 3 2 1 14 17 2 16 15 16 20 15 21 17 14 22 33 25 27 35 24 5 26 19 4 18 27 4 27 28 1 28 27 1 17 28 5 29 26 2 26 29 2 29 16 33 36 25 35 30 24 33 22 20 35 27 18 31 28 17 37 29 5 75 74 77 75 77 76 73 70 71 73 71 72 77 73 72 77 72 76 75 71 70 75 70 74 64 68 69 64 69 65 62 66 67 62 67 63 66 69 68 66 68 67 64 65 62 64 62 63 46 47 51 46 51 50 56 46 59 56 49 46 46 48 47 46 49 48 47 48 57 47 57 60 55 51 61 55 52 51 54 58 50 54 50 53 50 52 53 50 51 52 38 42 51 38 51 47 6 38 47 6 47 60 6 60 61 6 61 10 10 61 51 10 51 42 11 43 50 11 50 58 39 46 50 39 50 43 7 11 58 7 58 59 7 59 46 7 46 39 9 57 48 9 48 41 9 13 55 9 55 57 13 45 52 13 52 55 8 40 49 8 49 56 12 54 53 12 53 44 8 54 12 8 56 54 40 44 53 40 53 49 55 60 57 55 61 60 56 58 54 56 59 58 48 53 52 48 49 53 40 8 12 40 12 44 9 41 45 9 45 13 38 6 10 38 10 42 7 39 43 7 43 11 36 33 32 36 32 37 30 35 34 30 34 31 29 37 16 37 32 16 28 31 34 28 34 4 1 27 26 1 26 2 26 25 19 25 36 19 24 25 26 24 26 27 23 24 30 23 30 21 23 22 25 23 25 24 14 15 20 14 20 21 20 22 23 20 23 21 36 37 5 36 5 19 34 35 18 34 18 4 32 33 20 32 20 16 30 31 17 30 17 21 14 0 3 14 3 15 0 1 2 0 2 3 45 41 48 45 48 52))
           (list :vertices #2f((-1.8049598693847656e+01 -1.2195699691772461e+01 2.1475101470947266e+01)(-1.8051700592041016e+01 -1.2199999809265137e+01 -1.9160499572753906e+01)(1.7565900802612305e+01 -1.2199999809265137e+01 -1.9161800384521484e+01)(1.7567998886108398e+01 -1.2195699691772461e+01 2.1473800659179688e+01)(-1.8051500320434570e+01 3.8466400146484375e+01 -1.4133999824523926e+01)(1.7566200256347656e+01 3.8466400146484375e+01 -1.4135199546813965e+01)(1.7565500259399414e+01 2.6870601654052734e+01 -2.6836999893188477e+01)(1.7563701629638672e+01 2.6866899490356445e+01 -6.1852298736572266e+01)(-1.8053998947143555e+01 2.6866899490356445e+01 -6.1850498199462891e+01)(-1.8052099227905273e+01 2.6870601654052734e+01 -2.6835199356079102e+01)(1.7565500259399414e+01 -6.3740000724792480e+00 -2.6833599090576172e+01)(1.7563701629638672e+01 -6.3776998519897461e+00 -6.1848800659179688e+01)(-1.8053998947143555e+01 -6.3776998519897461e+00 -6.1847000122070312e+01)(-1.8052099227905273e+01 -6.3740000724792480e+00 -2.6831699371337891e+01)(-1.8049598693847656e+01 1.2208400726318359e+01 2.1472499847412109e+01)(1.7567998886108398e+01 1.2208400726318359e+01 2.1471300125122070e+01)(1.7567800521850586e+01 1.2208000183105469e+01 1.7323699951171875e+01)(-1.8049800872802734e+01 1.2207900047302246e+01 1.7325000762939453e+01)(-1.5593900680541992e+01 3.8466400146484375e+01 -1.4133900642395020e+01)(1.5101600646972656e+01 3.8466400146484375e+01 -1.4135300636291504e+01)(1.5101799964904785e+01 1.2208000183105469e+01 1.7323600769042969e+01)(-1.5593600273132324e+01 1.2207900047302246e+01 1.7325000762939453e+01)(1.5101499557495117e+01 1.2207300186157227e+01 1.1388899803161621e+01)(-1.5593900680541992e+01 1.2207300186157227e+01 1.1390500068664551e+01)(-1.5593900680541992e+01 3.2451801300048828e+01 1.1388400077819824e+01)(1.5101499557495117e+01 3.2451801300048828e+01 1.1386799812316895e+01)(1.5099900245666504e+01 3.2448600769042969e+01 -1.9055700302124023e+01)(-1.5595499992370605e+01 3.2448699951171875e+01 -1.9054298400878906e+01)(-1.8051700592041016e+01 3.2448600769042969e+01 -1.9054100036621094e+01)(1.7565900802612305e+01 3.2448600769042969e+01 -1.9055801391601562e+01)(-1.5593600273132324e+01 3.2452400207519531e+01 1.7322898864746094e+01)(-1.8049800872802734e+01 3.2452400207519531e+01 1.7322799682617188e+01)(1.7567800521850586e+01 3.2452503204345703e+01 1.7321599960327148e+01)(1.5101799964904785e+01 3.2452503204345703e+01 1.7321500778198242e+01)(-1.8050100326538086e+01 3.8469097137451172e+01 1.1387900352478027e+01)(-1.5593700408935547e+01 3.8469097137451172e+01 1.1387800216674805e+01)(1.5101799964904785e+01 3.8469097137451172e+01 1.1386199951171875e+01)(1.7567501068115234e+01 3.8469097137451172e+01 1.1385999679565430e+01)(1.7565299987792969e+01 2.6870298385620117e+01 -2.9662799835205078e+01)(1.7563798904418945e+01 2.6867198944091797e+01 -5.9025699615478516e+01)(-1.8053800582885742e+01 2.6867198944091797e+01 -5.9023902893066406e+01)(-1.8052299499511719e+01 2.6870298385620117e+01 -2.9660999298095703e+01)(1.7565299987792969e+01 -6.3743000030517578e+00 -2.9659399032592773e+01)(1.7563798904418945e+01 -6.3773999214172363e+00 -5.9022300720214844e+01)(-1.8053800582885742e+01 -6.3773999214172363e+00 -5.9020401000976562e+01)(-1.8052299499511719e+01 -6.3743000030517578e+00 -2.9657499313354492e+01)(1.2534399986267090e+01 3.2694000244140625e+01 -5.9026100158691406e+01)(1.2535900115966797e+01 3.2696998596191406e+01 -2.9663200378417969e+01)(-1.2858400344848633e+01 3.2696998596191406e+01 -2.9661899566650391e+01)(-1.2859899520874023e+01 3.2693901062011719e+01 -5.9024799346923828e+01)(1.2534399986267090e+01 -1.2204199790954590e+01 -5.9021396636962891e+01)(1.2535900115966797e+01 -1.2201099395751953e+01 -2.9658500671386719e+01)(-1.2858400344848633e+01 -1.2201099395751953e+01 -2.9657199859619141e+01)(-1.2859899520874023e+01 -1.2204199790954590e+01 -5.9020000457763672e+01)(-1.2860000610351562e+01 -1.2204500198364258e+01 -6.1846599578857422e+01)(-1.2858200073242188e+01 -1.2200799942016602e+01 -2.6831399917602539e+01)(-1.2860000610351562e+01 3.2693698883056641e+01 -6.1851299285888672e+01)(-1.2858200073242188e+01 3.2697299957275391e+01 -2.6836099624633789e+01)(1.2534200668334961e+01 -1.2204400062561035e+01 -6.1847999572753906e+01)(1.2534200668334961e+01 3.2693698883056641e+01 -6.1852699279785156e+01)(1.2536100387573242e+01 3.2697299957275391e+01 -2.6837398529052734e+01)(1.2536100387573242e+01 -1.2200799942016602e+01 -2.6832698822021484e+01)(9.7483997344970703e+00 8.7799997329711914e+00 -1.5766499519348145e+01)(9.7476005554199219e+00 8.7783994674682617e+00 -3.0752899169921875e+01)(9.7476005554199219e+00 1.4739199638366699e+01 -3.0753499984741211e+01)(9.7483997344970703e+00 1.4740799903869629e+01 -1.5767199516296387e+01)(-1.0069399833679199e+01 8.7799005508422852e+00 -1.5765499114990234e+01)(-1.0070199966430664e+01 8.7783994674682617e+00 -3.0751901626586914e+01)(-1.0070199966430664e+01 1.4739199638366699e+01 -3.0752500534057617e+01)(-1.0069399833679199e+01 1.4740699768066406e+01 -1.5766098976135254e+01)(-1.0069399833679199e+01 3.1825099945068359e+01 -1.5767900466918945e+01)(-1.0070199966430664e+01 3.1823501586914062e+01 -3.0754299163818359e+01)(-1.0070199966430664e+01 2.5862699508666992e+01 -3.0753599166870117e+01)(-1.0069399833679199e+01 2.5864299774169922e+01 -1.5767300605773926e+01)(9.7484998703002930e+00 3.1825099945068359e+01 -1.5768900871276855e+01)(9.7476997375488281e+00 3.1823600769042969e+01 -3.0755300521850586e+01)(9.7476997375488281e+00 2.5862800598144531e+01 -3.0754699707031250e+01)(9.7483997344970703e+00 2.5864400863647461e+01 -1.5768301010131836e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 78 -> 13 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector -1.2860000133514404e+01 3.2693699002265930e+01 -6.1851300299167633e+01) (float-vector -1.8051499500870705e+01 3.8466401398181915e+01 -1.4134000055491924e+01) (float-vector -1.8053999170660973e+01 2.6866899803280830e+01 -6.1850499361753464e+01)))
    (instance face :init :vertices (list (float-vector -1.2860000133514404e+01 -1.2204499915242195e+01 -6.1846598982810974e+01) (float-vector -1.8053999170660973e+01 -6.3776997849345207e+00 -6.1847001314163208e+01) (float-vector -1.8049599602818489e+01 -1.2195699848234653e+01 2.1475100889801979e+01)))
    (instance face :init :vertices (list (float-vector -1.8049599602818489e+01 -1.2195699848234653e+01 2.1475100889801979e+01) (float-vector 1.7567999660968781e+01 -1.2195699848234653e+01 2.1473800763487816e+01) (float-vector 1.2534200213849545e+01 -1.2204400263726711e+01 -6.1847999691963196e+01) (float-vector -1.2860000133514404e+01 -1.2204499915242195e+01 -6.1846598982810974e+01)))
    (instance face :init :vertices (list (float-vector 1.7563700675964355e+01 -6.3776997849345207e+00 -6.1848800629377365e+01) (float-vector 1.2534200213849545e+01 -1.2204400263726711e+01 -6.1847999691963196e+01) (float-vector 1.7567999660968781e+01 -1.2195699848234653e+01 2.1473800763487816e+01)))
    (instance face :init :vertices (list (float-vector 1.2534200213849545e+01 -1.2204400263726711e+01 -6.1847999691963196e+01) (float-vector 1.7563700675964355e+01 -6.3776997849345207e+00 -6.1848800629377365e+01) (float-vector 1.7563700675964355e+01 2.6866899803280830e+01 -6.1852298676967621e+01) (float-vector 1.2534200213849545e+01 3.2693699002265930e+01 -6.1852701008319855e+01) (float-vector -1.2860000133514404e+01 3.2693699002265930e+01 -6.1851300299167633e+01) (float-vector -1.8053999170660973e+01 2.6866899803280830e+01 -6.1850499361753464e+01) (float-vector -1.8053999170660973e+01 -6.3776997849345207e+00 -6.1847001314163208e+01) (float-vector -1.2860000133514404e+01 -1.2204499915242195e+01 -6.1846598982810974e+01)))
    (instance face :init :vertices (list (float-vector 1.7563700675964355e+01 2.6866899803280830e+01 -6.1852298676967621e+01) (float-vector 1.7566200345754623e+01 3.8466401398181915e+01 -1.4135199598968029e+01) (float-vector 1.2534200213849545e+01 3.2693699002265930e+01 -6.1852701008319855e+01)))
    (instance face :init :vertices (list (float-vector 1.7566200345754623e+01 3.8466401398181915e+01 -1.4135199598968029e+01) (float-vector 1.7567500472068787e+01 3.8469098508358002e+01 1.1385999619960785e+01) (float-vector -1.8050100654363632e+01 3.8469098508358002e+01 1.1387900449335575e+01) (float-vector -1.8051499500870705e+01 3.8466401398181915e+01 -1.4134000055491924e+01)))
    (instance face :init :vertices (list (float-vector -1.2860000133514404e+01 3.2693699002265930e+01 -6.1851300299167633e+01) (float-vector 1.2534200213849545e+01 3.2693699002265930e+01 -6.1852701008319855e+01) (float-vector 1.7566200345754623e+01 3.8466401398181915e+01 -1.4135199598968029e+01) (float-vector -1.8051499500870705e+01 3.8466401398181915e+01 -1.4134000055491924e+01)))
    (instance face :init :vertices (list (float-vector -1.8049599602818489e+01 -1.2195699848234653e+01 2.1475100889801979e+01) (float-vector -1.8049599602818489e+01 1.2208400294184685e+01 2.1472500637173653e+01) (float-vector 1.7567999660968781e+01 1.2208400294184685e+01 2.1471299231052399e+01) (float-vector 1.7567999660968781e+01 -1.2195699848234653e+01 2.1473800763487816e+01)))
    (instance face :init :vertices (list (float-vector 1.7567999660968781e+01 1.2208400294184685e+01 2.1471299231052399e+01) (float-vector 1.7567800357937813e+01 3.2452501356601715e+01 1.7321599647402763e+01) (float-vector 1.7567500472068787e+01 3.8469098508358002e+01 1.1385999619960785e+01) (float-vector 1.7566200345754623e+01 3.8466401398181915e+01 -1.4135199598968029e+01) (float-vector 1.7563700675964355e+01 2.6866899803280830e+01 -6.1852298676967621e+01) (float-vector 1.7563700675964355e+01 -6.3776997849345207e+00 -6.1848800629377365e+01) (float-vector 1.7567999660968781e+01 -1.2195699848234653e+01 2.1473800763487816e+01)))
    (instance face :init :vertices (list (float-vector -1.8049800768494606e+01 3.2452400773763657e+01 1.7322799190878868e+01) (float-vector -1.8049599602818489e+01 1.2208400294184685e+01 2.1472500637173653e+01) (float-vector -1.8049599602818489e+01 -1.2195699848234653e+01 2.1475100889801979e+01) (float-vector -1.8053999170660973e+01 -6.3776997849345207e+00 -6.1847001314163208e+01) (float-vector -1.8053999170660973e+01 2.6866899803280830e+01 -6.1850499361753464e+01) (float-vector -1.8051499500870705e+01 3.8466401398181915e+01 -1.4134000055491924e+01) (float-vector -1.8050100654363632e+01 3.8469098508358002e+01 1.1387900449335575e+01)))
    (instance face :init :vertices (list (float-vector 1.7567800357937813e+01 3.2452501356601715e+01 1.7321599647402763e+01) (float-vector -1.8049800768494606e+01 3.2452400773763657e+01 1.7322799190878868e+01) (float-vector -1.8050100654363632e+01 3.8469098508358002e+01 1.1387900449335575e+01) (float-vector 1.7567500472068787e+01 3.8469098508358002e+01 1.1385999619960785e+01)))
    (instance face :init :vertices (list (float-vector -1.8049800768494606e+01 3.2452400773763657e+01 1.7322799190878868e+01) (float-vector 1.7567800357937813e+01 3.2452501356601715e+01 1.7321599647402763e+01) (float-vector 1.7567999660968781e+01 1.2208400294184685e+01 2.1471299231052399e+01) (float-vector -1.8049599602818489e+01 1.2208400294184685e+01 2.1472500637173653e+01)))
    ))
   )
  )

(defclass DARWIN_g1_14_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_14_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.301961 0.301961 0.301961 1.000000))
           ))
           (list :indices #i( 76 70 66 71 77 67 70 75 76 76 75 69 68 74 77 77 74 71 67 79 73 64 73 79 64 79 77 63 64 77 63 77 71 62 70 76 65 78 72 66 72 78 62 76 65 76 78 65 66 78 69 78 76 69 67 68 79 68 77 79 75 70 71 75 71 74 75 72 66 75 66 69 74 73 72 74 72 75 68 67 74 67 73 74 73 64 72 64 65 72 62 63 71 62 71 70 62 65 64 62 64 63))
           (list :vertices #2f((8.7350997924804688e+00 6.7732000350952148e+00 2.4694000244140625e+01)(8.7339000701904297e+00 -1.0119100570678711e+01 2.4695699691772461e+01)(2.8760001063346863e-01 -1.3616999626159668e+01 2.4697000503540039e+01)(-8.1583003997802734e+00 -1.0117899894714355e+01 2.4697500228881836e+01)(-1.1656199455261230e+01 -1.6370999813079834e+00 2.4697000503540039e+01)(-8.1570997238159180e+00 6.7742996215820312e+00 2.4695699691772461e+01)(2.8919997811317444e-01 1.0272200584411621e+01 2.4694499969482422e+01)(8.7348995208740234e+00 6.7729001045227051e+00 2.2530199050903320e+01)(1.2232800483703613e+01 -1.6389000415802002e+00 2.2530698776245117e+01)(8.7336997985839844e+00 -1.0119299888610840e+01 2.2531900405883789e+01)(2.8729999065399170e-01 -1.3617199897766113e+01 2.2533201217651367e+01)(-8.1585006713867188e+00 -1.0118100166320801e+01 2.2533699035644531e+01)(-1.1656399726867676e+01 -1.6373000144958496e+00 2.2533201217651367e+01)(-8.1572999954223633e+00 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-2.3844699859619141e+01)(2.8249999880790710e-01 -1.3621999740600586e+01 -2.3845199584960938e+01)(8.7288007736206055e+00 -1.0124100685119629e+01 -2.3846401214599609e+01)(8.7299995422363281e+00 6.7680997848510742e+00 -2.3848199844360352e+01)(-1.0548000335693359e+01 -3.0910699844360352e+01 2.6260200500488281e+01)(-1.0553300857543945e+01 -3.0915899276733398e+01 -2.3842100143432617e+01)(1.1258100509643555e+01 -3.0912200927734375e+01 2.6257900238037109e+01)(1.1252900123596191e+01 -3.0917499542236328e+01 -2.3844400405883789e+01)(1.1253099441528320e+01 -2.9525600433349609e+01 -2.2318199157714844e+01)(1.1257999420166016e+01 -2.9520599365234375e+01 2.4697599411010742e+01)(-1.0548099517822266e+01 -2.9519100189208984e+01 2.4699899673461914e+01)(-1.0552999496459961e+01 -2.9524000167846680e+01 -2.2315900802612305e+01)(-1.0550999641418457e+01 -1.6421000957489014e+00 -2.2319000244140625e+01)(-1.0546100616455078e+01 -1.6370999813079834e+00 2.4696899414062500e+01)(1.1260000228881836e+01 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-2.6413700103759766e+01)(2.8889998793601990e-01 2.5408999919891357e+00 2.6698200225830078e+01)(-2.6875998973846436e+00 1.3082998991012573e+00 2.6698699951171875e+01)(-3.9206998348236084e+00 -1.6488000154495239e+00 2.6699100494384766e+01)(-2.6879999637603760e+00 -4.6445002555847168e+00 2.6699300765991211e+01)(2.8830000758171082e-01 -5.8776001930236816e+00 2.6699100494384766e+01)(3.2647998332977295e+00 -4.6449003219604492e+00 2.6698699951171875e+01)(4.4979000091552734e+00 -1.6493999958038330e+00 2.6698200225830078e+01)(3.2651998996734619e+00 1.3077999353408813e+00 2.6698099136352539e+01)(2.2149799346923828e+01 -1.8296998977661133e+01 -5.3233600616455078e+01)(-4.4012699127197266e+01 -1.8293498992919922e+01 -5.3229000091552734e+01)(-4.4013500213623047e+01 -3.3507598876953125e+01 -5.3228199005126953e+01)(2.2149000167846680e+01 -3.3550998687744141e+01 -5.3232799530029297e+01)(1.4538500785827637e+01 -3.3545097351074219e+01 5.0726699829101562e+01)(-3.7658199310302734e+01 -3.3502498626708984e+01 5.0367599487304688e+01)(-3.7657699584960938e+01 -2.3896499633789062e+01 5.0367000579833984e+01)(1.4538999557495117e+01 -2.3899198532104492e+01 5.0726200103759766e+01)(2.2155000686645508e+01 -1.8293100357055664e+01 2.1180799484252930e+01)(-4.4007499694824219e+01 -1.8289600372314453e+01 2.1185400009155273e+01)(7.5686998367309570e+00 -3.3544700622558594e+01 5.2178199768066406e+01)(-2.9833299636840820e+01 -3.3542701721191406e+01 5.2180801391601562e+01)(-2.9832799911499023e+01 -2.3896800994873047e+01 5.2180301666259766e+01)(7.5692000389099121e+00 -2.3898799896240234e+01 5.2177600860595703e+01)(2.2156400680541992e+01 -2.2661701202392578e+01 4.4767799377441406e+01)(-4.4006103515625000e+01 -2.2658300399780273e+01 4.4772399902343750e+01)(2.2155801773071289e+01 -3.3505901336669922e+01 4.4768299102783203e+01)(-4.4006702423095703e+01 -3.3502498626708984e+01 4.4773002624511719e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 80 -> 15 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector 2.2149000316858292e+01 -3.3551000058650970e+01 -5.3232800215482712e+01) (float-vector 2.2155800834298134e+01 -3.3505901694297791e+01 4.4768299907445908e+01) (float-vector 2.2156400606036186e+01 -2.2661700844764709e+01 4.4767800718545914e+01) (float-vector 2.2149799391627312e+01 -1.8296999856829643e+01 -5.3233601152896881e+01)))
    (instance face :init :vertices (list (float-vector -4.4012699276208878e+01 -1.8293499946594238e+01 -5.3229000419378281e+01) (float-vector -4.4013500213623047e+01 -3.3507600426673889e+01 -5.3228199481964111e+01) (float-vector 2.2149000316858292e+01 -3.3551000058650970e+01 -5.3232800215482712e+01) (float-vector 2.2149799391627312e+01 -1.8296999856829643e+01 -5.3233601152896881e+01)))
