File: h3-robot.l

package info (click to toggle)
euslisp 9.31%2Bdfsg-3
  • links: PTS, VCS
  • area: main
  • in suites: forky, sid, trixie
  • size: 55,448 kB
  • sloc: ansic: 41,610; lisp: 3,339; makefile: 286; sh: 238; asm: 138; python: 53
file content (1299 lines) | stat: -rw-r--r-- 222,886 bytes parent folder | download | duplicates (2)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version 
;;
;;
(defclass h3-robot
  :super robot-model
  :slots (sensors
         joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12 ))
(defmethod h3-robot
  (:init
   (&rest args &key (name "h3") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
   (let (c bc
         blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 blink8 blink9 blink10 blink11 blink12 blink13
                 )
     (send-super* :init :name name args)

     ;; definition of link

     ;; definition of :root
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 13.0 -192.321 281.0) (float-vector 23.0 -195.0 281.0) (float-vector 33.0 -192.321 281.0) (float-vector 40.3205 -185.0 281.0) (float-vector 43.0 -175.0 281.0) (float-vector 40.3205 -165.0 281.0) (float-vector 33.0 -157.679 281.0) (float-vector 23.0 -155.0 281.0) (float-vector 13.0 -157.679 281.0) (float-vector 5.67949 -165.0 281.0) (float-vector 3.0 -175.0 281.0) (float-vector 5.67949 -185.0 281.0)))
         (instance face :init :vertices (list (float-vector 23.0 -195.0 265.0) (float-vector 13.0 -192.321 265.0) (float-vector 5.67949 -185.0 265.0) (float-vector 3.0 -175.0 265.0) (float-vector 5.67949 -165.0 265.0) (float-vector 13.0 -157.679 265.0) (float-vector 23.0 -155.0 265.0) (float-vector 33.0 -157.679 265.0) (float-vector 40.3205 -165.0 265.0) (float-vector 43.0 -175.0 265.0) (float-vector 40.3205 -185.0 265.0) (float-vector 33.0 -192.321 265.0)))
         (instance face :init :vertices (list (float-vector 13.0 -192.321 281.0) (float-vector 13.0 -192.321 265.0) (float-vector 23.0 -195.0 265.0) (float-vector 23.0 -195.0 281.0)))
         (instance face :init :vertices (list (float-vector 5.67949 -185.0 281.0) (float-vector 5.67949 -185.0 265.0) (float-vector 13.0 -192.321 265.0) (float-vector 13.0 -192.321 281.0)))
         (instance face :init :vertices (list (float-vector 3.0 -175.0 281.0) (float-vector 3.0 -175.0 265.0) (float-vector 5.67949 -185.0 265.0) (float-vector 5.67949 -185.0 281.0)))
         (instance face :init :vertices (list (float-vector 5.67949 -165.0 281.0) (float-vector 5.67949 -165.0 265.0) (float-vector 3.0 -175.0 265.0) (float-vector 3.0 -175.0 281.0)))
         (instance face :init :vertices (list (float-vector 13.0 -157.679 281.0) (float-vector 13.0 -157.679 265.0) (float-vector 5.67949 -165.0 265.0) (float-vector 5.67949 -165.0 281.0)))
         (instance face :init :vertices (list (float-vector 23.0 -155.0 281.0) (float-vector 23.0 -155.0 265.0) (float-vector 13.0 -157.679 265.0) (float-vector 13.0 -157.679 281.0)))
         (instance face :init :vertices (list (float-vector 33.0 -157.679 281.0) (float-vector 33.0 -157.679 265.0) (float-vector 23.0 -155.0 265.0) (float-vector 23.0 -155.0 281.0)))
         (instance face :init :vertices (list (float-vector 40.3205 -165.0 281.0) (float-vector 40.3205 -165.0 265.0) (float-vector 33.0 -157.679 265.0) (float-vector 33.0 -157.679 281.0)))
         (instance face :init :vertices (list (float-vector 43.0 -175.0 281.0) (float-vector 43.0 -175.0 265.0) (float-vector 40.3205 -165.0 265.0) (float-vector 40.3205 -165.0 281.0)))
         (instance face :init :vertices (list (float-vector 40.3205 -185.0 281.0) (float-vector 40.3205 -185.0 265.0) (float-vector 43.0 -175.0 265.0) (float-vector 43.0 -175.0 281.0)))
         (instance face :init :vertices (list (float-vector 33.0 -192.321 281.0) (float-vector 33.0 -192.321 265.0) (float-vector 40.3205 -185.0 265.0) (float-vector 40.3205 -185.0 281.0)))
         (instance face :init :vertices (list (float-vector 23.0 -195.0 281.0) (float-vector 23.0 -195.0 265.0) (float-vector 33.0 -192.321 265.0) (float-vector 33.0 -192.321 281.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 13.0 111.679 281.0) (float-vector 23.0 109.0 281.0) (float-vector 33.0 111.679 281.0) (float-vector 40.3205 119.0 281.0) (float-vector 43.0 129.0 281.0) (float-vector 40.3205 139.0 281.0) (float-vector 33.0 146.321 281.0) (float-vector 23.0 149.0 281.0) (float-vector 13.0 146.321 281.0) (float-vector 5.67949 139.0 281.0) (float-vector 3.0 129.0 281.0) (float-vector 5.67949 119.0 281.0)))
         (instance face :init :vertices (list (float-vector 23.0 109.0 265.0) (float-vector 13.0 111.679 265.0) (float-vector 5.67949 119.0 265.0) (float-vector 3.0 129.0 265.0) (float-vector 5.67949 139.0 265.0) (float-vector 13.0 146.321 265.0) (float-vector 23.0 149.0 265.0) (float-vector 33.0 146.321 265.0) (float-vector 40.3205 139.0 265.0) (float-vector 43.0 129.0 265.0) (float-vector 40.3205 119.0 265.0) (float-vector 33.0 111.679 265.0)))
         (instance face :init :vertices (list (float-vector 13.0 111.679 281.0) (float-vector 13.0 111.679 265.0) (float-vector 23.0 109.0 265.0) (float-vector 23.0 109.0 281.0)))
         (instance face :init :vertices (list (float-vector 5.67949 119.0 281.0) (float-vector 5.67949 119.0 265.0) (float-vector 13.0 111.679 265.0) (float-vector 13.0 111.679 281.0)))
         (instance face :init :vertices (list (float-vector 3.0 129.0 281.0) (float-vector 3.0 129.0 265.0) (float-vector 5.67949 119.0 265.0) (float-vector 5.67949 119.0 281.0)))
         (instance face :init :vertices (list (float-vector 5.67949 139.0 281.0) (float-vector 5.67949 139.0 265.0) (float-vector 3.0 129.0 265.0) (float-vector 3.0 129.0 281.0)))
         (instance face :init :vertices (list (float-vector 13.0 146.321 281.0) (float-vector 13.0 146.321 265.0) (float-vector 5.67949 139.0 265.0) (float-vector 5.67949 139.0 281.0)))
         (instance face :init :vertices (list (float-vector 23.0 149.0 281.0) (float-vector 23.0 149.0 265.0) (float-vector 13.0 146.321 265.0) (float-vector 13.0 146.321 281.0)))
         (instance face :init :vertices (list (float-vector 33.0 146.321 281.0) (float-vector 33.0 146.321 265.0) (float-vector 23.0 149.0 265.0) (float-vector 23.0 149.0 281.0)))
         (instance face :init :vertices (list (float-vector 40.3205 139.0 281.0) (float-vector 40.3205 139.0 265.0) (float-vector 33.0 146.321 265.0) (float-vector 33.0 146.321 281.0)))
         (instance face :init :vertices (list (float-vector 43.0 129.0 281.0) (float-vector 43.0 129.0 265.0) (float-vector 40.3205 139.0 265.0) (float-vector 40.3205 139.0 281.0)))
         (instance face :init :vertices (list (float-vector 40.3205 119.0 281.0) (float-vector 40.3205 119.0 265.0) (float-vector 43.0 129.0 265.0) (float-vector 43.0 129.0 281.0)))
         (instance face :init :vertices (list (float-vector 33.0 111.679 281.0) (float-vector 33.0 111.679 265.0) (float-vector 40.3205 119.0 265.0) (float-vector 40.3205 119.0 281.0)))
         (instance face :init :vertices (list (float-vector 23.0 109.0 281.0) (float-vector 23.0 109.0 265.0) (float-vector 33.0 111.679 265.0) (float-vector 33.0 111.679 281.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 55.0396 1.99057 344.0) (float-vector 66.0 -0.33913 303.095) (float-vector 66.0 -0.33913 224.0) (float-vector 64.0 0.085983 224.0) (float-vector 64.0 0.085983 299.0) (float-vector 54.0 2.21155 299.0) (float-vector 54.0 2.21155 342.0) (float-vector 7.94896 12.0 342.0) (float-vector 7.94896 12.0 344.0)))
         (instance face :init :vertices (list (float-vector -48.0 12.0 224.0) (float-vector -48.0 -58.0 224.0) (float-vector -48.0 -58.0 344.0) (float-vector -48.0 12.0 344.0)))
         (instance face :init :vertices (list (float-vector -48.0 12.0 224.0) (float-vector -48.0 12.0 344.0) (float-vector 7.94896 12.0 344.0) (float-vector 7.94896 12.0 342.0) (float-vector -46.0 12.0 342.0) (float-vector -46.0 12.0 224.0)))
         (instance face :init :vertices (list (float-vector -48.0 -58.0 344.0) (float-vector -48.0 -58.0 224.0) (float-vector -46.0 -58.0 224.0) (float-vector -46.0 -58.0 342.0) (float-vector 7.94896 -58.0 342.0) (float-vector 7.94896 -58.0 344.0)))
         (instance face :init :vertices (list (float-vector 55.0396 1.99057 344.0) (float-vector 7.94896 12.0 344.0) (float-vector -48.0 12.0 344.0) (float-vector -48.0 -58.0 344.0) (float-vector 7.94896 -58.0 344.0) (float-vector 55.0396 -47.9906 344.0)))
         (instance face :init :vertices (list (float-vector 66.0 -0.33913 303.095) (float-vector 55.0396 1.99057 344.0) (float-vector 55.0396 -47.9906 344.0) (float-vector 66.0 -45.6609 303.095)))
         (instance face :init :vertices (list (float-vector -46.0 -58.0 224.0) (float-vector -48.0 -58.0 224.0) (float-vector -48.0 12.0 224.0) (float-vector -46.0 12.0 224.0)))
         (instance face :init :vertices (list (float-vector 66.0 -0.33913 224.0) (float-vector 66.0 -0.33913 303.095) (float-vector 66.0 -45.6609 303.095) (float-vector 66.0 -45.6609 224.0)))
         (instance face :init :vertices (list (float-vector 64.0 -46.086 224.0) (float-vector 64.0 0.085983 224.0) (float-vector 66.0 -0.33913 224.0) (float-vector 66.0 -45.6609 224.0)))
         (instance face :init :vertices (list (float-vector -46.0 -58.0 342.0) (float-vector -46.0 -58.0 224.0) (float-vector -46.0 12.0 224.0) (float-vector -46.0 12.0 342.0)))
         (instance face :init :vertices (list (float-vector 7.94896 -58.0 342.0) (float-vector -46.0 -58.0 342.0) (float-vector -46.0 12.0 342.0) (float-vector 7.94896 12.0 342.0) (float-vector 54.0 2.21155 342.0) (float-vector 54.0 -48.2115 342.0)))
         (instance face :init :vertices (list (float-vector 54.0 -48.2115 299.0) (float-vector 64.0 -46.086 299.0) (float-vector 64.0 -46.086 224.0) (float-vector 66.0 -45.6609 224.0) (float-vector 66.0 -45.6609 303.095) (float-vector 55.0396 -47.9906 344.0) (float-vector 7.94896 -58.0 344.0) (float-vector 7.94896 -58.0 342.0) (float-vector 54.0 -48.2115 342.0)))
         (instance face :init :vertices (list (float-vector 54.0 -48.2115 342.0) (float-vector 54.0 2.21155 342.0) (float-vector 54.0 2.21155 299.0) (float-vector 54.0 -48.2115 299.0)))
         (instance face :init :vertices (list (float-vector 64.0 -46.086 299.0) (float-vector 54.0 -48.2115 299.0) (float-vector 54.0 2.21155 299.0) (float-vector 64.0 0.085983 299.0)))
         (instance face :init :vertices (list (float-vector 64.0 0.085983 299.0) (float-vector 64.0 0.085983 224.0) (float-vector 64.0 -46.086 224.0) (float-vector 64.0 -46.086 299.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 97.5 157.0 -125.0) (float-vector 97.5 157.0 -145.0) (float-vector -157.5 157.0 -145.0) (float-vector -157.5 157.0 -125.0)))
         (instance face :init :vertices (list (float-vector -157.5 157.0 -145.0) (float-vector -157.5 -203.0 -145.0) (float-vector -157.5 -203.0 -125.0) (float-vector -157.5 157.0 -125.0)))
         (instance face :init :vertices (list (float-vector -157.5 -203.0 -145.0) (float-vector 97.5 -203.0 -145.0) (float-vector 97.5 -203.0 -125.0) (float-vector -157.5 -203.0 -125.0)))
         (instance face :init :vertices (list (float-vector 97.5 -203.0 -125.0) (float-vector 97.5 157.0 -125.0) (float-vector -157.5 157.0 -125.0) (float-vector -157.5 -203.0 -125.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -70.0 50.0 -125.0) (float-vector 45.0 50.0 -125.0) (float-vector 70.0 27.0 -125.0) (float-vector 70.0 -73.0 -125.0) (float-vector 45.0 -96.0 -125.0) (float-vector -70.0 -96.0 -125.0)))