    (instance face :init :vertices (list (float-vector 2.8390000807121396e-01 1.0266900062561035e+01 -2.5894600898027420e+01) (float-vector 2.8919999022036791e-01 1.0272200219333172e+01 2.4694500491023064e+01) (float-vector -4.4007498770952225e+01 -1.8289599567651749e+01 2.1185399964451790e+01) (float-vector -4.4012699276208878e+01 -1.8293499946594238e+01 -5.3229000419378281e+01)))
    (instance face :init :vertices (list (float-vector 8.7350998073816299e+00 6.7731998860836029e+00 2.4693999439477921e+01) (float-vector 8.7297996506094933e+00 6.7679001949727535e+00 -2.5895100086927414e+01) (float-vector 2.2149799391627312e+01 -1.8296999856829643e+01 -5.3233601152896881e+01) (float-vector 2.2156400606036186e+01 -2.2661700844764709e+01 4.4767800718545914e+01)))
    (instance face :init :vertices (list (float-vector 2.8390000807121396e-01 1.0266900062561035e+01 -2.5894600898027420e+01) (float-vector 8.7297996506094933e+00 6.7679001949727535e+00 -2.5895100086927414e+01) (float-vector 8.7350998073816299e+00 6.7731998860836029e+00 2.4693999439477921e+01) (float-vector 2.8919999022036791e-01 1.0272200219333172e+01 2.4694500491023064e+01)))
    (instance face :init :vertices (list (float-vector 8.7297996506094933e+00 6.7679001949727535e+00 -2.5895100086927414e+01) (float-vector 2.8390000807121396e-01 1.0266900062561035e+01 -2.5894600898027420e+01) (float-vector -4.4012699276208878e+01 -1.8293499946594238e+01 -5.3229000419378281e+01) (float-vector 2.2149799391627312e+01 -1.8296999856829643e+01 -5.3233601152896881e+01)))
    (instance face :init :vertices (list (float-vector 7.5691998936235905e+00 -2.3898800835013390e+01 5.2177600562572479e+01) (float-vector -2.9832800850272179e+01 -2.3896800354123116e+01 5.2180301398038864e+01) (float-vector 2.8919999022036791e-01 1.0272200219333172e+01 2.4694500491023064e+01)))
    (instance face :init :vertices (list (float-vector 7.5686997734010220e+00 -3.3544700592756271e+01 5.2178200334310532e+01) (float-vector 7.5691998936235905e+00 -2.3898800835013390e+01 5.2177600562572479e+01) (float-vector 2.2156400606036186e+01 -2.2661700844764709e+01 4.4767800718545914e+01) (float-vector 2.2155800834298134e+01 -3.3505901694297791e+01 4.4768299907445908e+01)))
    (instance face :init :vertices (list (float-vector 7.5691998936235905e+00 -2.3898800835013390e+01 5.2177600562572479e+01) (float-vector 2.8919999022036791e-01 1.0272200219333172e+01 2.4694500491023064e+01) (float-vector 8.7350998073816299e+00 6.7731998860836029e+00 2.4693999439477921e+01) (float-vector 2.2156400606036186e+01 -2.2661700844764709e+01 4.4767800718545914e+01)))
    (instance face :init :vertices (list (float-vector -2.9832800850272179e+01 -2.3896800354123116e+01 5.2180301398038864e+01) (float-vector -4.4006101787090302e+01 -2.2658299654722214e+01 4.4772401452064514e+01) (float-vector 2.8919999022036791e-01 1.0272200219333172e+01 2.4694500491023064e+01)))
    (instance face :init :vertices (list (float-vector -4.4006101787090302e+01 -2.2658299654722214e+01 4.4772401452064514e+01) (float-vector -4.4007498770952225e+01 -1.8289599567651749e+01 2.1185399964451790e+01) (float-vector 2.8919999022036791e-01 1.0272200219333172e+01 2.4694500491023064e+01)))
    (instance face :init :vertices (list (float-vector -4.4012699276208878e+01 -1.8293499946594238e+01 -5.3229000419378281e+01) (float-vector -4.4007498770952225e+01 -1.8289599567651749e+01 2.1185399964451790e+01) (float-vector -4.4006101787090302e+01 -2.2658299654722214e+01 4.4772401452064514e+01) (float-vector -4.4006701558828354e+01 -3.3502500504255295e+01 4.4773001223802567e+01) (float-vector -4.4013500213623047e+01 -3.3507600426673889e+01 -5.3228199481964111e+01)))
    (instance face :init :vertices (list (float-vector -3.7658199667930603e+01 -3.3502500504255295e+01 5.0367601215839386e+01) (float-vector 7.5686997734010220e+00 -3.3544700592756271e+01 5.2178200334310532e+01) (float-vector 2.2155800834298134e+01 -3.3505901694297791e+01 4.4768299907445908e+01) (float-vector 2.2149000316858292e+01 -3.3551000058650970e+01 -5.3232800215482712e+01) (float-vector -4.4013500213623047e+01 -3.3507600426673889e+01 -5.3228199481964111e+01) (float-vector -4.4006701558828354e+01 -3.3502500504255295e+01 4.4773001223802567e+01)))
    (instance face :init :vertices (list (float-vector -2.9832800850272179e+01 -2.3896800354123116e+01 5.2180301398038864e+01) (float-vector 7.5691998936235905e+00 -2.3898800835013390e+01 5.2177600562572479e+01) (float-vector 7.5686997734010220e+00 -3.3544700592756271e+01 5.2178200334310532e+01) (float-vector -3.7658199667930603e+01 -3.3502500504255295e+01 5.0367601215839386e+01)))
    (instance face :init :vertices (list (float-vector -4.4006701558828354e+01 -3.3502500504255295e+01 4.4773001223802567e+01) (float-vector -4.4006101787090302e+01 -2.2658299654722214e+01 4.4772401452064514e+01) (float-vector -2.9832800850272179e+01 -2.3896800354123116e+01 5.2180301398038864e+01) (float-vector -3.7658199667930603e+01 -3.3502500504255295e+01 5.0367601215839386e+01)))
    ))
   )
  )

(defclass DARWIN_g1_14_geom1
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_14_geom1
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000))
           ))
           (list :indices #i( 1 3 2 40 3 1 40 4 3 0 4 40 0 5 4 0 6 5 9 10 11 9 11 12 8 9 12 7 8 12 7 12 13 14 7 13 28 26 27 42 26 28 42 25 26 29 25 42 29 24 25 29 23 24 20 19 18 20 18 17 21 20 17 22 21 17 22 17 16 15 22 16 53 46 52 46 51 52 46 47 51 47 48 51 48 50 51 48 49 50 55 61 54 55 56 61 56 60 61 56 59 60 56 57 59 57 58 59 47 46 61 47 61 60 48 47 60 48 60 59 49 48 59 49 59 58 50 49 58 50 58 57 51 50 57 51 57 56 52 51 56 52 56 55 53 52 55 53 55 54 46 53 54 46 54 61 38 37 34 38 34 41 36 39 40 36 40 35 42 45 38 42 38 41 44 43 40 44 40 39 33 31 45 33 45 42 30 32 43 30 43 44 34 33 42 34 42 41 32 35 43 35 40 43 36 30 44 36 44 39 31 37 45 37 38 45 29 21 22 29 42 21 42 20 21 42 28 20 28 19 20 28 27 19 27 18 19 27 26 18 26 17 18 26 25 17 25 16 17 25 24 16 24 15 16 24 23 15 23 22 15 23 29 22 6 0 7 7 14 6 5 14 13 5 6 14 4 13 12 4 5 13 3 12 11 3 4 12 2 11 10 2 3 11 1 10 9 1 2 10 40 9 8 40 1 9 0 8 7 0 40 8))
           (list :vertices #2f((8.7350997924804688e+00 6.7732000350952148e+00 2.4694000244140625e+01)(8.7339000701904297e+00 -1.0119100570678711e+01 2.4695699691772461e+01)(2.8760001063346863e-01 -1.3616999626159668e+01 2.4697000503540039e+01)(-8.1583003997802734e+00 -1.0117899894714355e+01 2.4697500228881836e+01)(-1.1656199455261230e+01 -1.6370999813079834e+00 2.4697000503540039e+01)(-8.1570997238159180e+00 6.7742996215820312e+00 2.4695699691772461e+01)(2.8919997811317444e-01 1.0272200584411621e+01 2.4694499969482422e+01)(8.7348995208740234e+00 6.7729001045227051e+00 2.2530199050903320e+01)(1.2232800483703613e+01 -1.6389000415802002e+00 2.2530698776245117e+01)(8.7336997985839844e+00 -1.0119299888610840e+01 2.2531900405883789e+01)(2.8729999065399170e-01 -1.3617199897766113e+01 2.2533201217651367e+01)(-8.1585006713867188e+00 -1.0118100166320801e+01 2.2533699035644531e+01)(-1.1656399726867676e+01 -1.6373000144958496e+00 2.2533201217651367e+01)(-8.1572999954223633e+00 6.7740998268127441e+00 2.2531900405883789e+01)(2.8899997472763062e-01 1.0272000312805176e+01 2.2530698776245117e+01)(2.8390002250671387e-01 1.0266900062561035e+01 -2.5894601821899414e+01)(-8.1623992919921875e+00 6.7690000534057617e+00 -2.5893301010131836e+01)(-1.1661499977111816e+01 -1.6423000097274780e+00 -2.5892099380493164e+01)(-8.1635999679565430e+00 -1.0123199462890625e+01 -2.5891500473022461e+01)(2.8229999542236328e-01 -1.3622300148010254e+01 -2.5892099380493164e+01)(8.7286005020141602e+00 -1.0124400138854980e+01 -2.5893301010131836e+01)(1.2227700233459473e+01 -1.6439999341964722e+00 -2.5894601821899414e+01)(8.7297992706298828e+00 6.7678999900817871e+00 -2.5895099639892578e+01)(2.8409999608993530e-01 1.0267199516296387e+01 -2.3847698211669922e+01)(-8.1622009277343750e+00 6.7691998481750488e+00 -2.3846401214599609e+01)(-1.1661300659179688e+01 -1.6421000957489014e+00 -2.3845199584960938e+01)(-8.1633996963500977e+00 -1.0122999191284180e+01 -2.3844699859619141e+01)(2.8249999880790710e-01 -1.3621999740600586e+01 -2.3845199584960938e+01)(8.7288007736206055e+00 -1.0124100685119629e+01 -2.3846401214599609e+01)(8.7299995422363281e+00 6.7680997848510742e+00 -2.3848199844360352e+01)(-1.0548000335693359e+01 -3.0910699844360352e+01 2.6260200500488281e+01)(-1.0553300857543945e+01 -3.0915899276733398e+01 -2.3842100143432617e+01)(1.1258100509643555e+01 -3.0912200927734375e+01 2.6257900238037109e+01)(1.1252900123596191e+01 -3.0917499542236328e+01 -2.3844400405883789e+01)(1.1253099441528320e+01 -2.9525600433349609e+01 -2.2318199157714844e+01)(1.1257999420166016e+01 -2.9520599365234375e+01 2.4697599411010742e+01)(-1.0548099517822266e+01 -2.9519100189208984e+01 2.4699899673461914e+01)(-1.0552999496459961e+01 -2.9524000167846680e+01 -2.2315900802612305e+01)(-1.0550999641418457e+01 -1.6421000957489014e+00 -2.2319000244140625e+01)(-1.0546100616455078e+01 -1.6370999813079834e+00 2.4696899414062500e+01)(1.1260000228881836e+01 -1.6387000083923340e+00 2.4694599151611328e+01)(1.1255100250244141e+01 -1.6435999870300293e+00 -2.2321300506591797e+01)(1.1255000114440918e+01 -1.6436998844146729e+00 -2.3847600936889648e+01)(1.1260200500488281e+01 -1.6384999752044678e+00 2.6254798889160156e+01)(-1.0545900344848633e+01 -1.6369999647140503e+00 2.6256999969482422e+01)(-1.0551199913024902e+01 -1.6421999931335449e+00 -2.3845300674438477e+01)(3.2595999240875244e+00 1.3022999763488770e+00 -2.6413900375366211e+01)(4.4923000335693359e+00 -1.6549999713897705e+00 -2.6413700103759766e+01)(3.2591998577117920e+00 -4.6505002975463867e+00 -2.6413299560546875e+01)(2.8279998898506165e-01 -5.8832001686096191e+00 -2.6412900924682617e+01)(-2.6935999393463135e+00 -4.6501002311706543e+00 -2.6412698745727539e+01)(-3.9261999130249023e+00 -1.6543999910354614e+00 -2.6412900924682617e+01)(-2.6930999755859375e+00 1.3027000427246094e+00 -2.6413299560546875e+01)(2.8330001235008240e-01 2.5353000164031982e+00 -2.6413700103759766e+01)(2.8889998793601990e-01 2.5408999919891357e+00 2.6698200225830078e+01)(-2.6875998973846436e+00 1.3082998991012573e+00 2.6698699951171875e+01)(-3.9206998348236084e+00 -1.6488000154495239e+00 2.6699100494384766e+01)(-2.6879999637603760e+00 -4.6445002555847168e+00 2.6699300765991211e+01)(2.8830000758171082e-01 -5.8776001930236816e+00 2.6699100494384766e+01)(3.2647998332977295e+00 -4.6449003219604492e+00 2.6698699951171875e+01)(4.4979000091552734e+00 -1.6493999958038330e+00 2.6698200225830078e+01)(3.2651998996734619e+00 1.3077999353408813e+00 2.6698099136352539e+01)(2.2149799346923828e+01 -1.8296998977661133e+01 -5.3233600616455078e+01)(-4.4012699127197266e+01 -1.8293498992919922e+01 -5.3229000091552734e+01)(-4.4013500213623047e+01 -3.3507598876953125e+01 -5.3228199005126953e+01)(2.2149000167846680e+01 -3.3550998687744141e+01 -5.3232799530029297e+01)(1.4538500785827637e+01 -3.3545097351074219e+01 5.0726699829101562e+01)(-3.7658199310302734e+01 -3.3502498626708984e+01 5.0367599487304688e+01)(-3.7657699584960938e+01 -2.3896499633789062e+01 5.0367000579833984e+01)(1.4538999557495117e+01 -2.3899198532104492e+01 5.0726200103759766e+01)(2.2155000686645508e+01 -1.8293100357055664e+01 2.1180799484252930e+01)(-4.4007499694824219e+01 -1.8289600372314453e+01 2.1185400009155273e+01)(7.5686998367309570e+00 -3.3544700622558594e+01 5.2178199768066406e+01)(-2.9833299636840820e+01 -3.3542701721191406e+01 5.2180801391601562e+01)(-2.9832799911499023e+01 -2.3896800994873047e+01 5.2180301666259766e+01)(7.5692000389099121e+00 -2.3898799896240234e+01 5.2177600860595703e+01)(2.2156400680541992e+01 -2.2661701202392578e+01 4.4767799377441406e+01)(-4.4006103515625000e+01 -2.2658300399780273e+01 4.4772399902343750e+01)(2.2155801773071289e+01 -3.3505901336669922e+01 4.4768299102783203e+01)(-4.4006702423095703e+01 -3.3502498626708984e+01 4.4773002624511719e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 80 -> 15 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector 2.2149000316858292e+01 -3.3551000058650970e+01 -5.3232800215482712e+01) (float-vector 2.2155800834298134e+01 -3.3505901694297791e+01 4.4768299907445908e+01) (float-vector 2.2156400606036186e+01 -2.2661700844764709e+01 4.4767800718545914e+01) (float-vector 2.2149799391627312e+01 -1.8296999856829643e+01 -5.3233601152896881e+01)))
    (instance face :init :vertices (list (float-vector -4.4012699276208878e+01 -1.8293499946594238e+01 -5.3229000419378281e+01) (float-vector -4.4013500213623047e+01 -3.3507600426673889e+01 -5.3228199481964111e+01) (float-vector 2.2149000316858292e+01 -3.3551000058650970e+01 -5.3232800215482712e+01) (float-vector 2.2149799391627312e+01 -1.8296999856829643e+01 -5.3233601152896881e+01)))
    (instance face :init :vertices (list (float-vector 2.8390000807121396e-01 1.0266900062561035e+01 -2.5894600898027420e+01) (float-vector 2.8919999022036791e-01 1.0272200219333172e+01 2.4694500491023064e+01) (float-vector -4.4007498770952225e+01 -1.8289599567651749e+01 2.1185399964451790e+01) (float-vector -4.4012699276208878e+01 -1.8293499946594238e+01 -5.3229000419378281e+01)))
    (instance face :init :vertices (list (float-vector 8.7350998073816299e+00 6.7731998860836029e+00 2.4693999439477921e+01) (float-vector 8.7297996506094933e+00 6.7679001949727535e+00 -2.5895100086927414e+01) (float-vector 2.2149799391627312e+01 -1.8296999856829643e+01 -5.3233601152896881e+01) (float-vector 2.2156400606036186e+01 -2.2661700844764709e+01 4.4767800718545914e+01)))
    (instance face :init :vertices (list (float-vector 2.8390000807121396e-01 1.0266900062561035e+01 -2.5894600898027420e+01) (float-vector 8.7297996506094933e+00 6.7679001949727535e+00 -2.5895100086927414e+01) (float-vector 8.7350998073816299e+00 6.7731998860836029e+00 2.4693999439477921e+01) (float-vector 2.8919999022036791e-01 1.0272200219333172e+01 2.4694500491023064e+01)))
    (instance face :init :vertices (list (float-vector 8.7297996506094933e+00 6.7679001949727535e+00 -2.5895100086927414e+01) (float-vector 2.8390000807121396e-01 1.0266900062561035e+01 -2.5894600898027420e+01) (float-vector -4.4012699276208878e+01 -1.8293499946594238e+01 -5.3229000419378281e+01) (float-vector 2.2149799391627312e+01 -1.8296999856829643e+01 -5.3233601152896881e+01)))
    (instance face :init :vertices (list (float-vector 7.5691998936235905e+00 -2.3898800835013390e+01 5.2177600562572479e+01) (float-vector -2.9832800850272179e+01 -2.3896800354123116e+01 5.2180301398038864e+01) (float-vector 2.8919999022036791e-01 1.0272200219333172e+01 2.4694500491023064e+01)))
    (instance face :init :vertices (list (float-vector 7.5686997734010220e+00 -3.3544700592756271e+01 5.2178200334310532e+01) (float-vector 7.5691998936235905e+00 -2.3898800835013390e+01 5.2177600562572479e+01) (float-vector 2.2156400606036186e+01 -2.2661700844764709e+01 4.4767800718545914e+01) (float-vector 2.2155800834298134e+01 -3.3505901694297791e+01 4.4768299907445908e+01)))
    (instance face :init :vertices (list (float-vector 7.5691998936235905e+00 -2.3898800835013390e+01 5.2177600562572479e+01) (float-vector 2.8919999022036791e-01 1.0272200219333172e+01 2.4694500491023064e+01) (float-vector 8.7350998073816299e+00 6.7731998860836029e+00 2.4693999439477921e+01) (float-vector 2.2156400606036186e+01 -2.2661700844764709e+01 4.4767800718545914e+01)))
    (instance face :init :vertices (list (float-vector -2.9832800850272179e+01 -2.3896800354123116e+01 5.2180301398038864e+01) (float-vector -4.4006101787090302e+01 -2.2658299654722214e+01 4.4772401452064514e+01) (float-vector 2.8919999022036791e-01 1.0272200219333172e+01 2.4694500491023064e+01)))
    (instance face :init :vertices (list (float-vector -4.4006101787090302e+01 -2.2658299654722214e+01 4.4772401452064514e+01) (float-vector -4.4007498770952225e+01 -1.8289599567651749e+01 2.1185399964451790e+01) (float-vector 2.8919999022036791e-01 1.0272200219333172e+01 2.4694500491023064e+01)))
    (instance face :init :vertices (list (float-vector -4.4012699276208878e+01 -1.8293499946594238e+01 -5.3229000419378281e+01) (float-vector -4.4007498770952225e+01 -1.8289599567651749e+01 2.1185399964451790e+01) (float-vector -4.4006101787090302e+01 -2.2658299654722214e+01 4.4772401452064514e+01) (float-vector -4.4006701558828354e+01 -3.3502500504255295e+01 4.4773001223802567e+01) (float-vector -4.4013500213623047e+01 -3.3507600426673889e+01 -5.3228199481964111e+01)))
    (instance face :init :vertices (list (float-vector -3.7658199667930603e+01 -3.3502500504255295e+01 5.0367601215839386e+01) (float-vector 7.5686997734010220e+00 -3.3544700592756271e+01 5.2178200334310532e+01) (float-vector 2.2155800834298134e+01 -3.3505901694297791e+01 4.4768299907445908e+01) (float-vector 2.2149000316858292e+01 -3.3551000058650970e+01 -5.3232800215482712e+01) (float-vector -4.4013500213623047e+01 -3.3507600426673889e+01 -5.3228199481964111e+01) (float-vector -4.4006701558828354e+01 -3.3502500504255295e+01 4.4773001223802567e+01)))
    (instance face :init :vertices (list (float-vector -2.9832800850272179e+01 -2.3896800354123116e+01 5.2180301398038864e+01) (float-vector 7.5691998936235905e+00 -2.3898800835013390e+01 5.2177600562572479e+01) (float-vector 7.5686997734010220e+00 -3.3544700592756271e+01 5.2178200334310532e+01) (float-vector -3.7658199667930603e+01 -3.3502500504255295e+01 5.0367601215839386e+01)))
    (instance face :init :vertices (list (float-vector -4.4006701558828354e+01 -3.3502500504255295e+01 4.4773001223802567e+01) (float-vector -4.4006101787090302e+01 -2.2658299654722214e+01 4.4772401452064514e+01) (float-vector -2.9832800850272179e+01 -2.3896800354123116e+01 5.2180301398038864e+01) (float-vector -3.7658199667930603e+01 -3.3502500504255295e+01 5.0367601215839386e+01)))
    ))
   )
  )

(defclass DARWIN_g1_15_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_15_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000))
           ))
           (list :indices #i( 10 12 11 15 14 8 24 25 31 29 27 28 41 40 47 43 45 44 52 51 50 54 48 55 64 71 65 69 68 67 21 19 80 80 19 18 17 16 81 81 16 22 62 82 63 82 57 63 58 83 60 83 61 60 19 21 84 84 21 20 23 22 85 85 22 16 56 86 57 86 63 57 60 87 58 87 59 58 87 60 86 60 63 86 59 87 86 59 86 56 85 20 23 85 84 20 16 19 85 85 19 84 82 62 61 82 61 83 57 82 83 57 83 58 80 22 21 80 81 22 18 81 80 18 17 81 78 75 77 77 75 76 79 75 78 79 74 75 72 74 79 72 73 74 70 69 67 70 67 66 65 71 70 65 70 66 49 48 54 49 54 53 52 50 49 52 49 53 59 56 57 59 57 58 64 79 71 64 72 79 72 65 73 72 64 65 73 66 74 73 65 66 74 67 75 74 66 67 75 68 76 75 67 68 76 69 77 76 68 69 77 70 78 77 69 70 78 71 79 78 70 71 1 0 8 1 8 9 9 10 2 9 2 1 10 11 3 10 3 2 11 12 4 11 4 3 12 13 5 12 5 4 13 14 6 13 6 5 14 15 7 14 7 6 0 7 15 0 15 8 22 20 21 22 23 20 39 32 24 39 24 31 25 24 32 25 32 33 26 25 33 26 33 34 27 26 34 27 34 35 28 27 35 28 35 36 29 28 36 29 36 37 30 29 38 29 37 38 31 30 38 31 38 39 46 43 42 46 45 43 41 46 42 41 47 46 30 27 29 30 26 27 25 30 31 25 26 30 9 14 13 9 8 14 12 9 13 12 10 9 7 0 5 7 5 6 0 1 4 0 4 5 3 4 2 4 1 2 42 43 52 42 52 53 43 44 51 43 51 52 44 45 50 44 50 51 45 46 49 45 49 50 46 47 48 46 48 49 40 55 48 40 48 47 40 41 54 40 54 55 41 42 53 41 53 54 17 18 61 17 61 62 16 63 60 16 60 19 18 19 60 18 60 61 16 17 62 16 62 63))
           (list :vertices #2f((2.5152001380920410e+00 -2.7283800125122070e+01 -2.0151899337768555e+01)(-6.3963003158569336e+00 -2.5391300201416016e+01 -2.0152000427246094e+01)(-1.1394000053405762e+01 -1.7698400497436523e+01 -2.0152099609375000e+01)(-9.4820003509521484e+00 -8.7585000991821289e+00 -2.0152200698852539e+01)(-1.8086000680923462e+00 -3.7891001701354980e+00 -2.0152200698852539e+01)(7.1596002578735352e+00 -5.7207999229431152e+00 -2.0152099609375000e+01)(1.2100599288940430e+01 -1.3374599456787109e+01 -2.0152000427246094e+01)(1.0188599586486816e+01 -2.2314399719238281e+01 -2.0151899337768555e+01)(2.5152001380920410e+00 -2.7283800125122070e+01 -1.7988000869750977e+01)(-6.3963003158569336e+00 -2.5391300201416016e+01 -1.7988100051879883e+01)(-1.1394000053405762e+01 -1.7698299407958984e+01 -1.7988300323486328e+01)(-9.4820003509521484e+00 -8.7585000991821289e+00 -1.7988401412963867e+01)(-1.8086000680923462e+00 -3.7891001701354980e+00 -1.7988401412963867e+01)(7.1596002578735352e+00 -5.7207002639770508e+00 -1.7988300323486328e+01)(1.2100599288940430e+01 -1.3374599456787109e+01 -1.7988199234008789e+01)(1.0188599586486816e+01 -2.2314399719238281e+01 -1.7988100051879883e+01)(-2.3650199890136719e+01 1.0847800254821777e+01 -2.1712800979614258e+01)(-2.3621299743652344e+01 -1.0958399772644043e+01 -2.1712400436401367e+01)(-2.2154899597167969e+01 -1.0958299636840820e+01 -2.0152299880981445e+01)(-2.2258600234985352e+01 1.0847800254821777e+01 -2.0152601242065430e+01)(8.4533996582031250e+00 -8.2007007598876953e+00 -2.0152099609375000e+01)(-7.5396995544433594e+00 -2.3459798812866211e+01 -2.0152000427246094e+01)(-7.5396995544433594e+00 -2.3459899902343750e+01 -2.1712200164794922e+01)(8.4533996582031250e+00 -8.2007007598876953e+00 -2.1712299346923828e+01)(-2.5622600555419922e+01 1.3900000602006912e-02 1.1382300376892090e+01)(-2.5622600555419922e+01 8.0326995849609375e+00 8.0607004165649414e+00)(-2.5622400283813477e+01 1.1354000091552734e+01 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-1.7927200317382812e+01 -2.2154899597167969e+01)(4.4962000846862793e+00 -1.4776800155639648e+01 -2.2155000686645508e+01)(2.7608001232147217e+00 -1.2083700180053711e+01 -2.2155000686645508e+01)(-4.0540000796318054e-01 -1.1398900032043457e+01 -2.2155099868774414e+01)(-3.1094999313354492e+00 -1.3150099754333496e+01 -2.2155099868774414e+01)(-3.7833001613616943e+00 -1.6300498962402344e+01 -2.2155000686645508e+01)(-2.0162000656127930e+00 -1.9015501022338867e+01 -2.2155000686645508e+01)(1.1182999610900879e+00 -1.9678400039672852e+01 -2.2154899597167969e+01)(1.1175000667572021e+00 -1.9678400039672852e+01 2.2186300277709961e+01)(-2.0169999599456787e+00 -1.9015501022338867e+01 2.2186300277709961e+01)(-3.7841000556945801e+00 -1.6300498962402344e+01 2.2186199188232422e+01)(-3.1103000640869141e+00 -1.3150099754333496e+01 2.2186300277709961e+01)(-4.0620002150535583e-01 -1.1398900032043457e+01 2.2186399459838867e+01)(2.7600998878479004e+00 -1.2083700180053711e+01 2.2186498641967773e+01)(4.4953999519348145e+00 -1.4776800155639648e+01 2.2186498641967773e+01)(3.8215999603271484e+00 -1.7927200317382812e+01 2.2186399459838867e+01)(8.4525995254516602e+00 -8.2007007598876953e+00 2.1743898391723633e+01)(-7.5404000282287598e+00 -2.3459899902343750e+01 2.1743299484252930e+01)(-7.5404000282287598e+00 -2.3459798812866211e+01 2.0183099746704102e+01)(8.4527006149291992e+00 -8.2007007598876953e+00 2.0183799743652344e+01)(-2.2259300231933594e+01 1.0847800254821777e+01 2.0183200836181641e+01)(-2.2155599594116211e+01 -1.0958299636840820e+01 2.0182800292968750e+01)(-2.3621999740600586e+01 -1.0958399772644043e+01 2.1743000030517578e+01)(-2.3651000976562500e+01 1.0847800254821777e+01 2.1743400573730469e+01)(1.0187899589538574e+01 -2.2314399719238281e+01 1.8019798278808594e+01)(1.2100000381469727e+01 -1.3374599456787109e+01 1.8020000457763672e+01)(7.1589999198913574e+00 -5.7207002639770508e+00 1.8019899368286133e+01)(-1.8092000484466553e+00 -3.7891001701354980e+00 1.8019701004028320e+01)(-9.4826002120971680e+00 -8.7585000991821289e+00 1.8019399642944336e+01)(-1.1394700050354004e+01 -1.7698299407958984e+01 1.8019300460815430e+01)(-6.3968997001647949e+00 -2.5391300201416016e+01 1.8019300460815430e+01)(2.5144999027252197e+00 -2.7283800125122070e+01 1.8019498825073242e+01)(1.0187899589538574e+01 -2.2314399719238281e+01 2.0183601379394531e+01)(1.2099900245666504e+01 -1.3374599456787109e+01 2.0183799743652344e+01)(7.1589002609252930e+00 -5.7207999229431152e+00 2.0183799743652344e+01)(-1.8093000650405884e+00 -3.7891001701354980e+00 2.0183500289916992e+01)(-9.4827003479003906e+00 -8.7585000991821289e+00 2.0183300018310547e+01)(-1.1394700050354004e+01 -1.7698400497436523e+01 2.0183099746704102e+01)(-6.3969998359680176e+00 -2.5391300201416016e+01 2.0183099746704102e+01)(2.5144999027252197e+00 -2.7283800125122070e+01 2.0183300018310547e+01)(-2.0218299865722656e+01 -1.0958299636840820e+01 -2.0152200698852539e+01)(-2.0218299865722656e+01 -1.0958399772644043e+01 -2.1712400436401367e+01)(-2.0218999862670898e+01 -1.0958399772644043e+01 2.1743000030517578e+01)(-2.0218999862670898e+01 -1.0958299636840820e+01 2.0182899475097656e+01)(-1.1237099647521973e+01 1.0847800254821777e+01 -2.0152399063110352e+01)(-1.1237000465393066e+01 1.0847800254821777e+01 -2.1712598800659180e+01)(-1.1237800598144531e+01 1.0847800254821777e+01 2.1743598937988281e+01)(-1.1237800598144531e+01 1.0847800254821777e+01 2.0183399200439453e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 88 -> 9 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector -6.3970000483095646e+00 -2.5391299277544022e+01 2.0183099433779716e+01) (float-vector -6.3963001593947411e+00 -2.5391299277544022e+01 -2.0152000710368156e+01) (float-vector -2.3621300235390663e+01 -1.0958399623632431e+01 -2.1712400019168854e+01) (float-vector -2.3622000589966774e+01 -1.0958399623632431e+01 2.1742999553680420e+01)))
    (instance face :init :vertices (list (float-vector -6.3970000483095646e+00 -2.5391299277544022e+01 2.0183099433779716e+01) (float-vector 2.5144999381154776e+00 -2.7283800765872002e+01 2.0183300599455833e+01) (float-vector 2.5152000598609447e+00 -2.7283800765872002e+01 -2.0151900127530098e+01) (float-vector -6.3963001593947411e+00 -2.5391299277544022e+01 -2.0152000710368156e+01)))
    (instance face :init :vertices (list (float-vector 2.5144999381154776e+00 -2.7283800765872002e+01 2.0183300599455833e+01) (float-vector 1.0187899693846703e+01 -2.2314399480819702e+01 2.0183600485324860e+01) (float-vector 1.0188600048422813e+01 -2.2314399480819702e+01 -2.0151900127530098e+01) (float-vector 2.5152000598609447e+00 -2.7283800765872002e+01 -2.0151900127530098e+01)))
    (instance face :init :vertices (list (float-vector 2.5152000598609447e+00 -2.7283800765872002e+01 -2.0151900127530098e+01) (float-vector 1.0188600048422813e+01 -2.2314399480819702e+01 -2.0151900127530098e+01) (float-vector 1.2100599706172943e+01 -1.3374599628150463e+01 -2.0152000710368156e+01) (float-vector -1.1237000115215778e+01 1.0847800411283970e+01 -2.1712599322199821e+01) (float-vector -2.3650199174880981e+01 1.0847800411283970e+01 -2.1712800487875938e+01) (float-vector -2.3621300235390663e+01 -1.0958399623632431e+01 -2.1712400019168854e+01) (float-vector -6.3963001593947411e+00 -2.5391299277544022e+01 -2.0152000710368156e+01)))
    (instance face :init :vertices (list (float-vector 1.0187899693846703e+01 -2.2314399480819702e+01 2.0183600485324860e+01) (float-vector 1.2099900282919407e+01 -1.3374599628150463e+01 2.0183799788355827e+01) (float-vector 1.2100599706172943e+01 -1.3374599628150463e+01 -2.0152000710368156e+01) (float-vector 1.0188600048422813e+01 -2.2314399480819702e+01 -2.0151900127530098e+01)))
    (instance face :init :vertices (list (float-vector 1.2099900282919407e+01 -1.3374599628150463e+01 2.0183799788355827e+01) (float-vector -1.1237800121307373e+01 1.0847800411283970e+01 2.1743599325418472e+01) (float-vector -1.1237000115215778e+01 1.0847800411283970e+01 -2.1712599322199821e+01) (float-vector 1.2100599706172943e+01 -1.3374599628150463e+01 -2.0152000710368156e+01)))
    (instance face :init :vertices (list (float-vector -1.1237800121307373e+01 1.0847800411283970e+01 2.1743599325418472e+01) (float-vector -2.3651000112295151e+01 1.0847800411283970e+01 2.1743400022387505e+01) (float-vector -2.3650199174880981e+01 1.0847800411283970e+01 -2.1712800487875938e+01) (float-vector -1.1237000115215778e+01 1.0847800411283970e+01 -2.1712599322199821e+01)))
    (instance face :init :vertices (list (float-vector -6.3970000483095646e+00 -2.5391299277544022e+01 2.0183099433779716e+01) (float-vector -2.3622000589966774e+01 -1.0958399623632431e+01 2.1742999553680420e+01) (float-vector -2.3651000112295151e+01 1.0847800411283970e+01 2.1743400022387505e+01) (float-vector -1.1237800121307373e+01 1.0847800411283970e+01 2.1743599325418472e+01) (float-vector 1.2099900282919407e+01 -1.3374599628150463e+01 2.0183799788355827e+01) (float-vector 1.0187899693846703e+01 -2.2314399480819702e+01 2.0183600485324860e+01) (float-vector 2.5144999381154776e+00 -2.7283800765872002e+01 2.0183300599455833e+01)))
    (instance face :init :vertices (list (float-vector -2.3650199174880981e+01 1.0847800411283970e+01 -2.1712800487875938e+01) (float-vector -2.3651000112295151e+01 1.0847800411283970e+01 2.1743400022387505e+01) (float-vector -2.3622000589966774e+01 -1.0958399623632431e+01 2.1742999553680420e+01) (float-vector -2.3621300235390663e+01 -1.0958399623632431e+01 -2.1712400019168854e+01)))
    ))
   )
  )

(defclass DARWIN_g1_16_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_16_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.301961 0.301961 0.301961 1.000000))
           ))
           (list :indices #i( 3 11 12 5 11 3 2 5 3 5 10 11 7 9 10 6 7 10 5 6 10 2 4 5 8 9 7 2 0 4 1 0 2 16 25 24 18 16 24 15 16 18 18 24 23 20 23 22 19 23 20 18 23 19 15 18 17 21 20 22 15 17 13 14 15 13 2 26 15 15 26 16 2 3 26 26 32 33 26 31 32 3 31 26 26 33 34 16 26 34 28 30 29 28 27 30 12 30 27 12 25 30 3 27 31 3 12 27 27 28 31 28 32 31 28 29 33 28 33 32 29 30 34 29 34 33 16 34 30 16 30 25 10 24 11 10 23 24 11 24 25 11 25 12 1 15 14 1 2 15 0 14 13 0 1 14 0 17 4 0 13 17 4 18 5 4 17 18 8 22 9 8 21 22 5 19 6 5 18 19 6 20 7 6 19 20 7 21 8 7 20 21 9 23 10 9 22 23))
           (list :vertices #2f((-1.5614200592041016e+01 -1.1512800216674805e+01 -2.0160900115966797e+01)(-1.5614699363708496e+01 -3.7378398895263672e+01 -2.0161300659179688e+01)(-1.1671800613403320e+01 -4.0375099182128906e+01 -2.0161399841308594e+01)(1.6100200653076172e+01 -4.0375602722167969e+01 -2.0161399841308594e+01)(4.1005001068115234e+00 -1.1670800209045410e+01 -2.0160900115966797e+01)(8.9897994995117188e+00 -7.2547998428344727e+00 -2.0160799026489258e+01)(9.1477003097534180e+00 4.5739998817443848e+00 -2.0160600662231445e+01)(6.4665999412536621e+00 8.0437994003295898e+00 -2.0160499572753906e+01)(-5.8354001045227051e+00 8.0441007614135742e+00 -2.0160499572753906e+01)(-5.9930000305175781e+00 1.4668200492858887e+01 -2.0160398483276367e+01)(1.0251899719238281e+01 1.3090799331665039e+01 -2.0160499572753906e+01)(1.4839399337768555e+01 1.0724900245666504e+01 -2.0160499572753906e+01)(1.6101001739501953e+01 7.3236999511718750e+00 -2.0160600662231445e+01)(-1.5614200592041016e+01 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2.1938100814819336e+01)(-1.4613299369812012e+01 -4.2211299896240234e+01 -1.6591699600219727e+01)(-1.4614600181579590e+01 -7.7828895568847656e+01 -1.6591699600219727e+01)(-1.4612800598144531e+01 -4.2211399078369141e+01 2.1938100814819336e+01)(-1.4614000320434570e+01 -7.7829002380371094e+01 2.1938100814819336e+01)(-1.4613600730895996e+01 -4.7240699768066406e+01 -2.2505800247192383e+01)(-1.4614500045776367e+01 -7.2635002136230469e+01 -2.2505800247192383e+01)(-1.4612800598144531e+01 -4.7240802764892578e+01 2.7852199554443359e+01)(-1.4613699913024902e+01 -7.2635101318359375e+01 2.7852300643920898e+01)(-1.0209899902343750e+01 -7.2635200500488281e+01 2.7852199554443359e+01)(-1.0210700035095215e+01 -7.2635101318359375e+01 -2.2505899429321289e+01)(-1.0209100723266602e+01 -4.7240901947021484e+01 2.7852199554443359e+01)(-1.0209799766540527e+01 -4.7240802764892578e+01 -2.2505899429321289e+01)(1.8364099502563477e+01 -7.2635803222656250e+01 2.7852199554443359e+01)(1.8363300323486328e+01 -7.2635704040527344e+01 -2.2505899429321289e+01)(1.8364999771118164e+01 -4.7241500854492188e+01 2.7852098464965820e+01)(1.8364200592041016e+01 -4.7241401672363281e+01 -2.2505899429321289e+01)(-1.7610401153564453e+01 -7.2635002136230469e+01 2.7852300643920898e+01)(-1.7609498977661133e+01 -4.7240699768066406e+01 2.7852300643920898e+01)(-1.7611200332641602e+01 -7.2634895324707031e+01 -2.2505701065063477e+01)(-1.7610300064086914e+01 -4.7240600585937500e+01 -2.2505800247192383e+01)(-1.2488599777221680e+01 1.1645899772644043e+01 -1.8096000671386719e+01)(1.2905699729919434e+01 1.1645000457763672e+01 -1.8096498489379883e+01)(-1.2490300178527832e+01 -3.8712200164794922e+01 -1.8096099853515625e+01)(1.2903999328613281e+01 -3.8713001251220703e+01 -1.8096599578857422e+01)(-1.2488399505615234e+01 1.1645400047302246e+01 1.7878400802612305e+01)(-1.2490099906921387e+01 -3.8712596893310547e+01 1.7878299713134766e+01)(1.2905799865722656e+01 1.1644500732421875e+01 1.7877899169921875e+01)(1.2904199600219727e+01 -3.8713500976562500e+01 1.7877799987792969e+01)(-1.2488500595092773e+01 1.1645899772644043e+01 -1.0695599555969238e+01)(-1.2490200042724609e+01 -3.8712200164794922e+01 -1.0695699691772461e+01)(1.2905799865722656e+01 1.1645000457763672e+01 -1.0696100234985352e+01)(1.2904100418090820e+01 -3.8713100433349609e+01 -1.0696199417114258e+01)(1.2904100418090820e+01 -3.8713100433349609e+01 -1.5099900245666504e+01)(-1.2490200042724609e+01 -3.8712200164794922e+01 -1.5099500656127930e+01)(1.2905699729919434e+01 1.1645000457763672e+01 -1.5099800109863281e+01)(-1.2488500595092773e+01 1.1645899772644043e+01 -1.5099399566650391e+01)(1.8098199844360352e+01 -3.2799098968505859e+01 -1.5100000381469727e+01)(-1.7519399642944336e+01 -3.2797798156738281e+01 -1.5099399566650391e+01)(1.8099500656127930e+01 5.7307000160217285e+00 -1.5099900245666504e+01)(-1.7518199920654297e+01 5.7319002151489258e+00 -1.5099300384521484e+01)(1.8098300933837891e+01 -3.2799098968505859e+01 -1.0696300506591797e+01)(-1.7519399642944336e+01 -3.2797897338867188e+01 -1.0695599555969238e+01)(1.8099500656127930e+01 5.7305998802185059e+00 -1.0696199417114258e+01)(-1.7518098831176758e+01 5.7319002151489258e+00 -1.0695500373840332e+01)(-1.7518098831176758e+01 5.7314000129699707e+00 1.4539300918579102e+01)(1.8099500656127930e+01 5.7302002906799316e+00 1.4538599967956543e+01)(-1.7519399642944336e+01 -3.2798301696777344e+01 1.4539199829101562e+01)(1.8098300933837891e+01 -3.2799602508544922e+01 1.4538500785827637e+01)(-1.7518199920654297e+01 5.7315001487731934e+00 1.0135499954223633e+01)(1.8099500656127930e+01 5.7302002906799316e+00 1.0134900093078613e+01)(-1.7519399642944336e+01 -3.2798301696777344e+01 1.0135399818420410e+01)(1.8098199844360352e+01 -3.2799499511718750e+01 1.0134799957275391e+01)(-1.2488500595092773e+01 1.1645400047302246e+01 1.0135399818420410e+01)(1.2905699729919434e+01 1.1644599914550781e+01 1.0134999275207520e+01)(-1.2490200042724609e+01 -3.8712596893310547e+01 1.0135300636291504e+01)(1.2904100418090820e+01 -3.8713500976562500e+01 1.0134900093078613e+01)(1.2904100418090820e+01 -3.8713500976562500e+01 1.4538599967956543e+01)(1.2905799865722656e+01 1.1644500732421875e+01 1.4538700103759766e+01)(-1.2490200042724609e+01 -3.8712596893310547e+01 1.4539100646972656e+01)(-1.2488500595092773e+01 1.1645400047302246e+01 1.4539199829101562e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 115 -> 20 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector 1.6101000830531120e+01 7.3237000033259392e+00 -2.0160600543022156e+01) (float-vector 1.0251900181174278e+01 1.3090799562633038e+01 -2.0160499960184097e+01) (float-vector -5.9930002316832542e+00 1.4668200165033340e+01 -2.0160399377346039e+01) (float-vector -1.5614200383424759e+01 -1.1512800119817257e+01 -2.0160900428891182e+01) (float-vector -1.7611199989914894e+01 -7.2634898126125336e+01 -2.2505700588226318e+01) (float-vector 1.8363300710916519e+01 -7.2635702788829803e+01 -2.2505899891257286e+01)))