))
         (instance face :init :vertices (list (float-vector 97.5 -203.0 -145.0) (float-vector 97.5 157.0 -145.0) (float-vector 97.5 157.0 -125.0) (float-vector 97.5 -203.0 -125.0)))
         (instance face :init :vertices (list (float-vector 97.5 157.0 -145.0) (float-vector 97.5 -203.0 -145.0) (float-vector -157.5 -203.0 -145.0) (float-vector -157.5 157.0 -145.0)))
         (instance face :init :vertices (list (float-vector -70.0 -96.0 7.0) (float-vector -70.0 -96.0 -125.0) (float-vector 45.0 -96.0 -125.0) (float-vector 45.0 -96.0 7.0)))
         (instance face :init :vertices (list (float-vector 70.0 -73.0 -125.0) (float-vector 70.0 -73.0 7.0) (float-vector 45.0 -96.0 7.0) (float-vector 45.0 -96.0 -125.0)))
         (instance face :init :vertices (list (float-vector 70.0 27.0 -125.0) (float-vector 70.0 27.0 7.0) (float-vector 70.0 -73.0 7.0) (float-vector 70.0 -73.0 -125.0)))
         (instance face :init :vertices (list (float-vector 45.0 50.0 -125.0) (float-vector 45.0 50.0 7.0) (float-vector 70.0 27.0 7.0) (float-vector 70.0 27.0 -125.0)))
         (instance face :init :vertices (list (float-vector -70.0 50.0 -125.0) (float-vector -70.0 50.0 7.0) (float-vector 45.0 50.0 7.0) (float-vector 45.0 50.0 -125.0)))
         (instance face :init :vertices (list (float-vector -70.0 50.0 7.0) (float-vector -70.0 -96.0 7.0) (float-vector 45.0 -96.0 7.0) (float-vector 70.0 -73.0 7.0) (float-vector 70.0 27.0 7.0) (float-vector 45.0 50.0 7.0)))
         (instance face :init :vertices (list (float-vector -70.0 -96.0 7.0) (float-vector -70.0 50.0 7.0) (float-vector -70.0 50.0 -125.0) (float-vector -70.0 -96.0 -125.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 49.2893 67.0 110.0) (float-vector 71.0 45.2893 110.0) (float-vector 71.0 45.2893 0.0) (float-vector 49.2893 67.0 0.0)))
         (instance face :init :vertices (list (float-vector -71.0 67.0 110.0) (float-vector -71.0 67.0 0.0) (float-vector -71.0 -113.0 0.0) (float-vector -71.0 -113.0 110.0)))
         (instance face :init :vertices (list (float-vector 49.2893 67.0 0.0) (float-vector -71.0 67.0 0.0) (float-vector -71.0 67.0 110.0) (float-vector 49.2893 67.0 110.0)))
         (instance face :init :vertices (list (float-vector 49.2893 -113.0 110.0) (float-vector -71.0 -113.0 110.0) (float-vector -71.0 -113.0 0.0) (float-vector 49.2893 -113.0 0.0)))
         (instance face :init :vertices (list (float-vector 71.0 -91.2893 110.0) (float-vector 71.0 45.2893 110.0) (float-vector 49.2893 67.0 110.0) (float-vector -71.0 67.0 110.0) (float-vector -71.0 -113.0 110.0) (float-vector 49.2893 -113.0 110.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -14.5 -82.0 110.0) (float-vector -69.5 -82.0 110.0) (float-vector -69.5 36.0 110.0) (float-vector -14.5 36.0 110.0)))
))
         (instance face :init :vertices (list (float-vector 71.0 -91.2893 0.0) (float-vector 49.2893 -113.0 0.0) (float-vector -71.0 -113.0 0.0) (float-vector -71.0 67.0 0.0) (float-vector 49.2893 67.0 0.0) (float-vector 71.0 45.2893 0.0)))
         (instance face :init :vertices (list (float-vector 71.0 -91.2893 110.0) (float-vector 71.0 -91.2893 0.0) (float-vector 71.0 45.2893 0.0) (float-vector 71.0 45.2893 110.0)))
         (instance face :init :vertices (list (float-vector 71.0 -91.2893 0.0) (float-vector 71.0 -91.2893 110.0) (float-vector 49.2893 -113.0 110.0) (float-vector 49.2893 -113.0 0.0)))
         (instance face :init :vertices (list (float-vector -14.5 36.0 223.0) (float-vector -14.5 36.0 110.0) (float-vector -69.5 36.0 110.0) (float-vector -69.5 36.0 223.0)))
         (instance face :init :vertices (list (float-vector -69.5 -82.0 110.0) (float-vector -69.5 -82.0 223.0) (float-vector -69.5 36.0 223.0) (float-vector -69.5 36.0 110.0)))
         (instance face :init :vertices (list (float-vector -14.5 -82.0 110.0) (float-vector -14.5 -82.0 223.0) (float-vector -69.5 -82.0 223.0) (float-vector -69.5 -82.0 110.0)))
         (instance face :init :vertices (list (float-vector -14.5 -82.0 223.0) (float-vector -14.5 36.0 223.0) (float-vector -69.5 36.0 223.0) (float-vector -69.5 -82.0 223.0)))
         (instance face :init :vertices (list (float-vector -14.5 36.0 223.0) (float-vector -14.5 -82.0 223.0) (float-vector -14.5 -82.0 110.0) (float-vector -14.5 36.0 110.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -15.0 -118.321 110.0) (float-vector -22.3205 -111.0 110.0) (float-vector -24.4641 -103.0 110.0) (float-vector -27.0 -103.0 110.0) (float-vector -27.0 57.0 110.0) (float-vector -24.4641 57.0 110.0) (float-vector -22.3205 65.0 110.0) (float-vector -15.0 72.3205 110.0) (float-vector -7.0 74.4641 110.0) (float-vector -7.0 76.0 110.0) (float-vector 49.0 76.0 110.0) (float-vector 49.0 74.1962 110.0) (float-vector 56.0 72.3205 110.0) (float-vector 63.3205 65.0 110.0) (float-vector 65.4641 57.0 110.0) (float-vector 69.0 57.0 110.0) (float-vector 69.0 -103.0 110.0) (float-vector 65.4641 -103.0 110.0) (float-vector 63.3205 -111.0 110.0) (float-vector 56.0 -118.321 110.0) (float-vector 49.0 -120.196 110.0) (float-vector 49.0 -122.0 110.0) (float-vector -7.0 -122.0 110.0) (float-vector -7.0 -120.464 110.0)))
         (instance face :init :vertices (list (float-vector -7.0 -120.464 224.0) (float-vector -15.0 -118.321 224.0) (float-vector -15.0 -118.321 110.0) (float-vector -7.0 -120.464 110.0)))
         (instance face :init :vertices (list (float-vector -22.3205 -111.0 110.0) (float-vector -15.0 -118.321 110.0) (float-vector -15.0 -118.321 224.0) (float-vector -22.3205 -111.0 224.0)))
         (instance face :init :vertices (list (float-vector -24.4641 -103.0 110.0) (float-vector -22.3205 -111.0 110.0) (float-vector -22.3205 -111.0 224.0) (float-vector -24.4641 -103.0 224.0)))