    (instance face :init :vertices (list (float-vector 1.0251900181174278e+01 1.3090799562633038e+01 -2.0160499960184097e+01) (float-vector 1.6101000830531120e+01 7.3237000033259392e+00 -2.0160600543022156e+01) (float-vector 1.8099499866366386e+01 5.7306000962853432e+00 -1.0696199722588062e+01) (float-vector 1.4839399605989456e+01 1.0724199935793877e+01 1.9886000081896782e+01)))
    (instance face :init :vertices (list (float-vector 2.0109599456191063e+01 -1.1917299591004848e+01 1.1876299977302551e+01) (float-vector 1.8364999443292618e+01 -4.7241501510143280e+01 2.7852099388837814e+01) (float-vector 1.4839399605989456e+01 1.0724199935793877e+01 1.9886000081896782e+01)))
    (instance face :init :vertices (list (float-vector 1.8099499866366386e+01 5.7306000962853432e+00 -1.0696199722588062e+01) (float-vector 2.0109599456191063e+01 -1.1917299591004848e+01 1.1876299977302551e+01) (float-vector 1.4839399605989456e+01 1.0724199935793877e+01 1.9886000081896782e+01)))
    (instance face :init :vertices (list (float-vector 1.8099499866366386e+01 5.7306000962853432e+00 -1.0696199722588062e+01) (float-vector 1.6101000830531120e+01 7.3237000033259392e+00 -2.0160600543022156e+01) (float-vector 1.8363300710916519e+01 -7.2635702788829803e+01 -2.2505899891257286e+01) (float-vector 2.1009100601077080e+01 -4.8078499734401703e+01 3.8664001040160656e+00) (float-vector 2.0109599456191063e+01 -1.1917299591004848e+01 1.1876299977302551e+01)))
    (instance face :init :vertices (list (float-vector -1.7518199980258942e+01 5.7319002225995064e+00 -1.5099300071597099e+01) (float-vector -1.5614200383424759e+01 -1.1512800119817257e+01 -2.0160900428891182e+01) (float-vector -5.9930002316832542e+00 1.4668200165033340e+01 -2.0160399377346039e+01)))
    (instance face :init :vertices (list (float-vector -1.7609499394893646e+01 -4.7240700572729111e+01 2.7852300554513931e+01) (float-vector -1.2488399632275105e+01 1.1645399965345860e+01 1.7878400161862373e+01) (float-vector -5.9930002316832542e+00 1.4667499810457230e+01 1.9886100664734840e+01) (float-vector 1.4839399605989456e+01 1.0724199935793877e+01 1.9886000081896782e+01) (float-vector 1.8364999443292618e+01 -4.7241501510143280e+01 2.7852099388837814e+01)))
    (instance face :init :vertices (list (float-vector -5.9930002316832542e+00 1.4667499810457230e+01 1.9886100664734840e+01) (float-vector -5.9930002316832542e+00 1.4668200165033340e+01 -2.0160399377346039e+01) (float-vector 1.0251900181174278e+01 1.3090799562633038e+01 -2.0160499960184097e+01) (float-vector 1.4839399605989456e+01 1.0724199935793877e+01 1.9886000081896782e+01)))
    (instance face :init :vertices (list (float-vector 1.5023999847471714e+01 -7.7829502522945404e+01 -1.6591699793934822e+01) (float-vector 1.8363300710916519e+01 -7.2635702788829803e+01 -2.2505899891257286e+01) (float-vector -1.7611199989914894e+01 -7.2634898126125336e+01 -2.2505700588226318e+01) (float-vector -1.0210799984633923e+01 -7.7829100191593170e+01 -1.6591699793934822e+01)))
    (instance face :init :vertices (list (float-vector 1.8364099785685539e+01 -7.2635799646377563e+01 2.7852199971675873e+01) (float-vector 2.1009100601077080e+01 -4.8078499734401703e+01 3.8664001040160656e+00) (float-vector 1.8363300710916519e+01 -7.2635702788829803e+01 -2.2505899891257286e+01)))
    (instance face :init :vertices (list (float-vector 1.8364099785685539e+01 -7.2635799646377563e+01 2.7852199971675873e+01) (float-vector 1.8364999443292618e+01 -4.7241501510143280e+01 2.7852099388837814e+01) (float-vector 2.0109599456191063e+01 -1.1917299591004848e+01 1.1876299977302551e+01) (float-vector 2.1009100601077080e+01 -4.8078499734401703e+01 3.8664001040160656e+00)))
    (instance face :init :vertices (list (float-vector 1.5024599619209766e+01 -7.7829599380493164e+01 2.1938100457191467e+01) (float-vector 1.8364099785685539e+01 -7.2635799646377563e+01 2.7852199971675873e+01) (float-vector 1.8363300710916519e+01 -7.2635702788829803e+01 -2.2505899891257286e+01) (float-vector 1.5023999847471714e+01 -7.7829502522945404e+01 -1.6591699793934822e+01)))
    (instance face :init :vertices (list (float-vector -1.7610400915145874e+01 -7.2635002434253693e+01 2.7852300554513931e+01) (float-vector -1.7609499394893646e+01 -4.7240700572729111e+01 2.7852300554513931e+01) (float-vector 1.8364999443292618e+01 -4.7241501510143280e+01 2.7852099388837814e+01) (float-vector 1.8364099785685539e+01 -7.2635799646377563e+01 2.7852199971675873e+01)))
    (instance face :init :vertices (list (float-vector -1.7518099397420883e+01 5.7314001023769379e+00 1.4539300464093685e+01) (float-vector -1.2488399632275105e+01 1.1645399965345860e+01 1.7878400161862373e+01) (float-vector -1.7609499394893646e+01 -4.7240700572729111e+01 2.7852300554513931e+01)))
    (instance face :init :vertices (list (float-vector -1.7518099397420883e+01 5.7314001023769379e+00 1.4539300464093685e+01) (float-vector -1.7609499394893646e+01 -4.7240700572729111e+01 2.7852300554513931e+01) (float-vector -1.7610400915145874e+01 -7.2635002434253693e+01 2.7852300554513931e+01) (float-vector -1.7611199989914894e+01 -7.2634898126125336e+01 -2.2505700588226318e+01) (float-vector -1.5614200383424759e+01 -1.1512800119817257e+01 -2.0160900428891182e+01) (float-vector -1.7518199980258942e+01 5.7319002225995064e+00 -1.5099300071597099e+01)))
    (instance face :init :vertices (list (float-vector -1.2488399632275105e+01 1.1645399965345860e+01 1.7878400161862373e+01) (float-vector -1.7518099397420883e+01 5.7314001023769379e+00 1.4539300464093685e+01) (float-vector -1.7518199980258942e+01 5.7319002225995064e+00 -1.5099300071597099e+01) (float-vector -5.9930002316832542e+00 1.4668200165033340e+01 -2.0160399377346039e+01) (float-vector -5.9930002316832542e+00 1.4667499810457230e+01 1.9886100664734840e+01)))
    (instance face :init :vertices (list (float-vector -1.4613999985158443e+01 -7.7829003334045410e+01 2.1938100457191467e+01) (float-vector -1.0210799984633923e+01 -7.7829100191593170e+01 -1.6591699793934822e+01) (float-vector -1.7611199989914894e+01 -7.2634898126125336e+01 -2.2505700588226318e+01)))
    (instance face :init :vertices (list (float-vector -1.7610400915145874e+01 -7.2635002434253693e+01 2.7852300554513931e+01) (float-vector -1.4613999985158443e+01 -7.7829003334045410e+01 2.1938100457191467e+01) (float-vector -1.7611199989914894e+01 -7.2634898126125336e+01 -2.2505700588226318e+01)))
    (instance face :init :vertices (list (float-vector -1.4613999985158443e+01 -7.7829003334045410e+01 2.1938100457191467e+01) (float-vector -1.7610400915145874e+01 -7.2635002434253693e+01 2.7852300554513931e+01) (float-vector 1.8364099785685539e+01 -7.2635799646377563e+01 2.7852199971675873e+01) (float-vector 1.5024599619209766e+01 -7.7829599380493164e+01 2.1938100457191467e+01)))
    (instance face :init :vertices (list (float-vector -1.0210799984633923e+01 -7.7829100191593170e+01 -1.6591699793934822e+01) (float-vector -1.4613999985158443e+01 -7.7829003334045410e+01 2.1938100457191467e+01) (float-vector 1.5024599619209766e+01 -7.7829599380493164e+01 2.1938100457191467e+01) (float-vector 1.5023999847471714e+01 -7.7829502522945404e+01 -1.6591699793934822e+01)))
    ))
   )
  )

(defclass DARWIN_g1_16_geom1
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_16_geom1
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.140000 0.140000 0.140000 1.000000))
           ))
           (list :indices #i( 103 105 101 103 101 99 100 102 106 100 106 104 106 110 108 106 108 104 102 112 111 102 100 112 111 110 106 111 106 102 104 108 112 104 112 100 114 107 103 114 103 99 101 113 114 101 114 99 107 109 105 107 105 103 105 109 113 105 113 101 92 88 84 92 84 96 90 88 92 90 92 94 96 84 83 96 83 98 83 90 94 83 94 98 93 89 85 93 85 97 86 87 91 86 91 95 95 85 86 95 97 85 91 87 89 91 89 93 97 95 91 97 91 93 94 92 96 94 96 98 82 79 80 82 81 79 76 78 77 76 77 75 82 77 78 82 80 77 81 76 75 81 75 79 79 77 80 79 75 77 82 78 81 81 78 76 67 71 68 68 71 73 70 72 69 70 74 72 68 73 74 68 74 70 67 72 71 67 69 72 73 71 72 73 72 74 67 70 69 67 68 70 55 53 57 55 51 53 52 54 58 52 58 56 58 62 60 58 60 56 54 64 63 54 52 64 63 62 58 63 58 54 56 60 64 56 64 52 66 55 59 66 51 55 53 66 65 53 51 66 59 57 61 59 55 57 57 65 61 57 53 65 44 36 40 44 48 36 42 44 40 42 46 44 35 48 50 35 36 48 35 46 42 35 50 46 45 41 37 45 37 49 38 39 43 38 43 47 47 37 38 47 49 37 43 39 41 43 41 45 49 47 43 49 43 45 46 48 44 46 50 48))
           (list :vertices #2f((-1.5614200592041016e+01 -1.1512800216674805e+01 -2.0160900115966797e+01)(-1.5614699363708496e+01 -3.7378398895263672e+01 -2.0161300659179688e+01)(-1.1671800613403320e+01 -4.0375099182128906e+01 -2.0161399841308594e+01)(1.6100200653076172e+01 -4.0375602722167969e+01 -2.0161399841308594e+01)(4.1005001068115234e+00 -1.1670800209045410e+01 -2.0160900115966797e+01)(8.9897994995117188e+00 -7.2547998428344727e+00 -2.0160799026489258e+01)(9.1477003097534180e+00 4.5739998817443848e+00 -2.0160600662231445e+01)(6.4665999412536621e+00 8.0437994003295898e+00 -2.0160499572753906e+01)(-5.8354001045227051e+00 8.0441007614135742e+00 -2.0160499572753906e+01)(-5.9930000305175781e+00 1.4668200492858887e+01 -2.0160398483276367e+01)(1.0251899719238281e+01 1.3090799331665039e+01 -2.0160499572753906e+01)(1.4839399337768555e+01 1.0724900245666504e+01 -2.0160499572753906e+01)(1.6101001739501953e+01 7.3236999511718750e+00 -2.0160600662231445e+01)(-1.5614200592041016e+01 -1.1513499259948730e+01 1.9885599136352539e+01)(-1.5614699363708496e+01 -3.7379100799560547e+01 1.9885198593139648e+01)(-1.1671800613403320e+01 -4.0375797271728516e+01 1.9885101318359375e+01)(1.6100200653076172e+01 -4.0376300811767578e+01 1.9885101318359375e+01)(4.1005001068115234e+00 -1.1671500205993652e+01 1.9885599136352539e+01)(8.9897994995117188e+00 -7.2555003166198730e+00 1.9885700225830078e+01)(9.1477003097534180e+00 4.5732998847961426e+00 1.9885898590087891e+01)(6.4665999412536621e+00 8.0431995391845703e+00 1.9885999679565430e+01)(-5.8354001045227051e+00 8.0433998107910156e+00 1.9885999679565430e+01)(-5.9930000305175781e+00 1.4667499542236328e+01 1.9886100769042969e+01)(1.0251899719238281e+01 1.3090100288391113e+01 1.9886100769042969e+01)(1.4839399337768555e+01 1.0724200248718262e+01 1.9885999679565430e+01)(1.6101001739501953e+01 7.3229999542236328e+00 1.9885999679565430e+01)(1.6100200653076172e+01 -4.0375900268554688e+01 -1.3809999823570251e-01)(2.0109600067138672e+01 -1.1916899681091309e+01 -1.2151599884033203e+01)(2.1009599685668945e+01 -1.6236801147460938e+01 -4.1423997879028320e+00)(2.1009599685668945e+01 -1.6236900329589844e+01 3.8668999671936035e+00)(2.0109600067138672e+01 -1.1917299270629883e+01 1.1876299858093262e+01)(2.0108999252319336e+01 -4.5428100585937500e+01 -1.2152199745178223e+01)(2.1009099960327148e+01 -4.8078399658203125e+01 -4.1428999900817871e+00)(2.1009099960327148e+01 -4.8078498840332031e+01 3.8664000034332275e+00)(2.0108999252319336e+01 -4.5428501129150391e+01 1.1875699996948242e+01)(1.5024999618530273e+01 -4.7241298675537109e+01 -2.2505899429321289e+01)(1.5025799751281738e+01 -4.7241401672363281e+01 2.7852199554443359e+01)(1.5024100303649902e+01 -7.2635597229003906e+01 -2.2505899429321289e+01)(1.5024900436401367e+01 -7.2635704040527344e+01 2.7852199554443359e+01)(1.0621099472045898e+01 -7.2635498046875000e+01 2.7852300643920898e+01)(1.0622000694274902e+01 -4.7241199493408203e+01 2.7852199554443359e+01)(1.0620299339294434e+01 -7.2635398864746094e+01 -2.2505800247192383e+01)(1.0621200561523438e+01 -4.7241199493408203e+01 -2.2505800247192383e+01)(1.0620800018310547e+01 -7.7829505920410156e+01 2.1938100814819336e+01)(1.0622099876403809e+01 -4.2211799621582031e+01 2.1938100814819336e+01)(1.0620200157165527e+01 -7.7829399108886719e+01 -1.6591699600219727e+01)(1.0621500015258789e+01 -4.2211700439453125e+01 -1.6591699600219727e+01)(1.5024600028991699e+01 -7.7829597473144531e+01 2.1938100814819336e+01)(1.5025799751281738e+01 -4.2211997985839844e+01 2.1937999725341797e+01)(1.5024000167846680e+01 -7.7829505920410156e+01 -1.6591699600219727e+01)(1.5025199890136719e+01 -4.2211902618408203e+01 -1.6591699600219727e+01)(-1.0209600448608398e+01 -4.2211399078369141e+01 -1.6591699600219727e+01)(-1.0210800170898438e+01 -7.7829101562500000e+01 -1.6591699600219727e+01)(-1.0208999633789062e+01 -4.2211498260498047e+01 2.1938100814819336e+01)(-1.0210200309753418e+01 -7.7829200744628906e+01 2.1938100814819336e+01)(-1.4613299369812012e+01 -4.2211299896240234e+01 -1.6591699600219727e+01)(-1.4614600181579590e+01 -7.7828895568847656e+01 -1.6591699600219727e+01)(-1.4612800598144531e+01 -4.2211399078369141e+01 2.1938100814819336e+01)(-1.4614000320434570e+01 -7.7829002380371094e+01 2.1938100814819336e+01)(-1.4613600730895996e+01 -4.7240699768066406e+01 -2.2505800247192383e+01)(-1.4614500045776367e+01 -7.2635002136230469e+01 -2.2505800247192383e+01)(-1.4612800598144531e+01 -4.7240802764892578e+01 2.7852199554443359e+01)(-1.4613699913024902e+01 -7.2635101318359375e+01 2.7852300643920898e+01)(-1.0209899902343750e+01 -7.2635200500488281e+01 2.7852199554443359e+01)(-1.0210700035095215e+01 -7.2635101318359375e+01 -2.2505899429321289e+01)(-1.0209100723266602e+01 -4.7240901947021484e+01 2.7852199554443359e+01)(-1.0209799766540527e+01 -4.7240802764892578e+01 -2.2505899429321289e+01)(1.8364099502563477e+01 -7.2635803222656250e+01 2.7852199554443359e+01)(1.8363300323486328e+01 -7.2635704040527344e+01 -2.2505899429321289e+01)(1.8364999771118164e+01 -4.7241500854492188e+01 2.7852098464965820e+01)(1.8364200592041016e+01 -4.7241401672363281e+01 -2.2505899429321289e+01)(-1.7610401153564453e+01 -7.2635002136230469e+01 2.7852300643920898e+01)(-1.7609498977661133e+01 -4.7240699768066406e+01 2.7852300643920898e+01)(-1.7611200332641602e+01 -7.2634895324707031e+01 -2.2505701065063477e+01)(-1.7610300064086914e+01 -4.7240600585937500e+01 -2.2505800247192383e+01)(-1.2488599777221680e+01 1.1645899772644043e+01 -1.8096000671386719e+01)(1.2905699729919434e+01 1.1645000457763672e+01 -1.8096498489379883e+01)(-1.2490300178527832e+01 -3.8712200164794922e+01 -1.8096099853515625e+01)(1.2903999328613281e+01 -3.8713001251220703e+01 -1.8096599578857422e+01)(-1.2488399505615234e+01 1.1645400047302246e+01 1.7878400802612305e+01)(-1.2490099906921387e+01 -3.8712596893310547e+01 1.7878299713134766e+01)(1.2905799865722656e+01 1.1644500732421875e+01 1.7877899169921875e+01)(1.2904199600219727e+01 -3.8713500976562500e+01 1.7877799987792969e+01)(-1.2488500595092773e+01 1.1645899772644043e+01 -1.0695599555969238e+01)(-1.2490200042724609e+01 -3.8712200164794922e+01 -1.0695699691772461e+01)(1.2905799865722656e+01 1.1645000457763672e+01 -1.0696100234985352e+01)(1.2904100418090820e+01 -3.8713100433349609e+01 -1.0696199417114258e+01)(1.2904100418090820e+01 -3.8713100433349609e+01 -1.5099900245666504e+01)(-1.2490200042724609e+01 -3.8712200164794922e+01 -1.5099500656127930e+01)(1.2905699729919434e+01 1.1645000457763672e+01 -1.5099800109863281e+01)(-1.2488500595092773e+01 1.1645899772644043e+01 -1.5099399566650391e+01)(1.8098199844360352e+01 -3.2799098968505859e+01 -1.5100000381469727e+01)(-1.7519399642944336e+01 -3.2797798156738281e+01 -1.5099399566650391e+01)(1.8099500656127930e+01 5.7307000160217285e+00 -1.5099900245666504e+01)(-1.7518199920654297e+01 5.7319002151489258e+00 -1.5099300384521484e+01)(1.8098300933837891e+01 -3.2799098968505859e+01 -1.0696300506591797e+01)(-1.7519399642944336e+01 -3.2797897338867188e+01 -1.0695599555969238e+01)(1.8099500656127930e+01 5.7305998802185059e+00 -1.0696199417114258e+01)(-1.7518098831176758e+01 5.7319002151489258e+00 -1.0695500373840332e+01)(-1.7518098831176758e+01 5.7314000129699707e+00 1.4539300918579102e+01)(1.8099500656127930e+01 5.7302002906799316e+00 1.4538599967956543e+01)(-1.7519399642944336e+01 -3.2798301696777344e+01 1.4539199829101562e+01)(1.8098300933837891e+01 -3.2799602508544922e+01 1.4538500785827637e+01)(-1.7518199920654297e+01 5.7315001487731934e+00 1.0135499954223633e+01)(1.8099500656127930e+01 5.7302002906799316e+00 1.0134900093078613e+01)(-1.7519399642944336e+01 -3.2798301696777344e+01 1.0135399818420410e+01)(1.8098199844360352e+01 -3.2799499511718750e+01 1.0134799957275391e+01)(-1.2488500595092773e+01 1.1645400047302246e+01 1.0135399818420410e+01)(1.2905699729919434e+01 1.1644599914550781e+01 1.0134999275207520e+01)(-1.2490200042724609e+01 -3.8712596893310547e+01 1.0135300636291504e+01)(1.2904100418090820e+01 -3.8713500976562500e+01 1.0134900093078613e+01)(1.2904100418090820e+01 -3.8713500976562500e+01 1.4538599967956543e+01)(1.2905799865722656e+01 1.1644500732421875e+01 1.4538700103759766e+01)(-1.2490200042724609e+01 -3.8712596893310547e+01 1.4539100646972656e+01)(-1.2488500595092773e+01 1.1645400047302246e+01 1.4539199829101562e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 115 -> 20 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector 1.6101000830531120e+01 7.3237000033259392e+00 -2.0160600543022156e+01) (float-vector 1.0251900181174278e+01 1.3090799562633038e+01 -2.0160499960184097e+01) (float-vector -5.9930002316832542e+00 1.4668200165033340e+01 -2.0160399377346039e+01) (float-vector -1.5614200383424759e+01 -1.1512800119817257e+01 -2.0160900428891182e+01) (float-vector -1.7611199989914894e+01 -7.2634898126125336e+01 -2.2505700588226318e+01) (float-vector 1.8363300710916519e+01 -7.2635702788829803e+01 -2.2505899891257286e+01)))