         (instance face :init :vertices (list (float-vector -24.4641 57.0 224.0) (float-vector -22.3205 65.0 224.0) (float-vector -22.3205 65.0 110.0) (float-vector -24.4641 57.0 110.0)))
         (instance face :init :vertices (list (float-vector -15.0 72.3205 110.0) (float-vector -22.3205 65.0 110.0) (float-vector -22.3205 65.0 224.0) (float-vector -15.0 72.3205 224.0)))
         (instance face :init :vertices (list (float-vector -7.0 74.4641 110.0) (float-vector -15.0 72.3205 110.0) (float-vector -15.0 72.3205 224.0) (float-vector -7.0 74.4641 224.0)))
         (instance face :init :vertices (list (float-vector -27.0 57.0 224.0) (float-vector -24.4641 57.0 224.0) (float-vector -24.4641 57.0 110.0) (float-vector -27.0 57.0 110.0)))
         (instance face :init :vertices (list (float-vector -27.0 -103.0 224.0) (float-vector -27.0 57.0 224.0) (float-vector -27.0 57.0 110.0) (float-vector -27.0 -103.0 110.0)))
         (instance face :init :vertices (list (float-vector -27.0 -103.0 110.0) (float-vector -24.4641 -103.0 110.0) (float-vector -24.4641 -103.0 224.0) (float-vector -27.0 -103.0 224.0)))
         (instance face :init :vertices (list (float-vector 69.0 -103.0 224.0) (float-vector 65.4641 -103.0 224.0) (float-vector 65.4641 -103.0 110.0) (float-vector 69.0 -103.0 110.0)))
         (instance face :init :vertices (list (float-vector 69.0 57.0 224.0) (float-vector 69.0 -103.0 224.0) (float-vector 69.0 -103.0 110.0) (float-vector 69.0 57.0 110.0)))
         (instance face :init :vertices (list (float-vector 65.4641 57.0 224.0) (float-vector 69.0 57.0 224.0) (float-vector 69.0 57.0 110.0) (float-vector 65.4641 57.0 110.0)))
         (instance face :init :vertices (list (float-vector -7.0 -122.0 224.0) (float-vector -7.0 -120.464 224.0) (float-vector -7.0 -120.464 110.0) (float-vector -7.0 -122.0 110.0)))
         (instance face :init :vertices (list (float-vector -7.0 76.0 110.0) (float-vector -7.0 74.4641 110.0) (float-vector -7.0 74.4641 224.0) (float-vector -7.0 76.0 224.0)))
         (instance face :init :vertices (list (float-vector 49.0 76.0 110.0) (float-vector -7.0 76.0 110.0) (float-vector -7.0 76.0 224.0) (float-vector 49.0 76.0 224.0)))
         (instance face :init :vertices (list (float-vector 49.0 -122.0 224.0) (float-vector -7.0 -122.0 224.0) (float-vector -7.0 -122.0 110.0) (float-vector 49.0 -122.0 110.0)))
         (instance face :init :vertices (list (float-vector 49.0 74.1962 110.0) (float-vector 49.0 76.0 110.0) (float-vector 49.0 76.0 224.0) (float-vector 49.0 74.1962 224.0)))
         (instance face :init :vertices (list (float-vector 49.0 -120.196 224.0) (float-vector 49.0 -122.0 224.0) (float-vector 49.0 -122.0 110.0) (float-vector 49.0 -120.196 110.0)))
         (instance face :init :vertices (list (float-vector 63.3205 65.0 224.0) (float-vector 65.4641 57.0 224.0) (float-vector 65.4641 57.0 110.0) (float-vector 63.3205 65.0 110.0)))
         (instance face :init :vertices (list (float-vector 56.0 72.3205 224.0) (float-vector 63.3205 65.0 224.0) (float-vector 63.3205 65.0 110.0) (float-vector 56.0 72.3205 110.0)))
         (instance face :init :vertices (list (float-vector 56.0 72.3205 110.0) (float-vector 49.0 74.1962 110.0) (float-vector 49.0 74.1962 224.0) (float-vector 56.0 72.3205 224.0)))
         (instance face :init :vertices (list (float-vector 56.0 -118.321 224.0) (float-vector 49.0 -120.196 224.0) (float-vector 49.0 -120.196 110.0) (float-vector 56.0 -118.321 110.0)))
         (instance face :init :vertices (list (float-vector 63.3205 -111.0 224.0) (float-vector 56.0 -118.321 224.0) (float-vector 56.0 -118.321 110.0) (float-vector 63.3205 -111.0 110.0)))
         (instance face :init :vertices (list (float-vector 63.3205 -111.0 110.0) (float-vector 65.4641 -103.0 110.0) (float-vector 65.4641 -103.0 224.0) (float-vector 63.3205 -111.0 224.0)))
         (instance face :init :vertices (list (float-vector 65.4641 -103.0 224.0) (float-vector 69.0 -103.0 224.0) (float-vector 69.0 57.0 224.0) (float-vector 65.4641 57.0 224.0) (float-vector 63.3205 65.0 224.0) (float-vector 56.0 72.3205 224.0) (float-vector 49.0 74.1962 224.0) (float-vector 49.0 76.0 224.0) (float-vector -7.0 76.0 224.0) (float-vector -7.0 74.4641 224.0) (float-vector -15.0 72.3205 224.0) (float-vector -22.3205 65.0 224.0) (float-vector -24.4641 57.0 224.0) (float-vector -27.0 57.0 224.0) (float-vector -27.0 -103.0 224.0) (float-vector -24.4641 -103.0 224.0) (float-vector -22.3205 -111.0 224.0) (float-vector -15.0 -118.321 224.0) (float-vector -7.0 -120.464 224.0) (float-vector -7.0 -122.0 224.0) (float-vector 49.0 -122.0 224.0) (float-vector 49.0 -120.196 224.0) (float-vector 56.0 -118.321 224.0) (float-vector 63.3205 -111.0 224.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray50)
     (send (elt bc 1) :set-color :gray50)
     (send (elt bc 2) :set-color :gray90)
     (send (elt bc 3) :set-color :gray90)
     (send (elt bc 4) :set-color :gray90)
     (send (elt bc 5) :set-color :brown)
     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :weight 450 :centroid (float-vector 5.83064 -23.0 129.036) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h3rarm-shoulder-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 43.0 -53.0 -26.0) (float-vector -21.0 -53.0 -26.0) (float-vector -21.0 -53.0 62.0) (float-vector 99.0 -53.0 62.0) (float-vector 99.0 -53.0 31.0) (float-vector 43.0 -53.0 31.0)))
         (instance face :init :vertices (list (float-vector 43.0 -53.0 -26.0) (float-vector 43.0 -36.0 -26.0) (float-vector -21.0 -36.0 -26.0) (float-vector -21.0 -53.0 -26.0)))