    (instance face :init :vertices (list (float-vector 1.0251900181174278e+01 1.3090799562633038e+01 -2.0160499960184097e+01) (float-vector 1.6101000830531120e+01 7.3237000033259392e+00 -2.0160600543022156e+01) (float-vector 1.8099499866366386e+01 5.7306000962853432e+00 -1.0696199722588062e+01) (float-vector 1.4839399605989456e+01 1.0724199935793877e+01 1.9886000081896782e+01)))
    (instance face :init :vertices (list (float-vector 2.0109599456191063e+01 -1.1917299591004848e+01 1.1876299977302551e+01) (float-vector 1.8364999443292618e+01 -4.7241501510143280e+01 2.7852099388837814e+01) (float-vector 1.4839399605989456e+01 1.0724199935793877e+01 1.9886000081896782e+01)))
    (instance face :init :vertices (list (float-vector 1.8099499866366386e+01 5.7306000962853432e+00 -1.0696199722588062e+01) (float-vector 2.0109599456191063e+01 -1.1917299591004848e+01 1.1876299977302551e+01) (float-vector 1.4839399605989456e+01 1.0724199935793877e+01 1.9886000081896782e+01)))
    (instance face :init :vertices (list (float-vector 1.8099499866366386e+01 5.7306000962853432e+00 -1.0696199722588062e+01) (float-vector 1.6101000830531120e+01 7.3237000033259392e+00 -2.0160600543022156e+01) (float-vector 1.8363300710916519e+01 -7.2635702788829803e+01 -2.2505899891257286e+01) (float-vector 2.1009100601077080e+01 -4.8078499734401703e+01 3.8664001040160656e+00) (float-vector 2.0109599456191063e+01 -1.1917299591004848e+01 1.1876299977302551e+01)))
    (instance face :init :vertices (list (float-vector -1.7518199980258942e+01 5.7319002225995064e+00 -1.5099300071597099e+01) (float-vector -1.5614200383424759e+01 -1.1512800119817257e+01 -2.0160900428891182e+01) (float-vector -5.9930002316832542e+00 1.4668200165033340e+01 -2.0160399377346039e+01)))
    (instance face :init :vertices (list (float-vector -1.7609499394893646e+01 -4.7240700572729111e+01 2.7852300554513931e+01) (float-vector -1.2488399632275105e+01 1.1645399965345860e+01 1.7878400161862373e+01) (float-vector -5.9930002316832542e+00 1.4667499810457230e+01 1.9886100664734840e+01) (float-vector 1.4839399605989456e+01 1.0724199935793877e+01 1.9886000081896782e+01) (float-vector 1.8364999443292618e+01 -4.7241501510143280e+01 2.7852099388837814e+01)))
    (instance face :init :vertices (list (float-vector -5.9930002316832542e+00 1.4667499810457230e+01 1.9886100664734840e+01) (float-vector -5.9930002316832542e+00 1.4668200165033340e+01 -2.0160399377346039e+01) (float-vector 1.0251900181174278e+01 1.3090799562633038e+01 -2.0160499960184097e+01) (float-vector 1.4839399605989456e+01 1.0724199935793877e+01 1.9886000081896782e+01)))
    (instance face :init :vertices (list (float-vector 1.5023999847471714e+01 -7.7829502522945404e+01 -1.6591699793934822e+01) (float-vector 1.8363300710916519e+01 -7.2635702788829803e+01 -2.2505899891257286e+01) (float-vector -1.7611199989914894e+01 -7.2634898126125336e+01 -2.2505700588226318e+01) (float-vector -1.0210799984633923e+01 -7.7829100191593170e+01 -1.6591699793934822e+01)))
    (instance face :init :vertices (list (float-vector 1.8364099785685539e+01 -7.2635799646377563e+01 2.7852199971675873e+01) (float-vector 2.1009100601077080e+01 -4.8078499734401703e+01 3.8664001040160656e+00) (float-vector 1.8363300710916519e+01 -7.2635702788829803e+01 -2.2505899891257286e+01)))
    (instance face :init :vertices (list (float-vector 1.8364099785685539e+01 -7.2635799646377563e+01 2.7852199971675873e+01) (float-vector 1.8364999443292618e+01 -4.7241501510143280e+01 2.7852099388837814e+01) (float-vector 2.0109599456191063e+01 -1.1917299591004848e+01 1.1876299977302551e+01) (float-vector 2.1009100601077080e+01 -4.8078499734401703e+01 3.8664001040160656e+00)))
    (instance face :init :vertices (list (float-vector 1.5024599619209766e+01 -7.7829599380493164e+01 2.1938100457191467e+01) (float-vector 1.8364099785685539e+01 -7.2635799646377563e+01 2.7852199971675873e+01) (float-vector 1.8363300710916519e+01 -7.2635702788829803e+01 -2.2505899891257286e+01) (float-vector 1.5023999847471714e+01 -7.7829502522945404e+01 -1.6591699793934822e+01)))
    (instance face :init :vertices (list (float-vector -1.7610400915145874e+01 -7.2635002434253693e+01 2.7852300554513931e+01) (float-vector -1.7609499394893646e+01 -4.7240700572729111e+01 2.7852300554513931e+01) (float-vector 1.8364999443292618e+01 -4.7241501510143280e+01 2.7852099388837814e+01) (float-vector 1.8364099785685539e+01 -7.2635799646377563e+01 2.7852199971675873e+01)))
    (instance face :init :vertices (list (float-vector -1.7518099397420883e+01 5.7314001023769379e+00 1.4539300464093685e+01) (float-vector -1.2488399632275105e+01 1.1645399965345860e+01 1.7878400161862373e+01) (float-vector -1.7609499394893646e+01 -4.7240700572729111e+01 2.7852300554513931e+01)))
    (instance face :init :vertices (list (float-vector -1.7518099397420883e+01 5.7314001023769379e+00 1.4539300464093685e+01) (float-vector -1.7609499394893646e+01 -4.7240700572729111e+01 2.7852300554513931e+01) (float-vector -1.7610400915145874e+01 -7.2635002434253693e+01 2.7852300554513931e+01) (float-vector -1.7611199989914894e+01 -7.2634898126125336e+01 -2.2505700588226318e+01) (float-vector -1.5614200383424759e+01 -1.1512800119817257e+01 -2.0160900428891182e+01) (float-vector -1.7518199980258942e+01 5.7319002225995064e+00 -1.5099300071597099e+01)))
    (instance face :init :vertices (list (float-vector -1.2488399632275105e+01 1.1645399965345860e+01 1.7878400161862373e+01) (float-vector -1.7518099397420883e+01 5.7314001023769379e+00 1.4539300464093685e+01) (float-vector -1.7518199980258942e+01 5.7319002225995064e+00 -1.5099300071597099e+01) (float-vector -5.9930002316832542e+00 1.4668200165033340e+01 -2.0160399377346039e+01) (float-vector -5.9930002316832542e+00 1.4667499810457230e+01 1.9886100664734840e+01)))
    (instance face :init :vertices (list (float-vector -1.4613999985158443e+01 -7.7829003334045410e+01 2.1938100457191467e+01) (float-vector -1.0210799984633923e+01 -7.7829100191593170e+01 -1.6591699793934822e+01) (float-vector -1.7611199989914894e+01 -7.2634898126125336e+01 -2.2505700588226318e+01)))
    (instance face :init :vertices (list (float-vector -1.7610400915145874e+01 -7.2635002434253693e+01 2.7852300554513931e+01) (float-vector -1.4613999985158443e+01 -7.7829003334045410e+01 2.1938100457191467e+01) (float-vector -1.7611199989914894e+01 -7.2634898126125336e+01 -2.2505700588226318e+01)))
    (instance face :init :vertices (list (float-vector -1.4613999985158443e+01 -7.7829003334045410e+01 2.1938100457191467e+01) (float-vector -1.7610400915145874e+01 -7.2635002434253693e+01 2.7852300554513931e+01) (float-vector 1.8364099785685539e+01 -7.2635799646377563e+01 2.7852199971675873e+01) (float-vector 1.5024599619209766e+01 -7.7829599380493164e+01 2.1938100457191467e+01)))
    (instance face :init :vertices (list (float-vector -1.0210799984633923e+01 -7.7829100191593170e+01 -1.6591699793934822e+01) (float-vector -1.4613999985158443e+01 -7.7829003334045410e+01 2.1938100457191467e+01) (float-vector 1.5024599619209766e+01 -7.7829599380493164e+01 2.1938100457191467e+01) (float-vector 1.5023999847471714e+01 -7.7829502522945404e+01 -1.6591699793934822e+01)))
    ))
   )
  )

(defclass DARWIN_g1_17_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_17_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.301961 0.301961 0.301961 1.000000))
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-2.6716199874877930e+01)(-1.7829601287841797e+01 1.0375400543212891e+01 6.4454998970031738e+00)(-1.7829500198364258e+01 1.2287300109863281e+01 -2.4943997859954834e+00)(-1.7829299926757812e+01 7.3461999893188477e+00 -1.0148200035095215e+01)(-1.7829099655151367e+01 -1.6220999956130981e+00 -1.2079600334167480e+01)(-1.7829099655151367e+01 -9.2954006195068359e+00 -7.1100997924804688e+00)(-1.7829299926757812e+01 -1.1207300186157227e+01 1.8298000097274780e+00)(-1.7829500198364258e+01 -6.2094001770019531e+00 9.5226001739501953e+00)(-1.7829601287841797e+01 2.7021000385284424e+00 1.1414999961853027e+01)(-1.9993400573730469e+01 1.0375400543212891e+01 6.4453997611999512e+00)(-1.9993299484252930e+01 1.2287300109863281e+01 -2.4943997859954834e+00)(-1.9993101119995117e+01 7.3461003303527832e+00 -1.0148200035095215e+01)(-1.9992898941040039e+01 -1.6220999956130981e+00 -1.2079699516296387e+01)(-1.9993000030517578e+01 -9.2954006195068359e+00 -7.1100997924804688e+00)(-1.9993101119995117e+01 -1.1207300186157227e+01 1.8296999931335449e+00)(-1.9993299484252930e+01 -6.2094001770019531e+00 9.5226001739501953e+00)(-1.9993501663208008e+01 2.7020001411437988e+00 1.1414900779724121e+01)(2.0342199325561523e+01 -2.0031700134277344e+01 -4.9086999893188477e+00)(2.1902399063110352e+01 -2.0031700134277344e+01 -4.9086999893188477e+00)(-2.1552999496459961e+01 -2.0031700134277344e+01 -4.9102001190185547e+00)(-1.9992898941040039e+01 -2.0031700134277344e+01 -4.9100999832153320e+00)(2.0343400955200195e+01 -1.1050800323486328e+01 -2.6715000152587891e+01)(2.1903499603271484e+01 -1.1050800323486328e+01 -2.6714900970458984e+01)(-2.1552600860595703e+01 -1.1050800323486328e+01 -2.6716501235961914e+01)(-1.9992500305175781e+01 -1.1050800323486328e+01 -2.6716400146484375e+01)(6.4387001991271973e+00 -1.0422399902343750e+02 -2.6510000228881836e+00)(6.4376997947692871e+00 -1.0422399902343750e+02 -2.9349500656127930e+01)(6.4400000572204590e+00 -2.5659999847412109e+01 -2.6510000228881836e+00)(6.4390997886657715e+00 -2.5659999847412109e+01 -2.9349500656127930e+01)(2.2139000892639160e+00 -2.5659900665283203e+01 -2.9349399566650391e+01)(2.2148001194000244e+00 -2.5659900665283203e+01 -2.6509001255035400e+00)(2.2124998569488525e+00 -1.0422399902343750e+02 -2.9349399566650391e+01)(2.2135000228881836e+00 -1.0422399902343750e+02 -2.6509001255035400e+00)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 236 -> 29 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector 2.3588299751281738e+01 -2.2258900105953217e+01 -3.1891301274299622e+01) (float-vector 1.8994100391864777e+01 -2.4380799382925034e+01 -3.7974599748849869e+01) (float-vector 8.4479004144668579e+00 -9.5857903361320496e+01 -4.1453100740909576e+01) (float-vector 1.1275700293481350e+01 -1.2489400058984756e+02 -3.4097500145435333e+01) (float-vector 2.0140999928116798e+01 -9.3176499009132385e+01 -3.1891301274299622e+01)))
    (instance face :init :vertices (list (float-vector 5.2375998347997665e+00 -1.1472100019454956e+02 -3.8605500012636185e+01) (float-vector 1.1275700293481350e+01 -1.2489400058984756e+02 -3.4097500145435333e+01) (float-vector 8.4479004144668579e+00 -9.5857903361320496e+01 -4.1453100740909576e+01)))
    (instance face :init :vertices (list (float-vector -2.1552599966526031e+01 -1.1050799861550331e+01 -2.6716500520706177e+01) (float-vector -1.9993299618363380e+01 1.2287300080060959e+01 -2.4943999014794827e+00) (float-vector -2.1996200084686279e+01 1.3050000416114926e+00 3.8095000199973583e+00) (float-vector -2.1553000435233116e+01 -2.3434700444340706e+01 -4.9100997857749462e+00)))
    (instance face :init :vertices (list (float-vector -1.9993500784039497e+01 2.7020000852644444e+00 1.1414900422096252e+01) (float-vector -8.6735999211668968e+00 -1.1656700074672699e+02 -2.6499000377953053e+00) (float-vector -2.1553000435233116e+01 -2.3434700444340706e+01 -4.9100997857749462e+00) (float-vector -2.1996200084686279e+01 1.3050000416114926e+00 3.8095000199973583e+00)))
    (instance face :init :vertices (list (float-vector -8.6744995787739754e+00 -1.1656700074672699e+02 -2.9349500313401222e+01) (float-vector -2.1552599966526031e+01 -1.1050799861550331e+01 -2.6716500520706177e+01) (float-vector -2.1553000435233116e+01 -2.3434700444340706e+01 -4.9100997857749462e+00) (float-vector -8.6735999211668968e+00 -1.1656700074672699e+02 -2.6499000377953053e+00)))
    (instance face :init :vertices (list (float-vector 5.2374000661075115e+00 -1.2871299684047699e+02 -2.9476299881935120e+01) (float-vector 1.1275700293481350e+01 -1.2489400058984756e+02 -3.4097500145435333e+01) (float-vector 5.2375998347997665e+00 -1.1472100019454956e+02 -3.8605500012636185e+01) (float-vector -8.6744995787739754e+00 -1.1656700074672699e+02 -2.9349500313401222e+01)))
    (instance face :init :vertices (list (float-vector 5.2383001893758774e+00 -1.2871299684047699e+02 -2.5239998940378428e+00) (float-vector 1.0111900046467781e+01 -1.2905700504779816e+02 -1.6000399366021156e+01) (float-vector 5.2374000661075115e+00 -1.2871299684047699e+02 -2.9476299881935120e+01) (float-vector -8.6744995787739754e+00 -1.1656700074672699e+02 -2.9349500313401222e+01) (float-vector -8.6735999211668968e+00 -1.1656700074672699e+02 -2.6499000377953053e+00)))
    (instance face :init :vertices (list (float-vector -5.8552999980747700e+00 -8.2895301282405853e+01 -4.0821600705385208e+01) (float-vector 5.2375998347997665e+00 -1.1472100019454956e+02 -3.8605500012636185e+01) (float-vector 8.4479004144668579e+00 -9.5857903361320496e+01 -4.1453100740909576e+01)))
    (instance face :init :vertices (list (float-vector 5.2375998347997665e+00 -1.1472100019454956e+02 -3.8605500012636185e+01) (float-vector -5.8552999980747700e+00 -8.2895301282405853e+01 -4.0821600705385208e+01) (float-vector -8.6744995787739754e+00 -1.1656700074672699e+02 -2.9349500313401222e+01)))
    (instance face :init :vertices (list (float-vector -8.6744995787739754e+00 -1.1656700074672699e+02 -2.9349500313401222e+01) (float-vector -5.8552999980747700e+00 -8.2895301282405853e+01 -4.0821600705385208e+01) (float-vector -2.1552599966526031e+01 -1.1050799861550331e+01 -2.6716500520706177e+01)))
    (instance face :init :vertices (list (float-vector 3.3958000130951405e+00 -2.4380499497056007e+01 -3.7974599748849869e+01) (float-vector -5.8552999980747700e+00 -8.2895301282405853e+01 -4.0821600705385208e+01) (float-vector 8.4479004144668579e+00 -9.5857903361320496e+01 -4.1453100740909576e+01) (float-vector 1.8994100391864777e+01 -2.4380799382925034e+01 -3.7974599748849869e+01)))
    (instance face :init :vertices (list (float-vector -5.8552999980747700e+00 -8.2895301282405853e+01 -4.0821600705385208e+01) (float-vector 3.3958000130951405e+00 -2.4380499497056007e+01 -3.7974599748849869e+01) (float-vector -2.1552599966526031e+01 -1.1050799861550331e+01 -2.6716500520706177e+01)))
    (instance face :init :vertices (list (float-vector -1.9993400201201439e+01 1.0375400073826313e+01 6.4453999511897564e+00) (float-vector 2.0341999828815460e+01 1.0375400073826313e+01 6.4468001946806908e+00) (float-vector 2.0341699942946434e+01 2.7020000852644444e+00 1.1416300199925900e+01) (float-vector -1.9993500784039497e+01 2.7020000852644444e+00 1.1414900422096252e+01)))
    (instance face :init :vertices (list (float-vector -1.9993400201201439e+01 1.0375400073826313e+01 6.4453999511897564e+00) (float-vector -1.9993299618363380e+01 1.2287300080060959e+01 -2.4943999014794827e+00) (float-vector 2.0342500880360603e+01 1.2287300080060959e+01 -2.4929998908191919e+00) (float-vector 2.0341999828815460e+01 1.0375400073826313e+01 6.4468001946806908e+00)))
    (instance face :init :vertices (list (float-vector -1.9993400201201439e+01 1.0375400073826313e+01 6.4453999511897564e+00) (float-vector -1.9993500784039497e+01 2.7020000852644444e+00 1.1414900422096252e+01) (float-vector -2.1996200084686279e+01 1.3050000416114926e+00 3.8095000199973583e+00) (float-vector -1.9993299618363380e+01 1.2287300080060959e+01 -2.4943999014794827e+00)))
    (instance face :init :vertices (list (float-vector 2.0342500880360603e+01 1.2287300080060959e+01 -2.4929998908191919e+00) (float-vector 2.3588299751281738e+01 -2.2258900105953217e+01 -3.1891301274299622e+01) (float-vector 2.4763399735093117e+01 -1.6060100868344307e+01 -1.6000900417566299e+01)))
    (instance face :init :vertices (list (float-vector 1.8994100391864777e+01 -2.4380799382925034e+01 -3.7974599748849869e+01) (float-vector 2.3588299751281738e+01 -2.2258900105953217e+01 -3.1891301274299622e+01) (float-vector 2.0342500880360603e+01 1.2287300080060959e+01 -2.4929998908191919e+00) (float-vector -1.9993299618363380e+01 1.2287300080060959e+01 -2.4943999014794827e+00) (float-vector -2.1552599966526031e+01 -1.1050799861550331e+01 -2.6716500520706177e+01) (float-vector 3.3958000130951405e+00 -2.4380499497056007e+01 -3.7974599748849869e+01)))
    (instance face :init :vertices (list (float-vector 2.4763399735093117e+01 -1.6060100868344307e+01 -1.6000900417566299e+01) (float-vector 2.4635799229145050e+01 -1.6519499942660332e+01 -3.1234999187290668e+00) (float-vector 2.0341699942946434e+01 2.7020000852644444e+00 1.1416300199925900e+01) (float-vector 2.0341999828815460e+01 1.0375400073826313e+01 6.4468001946806908e+00) (float-vector 2.0342500880360603e+01 1.2287300080060959e+01 -2.4929998908191919e+00)))
    (instance face :init :vertices (list (float-vector 2.4635799229145050e+01 -1.6519499942660332e+01 -3.1234999187290668e+00) (float-vector 2.4763399735093117e+01 -1.6060100868344307e+01 -1.6000900417566299e+01) (float-vector 2.3588299751281738e+01 -2.2258900105953217e+01 -3.1891301274299622e+01) (float-vector 2.0140999928116798e+01 -9.3176499009132385e+01 -3.1891301274299622e+01) (float-vector 2.0142100751399994e+01 -9.3176499009132385e+01 -1.1010000162059441e-01)))
    (instance face :init :vertices (list (float-vector 2.0142100751399994e+01 -9.3176499009132385e+01 -1.1010000162059441e-01) (float-vector 1.7880700528621674e+01 -1.0126800090074539e+02 3.4499000757932663e+00) (float-vector 2.0341699942946434e+01 2.7020000852644444e+00 1.1416300199925900e+01) (float-vector 2.4635799229145050e+01 -1.6519499942660332e+01 -3.1234999187290668e+00)))
    (instance face :init :vertices (list (float-vector -5.8535998687148094e+00 -8.2895301282405853e+01 8.8219996541738510e+00) (float-vector -8.6735999211668968e+00 -1.1656700074672699e+02 -2.6499000377953053e+00) (float-vector -1.9993500784039497e+01 2.7020000852644444e+00 1.1414900422096252e+01)))
    (instance face :init :vertices (list (float-vector -8.6735999211668968e+00 -1.1656700074672699e+02 -2.6499000377953053e+00) (float-vector -5.8535998687148094e+00 -8.2895301282405853e+01 8.8219996541738510e+00) (float-vector 5.2391998469829559e+00 -1.1472100019454956e+02 6.6050998866558075e+00)))
    (instance face :init :vertices (list (float-vector -5.8535998687148094e+00 -8.2895301282405853e+01 8.8219996541738510e+00) (float-vector -1.9993500784039497e+01 2.7020000852644444e+00 1.1414900422096252e+01) (float-vector 2.0341699942946434e+01 2.7020000852644444e+00 1.1416300199925900e+01) (float-vector 5.2391998469829559e+00 -1.1472100019454956e+02 6.6050998866558075e+00)))
    (instance face :init :vertices (list (float-vector 5.2374000661075115e+00 -1.2871299684047699e+02 -2.9476299881935120e+01) (float-vector 1.0208199732005596e+01 -1.2871299684047699e+02 -2.9476299881935120e+01) (float-vector 1.1275700293481350e+01 -1.2489400058984756e+02 -3.4097500145435333e+01)))
    (instance face :init :vertices (list (float-vector 1.0208199732005596e+01 -1.2871299684047699e+02 -2.9476299881935120e+01) (float-vector 5.2374000661075115e+00 -1.2871299684047699e+02 -2.9476299881935120e+01) (float-vector 1.0111900046467781e+01 -1.2905700504779816e+02 -1.6000399366021156e+01)))
    (instance face :init :vertices (list (float-vector 5.2383001893758774e+00 -1.2871299684047699e+02 -2.5239998940378428e+00) (float-vector 1.0209199972450733e+01 -1.2871299684047699e+02 -2.5243998970836401e+00) (float-vector 1.0111900046467781e+01 -1.2905700504779816e+02 -1.6000399366021156e+01)))
    (instance face :init :vertices (list (float-vector 1.0111900046467781e+01 -1.2905700504779816e+02 -1.6000399366021156e+01) (float-vector 1.0209199972450733e+01 -1.2871299684047699e+02 -2.5243998970836401e+00) (float-vector 1.1276899836957455e+01 -1.2489400058984756e+02 2.0967000164091587e+00) (float-vector 1.7880700528621674e+01 -1.0126800090074539e+02 3.4499000757932663e+00) (float-vector 2.0142100751399994e+01 -9.3176499009132385e+01 -1.1010000162059441e-01) (float-vector 2.0140999928116798e+01 -9.3176499009132385e+01 -3.1891301274299622e+01) (float-vector 1.1275700293481350e+01 -1.2489400058984756e+02 -3.4097500145435333e+01) (float-vector 1.0208199732005596e+01 -1.2871299684047699e+02 -2.9476299881935120e+01)))
    (instance face :init :vertices (list (float-vector 5.2391998469829559e+00 -1.1472100019454956e+02 6.6050998866558075e+00) (float-vector 1.1276899836957455e+01 -1.2489400058984756e+02 2.0967000164091587e+00) (float-vector 1.0209199972450733e+01 -1.2871299684047699e+02 -2.5243998970836401e+00) (float-vector 5.2383001893758774e+00 -1.2871299684047699e+02 -2.5239998940378428e+00) (float-vector -8.6735999211668968e+00 -1.1656700074672699e+02 -2.6499000377953053e+00)))
    (instance face :init :vertices (list (float-vector 1.7880700528621674e+01 -1.0126800090074539e+02 3.4499000757932663e+00) (float-vector 1.1276899836957455e+01 -1.2489400058984756e+02 2.0967000164091587e+00) (float-vector 5.2391998469829559e+00 -1.1472100019454956e+02 6.6050998866558075e+00) (float-vector 2.0341699942946434e+01 2.7020000852644444e+00 1.1416300199925900e+01)))
    ))
   )
  )

(defclass DARWIN_g1_17_geom1
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_17_geom1
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
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-3.5965998172760010e+00 4.3169999122619629e-01)(-2.1996099472045898e+01 -2.9228999614715576e+00 -2.7187001705169678e+00)(-2.1996099472045898e+01 -2.1880000829696655e-01 -4.4700002670288086e+00)(-2.1996099472045898e+01 2.9474000930786133e+00 -3.7853000164031982e+00)(-2.1996200561523438e+01 4.6827998161315918e+00 -1.0922000408172607e+00)(-2.1996200561523438e+01 4.0090999603271484e+00 2.0582001209259033e+00)(-2.1553300857543945e+01 8.6399002075195312e+00 -7.6683001518249512e+00)(-2.1553499221801758e+01 -7.3529000282287598e+00 7.5910997390747070e+00)(-1.9993299484252930e+01 -7.3529000282287598e+00 7.5910997390747070e+00)(-1.9993101119995117e+01 8.6399002075195312e+00 -7.6683001518249512e+00)(-1.9992500305175781e+01 -2.2072299957275391e+01 -2.6716199874877930e+01)(-1.9992898941040039e+01 -2.1968299865722656e+01 -4.9100999832153320e+00)(-2.1552999496459961e+01 -2.3434700012207031e+01 -4.9100999832153320e+00)(-2.1552600860595703e+01 -2.3464099884033203e+01 -2.6716199874877930e+01)(-1.7829601287841797e+01 1.0375400543212891e+01 6.4454998970031738e+00)(-1.7829500198364258e+01 1.2287300109863281e+01 -2.4943997859954834e+00)(-1.7829299926757812e+01 7.3461999893188477e+00 -1.0148200035095215e+01)(-1.7829099655151367e+01 -1.6220999956130981e+00 -1.2079600334167480e+01)(-1.7829099655151367e+01 -9.2954006195068359e+00 -7.1100997924804688e+00)(-1.7829299926757812e+01 -1.1207300186157227e+01 1.8298000097274780e+00)(-1.7829500198364258e+01 -6.2094001770019531e+00 9.5226001739501953e+00)(-1.7829601287841797e+01 2.7021000385284424e+00 1.1414999961853027e+01)(-1.9993400573730469e+01 1.0375400543212891e+01 6.4453997611999512e+00)(-1.9993299484252930e+01 1.2287300109863281e+01 -2.4943997859954834e+00)(-1.9993101119995117e+01 7.3461003303527832e+00 -1.0148200035095215e+01)(-1.9992898941040039e+01 -1.6220999956130981e+00 -1.2079699516296387e+01)(-1.9993000030517578e+01 -9.2954006195068359e+00 -7.1100997924804688e+00)(-1.9993101119995117e+01 -1.1207300186157227e+01 1.8296999931335449e+00)(-1.9993299484252930e+01 -6.2094001770019531e+00 9.5226001739501953e+00)(-1.9993501663208008e+01 2.7020001411437988e+00 1.1414900779724121e+01)(2.0342199325561523e+01 -2.0031700134277344e+01 -4.9086999893188477e+00)(2.1902399063110352e+01 -2.0031700134277344e+01 -4.9086999893188477e+00)(-2.1552999496459961e+01 -2.0031700134277344e+01 -4.9102001190185547e+00)(-1.9992898941040039e+01 -2.0031700134277344e+01 -4.9100999832153320e+00)(2.0343400955200195e+01 -1.1050800323486328e+01 -2.6715000152587891e+01)(2.1903499603271484e+01 -1.1050800323486328e+01 -2.6714900970458984e+01)(-2.1552600860595703e+01 -1.1050800323486328e+01 -2.6716501235961914e+01)(-1.9992500305175781e+01 -1.1050800323486328e+01 -2.6716400146484375e+01)(6.4387001991271973e+00 -1.0422399902343750e+02 -2.6510000228881836e+00)(6.4376997947692871e+00 -1.0422399902343750e+02 -2.9349500656127930e+01)(6.4400000572204590e+00 -2.5659999847412109e+01 -2.6510000228881836e+00)(6.4390997886657715e+00 -2.5659999847412109e+01 -2.9349500656127930e+01)(2.2139000892639160e+00 -2.5659900665283203e+01 -2.9349399566650391e+01)(2.2148001194000244e+00 -2.5659900665283203e+01 -2.6509001255035400e+00)(2.2124998569488525e+00 -1.0422399902343750e+02 -2.9349399566650391e+01)(2.2135000228881836e+00 -1.0422399902343750e+02 -2.6509001255035400e+00)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 236 -> 29 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector 2.3588299751281738e+01 -2.2258900105953217e+01 -3.1891301274299622e+01) (float-vector 1.8994100391864777e+01 -2.4380799382925034e+01 -3.7974599748849869e+01) (float-vector 8.4479004144668579e+00 -9.5857903361320496e+01 -4.1453100740909576e+01) (float-vector 1.1275700293481350e+01 -1.2489400058984756e+02 -3.4097500145435333e+01) (float-vector 2.0140999928116798e+01 -9.3176499009132385e+01 -3.1891301274299622e+01)))
    (instance face :init :vertices (list (float-vector 5.2375998347997665e+00 -1.1472100019454956e+02 -3.8605500012636185e+01) (float-vector 1.1275700293481350e+01 -1.2489400058984756e+02 -3.4097500145435333e+01) (float-vector 8.4479004144668579e+00 -9.5857903361320496e+01 -4.1453100740909576e+01)))
    (instance face :init :vertices (list (float-vector -2.1552599966526031e+01 -1.1050799861550331e+01 -2.6716500520706177e+01) (float-vector -1.9993299618363380e+01 1.2287300080060959e+01 -2.4943999014794827e+00) (float-vector -2.1996200084686279e+01 1.3050000416114926e+00 3.8095000199973583e+00) (float-vector -2.1553000435233116e+01 -2.3434700444340706e+01 -4.9100997857749462e+00)))
    (instance face :init :vertices (list (float-vector -1.9993500784039497e+01 2.7020000852644444e+00 1.1414900422096252e+01) (float-vector -8.6735999211668968e+00 -1.1656700074672699e+02 -2.6499000377953053e+00) (float-vector -2.1553000435233116e+01 -2.3434700444340706e+01 -4.9100997857749462e+00) (float-vector -2.1996200084686279e+01 1.3050000416114926e+00 3.8095000199973583e+00)))
    (instance face :init :vertices (list (float-vector -8.6744995787739754e+00 -1.1656700074672699e+02 -2.9349500313401222e+01) (float-vector -2.1552599966526031e+01 -1.1050799861550331e+01 -2.6716500520706177e+01) (float-vector -2.1553000435233116e+01 -2.3434700444340706e+01 -4.9100997857749462e+00) (float-vector -8.6735999211668968e+00 -1.1656700074672699e+02 -2.6499000377953053e+00)))
    (instance face :init :vertices (list (float-vector 5.2374000661075115e+00 -1.2871299684047699e+02 -2.9476299881935120e+01) (float-vector 1.1275700293481350e+01 -1.2489400058984756e+02 -3.4097500145435333e+01) (float-vector 5.2375998347997665e+00 -1.1472100019454956e+02 -3.8605500012636185e+01) (float-vector -8.6744995787739754e+00 -1.1656700074672699e+02 -2.9349500313401222e+01)))
    (instance face :init :vertices (list (float-vector 5.2383001893758774e+00 -1.2871299684047699e+02 -2.5239998940378428e+00) (float-vector 1.0111900046467781e+01 -1.2905700504779816e+02 -1.6000399366021156e+01) (float-vector 5.2374000661075115e+00 -1.2871299684047699e+02 -2.9476299881935120e+01) (float-vector -8.6744995787739754e+00 -1.1656700074672699e+02 -2.9349500313401222e+01) (float-vector -8.6735999211668968e+00 -1.1656700074672699e+02 -2.6499000377953053e+00)))
    (instance face :init :vertices (list (float-vector -5.8552999980747700e+00 -8.2895301282405853e+01 -4.0821600705385208e+01) (float-vector 5.2375998347997665e+00 -1.1472100019454956e+02 -3.8605500012636185e+01) (float-vector 8.4479004144668579e+00 -9.5857903361320496e+01 -4.1453100740909576e+01)))
    (instance face :init :vertices (list (float-vector 5.2375998347997665e+00 -1.1472100019454956e+02 -3.8605500012636185e+01) (float-vector -5.8552999980747700e+00 -8.2895301282405853e+01 -4.0821600705385208e+01) (float-vector -8.6744995787739754e+00 -1.1656700074672699e+02 -2.9349500313401222e+01)))
    (instance face :init :vertices (list (float-vector -8.6744995787739754e+00 -1.1656700074672699e+02 -2.9349500313401222e+01) (float-vector -5.8552999980747700e+00 -8.2895301282405853e+01 -4.0821600705385208e+01) (float-vector -2.1552599966526031e+01 -1.1050799861550331e+01 -2.6716500520706177e+01)))
    (instance face :init :vertices (list (float-vector 3.3958000130951405e+00 -2.4380499497056007e+01 -3.7974599748849869e+01) (float-vector -5.8552999980747700e+00 -8.2895301282405853e+01 -4.0821600705385208e+01) (float-vector 8.4479004144668579e+00 -9.5857903361320496e+01 -4.1453100740909576e+01) (float-vector 1.8994100391864777e+01 -2.4380799382925034e+01 -3.7974599748849869e+01)))
    (instance face :init :vertices (list (float-vector -5.8552999980747700e+00 -8.2895301282405853e+01 -4.0821600705385208e+01) (float-vector 3.3958000130951405e+00 -2.4380499497056007e+01 -3.7974599748849869e+01) (float-vector -2.1552599966526031e+01 -1.1050799861550331e+01 -2.6716500520706177e+01)))
    (instance face :init :vertices (list (float-vector -1.9993400201201439e+01 1.0375400073826313e+01 6.4453999511897564e+00) (float-vector 2.0341999828815460e+01 1.0375400073826313e+01 6.4468001946806908e+00) (float-vector 2.0341699942946434e+01 2.7020000852644444e+00 1.1416300199925900e+01) (float-vector -1.9993500784039497e+01 2.7020000852644444e+00 1.1414900422096252e+01)))
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    (instance face :init :vertices (list (float-vector 2.0342500880360603e+01 1.2287300080060959e+01 -2.4929998908191919e+00) (float-vector 2.3588299751281738e+01 -2.2258900105953217e+01 -3.1891301274299622e+01) (float-vector 2.4763399735093117e+01 -1.6060100868344307e+01 -1.6000900417566299e+01)))
    (instance face :init :vertices (list (float-vector 1.8994100391864777e+01 -2.4380799382925034e+01 -3.7974599748849869e+01) (float-vector 2.3588299751281738e+01 -2.2258900105953217e+01 -3.1891301274299622e+01) (float-vector 2.0342500880360603e+01 1.2287300080060959e+01 -2.4929998908191919e+00) (float-vector -1.9993299618363380e+01 1.2287300080060959e+01 -2.4943999014794827e+00) (float-vector -2.1552599966526031e+01 -1.1050799861550331e+01 -2.6716500520706177e+01) (float-vector 3.3958000130951405e+00 -2.4380499497056007e+01 -3.7974599748849869e+01)))
    (instance face :init :vertices (list (float-vector 2.4763399735093117e+01 -1.6060100868344307e+01 -1.6000900417566299e+01) (float-vector 2.4635799229145050e+01 -1.6519499942660332e+01 -3.1234999187290668e+00) (float-vector 2.0341699942946434e+01 2.7020000852644444e+00 1.1416300199925900e+01) (float-vector 2.0341999828815460e+01 1.0375400073826313e+01 6.4468001946806908e+00) (float-vector 2.0342500880360603e+01 1.2287300080060959e+01 -2.4929998908191919e+00)))
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    (instance face :init :vertices (list (float-vector 5.2374000661075115e+00 -1.2871299684047699e+02 -2.9476299881935120e+01) (float-vector 1.0208199732005596e+01 -1.2871299684047699e+02 -2.9476299881935120e+01) (float-vector 1.1275700293481350e+01 -1.2489400058984756e+02 -3.4097500145435333e+01)))
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    (instance face :init :vertices (list (float-vector 5.2391998469829559e+00 -1.1472100019454956e+02 6.6050998866558075e+00) (float-vector 1.1276899836957455e+01 -1.2489400058984756e+02 2.0967000164091587e+00) (float-vector 1.0209199972450733e+01 -1.2871299684047699e+02 -2.5243998970836401e+00) (float-vector 5.2383001893758774e+00 -1.2871299684047699e+02 -2.5239998940378428e+00) (float-vector -8.6735999211668968e+00 -1.1656700074672699e+02 -2.6499000377953053e+00)))
    (instance face :init :vertices (list (float-vector 1.7880700528621674e+01 -1.0126800090074539e+02 3.4499000757932663e+00) (float-vector 1.1276899836957455e+01 -1.2489400058984756e+02 2.0967000164091587e+00) (float-vector 5.2391998469829559e+00 -1.1472100019454956e+02 6.6050998866558075e+00) (float-vector 2.0341699942946434e+01 2.7020000852644444e+00 1.1416300199925900e+01)))
    ))
   )
  )

(defclass DARWIN_g1_18_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_18_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000))
           ))
           (list :indices #i( 10 11 12 15 8 14 24 31 25 29 28 27 41 47 40 43 44 45 52 50 51 54 55 48 64 65 71 69 67 68 21 80 19 80 18 19 17 81 16 81 22 16 62 63 82 82 63 57 58 60 83 83 60 61 19 84 21 84 20 21 23 85 22 85 16 22 56 57 86 86 57 63 60 58 87 87 58 59 87 86 60 60 86 63 59 86 87 59 56 86 85 23 20 85 20 84 16 85 19 85 84 19 82 61 62 82 83 61 57 83 82 57 58 83 80 21 22 80 22 81 18 80 81 18 81 17 78 77 75 77 76 75 79 78 75 79 75 74 72 79 74 72 74 73 70 67 69 70 66 67 65 70 71 65 66 70 49 54 48 49 53 54 52 49 50 52 53 49 59 57 56 59 58 57 64 71 79 64 79 72 72 73 65 72 65 64 73 74 66 73 66 65 74 75 67 74 67 66 75 76 68 75 68 67 76 77 69 76 69 68 77 78 70 77 70 69 78 79 71 78 71 70 8 0 1 1 9 8 9 2 10 9 1 2 10 3 11 10 2 3 11 4 12 11 3 4 12 5 13 12 4 5 13 6 14 13 5 6 14 7 15 14 6 7 0 15 7 0 8 15 22 21 20 22 20 23 39 24 32 39 31 24 25 32 24 25 33 32 26 33 25 26 34 33 27 34 26 27 35 34 28 35 27 28 36 35 29 36 28 29 37 36 30 38 29 29 38 37 31 38 30 31 39 38 46 42 43 46 43 45 41 42 46 41 46 47 30 29 27 30 27 26 25 31 30 25 30 26 9 13 14 9 14 8 12 13 9 12 9 10 5 0 7 7 6 5 0 4 1 0 5 4 3 2 4 4 2 1 42 52 43 42 53 52 43 51 44 43 52 51 44 50 45 44 51 50 45 49 46 45 50 49 46 48 47 46 49 48 40 48 55 40 47 48 40 54 41 40 55 54 41 53 42 41 54 53 17 61 18 17 62 61 16 60 63 16 19 60 18 60 19 18 61 60 16 62 17 16 63 62))