         (instance face :init :vertices (list (float-vector -21.0 -53.0 62.0) (float-vector -21.0 -21.0 62.0) (float-vector 99.0 -21.0 62.0) (float-vector 99.0 -21.7107 62.0) (float-vector 96.0 -21.7107 62.0) (float-vector 96.0 -52.0 62.0) (float-vector 99.0 -52.0 62.0) (float-vector 99.0 -53.0 62.0)))
         (instance face :init :vertices (list (float-vector -21.0 -21.0 62.0) (float-vector -21.0 -21.0 64.0) (float-vector 99.0 -21.0 64.0) (float-vector 99.0 -21.0 62.0)))
         (instance face :init :vertices (list (float-vector -21.0 -21.0 64.0) (float-vector -21.0 -55.0 64.0) (float-vector 99.0 -55.0 64.0) (float-vector 99.0 -21.0 64.0)))
         (instance face :init :vertices (list (float-vector 99.0 -55.0 64.0) (float-vector 99.0 -55.0 31.0) (float-vector 99.0 -53.0 31.0) (float-vector 99.0 -53.0 62.0) (float-vector 99.0 -52.0 62.0) (float-vector 99.0 -52.0 63.0) (float-vector 99.0 -22.7107 63.0) (float-vector 99.0 -21.7107 62.0) (float-vector 99.0 -21.0 62.0) (float-vector 99.0 -21.0 64.0)))
         (instance face :init :vertices (list (float-vector -21.0 -55.0 -28.0) (float-vector -21.0 -36.0 -28.0) (float-vector 43.0 -36.0 -28.0) (float-vector 43.0 -55.0 -28.0)))
         (instance face :init :vertices (list (float-vector -21.0 -55.0 -28.0) (float-vector -21.0 -55.0 64.0) (float-vector -21.0 -21.0 64.0) (float-vector -21.0 -21.0 62.0) (float-vector -21.0 -53.0 62.0) (float-vector -21.0 -53.0 -26.0) (float-vector -21.0 -36.0 -26.0) (float-vector -21.0 -36.0 -28.0)))
         (instance face :init :vertices (list (float-vector 43.0 -55.0 -28.0) (float-vector 43.0 -55.0 31.0) (float-vector 99.0 -55.0 31.0) (float-vector 99.0 -55.0 64.0) (float-vector -21.0 -55.0 64.0) (float-vector -21.0 -55.0 -28.0)))
         (instance face :init :vertices (list (float-vector 43.0 -55.0 31.0) (float-vector 43.0 -53.0 31.0) (float-vector 99.0 -53.0 31.0) (float-vector 99.0 -55.0 31.0)))
         (instance face :init :vertices (list (float-vector 43.0 -36.0 -28.0) (float-vector 43.0 -36.0 -26.0) (float-vector 43.0 -53.0 -26.0) (float-vector 43.0 -53.0 31.0) (float-vector 43.0 -55.0 31.0) (float-vector 43.0 -55.0 -28.0)))
         (instance face :init :vertices (list (float-vector -49.0 -36.0 -29.0) (float-vector -49.0 -36.0 29.0) (float-vector -49.0 36.0 29.0) (float-vector -49.0 36.0 -29.0)))
         (instance face :init :vertices (list (float-vector -49.0 -36.0 -29.0) (float-vector 45.0 -36.0 -29.0) (float-vector 45.0 -36.0 -25.0) (float-vector -47.0 -36.0 -25.0) (float-vector -47.0 -36.0 29.0) (float-vector -49.0 -36.0 29.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 43.0 -36.0 -26.0) (float-vector 43.0 -36.0 -28.0) (float-vector -21.0 -36.0 -28.0) (float-vector -21.0 -36.0 -26.0)))
))
         (instance face :init :vertices (list (float-vector 45.0 -36.0 -29.0) (float-vector 45.0 36.0 -29.0) (float-vector 45.0 36.0 -25.0) (float-vector 45.0 -36.0 -25.0)))
         (instance face :init :vertices (list (float-vector -47.0 -36.0 29.0) (float-vector -47.0 36.0 29.0) (float-vector -49.0 36.0 29.0) (float-vector -49.0 -36.0 29.0)))
         (instance face :init :vertices (list (float-vector -49.0 36.0 -29.0) (float-vector 45.0 36.0 -29.0) (float-vector 45.0 -36.0 -29.0) (float-vector -49.0 -36.0 -29.0)))
         (instance face :init :vertices (list (float-vector -47.0 36.0 29.0) (float-vector -47.0 36.0 -25.0) (float-vector 45.0 36.0 -25.0) (float-vector 45.0 36.0 -29.0) (float-vector -49.0 36.0 -29.0) (float-vector -49.0 36.0 29.0)))
         (instance face :init :vertices (list (float-vector -47.0 36.0 -25.0) (float-vector -47.0 -36.0 -25.0) (float-vector 45.0 -36.0 -25.0) (float-vector 45.0 36.0 -25.0)))
         (instance face :init :vertices (list (float-vector -47.0 -36.0 -25.0) (float-vector -47.0 36.0 -25.0) (float-vector -47.0 36.0 29.0) (float-vector -47.0 -36.0 29.0)))
         (instance face :init :vertices (list (float-vector -3.0 -32.0 30.0) (float-vector -3.0 -38.5 31.7417) (float-vector -3.0 -43.2583 36.5) (float-vector -3.0 -45.0 43.0) (float-vector -3.0 -43.2583 49.5) (float-vector -3.0 -38.5 54.2583) (float-vector -3.0 -32.0 56.0) (float-vector -3.0 -25.5 54.2583) (float-vector -3.0 -20.7417 49.5) (float-vector -3.0 -19.0 43.0) (float-vector -3.0 -20.7417 36.5) (float-vector -3.0 -25.5 31.7417)))
         (instance face :init :vertices (list (float-vector -3.0 -32.0 30.0) (float-vector 95.0 -32.0 30.0) (float-vector 95.0 -38.5 31.7417) (float-vector -3.0 -38.5 31.7417)))
         (instance face :init :vertices (list (float-vector 95.0 -32.0 30.0) (float-vector 95.0 -25.5 31.7417) (float-vector 95.0 -20.7417 36.5) (float-vector 95.0 -19.0 43.0) (float-vector 95.0 -20.7417 49.5) (float-vector 95.0 -25.5 54.2583) (float-vector 95.0 -32.0 56.0) (float-vector 95.0 -38.5 54.2583) (float-vector 95.0 -43.2583 49.5) (float-vector 95.0 -45.0 43.0) (float-vector 95.0 -43.2583 36.5) (float-vector 95.0 -38.5 31.7417)))
         (instance face :init :vertices (list (float-vector 95.0 -43.2583 36.5) (float-vector -3.0 -43.2583 36.5) (float-vector -3.0 -38.5 31.7417) (float-vector 95.0 -38.5 31.7417)))
         (instance face :init :vertices (list (float-vector 95.0 -45.0 43.0) (float-vector -3.0 -45.0 43.0) (float-vector -3.0 -43.2583 36.5) (float-vector 95.0 -43.2583 36.5)))
         (instance face :init :vertices (list (float-vector 95.0 -43.2583 49.5) (float-vector -3.0 -43.2583 49.5) (float-vector -3.0 -45.0 43.0) (float-vector 95.0 -45.0 43.0)))
         (instance face :init :vertices (list (float-vector 95.0 -38.5 54.2583) (float-vector -3.0 -38.5 54.2583) (float-vector -3.0 -43.2583 49.5) (float-vector 95.0 -43.2583 49.5)))
         (instance face :init :vertices (list (float-vector 95.0 -32.0 56.0) (float-vector -3.0 -32.0 56.0) (float-vector -3.0 -38.5 54.2583) (float-vector 95.0 -38.5 54.2583)))
         (instance face :init :vertices (list (float-vector 95.0 -25.5 54.2583) (float-vector -3.0 -25.5 54.2583) (float-vector -3.0 -32.0 56.0) (float-vector 95.0 -32.0 56.0)))
         (instance face :init :vertices (list (float-vector 95.0 -20.7417 49.5) (float-vector -3.0 -20.7417 49.5) (float-vector -3.0 -25.5 54.2583) (float-vector 95.0 -25.5 54.2583)))
         (instance face :init :vertices (list (float-vector 95.0 -19.0 43.0) (float-vector -3.0 -19.0 43.0) (float-vector -3.0 -20.7417 49.5) (float-vector 95.0 -20.7417 49.5)))
         (instance face :init :vertices (list (float-vector 95.0 -20.7417 36.5) (float-vector -3.0 -20.7417 36.5) (float-vector -3.0 -19.0 43.0) (float-vector 95.0 -19.0 43.0)))
         (instance face :init :vertices (list (float-vector 95.0 -25.5 31.7417) (float-vector -3.0 -25.5 31.7417) (float-vector -3.0 -20.7417 36.5) (float-vector 95.0 -20.7417 36.5)))
         (instance face :init :vertices (list (float-vector -3.0 -25.5 31.7417) (float-vector 95.0 -25.5 31.7417) (float-vector 95.0 -32.0 30.0) (float-vector -3.0 -32.0 30.0)))
         (instance face :init :vertices (list (float-vector 100.0 -52.0 33.7107) (float-vector 96.0 -52.0 33.7107) (float-vector 96.0 -13.2893 -5.0) (float-vector 100.0 -13.2893 -5.0)))
         (instance face :init :vertices (list (float-vector 100.0 -52.0 33.7107) (float-vector 100.0 -52.0 63.0) (float-vector 99.0 -52.0 63.0) (float-vector 99.0 -52.0 62.0) (float-vector 96.0 -52.0 62.0) (float-vector 96.0 -52.0 33.7107)))
         (instance face :init :vertices (list (float-vector 96.0 -21.7107 62.0) (float-vector 96.0 16.0 24.2893) (float-vector 96.0 16.0 22.3205) (float-vector 96.0 10.0 28.3205) (float-vector 96.0 2.131628e-14 31.0) (float-vector 96.0 -10.0 28.3205) (float-vector 96.0 -17.3205 21.0) (float-vector 96.0 -20.0 11.0) (float-vector 96.0 -17.3205 1.0) (float-vector 96.0 -11.3205 -5.0) (float-vector 96.0 -13.2893 -5.0) (float-vector 96.0 -52.0 33.7107) (float-vector 96.0 -52.0 62.0)))
         (instance face :init :vertices (list (float-vector 100.0 -52.0 63.0) (float-vector 100.0 -22.7107 63.0) (float-vector 99.0 -22.7107 63.0) (float-vector 99.0 -52.0 63.0)))
         (instance face :init :vertices (list (float-vector 100.0 -13.2893 -5.0) (float-vector 100.0 -11.3205 -5.0) (float-vector 100.0 -17.3205 1.0) (float-vector 100.0 -20.0 11.0) (float-vector 100.0 -17.3205 21.0) (float-vector 100.0 -10.0 28.3205) (float-vector 100.0 1.776357e-14 31.0) (float-vector 100.0 10.0 28.3205) (float-vector 100.0 16.0 22.3205) (float-vector 100.0 16.0 24.2893) (float-vector 100.0 -22.7107 63.0) (float-vector 100.0 -52.0 63.0) (float-vector 100.0 -52.0 33.7107)))
         (instance face :init :vertices (list (float-vector 96.0 -11.3205 -5.0) (float-vector 100.0 -11.3205 -5.0) (float-vector 100.0 -13.2893 -5.0) (float-vector 96.0 -13.2893 -5.0)))
         (instance face :init :vertices (list (float-vector 100.0 16.0 -5.0) (float-vector 100.0 11.3205 -5.0) (float-vector 96.0 11.3205 -5.0) (float-vector 96.0 16.0 -5.0)))
         (instance face :init :vertices (list (float-vector 100.0 16.0 -5.0) (float-vector 100.0 16.0 -0.320508) (float-vector 100.0 11.3205 -5.0)))
         (instance face :init :vertices (list (float-vector 96.0 11.3205 -5.0) (float-vector 96.0 16.0 -0.320508) (float-vector 96.0 16.0 -5.0)))
         (instance face :init :vertices (list (float-vector 96.0 16.0 -0.320508) (float-vector 100.0 16.0 -0.320508) (float-vector 100.0 16.0 -5.0) (float-vector 96.0 16.0 -5.0)))
         (instance face :init :vertices (list (float-vector 100.0 16.0 24.2893) (float-vector 96.0 16.0 24.2893) (float-vector 96.0 -21.7107 62.0) (float-vector 99.0 -21.7107 62.0) (float-vector 99.0 -22.7107 63.0) (float-vector 100.0 -22.7107 63.0)))
         (instance face :init :vertices (list (float-vector 100.0 16.0 22.3205) (float-vector 96.0 16.0 22.3205) (float-vector 96.0 16.0 24.2893) (float-vector 100.0 16.0 24.2893)))
         (instance face :init :vertices (list (float-vector 95.0 10.0 -6.32051) (float-vector 101.0 10.0 -6.32051) (float-vector 101.0 -3.552714e-15 -9.0) (float-vector 95.0 0.0 -9.0)))
         (instance face :init :vertices (list (float-vector 95.0 10.0 -6.32051) (float-vector 95.0 17.3205 1.0) (float-vector 101.0 17.3205 1.0) (float-vector 101.0 10.0 -6.32051))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 100.0 16.0 -0.320508) (float-vector 96.0 16.0 -0.320508) (float-vector 96.0 11.3205 -5.0) (float-vector 100.0 11.3205 -5.0)))
))
         (instance face :init :vertices (list (float-vector 95.0 17.3205 1.0) (float-vector 95.0 20.0 11.0) (float-vector 101.0 20.0 11.0) (float-vector 101.0 17.3205 1.0)))
         (instance face :init :vertices (list (float-vector 95.0 20.0 11.0) (float-vector 95.0 17.3205 21.0) (float-vector 101.0 17.3205 21.0) (float-vector 101.0 20.0 11.0)))
         (instance face :init :vertices (list (float-vector 100.0 10.0 28.3205) (float-vector 101.0 10.0 28.3205) (float-vector 101.0 17.3205 21.0) (float-vector 95.0 17.3205 21.0) (float-vector 95.0 10.0 28.3205) (float-vector 96.0 10.0 28.3205) (float-vector 96.0 16.0 22.3205) (float-vector 100.0 16.0 22.3205)))
         (instance face :init :vertices (list (float-vector 100.0 1.776357e-14 31.0) (float-vector 101.0 1.776357e-14 31.0) (float-vector 101.0 10.0 28.3205) (float-vector 100.0 10.0 28.3205)))
         (instance face :init :vertices (list (float-vector 95.0 10.0 28.3205) (float-vector 95.0 2.131628e-14 31.0) (float-vector 96.0 2.131628e-14 31.0) (float-vector 96.0 10.0 28.3205)))
         (instance face :init :vertices (list (float-vector 100.0 -10.0 28.3205) (float-vector 101.0 -10.0 28.3205) (float-vector 101.0 1.776357e-14 31.0) (float-vector 100.0 1.776357e-14 31.0)))