           (list :vertices #2f((-2.5152001380920410e+00 -2.7283800125122070e+01 -2.0151899337768555e+01)(6.3963003158569336e+00 -2.5391300201416016e+01 -2.0152000427246094e+01)(1.1394000053405762e+01 -1.7698400497436523e+01 -2.0152099609375000e+01)(9.4820003509521484e+00 -8.7585000991821289e+00 -2.0152200698852539e+01)(1.8086000680923462e+00 -3.7891001701354980e+00 -2.0152200698852539e+01)(-7.1596002578735352e+00 -5.7207999229431152e+00 -2.0152099609375000e+01)(-1.2100599288940430e+01 -1.3374599456787109e+01 -2.0152000427246094e+01)(-1.0188599586486816e+01 -2.2314399719238281e+01 -2.0151899337768555e+01)(-2.5152001380920410e+00 -2.7283800125122070e+01 -1.7988000869750977e+01)(6.3963003158569336e+00 -2.5391300201416016e+01 -1.7988100051879883e+01)(1.1394000053405762e+01 -1.7698299407958984e+01 -1.7988300323486328e+01)(9.4820003509521484e+00 -8.7585000991821289e+00 -1.7988401412963867e+01)(1.8086000680923462e+00 -3.7891001701354980e+00 -1.7988401412963867e+01)(-7.1596002578735352e+00 -5.7207002639770508e+00 -1.7988300323486328e+01)(-1.2100599288940430e+01 -1.3374599456787109e+01 -1.7988199234008789e+01)(-1.0188599586486816e+01 -2.2314399719238281e+01 -1.7988100051879883e+01)(2.3650199890136719e+01 1.0847800254821777e+01 -2.1712800979614258e+01)(2.3621299743652344e+01 -1.0958399772644043e+01 -2.1712400436401367e+01)(2.2154899597167969e+01 -1.0958299636840820e+01 -2.0152299880981445e+01)(2.2258600234985352e+01 1.0847800254821777e+01 -2.0152601242065430e+01)(-8.4533996582031250e+00 -8.2007007598876953e+00 -2.0152099609375000e+01)(7.5396995544433594e+00 -2.3459798812866211e+01 -2.0152000427246094e+01)(7.5396995544433594e+00 -2.3459899902343750e+01 -2.1712200164794922e+01)(-8.4533996582031250e+00 -8.2007007598876953e+00 -2.1712299346923828e+01)(2.5622600555419922e+01 1.3900000602006912e-02 1.1382300376892090e+01)(2.5622600555419922e+01 8.0326995849609375e+00 8.0607004165649414e+00)(2.5622400283813477e+01 1.1354000091552734e+01 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-2.2154899597167969e+01)(-4.4962000846862793e+00 -1.4776800155639648e+01 -2.2155000686645508e+01)(-2.7608001232147217e+00 -1.2083700180053711e+01 -2.2155000686645508e+01)(4.0540000796318054e-01 -1.1398900032043457e+01 -2.2155099868774414e+01)(3.1094999313354492e+00 -1.3150099754333496e+01 -2.2155099868774414e+01)(3.7833001613616943e+00 -1.6300498962402344e+01 -2.2155000686645508e+01)(2.0162000656127930e+00 -1.9015501022338867e+01 -2.2155000686645508e+01)(-1.1182999610900879e+00 -1.9678400039672852e+01 -2.2154899597167969e+01)(-1.1175000667572021e+00 -1.9678400039672852e+01 2.2186300277709961e+01)(2.0169999599456787e+00 -1.9015501022338867e+01 2.2186300277709961e+01)(3.7841000556945801e+00 -1.6300498962402344e+01 2.2186199188232422e+01)(3.1103000640869141e+00 -1.3150099754333496e+01 2.2186300277709961e+01)(4.0620002150535583e-01 -1.1398900032043457e+01 2.2186399459838867e+01)(-2.7600998878479004e+00 -1.2083700180053711e+01 2.2186498641967773e+01)(-4.4953999519348145e+00 -1.4776800155639648e+01 2.2186498641967773e+01)(-3.8215999603271484e+00 -1.7927200317382812e+01 2.2186399459838867e+01)(-8.4525995254516602e+00 -8.2007007598876953e+00 2.1743898391723633e+01)(7.5404000282287598e+00 -2.3459899902343750e+01 2.1743299484252930e+01)(7.5404000282287598e+00 -2.3459798812866211e+01 2.0183099746704102e+01)(-8.4527006149291992e+00 -8.2007007598876953e+00 2.0183799743652344e+01)(2.2259300231933594e+01 1.0847800254821777e+01 2.0183200836181641e+01)(2.2155599594116211e+01 -1.0958299636840820e+01 2.0182800292968750e+01)(2.3621999740600586e+01 -1.0958399772644043e+01 2.1743000030517578e+01)(2.3651000976562500e+01 1.0847800254821777e+01 2.1743400573730469e+01)(-1.0187899589538574e+01 -2.2314399719238281e+01 1.8019798278808594e+01)(-1.2100000381469727e+01 -1.3374599456787109e+01 1.8020000457763672e+01)(-7.1589999198913574e+00 -5.7207002639770508e+00 1.8019899368286133e+01)(1.8092000484466553e+00 -3.7891001701354980e+00 1.8019701004028320e+01)(9.4826002120971680e+00 -8.7585000991821289e+00 1.8019399642944336e+01)(1.1394700050354004e+01 -1.7698299407958984e+01 1.8019300460815430e+01)(6.3968997001647949e+00 -2.5391300201416016e+01 1.8019300460815430e+01)(-2.5144999027252197e+00 -2.7283800125122070e+01 1.8019498825073242e+01)(-1.0187899589538574e+01 -2.2314399719238281e+01 2.0183601379394531e+01)(-1.2099900245666504e+01 -1.3374599456787109e+01 2.0183799743652344e+01)(-7.1589002609252930e+00 -5.7207999229431152e+00 2.0183799743652344e+01)(1.8093000650405884e+00 -3.7891001701354980e+00 2.0183500289916992e+01)(9.4827003479003906e+00 -8.7585000991821289e+00 2.0183300018310547e+01)(1.1394700050354004e+01 -1.7698400497436523e+01 2.0183099746704102e+01)(6.3969998359680176e+00 -2.5391300201416016e+01 2.0183099746704102e+01)(-2.5144999027252197e+00 -2.7283800125122070e+01 2.0183300018310547e+01)(2.0218299865722656e+01 -1.0958299636840820e+01 -2.0152200698852539e+01)(2.0218299865722656e+01 -1.0958399772644043e+01 -2.1712400436401367e+01)(2.0218999862670898e+01 -1.0958399772644043e+01 2.1743000030517578e+01)(2.0218999862670898e+01 -1.0958299636840820e+01 2.0182899475097656e+01)(1.1237099647521973e+01 1.0847800254821777e+01 -2.0152399063110352e+01)(1.1237000465393066e+01 1.0847800254821777e+01 -2.1712598800659180e+01)(1.1237800598144531e+01 1.0847800254821777e+01 2.1743598937988281e+01)(1.1237800598144531e+01 1.0847800254821777e+01 2.0183399200439453e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 88 -> 9 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector 2.3651000112295151e+01 1.0847800411283970e+01 2.1743400022387505e+01) (float-vector 1.1237800121307373e+01 1.0847800411283970e+01 2.1743599325418472e+01) (float-vector 1.1237099766731262e+01 1.0847800411283970e+01 -2.0152399316430092e+01) (float-vector 2.3650199174880981e+01 1.0847800411283970e+01 -2.1712800487875938e+01)))
    (instance face :init :vertices (list (float-vector 2.3622000589966774e+01 -1.0958399623632431e+01 2.1742999553680420e+01) (float-vector 2.3651000112295151e+01 1.0847800411283970e+01 2.1743400022387505e+01) (float-vector 2.3650199174880981e+01 1.0847800411283970e+01 -2.1712800487875938e+01) (float-vector 2.3621300235390663e+01 -1.0958399623632431e+01 -2.1712400019168854e+01)))
    (instance face :init :vertices (list (float-vector -1.2099900282919407e+01 -1.3374599628150463e+01 2.0183799788355827e+01) (float-vector -1.0187899693846703e+01 -2.2314399480819702e+01 2.0183600485324860e+01) (float-vector -1.0188600048422813e+01 -2.2314399480819702e+01 -2.0151900127530098e+01) (float-vector -1.2100599706172943e+01 -1.3374599628150463e+01 -2.0152000710368156e+01)))
    (instance face :init :vertices (list (float-vector 1.1237800121307373e+01 1.0847800411283970e+01 2.1743599325418472e+01) (float-vector -1.2099900282919407e+01 -1.3374599628150463e+01 2.0183799788355827e+01) (float-vector -1.2100599706172943e+01 -1.3374599628150463e+01 -2.0152000710368156e+01) (float-vector 1.1237099766731262e+01 1.0847800411283970e+01 -2.0152399316430092e+01)))
    (instance face :init :vertices (list (float-vector 2.3651000112295151e+01 1.0847800411283970e+01 2.1743400022387505e+01) (float-vector 2.3622000589966774e+01 -1.0958399623632431e+01 2.1742999553680420e+01) (float-vector 6.3970000483095646e+00 -2.5391299277544022e+01 2.0183099433779716e+01) (float-vector -2.5144999381154776e+00 -2.7283800765872002e+01 2.0183300599455833e+01) (float-vector -1.0187899693846703e+01 -2.2314399480819702e+01 2.0183600485324860e+01) (float-vector -1.2099900282919407e+01 -1.3374599628150463e+01 2.0183799788355827e+01) (float-vector 1.1237800121307373e+01 1.0847800411283970e+01 2.1743599325418472e+01)))
    (instance face :init :vertices (list (float-vector -1.0187899693846703e+01 -2.2314399480819702e+01 2.0183600485324860e+01) (float-vector -2.5144999381154776e+00 -2.7283800765872002e+01 2.0183300599455833e+01) (float-vector -2.5152000598609447e+00 -2.7283800765872002e+01 -2.0151900127530098e+01) (float-vector -1.0188600048422813e+01 -2.2314399480819702e+01 -2.0151900127530098e+01)))
    (instance face :init :vertices (list (float-vector 6.3963001593947411e+00 -2.5391299277544022e+01 -2.0152000710368156e+01) (float-vector 2.3621300235390663e+01 -1.0958399623632431e+01 -2.1712400019168854e+01) (float-vector 2.3650199174880981e+01 1.0847800411283970e+01 -2.1712800487875938e+01) (float-vector 1.1237099766731262e+01 1.0847800411283970e+01 -2.0152399316430092e+01) (float-vector -1.2100599706172943e+01 -1.3374599628150463e+01 -2.0152000710368156e+01) (float-vector -1.0188600048422813e+01 -2.2314399480819702e+01 -2.0151900127530098e+01) (float-vector -2.5152000598609447e+00 -2.7283800765872002e+01 -2.0151900127530098e+01)))
    (instance face :init :vertices (list (float-vector 6.3963001593947411e+00 -2.5391299277544022e+01 -2.0152000710368156e+01) (float-vector -2.5152000598609447e+00 -2.7283800765872002e+01 -2.0151900127530098e+01) (float-vector -2.5144999381154776e+00 -2.7283800765872002e+01 2.0183300599455833e+01) (float-vector 6.3970000483095646e+00 -2.5391299277544022e+01 2.0183099433779716e+01)))
    (instance face :init :vertices (list (float-vector 6.3963001593947411e+00 -2.5391299277544022e+01 -2.0152000710368156e+01) (float-vector 6.3970000483095646e+00 -2.5391299277544022e+01 2.0183099433779716e+01) (float-vector 2.3622000589966774e+01 -1.0958399623632431e+01 2.1742999553680420e+01) (float-vector 2.3621300235390663e+01 -1.0958399623632431e+01 -2.1712400019168854e+01)))
    ))
   )
  )

(defclass DARWIN_g1_19_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_19_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.301961 0.301961 0.301961 1.000000))
           ))
           (list :indices #i( 3 11 12 5 11 3 2 5 3 5 10 11 7 9 10 6 7 10 5 6 10 2 4 5 8 9 7 2 0 4 1 0 2 16 25 24 18 16 24 15 16 18 18 24 23 20 23 22 19 23 20 18 23 19 15 18 17 21 20 22 15 17 13 14 15 13 2 26 15 15 26 16 2 3 26 26 32 33 26 31 32 3 31 26 26 33 34 16 26 34 28 30 29 28 27 30 12 30 27 12 25 30 3 27 31 3 12 27 27 28 31 28 32 31 28 29 33 28 33 32 29 30 34 29 34 33 16 34 30 16 30 25 10 24 11 10 23 24 11 24 25 11 25 12 1 15 14 1 2 15 0 14 13 0 1 14 0 17 4 0 13 17 4 18 5 4 17 18 8 22 9 8 21 22 5 19 6 5 18 19 6 20 7 6 19 20 7 21 8 7 20 21 9 23 10 9 22 23))
           (list :vertices #2f((1.5613800048828125e+01 -1.1513999938964844e+01 2.0159900665283203e+01)(1.5613400459289551e+01 -3.7379699707031250e+01 2.0159500122070312e+01)(1.1670400619506836e+01 -4.0376201629638672e+01 2.0159399032592773e+01)(-1.6101600646972656e+01 -4.0375698089599609e+01 2.0159399032592773e+01)(-4.1009001731872559e+00 -1.1671400070190430e+01 2.0159900665283203e+01)(-8.9899997711181641e+00 -7.2551999092102051e+00 2.0159999847412109e+01)(-9.1475000381469727e+00 4.5735998153686523e+00 2.0160200119018555e+01)(-6.4663000106811523e+00 8.0433998107910156e+00 2.0160301208496094e+01)(5.8357000350952148e+00 8.0431995391845703e+00 2.0160301208496094e+01)(5.9934997558593750e+00 1.4667299270629883e+01 2.0160398483276367e+01)(-1.0251399993896484e+01 1.3090399742126465e+01 2.0160398483276367e+01)(-1.4838999748229980e+01 1.0724699974060059e+01 2.0160301208496094e+01)(-1.6100799560546875e+01 7.3234996795654297e+00 2.0160301208496094e+01)(1.5613800048828125e+01 -1.1513299942016602e+01 -1.9886600494384766e+01)(1.5613400459289551e+01 -3.7379001617431641e+01 -1.9887001037597656e+01)(1.1670400619506836e+01 -4.0375499725341797e+01 -1.9887100219726562e+01)(-1.6101600646972656e+01 -4.0375000000000000e+01 -1.9887100219726562e+01)(-4.1009001731872559e+00 -1.1670700073242188e+01 -1.9886600494384766e+01)(-8.9899997711181641e+00 -7.2544999122619629e+00 -1.9886499404907227e+01)(-9.1475000381469727e+00 4.5742998123168945e+00 -1.9886299133300781e+01)(-6.4663000106811523e+00 8.0441007614135742e+00 -1.9886299133300781e+01)(5.8357000350952148e+00 8.0439004898071289e+00 -1.9886299133300781e+01)(5.9934997558593750e+00 1.4668000221252441e+01 -1.9886100769042969e+01)(-1.0251399993896484e+01 1.3091100692749023e+01 -1.9886199951171875e+01)(-1.4838999748229980e+01 1.0725399971008301e+01 -1.9886199951171875e+01)(-1.6100799560546875e+01 7.3242001533508301e+00 -1.9886299133300781e+01)(-1.6101600646972656e+01 -4.0375400543212891e+01 1.3620001077651978e-01)(-2.0110000610351562e+01 -1.1916600227355957e+01 1.2150599479675293e+01)(-2.1010200500488281e+01 -1.6236200332641602e+01 4.1412000656127930e+00)(-2.1010200500488281e+01 -1.6236000061035156e+01 -3.8680999279022217e+00)(-2.0110000610351562e+01 -1.1916199684143066e+01 -1.1877300262451172e+01)(-2.0110599517822266e+01 -4.5427799224853516e+01 1.2149999618530273e+01)(-2.1010700225830078e+01 -4.8077800750732422e+01 4.1407003402709961e+00)(-2.1010700225830078e+01 -4.8077697753906250e+01 -3.8685998916625977e+00)(-2.0110599517822266e+01 -4.5427402496337891e+01 -1.1877900123596191e+01)(-1.5026599884033203e+01 -4.7241500854492188e+01 2.2503700256347656e+01)(-1.5027400016784668e+01 -4.7239898681640625e+01 -2.7854400634765625e+01)(-1.5026599884033203e+01 -7.2635803222656250e+01 2.2502799987792969e+01)(-1.5027400016784668e+01 -7.2634201049804688e+01 -2.7855298995971680e+01)(-1.0623600006103516e+01 -7.2634201049804688e+01 -2.7855298995971680e+01)(-1.0623600006103516e+01 -4.7239898681640625e+01 -2.7854499816894531e+01)(-1.0622799873352051e+01 -7.2635894775390625e+01 2.2502700805664062e+01)(-1.0622900009155273e+01 -4.7241600036621094e+01 2.2503599166870117e+01)(-1.0623499870300293e+01 -7.7828300476074219e+01 -2.1941398620605469e+01)(-1.0623499870300293e+01 -4.2210700988769531e+01 -2.1940099716186523e+01)(-1.0622900009155273e+01 -7.7829597473144531e+01 1.6588399887084961e+01)(-1.0622900009155273e+01 -4.2211902618408203e+01 1.6589601516723633e+01)(-1.5027300834655762e+01 -7.7828300476074219e+01 -2.1941301345825195e+01)(-1.5027300834655762e+01 -4.2210700988769531e+01 -2.1940099716186523e+01)(-1.5026700019836426e+01 -7.7829597473144531e+01 1.6588399887084961e+01)(-1.5026700019836426e+01 -4.2211902618408203e+01 1.6589698791503906e+01)(1.0208100318908691e+01 -4.2212402343750000e+01 1.6589698791503906e+01)(1.0208100318908691e+01 -7.7830001831054688e+01 1.6588399887084961e+01)(1.0207500457763672e+01 -4.2211101531982422e+01 -2.1940099716186523e+01)(1.0207500457763672e+01 -7.7828804016113281e+01 -2.1941301345825195e+01)(1.4611900329589844e+01 -4.2212402343750000e+01 1.6589601516723633e+01)(1.4611900329589844e+01 -7.7830001831054688e+01 1.6588399887084961e+01)(1.4611300468444824e+01 -4.2211101531982422e+01 -2.1940099716186523e+01)(1.4611300468444824e+01 -7.7828804016113281e+01 -2.1941398620605469e+01)(1.4612000465393066e+01 -4.7242000579833984e+01 2.2503599166870117e+01)(1.4612000465393066e+01 -7.2636299133300781e+01 2.2502700805664062e+01)(1.4611200332641602e+01 -4.7240299224853516e+01 -2.7854499816894531e+01)(1.4611200332641602e+01 -7.2634597778320312e+01 -2.7855298995971680e+01)(1.0207399368286133e+01 -7.2634597778320312e+01 -2.7855298995971680e+01)(1.0208199501037598e+01 -7.2636299133300781e+01 2.2502799987792969e+01)(1.0207399368286133e+01 -4.7240299224853516e+01 -2.7854400634765625e+01)(1.0208199501037598e+01 -4.7242000579833984e+01 2.2503700256347656e+01)(-1.8366600036621094e+01 -7.2634201049804688e+01 -2.7855298995971680e+01)(-1.8365800857543945e+01 -7.2635803222656250e+01 2.2502799987792969e+01)(-1.8366600036621094e+01 -4.7239898681640625e+01 -2.7854400634765625e+01)(-1.8365800857543945e+01 -4.7241500854492188e+01 2.2503700256347656e+01)(1.7607801437377930e+01 -7.2634597778320312e+01 -2.7855400085449219e+01)(1.7607801437377930e+01 -4.7240299224853516e+01 -2.7854499816894531e+01)(1.7608600616455078e+01 -7.2636299133300781e+01 2.2502700805664062e+01)(1.7608600616455078e+01 -4.7242000579833984e+01 2.2503499984741211e+01)(1.2489000320434570e+01 1.1644800186157227e+01 1.8095899581909180e+01)(-1.2905300140380859e+01 1.1644800186157227e+01 1.8096300125122070e+01)(1.2488900184631348e+01 -3.8713199615478516e+01 1.8094200134277344e+01)(-1.2905400276184082e+01 -3.8713199615478516e+01 1.8094699859619141e+01)(1.2488800048828125e+01 1.1645600318908691e+01 -1.7878499984741211e+01)(1.2488800048828125e+01 -3.8712501525878906e+01 -1.7880199432373047e+01)(-1.2905400276184082e+01 1.1645600318908691e+01 -1.7878099441528320e+01)(-1.2905499458312988e+01 -3.8712501525878906e+01 -1.7879800796508789e+01)(1.2488900184631348e+01 1.1645099639892578e+01 1.0695500373840332e+01)(1.2488800048828125e+01 -3.8713001251220703e+01 1.0693799972534180e+01)(-1.2905400276184082e+01 1.1645000457763672e+01 1.0695899963378906e+01)(-1.2905499458312988e+01 -3.8713001251220703e+01 1.0694299697875977e+01)(-1.2905400276184082e+01 -3.8713100433349609e+01 1.5097999572753906e+01)(1.2488900184631348e+01 -3.8713100433349609e+01 1.5097599983215332e+01)(-1.2905300140380859e+01 1.1644899368286133e+01 1.5099699974060059e+01)(1.2489000320434570e+01 1.1644899368286133e+01 1.5099200248718262e+01)(-1.8099399566650391e+01 -3.2799003601074219e+01 1.5098299980163574e+01)(1.7518301010131836e+01 -3.2799003601074219e+01 1.5097700119018555e+01)(-1.8099300384521484e+01 5.7307996749877930e+00 1.5099599838256836e+01)(1.7518400192260742e+01 5.7307996749877930e+00 1.5098999977111816e+01)(-1.8099399566650391e+01 -3.2798900604248047e+01 1.0694600105285645e+01)(1.7518199920654297e+01 -3.2798801422119141e+01 1.0693900108337402e+01)(-1.8099300384521484e+01 5.7308998107910156e+00 1.0695799827575684e+01)(1.7518301010131836e+01 5.7308998107910156e+00 1.0695199966430664e+01)(1.7518301010131836e+01 5.7312998771667480e+00 -1.4539600372314453e+01)(-1.8099300384521484e+01 5.7312998771667480e+00 -1.4538999557495117e+01)(1.7518199920654297e+01 -3.2798397064208984e+01 -1.4540899276733398e+01)(-1.8099399566650391e+01 -3.2798397064208984e+01 -1.4540200233459473e+01)(1.7518400192260742e+01 5.7311997413635254e+00 -1.0135900497436523e+01)(-1.8099300384521484e+01 5.7311997413635254e+00 -1.0135199546813965e+01)(1.7518301010131836e+01 -3.2798500061035156e+01 -1.0137100219726562e+01)(-1.8099399566650391e+01 -3.2798500061035156e+01 -1.0136500358581543e+01)(1.2489000320434570e+01 1.1645400047302246e+01 -1.0135600090026855e+01)(-1.2905300140380859e+01 1.1645400047302246e+01 -1.0135100364685059e+01)(1.2488900184631348e+01 -3.8712699890136719e+01 -1.0137200355529785e+01)(-1.2905400276184082e+01 -3.8712699890136719e+01 -1.0136799812316895e+01)(-1.2905499458312988e+01 -3.8712596893310547e+01 -1.4540599822998047e+01)(-1.2905400276184082e+01 1.1645499229431152e+01 -1.4538900375366211e+01)(1.2488800048828125e+01 -3.8712596893310547e+01 -1.4541000366210938e+01)(1.2488900184631348e+01 1.1645499229431152e+01 -1.4539300918579102e+01)))