         (instance face :init :vertices (list (float-vector 95.0 2.131628e-14 31.0) (float-vector 95.0 -10.0 28.3205) (float-vector 96.0 -10.0 28.3205) (float-vector 96.0 2.131628e-14 31.0)))
         (instance face :init :vertices (list (float-vector 100.0 -17.3205 21.0) (float-vector 101.0 -17.3205 21.0) (float-vector 101.0 -10.0 28.3205) (float-vector 100.0 -10.0 28.3205)))
         (instance face :init :vertices (list (float-vector 95.0 -10.0 28.3205) (float-vector 95.0 -17.3205 21.0) (float-vector 96.0 -17.3205 21.0) (float-vector 96.0 -10.0 28.3205)))
         (instance face :init :vertices (list (float-vector 100.0 -20.0 11.0) (float-vector 101.0 -20.0 11.0) (float-vector 101.0 -17.3205 21.0) (float-vector 100.0 -17.3205 21.0)))
         (instance face :init :vertices (list (float-vector 95.0 -17.3205 21.0) (float-vector 95.0 -20.0 11.0) (float-vector 96.0 -20.0 11.0) (float-vector 96.0 -17.3205 21.0)))
         (instance face :init :vertices (list (float-vector 100.0 -17.3205 1.0) (float-vector 101.0 -17.3205 1.0) (float-vector 101.0 -20.0 11.0) (float-vector 100.0 -20.0 11.0)))
         (instance face :init :vertices (list (float-vector 95.0 -20.0 11.0) (float-vector 95.0 -17.3205 1.0) (float-vector 96.0 -17.3205 1.0) (float-vector 96.0 -20.0 11.0)))
         (instance face :init :vertices (list (float-vector 95.0 -17.3205 1.0) (float-vector 95.0 -10.0 -6.32051) (float-vector 101.0 -10.0 -6.32051) (float-vector 101.0 -17.3205 1.0) (float-vector 100.0 -17.3205 1.0) (float-vector 100.0 -11.3205 -5.0) (float-vector 96.0 -11.3205 -5.0) (float-vector 96.0 -17.3205 1.0)))
         (instance face :init :vertices (list (float-vector 101.0 -10.0 -6.32051) (float-vector 101.0 -3.552714e-15 -9.0) (float-vector 101.0 10.0 -6.32051) (float-vector 101.0 17.3205 1.0) (float-vector 101.0 20.0 11.0) (float-vector 101.0 17.3205 21.0) (float-vector 101.0 10.0 28.3205) (float-vector 101.0 1.776357e-14 31.0) (float-vector 101.0 -10.0 28.3205) (float-vector 101.0 -17.3205 21.0) (float-vector 101.0 -20.0 11.0) (float-vector 101.0 -17.3205 1.0)))
         (instance face :init :vertices (list (float-vector 95.0 -10.0 -6.32051) (float-vector 95.0 0.0 -9.0) (float-vector 101.0 -3.552714e-15 -9.0) (float-vector 101.0 -10.0 -6.32051)))
         (instance face :init :vertices (list (float-vector 95.0 0.0 -9.0) (float-vector 95.0 -10.0 -6.32051) (float-vector 95.0 -17.3205 1.0) (float-vector 95.0 -20.0 11.0) (float-vector 95.0 -17.3205 21.0) (float-vector 95.0 -10.0 28.3205) (float-vector 95.0 2.131628e-14 31.0) (float-vector 95.0 10.0 28.3205) (float-vector 95.0 17.3205 21.0) (float-vector 95.0 20.0 11.0) (float-vector 95.0 17.3205 1.0) (float-vector 95.0 10.0 -6.32051)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (setq blink9 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h3rarm-shoulder-y :weight 50 :centroid (float-vector 32.5169 -24.1725 20.9257) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h3rarm-shoulder-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 150.0 -15.0 9.0) (float-vector 157.5 -12.9904 9.0) (float-vector 162.99 -7.5 9.0) (float-vector 165.0 1.421085e-14 9.0) (float-vector 162.99 7.5 9.0) (float-vector 157.5 12.9904 9.0) (float-vector 150.0 15.0 9.0) (float-vector 147.0 14.1962 9.0) (float-vector 147.0 -14.1962 9.0)))
         (instance face :init :vertices (list (float-vector 147.0 -14.1962 8.0) (float-vector 150.0 -15.0 8.0) (float-vector 150.0 -15.0 9.0) (float-vector 147.0 -14.1962 9.0)))
         (instance face :init :vertices (list (float-vector 147.0 -14.1962 -23.0) (float-vector 150.0 -15.0 -23.0) (float-vector 150.0 -15.0 -22.0) (float-vector 147.0 -14.1962 -22.0)))
         (instance face :init :vertices (list (float-vector 147.0 14.1962 -23.0) (float-vector 150.0 15.0 -23.0) (float-vector 157.5 12.9904 -23.0) (float-vector 162.99 7.5 -23.0) (float-vector 165.0 1.421085e-14 -23.0) (float-vector 162.99 -7.5 -23.0) (float-vector 157.5 -12.9904 -23.0) (float-vector 150.0 -15.0 -23.0) (float-vector 147.0 -14.1962 -23.0)))
         (instance face :init :vertices (list (float-vector 157.5 -12.9904 9.0) (float-vector 150.0 -15.0 9.0) (float-vector 150.0 -15.0 8.0) (float-vector 157.5 -12.9904 8.0)))
         (instance face :init :vertices (list (float-vector 157.5 -12.9904 -22.0) (float-vector 150.0 -15.0 -22.0) (float-vector 150.0 -15.0 -23.0) (float-vector 157.5 -12.9904 -23.0)))
         (instance face :init :vertices (list (float-vector 162.99 -7.5 9.0) (float-vector 157.5 -12.9904 9.0) (float-vector 157.5 -12.9904 8.0) (float-vector 162.99 -7.5 8.0)))
         (instance face :init :vertices (list (float-vector 162.99 -7.5 -22.0) (float-vector 157.5 -12.9904 -22.0) (float-vector 157.5 -12.9904 -23.0) (float-vector 162.99 -7.5 -23.0)))
         (instance face :init :vertices (list (float-vector 165.0 1.421085e-14 9.0) (float-vector 162.99 -7.5 9.0) (float-vector 162.99 -7.5 8.0) (float-vector 165.0 1.421085e-14 8.0)))
         (instance face :init :vertices (list (float-vector 165.0 1.421085e-14 -22.0) (float-vector 162.99 -7.5 -22.0) (float-vector 162.99 -7.5 -23.0) (float-vector 165.0 1.421085e-14 -23.0)))
         (instance face :init :vertices (list (float-vector 162.99 7.5 9.0) (float-vector 165.0 1.421085e-14 9.0) (float-vector 165.0 1.421085e-14 8.0) (float-vector 162.99 7.5 8.0)))
         (instance face :init :vertices (list (float-vector 162.99 7.5 -22.0) (float-vector 165.0 1.421085e-14 -22.0) (float-vector 165.0 1.421085e-14 -23.0) (float-vector 162.99 7.5 -23.0)))
         (instance face :init :vertices (list (float-vector 157.5 12.9904 9.0) (float-vector 162.99 7.5 9.0) (float-vector 162.99 7.5 8.0) (float-vector 157.5 12.9904 8.0)))