           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 115 -> 18 faces
   (instance faceset :init :faces (list
    (instance face :init :vertices (list (float-vector 1.4611899852752686e+01 -7.7830001711845398e+01 1.6588399186730385e+01) (float-vector 1.7608599737286568e+01 -7.2636298835277557e+01 2.2502699866890907e+01) (float-vector 1.7607800662517548e+01 -7.2634600102901459e+01 -2.7855399996042252e+01) (float-vector 1.4611300081014633e+01 -7.7828802168369293e+01 -2.1941399201750755e+01)))
    (instance face :init :vertices (list (float-vector -1.5026699751615524e+01 -7.7829599380493164e+01 1.6588399186730385e+01) (float-vector -1.8365800380706787e+01 -7.2635799646377563e+01 2.2502800449728966e+01) (float-vector 1.7608599737286568e+01 -7.2636298835277557e+01 2.2502699866890907e+01) (float-vector 1.4611899852752686e+01 -7.7830001711845398e+01 1.6588399186730385e+01)))
    (instance face :init :vertices (list (float-vector 5.9934998862445354e+00 1.4667999930679798e+01 -1.9886100664734840e+01) (float-vector -1.4839000068604946e+01 1.0725400410592556e+01 -1.9886199384927750e+01) (float-vector -1.8366599455475807e+01 -4.7239899635314941e+01 -2.7854399755597115e+01) (float-vector 1.7607800662517548e+01 -4.7240298241376877e+01 -2.7854500338435173e+01)))
    (instance face :init :vertices (list (float-vector 1.7607800662517548e+01 -7.2634600102901459e+01 -2.7855399996042252e+01) (float-vector 1.7607800662517548e+01 -4.7240298241376877e+01 -2.7854500338435173e+01) (float-vector -1.8366599455475807e+01 -4.7239899635314941e+01 -2.7854399755597115e+01) (float-vector -1.8366599455475807e+01 -7.2634197771549225e+01 -2.7855299413204193e+01)))
    (instance face :init :vertices (list (float-vector 1.7608599737286568e+01 -7.2636298835277557e+01 2.2502699866890907e+01) (float-vector -1.8365800380706787e+01 -7.2635799646377563e+01 2.2502800449728966e+01) (float-vector -1.6100799664855003e+01 7.3234997689723969e+00 2.0160300657153130e+01) (float-vector -1.0251400060951710e+01 1.3090400025248528e+01 2.0160399377346039e+01) (float-vector 5.9934998862445354e+00 1.4667299576103687e+01 2.0160399377346039e+01) (float-vector 1.2489000335335732e+01 1.1644800193607807e+01 1.8095899373292923e+01) (float-vector 1.5613799914717674e+01 -1.1513999663293362e+01 2.0159900188446045e+01)))
    (instance face :init :vertices (list (float-vector 5.9934998862445354e+00 1.4667299576103687e+01 2.0160399377346039e+01) (float-vector -1.0251400060951710e+01 1.3090400025248528e+01 2.0160399377346039e+01) (float-vector -1.4839000068604946e+01 1.0725400410592556e+01 -1.9886199384927750e+01) (float-vector 5.9934998862445354e+00 1.4667999930679798e+01 -1.9886100664734840e+01)))
    (instance face :init :vertices (list (float-vector 1.2489000335335732e+01 1.1644800193607807e+01 1.8095899373292923e+01) (float-vector 1.7518399283289909e+01 5.7307998649775982e+00 1.5099000185728073e+01) (float-vector 1.5613799914717674e+01 -1.1513999663293362e+01 2.0159900188446045e+01)))
    (instance face :init :vertices (list (float-vector -1.5027300454676151e+01 -7.7828302979469299e+01 -2.1941300481557846e+01) (float-vector -1.5026699751615524e+01 -7.7829599380493164e+01 1.6588399186730385e+01) (float-vector 1.4611899852752686e+01 -7.7830001711845398e+01 1.6588399186730385e+01) (float-vector 1.4611300081014633e+01 -7.7828802168369293e+01 -2.1941399201750755e+01)))
    (instance face :init :vertices (list (float-vector -1.5027300454676151e+01 -7.7828302979469299e+01 -2.1941300481557846e+01) (float-vector -1.8366599455475807e+01 -7.2634197771549225e+01 -2.7855299413204193e+01) (float-vector -1.8365800380706787e+01 -7.2635799646377563e+01 2.2502800449728966e+01) (float-vector -1.5026699751615524e+01 -7.7829599380493164e+01 1.6588399186730385e+01)))
    (instance face :init :vertices (list (float-vector -1.8366599455475807e+01 -7.2634197771549225e+01 -2.7855299413204193e+01) (float-vector -1.5027300454676151e+01 -7.7828302979469299e+01 -2.1941300481557846e+01) (float-vector 1.4611300081014633e+01 -7.7828802168369293e+01 -2.1941399201750755e+01) (float-vector 1.7607800662517548e+01 -7.2634600102901459e+01 -2.7855399996042252e+01)))
    (instance face :init :vertices (list (float-vector -1.8365800380706787e+01 -7.2635799646377563e+01 2.2502800449728966e+01) (float-vector -2.1010199561715126e+01 -1.6236200928688049e+01 4.1411998681724072e+00) (float-vector -1.6100799664855003e+01 7.3234997689723969e+00 2.0160300657153130e+01)))
    (instance face :init :vertices (list (float-vector 1.7607800662517548e+01 -4.7240298241376877e+01 -2.7854500338435173e+01) (float-vector 1.7518300563097000e+01 5.7312999852001667e+00 -1.4539600349962711e+01) (float-vector 5.9934998862445354e+00 1.4667999930679798e+01 -1.9886100664734840e+01)))
    (instance face :init :vertices (list (float-vector 1.7518300563097000e+01 5.7312999852001667e+00 -1.4539600349962711e+01) (float-vector 1.7607800662517548e+01 -4.7240298241376877e+01 -2.7854500338435173e+01) (float-vector 1.7607800662517548e+01 -7.2634600102901459e+01 -2.7855399996042252e+01) (float-vector 1.7608599737286568e+01 -7.2636298835277557e+01 2.2502699866890907e+01) (float-vector 1.5613799914717674e+01 -1.1513999663293362e+01 2.0159900188446045e+01) (float-vector 1.7518399283289909e+01 5.7307998649775982e+00 1.5099000185728073e+01)))
    (instance face :init :vertices (list (float-vector 1.7518300563097000e+01 5.7312999852001667e+00 -1.4539600349962711e+01) (float-vector 1.7518399283289909e+01 5.7307998649775982e+00 1.5099000185728073e+01) (float-vector 1.2489000335335732e+01 1.1644800193607807e+01 1.8095899373292923e+01) (float-vector 5.9934998862445354e+00 1.4667299576103687e+01 2.0160399377346039e+01) (float-vector 5.9934998862445354e+00 1.4667999930679798e+01 -1.9886100664734840e+01)))
    (instance face :init :vertices (list (float-vector -1.8366599455475807e+01 -4.7239899635314941e+01 -2.7854399755597115e+01) (float-vector -2.0109999924898148e+01 -1.1916199699044228e+01 -1.1877300217747688e+01) (float-vector -2.1010199561715126e+01 -1.6236200928688049e+01 4.1411998681724072e+00) (float-vector -1.8365800380706787e+01 -7.2635799646377563e+01 2.2502800449728966e+01) (float-vector -1.8366599455475807e+01 -7.2634197771549225e+01 -2.7855299413204193e+01)))
    (instance face :init :vertices (list (float-vector -1.8099300563335419e+01 5.7312999852001667e+00 -1.4538999646902084e+01) (float-vector -2.0109999924898148e+01 -1.1916199699044228e+01 -1.1877300217747688e+01) (float-vector -1.8366599455475807e+01 -4.7239899635314941e+01 -2.7854399755597115e+01) (float-vector -1.4839000068604946e+01 1.0725400410592556e+01 -1.9886199384927750e+01)))
    (instance face :init :vertices (list (float-vector -1.6100799664855003e+01 7.3234997689723969e+00 2.0160300657153130e+01) (float-vector -2.1010199561715126e+01 -1.6236200928688049e+01 4.1411998681724072e+00) (float-vector -2.0109999924898148e+01 -1.1916199699044228e+01 -1.1877300217747688e+01) (float-vector -1.8099300563335419e+01 5.7312999852001667e+00 -1.4538999646902084e+01)))
    (instance face :init :vertices (list (float-vector -1.8099300563335419e+01 5.7312999852001667e+00 -1.4538999646902084e+01) (float-vector -1.4839000068604946e+01 1.0725400410592556e+01 -1.9886199384927750e+01) (float-vector -1.0251400060951710e+01 1.3090400025248528e+01 2.0160399377346039e+01) (float-vector -1.6100799664855003e+01 7.3234997689723969e+00 2.0160300657153130e+01)))
    ))
   )
  )

(defclass DARWIN_g1_19_geom1
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_19_geom1
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.140000 0.140000 0.140000 1.000000))
           ))
           (list :indices #i( 103 105 101 103 101 99 100 102 106 100 106 104 106 110 108 106 108 104 102 112 111 102 100 112 111 110 106 111 106 102 104 108 112 104 112 100 114 107 103 114 103 99 101 113 114 101 114 99 107 109 105 107 105 103 105 109 113 105 113 101 92 88 84 92 84 96 90 88 92 90 92 94 96 84 83 96 83 98 83 90 94 83 94 98 93 89 85 93 85 97 86 87 91 86 91 95 95 85 86 95 97 85 91 87 89 91 89 93 97 95 91 97 91 93 94 92 96 94 96 98 82 79 80 82 81 79 76 78 77 76 77 75 82 77 78 82 80 77 81 76 75 81 75 79 79 77 80 79 75 77 82 78 81 81 78 76 67 71 68 68 71 73 70 72 69 70 74 72 68 73 74 68 74 70 67 72 71 67 69 72 73 71 72 73 72 74 67 70 69 67 68 70 55 53 57 55 51 53 52 54 58 52 58 56 58 62 60 58 60 56 54 64 63 54 52 64 63 62 58 63 58 54 56 60 64 56 64 52 66 55 59 66 51 55 53 66 65 53 51 66 59 57 61 59 55 57 57 65 61 57 53 65 44 36 40 44 48 36 42 44 40 42 46 44 35 48 50 35 36 48 35 46 42 35 50 46 45 41 37 45 37 49 38 39 43 38 43 47 47 37 38 47 49 37 43 39 41 43 41 45 49 47 43 49 43 45 46 48 44 46 50 48))
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    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 115 -> 18 faces
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    (instance face :init :vertices (list (float-vector -1.8099300563335419e+01 5.7312999852001667e+00 -1.4538999646902084e+01) (float-vector -2.0109999924898148e+01 -1.1916199699044228e+01 -1.1877300217747688e+01) (float-vector -1.8366599455475807e+01 -4.7239899635314941e+01 -2.7854399755597115e+01) (float-vector -1.4839000068604946e+01 1.0725400410592556e+01 -1.9886199384927750e+01)))
    (instance face :init :vertices (list (float-vector -1.6100799664855003e+01 7.3234997689723969e+00 2.0160300657153130e+01) (float-vector -2.1010199561715126e+01 -1.6236200928688049e+01 4.1411998681724072e+00) (float-vector -2.0109999924898148e+01 -1.1916199699044228e+01 -1.1877300217747688e+01) (float-vector -1.8099300563335419e+01 5.7312999852001667e+00 -1.4538999646902084e+01)))
    (instance face :init :vertices (list (float-vector -1.8099300563335419e+01 5.7312999852001667e+00 -1.4538999646902084e+01) (float-vector -1.4839000068604946e+01 1.0725400410592556e+01 -1.9886199384927750e+01) (float-vector -1.0251400060951710e+01 1.3090400025248528e+01 2.0160399377346039e+01) (float-vector -1.6100799664855003e+01 7.3234997689723969e+00 2.0160300657153130e+01)))
    ))
   )
  )

(defclass DARWIN_g1_20_geom0
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_20_geom0
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.301961 0.301961 0.301961 1.000000))
           ))
           (list :indices #i( 13 0 1 2 0 13 11 13 1 2 13 12 11 1 3 4 2 12 9 11 3 4 12 10 9 3 5 6 4 10 7 9 5 6 10 8 5 21 7 8 22 6 7 21 25 26 22 8 7 25 9 10 26 8 21 23 27 28 24 22 41 21 27 28 22 42 14 53 15 16 53 14 15 53 17 18 53 16 17 53 19 20 53 18 19 53 23 24 53 20 23 53 27 28 53 24 27 138 29 139 28 30 41 126 43 127 42 44 51 126 128 127 51 129 51 44 50 51 127 44 43 51 50 43 126 51 139 129 52 129 51 52 51 128 52 128 138 52 52 53 139 139 53 28 27 53 138 138 53 52 131 129 137 129 139 137 138 128 136 128 130 136 133 131 135 131 137 135 136 130 134 134 130 132 139 32 137 139 30 32 31 29 138 31 138 136 137 34 135 137 32 34 33 136 134 33 31 136 135 36 133 135 34 36 35 134 132 35 33 134 133 38 131 133 36 38 37 132 130 37 35 132 131 40 129 131 38 40 39 130 128 39 37 130 127 40 42 127 129 40 39 126 41 39 128 126 40 30 42 42 30 28 27 29 41 41 29 39 49 50 46 46 50 44 43 50 45 45 50 49 44 22 26 44 42 22 21 43 25 21 41 43 44 26 46 46 26 10 9 25 45 45 25 43 49 48 13 13 48 12 11 47 13 13 47 49 48 46 12 12 46 10 9 45 11 11 45 47 24 20 22 22 20 6 5 19 21 21 19 23 20 4 6 20 18 4 3 19 5 3 17 19 18 2 4 18 16 2 1 17 3 1 15 17 0 16 14 0 2 16 0 15 1 0 14 15 45 49 47 46 48 49 37 39 29 37 29 31 35 37 31 35 31 33 38 30 40 38 32 30 36 32 38 36 34 32))
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           )
           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 236 -> 29 faces
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    (instance face :init :vertices (list (float-vector -1.1281300336122513e+01 -1.2489300221204758e+02 2.1011000499129295e+00) (float-vector -1.0213700123131275e+01 -1.2871199846267700e+02 -2.5198999792337418e+00) (float-vector -1.0116499848663807e+01 -1.2905700504779816e+02 -1.5995800495147705e+01) (float-vector -1.0212699882686138e+01 -1.2871299684047699e+02 -2.9471799731254578e+01) (float-vector -1.1280000209808350e+01 -1.2489499896764755e+02 -3.4093201160430908e+01) (float-vector -2.0144199952483177e+01 -9.3176901340484619e+01 -3.1888000667095184e+01) (float-vector -2.0145300775766373e+01 -9.3175798654556274e+01 -1.0689999908208847e-01) (float-vector -1.7884200438857079e+01 -1.0126700252294540e+02 3.4533999860286713e+00)))
    (instance face :init :vertices (list (float-vector -1.0213700123131275e+01 -1.2871199846267700e+02 -2.5198999792337418e+00) (float-vector -1.1281300336122513e+01 -1.2489300221204758e+02 2.1011000499129295e+00) (float-vector -5.2431998774409294e+00 -1.1472100019454956e+02 6.6090999171137810e+00) (float-vector 8.6695002391934395e+00 -1.1656700074672699e+02 -2.6457998901605606e+00) (float-vector -5.2427998743951321e+00 -1.2871299684047699e+02 -2.5194999761879444e+00)))
    (instance face :init :vertices (list (float-vector -1.1281300336122513e+01 -1.2489300221204758e+02 2.1011000499129295e+00) (float-vector -1.7884200438857079e+01 -1.0126700252294540e+02 3.4533999860286713e+00) (float-vector -2.0341599360108376e+01 2.7032000944018364e+00 1.1416199617087841e+01) (float-vector -5.2431998774409294e+00 -1.1472100019454956e+02 6.6090999171137810e+00)))
    ))
   )
  )

(defclass DARWIN_g1_20_geom1
  :super collada-body
  :slots ())
(defmethod DARWIN_g1_20_geom1
  (:init (&key (name))
         (replace-object self (send self :qhull-faceset))
         (if name (send self :name name))
         (send self :def-gl-vertices)
         self)
  (:def-gl-vertices ()
    (setq glvertices
       (instance gl::glvertices :init
          (list
          (list
           (list :type :triangles)
           (list :material (list
             (list :color (float-vector 0.1 0.1 0.1))
             (list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
             (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000))
           ))
           (list :indices #i( 150 151 152 155 148 154 164 171 165 169 168 167 181 187 180 183 184 185 192 190 191 194 195 188 204 205 211 209 207 208 161 220 159 220 158 159 157 221 156 221 162 156 202 203 222 222 203 197 198 200 223 223 200 201 159 224 161 224 160 161 163 225 162 225 156 162 196 197 226 226 197 203 200 198 227 227 198 199 227 226 200 200 226 203 199 226 227 199 196 226 225 163 160 225 160 224 156 225 159 225 224 159 222 201 202 222 223 201 197 223 222 197 198 223 220 161 162 220 162 221 158 220 221 158 221 157 218 217 215 217 216 215 219 218 215 219 215 214 212 219 214 212 214 213 210 207 209 210 206 207 205 210 211 205 206 210 189 194 188 189 193 194 192 189 190 192 193 189 199 197 196 199 198 197 204 211 219 204 219 212 212 213 205 212 205 204 213 214 206 213 206 205 214 215 207 214 207 206 215 216 208 215 208 207 216 217 209 216 209 208 217 218 210 217 210 209 218 219 211 218 211 210 141 148 140 141 149 148 149 142 150 149 141 142 150 143 151 150 142 143 151 144 152 151 143 144 152 145 153 152 144 145 153 146 154 153 145 146 154 147 155 154 146 147 140 155 147 140 148 155 162 161 160 162 160 163 179 164 172 179 171 164 165 172 164 165 173 172 166 173 165 166 174 173 167 174 166 167 175 174 168 175 167 168 176 175 169 176 168 169 177 176 170 178 169 169 178 177 171 178 170 171 179 178 186 182 183 186 183 185 181 182 186 181 186 187 170 169 167 170 167 166 165 171 170 165 170 166 149 153 154 149 154 148 152 153 149 152 149 150 147 145 140 147 146 145 140 144 141 140 145 144 143 142 144 144 142 141 182 192 183 182 193 192 183 191 184 183 192 191 184 190 185 184 191 190 185 189 186 185 190 189 186 188 187 186 189 188 180 188 195 180 187 188 180 194 181 180 195 194 181 193 182 181 194 193 157 201 158 157 202 201 156 200 203 156 159 200 158 200 159 158 201 200 156 202 157 156 203 202 125 55 57 125 75 55 54 124 56 54 74 124 123 125 59 59 125 57 56 124 58 58 124 122 121 123 61 61 123 59 58 122 60 60 122 120 119 61 63 119 121 61 60 118 62 60 120 118 117 119 65 65 119 63 62 118 64 64 118 116 101 117 67 67 117 65 64 116 66 66 116 100 75 87 55 75 115 87 86 74 54 86 114 74 115 113 87 87 113 89 88 112 86 86 112 114 113 91 89 113 111 91 90 112 88 90 110 112 111 93 91 111 109 93 92 110 90 92 108 110 109 107 93 93 107 95 94 106 92 92 106 108 107 97 95 107 105 97 96 106 94 96 104 106 105 99 97 105 103 99 98 104 96 98 102 104 103 67 99 103 101 67 66 102 98 66 100 102 85 83 77 85 77 101 76 82 84 76 84 100 83 81 77 81 79 77 78 80 76 80 82 76 97 67 65 97 99 67 66 96 64 66 98 96 95 65 63 95 97 65 64 94 62 64 96 94 93 63 61 93 95 63 62 92 60 62 94 92 91 61 59 91 93 61 60 90 58 60 92 90 89 59 57 89 91 59 58 88 56 58 90 88 87 57 55 87 89 57 56 86 54 56 88 86 83 73 72 83 85 73 73 82 72 73 84 82 81 72 71 81 83 72 72 80 71 72 82 80 79 71 70 79 81 71 71 78 70 71 80 78 77 79 69 69 79 70 70 78 69 69 78 76 101 69 68 101 77 69 69 100 68 69 76 100 232 233 235 232 235 234 230 228 235 230 235 233 231 230 233 231 233 232 229 231 232 229 232 234 228 229 235 229 234 235 228 230 231 228 231 229))
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           )))
    (send glvertices :calc-normals)
    (send self :assoc glvertices)
    glvertices)
  (:qhull-faceset ()
   ;; qhull 236 -> 29 faces
   (instance faceset :init :faces (list
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(provide :DARWIN "/home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/build//home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/models/darwin.l")