         (instance face :init :vertices (list (float-vector 157.5 12.9904 -22.0) (float-vector 162.99 7.5 -22.0) (float-vector 162.99 7.5 -23.0) (float-vector 157.5 12.9904 -23.0)))
         (instance face :init :vertices (list (float-vector 150.0 15.0 9.0) (float-vector 157.5 12.9904 9.0) (float-vector 157.5 12.9904 8.0) (float-vector 150.0 15.0 8.0)))
         (instance face :init :vertices (list (float-vector 150.0 15.0 -22.0) (float-vector 157.5 12.9904 -22.0) (float-vector 157.5 12.9904 -23.0) (float-vector 150.0 15.0 -23.0)))
         (instance face :init :vertices (list (float-vector 147.0 14.1962 -22.0) (float-vector 150.0 15.0 -22.0) (float-vector 150.0 15.0 -23.0) (float-vector 147.0 14.1962 -23.0)))
         (instance face :init :vertices (list (float-vector 147.0 14.1962 9.0) (float-vector 150.0 15.0 9.0) (float-vector 150.0 15.0 8.0) (float-vector 147.0 14.1962 8.0)))
         (instance face :init :vertices (list (float-vector -10.3923 14.0 -118.0) (float-vector -10.3923 14.0 -21.0) (float-vector -12.0 20.0 -21.0) (float-vector -12.0 20.0 -118.0)))
         (instance face :init :vertices (list (float-vector -10.3923 26.0 -118.0) (float-vector -6.0 30.3923 -118.0) (float-vector -5.684342e-14 32.0 -118.0) (float-vector 6.0 30.3923 -118.0) (float-vector 10.3923 26.0 -118.0) (float-vector 12.0 20.0 -118.0) (float-vector 10.3923 14.0 -118.0) (float-vector 6.0 9.6077 -118.0) (float-vector 0.0 8.0 -118.0) (float-vector -6.0 9.6077 -118.0) (float-vector -10.3923 14.0 -118.0) (float-vector -12.0 20.0 -118.0)))
         (instance face :init :vertices (list (float-vector -6.0 9.6077 -21.0) (float-vector -10.3923 14.0 -21.0) (float-vector -10.3923 14.0 -118.0) (float-vector -6.0 9.6077 -118.0)))
         (instance face :init :vertices (list (float-vector 0.0 8.0 -21.0) (float-vector -6.0 9.6077 -21.0) (float-vector -6.0 9.6077 -118.0) (float-vector 0.0 8.0 -118.0)))
         (instance face :init :vertices (list (float-vector 6.0 9.6077 -21.0) (float-vector 0.0 8.0 -21.0) (float-vector 0.0 8.0 -118.0) (float-vector 6.0 9.6077 -118.0)))
         (instance face :init :vertices (list (float-vector 10.3923 14.0 -21.0) (float-vector 6.0 9.6077 -21.0) (float-vector 6.0 9.6077 -118.0) (float-vector 10.3923 14.0 -118.0)))
         (instance face :init :vertices (list (float-vector 12.0 20.0 -21.0) (float-vector 10.3923 14.0 -21.0) (float-vector 10.3923 14.0 -118.0) (float-vector 12.0 20.0 -118.0)))
         (instance face :init :vertices (list (float-vector 10.3923 26.0 -20.0) (float-vector 10.6603 25.0 -20.0) (float-vector 10.6603 25.0 -21.0) (float-vector 12.0 20.0 -21.0) (float-vector 12.0 20.0 -118.0) (float-vector 10.3923 26.0 -118.0)))
         (instance face :init :vertices (list (float-vector 6.0 30.3923 -20.0) (float-vector 0.0 32.0 -20.0) (float-vector -6.0 30.3923 -20.0) (float-vector -10.3923 26.0 -20.0) (float-vector -10.6603 25.0 -20.0) (float-vector 10.6603 25.0 -20.0) (float-vector 10.3923 26.0 -20.0)))
         (instance face :init :vertices (list (float-vector 6.0 30.3923 -20.0) (float-vector 10.3923 26.0 -20.0) (float-vector 10.3923 26.0 -118.0) (float-vector 6.0 30.3923 -118.0)))
         (instance face :init :vertices (list (float-vector 0.0 32.0 -20.0) (float-vector 6.0 30.3923 -20.0) (float-vector 6.0 30.3923 -118.0) (float-vector -5.684342e-14 32.0 -118.0)))
         (instance face :init :vertices (list (float-vector -6.0 30.3923 -20.0) (float-vector 0.0 32.0 -20.0) (float-vector -5.684342e-14 32.0 -118.0) (float-vector -6.0 30.3923 -118.0)))
         (instance face :init :vertices (list (float-vector -10.3923 26.0 -20.0) (float-vector -6.0 30.3923 -20.0) (float-vector -6.0 30.3923 -118.0) (float-vector -10.3923 26.0 -118.0)))
         (instance face :init :vertices (list (float-vector -10.6603 25.0 -21.0) (float-vector -10.6603 25.0 -20.0) (float-vector -10.3923 26.0 -20.0) (float-vector -10.3923 26.0 -118.0) (float-vector -12.0 20.0 -118.0) (float-vector -12.0 20.0 -21.0)))
         (instance face :init :vertices (list (float-vector 147.0 15.0 -22.0) (float-vector 147.0 14.1962 -22.0) (float-vector 147.0 14.1962 -23.0) (float-vector 147.0 -14.1962 -23.0) (float-vector 147.0 -14.1962 -22.0) (float-vector 147.0 -15.0 -22.0) (float-vector 147.0 -15.0 -24.0) (float-vector 147.0 15.0 -24.0)))
         (instance face :init :vertices (list (float-vector 147.0 15.0 10.0) (float-vector 147.0 -15.0 10.0) (float-vector 147.0 -15.0 8.0) (float-vector 147.0 -14.1962 8.0) (float-vector 147.0 -14.1962 9.0) (float-vector 147.0 14.1962 9.0) (float-vector 147.0 14.1962 8.0) (float-vector 147.0 15.0 8.0)))
         (instance face :init :vertices (list (float-vector 15.0 15.0 -24.0) (float-vector 15.0 15.0 -21.0) (float-vector 20.0 15.0 -21.0) (float-vector 20.0 15.0 10.0) (float-vector 147.0 15.0 10.0) (float-vector 147.0 15.0 8.0) (float-vector 80.0 15.0 8.0) (float-vector 80.0 15.0 -22.0) (float-vector 147.0 15.0 -22.0) (float-vector 147.0 15.0 -24.0)))
         (instance face :init :vertices (list (float-vector 15.0 -15.0 -24.0) (float-vector 15.0 -15.0 -21.0) (float-vector 15.0 15.0 -21.0) (float-vector 15.0 15.0 -24.0)))
         (instance face :init :vertices (list (float-vector 20.0 -15.0 10.0) (float-vector 147.0 -15.0 10.0) (float-vector 147.0 15.0 10.0) (float-vector 20.0 15.0 10.0)))
         (instance face :init :vertices (list (float-vector 15.0 -15.0 -24.0) (float-vector 15.0 15.0 -24.0) (float-vector 147.0 15.0 -24.0) (float-vector 147.0 -15.0 -24.0)))
         (instance face :init :vertices (list (float-vector 20.0 -15.0 -21.0) (float-vector 15.0 -15.0 -21.0) (float-vector 15.0 -15.0 -24.0) (float-vector 147.0 -15.0 -24.0) (float-vector 147.0 -15.0 -22.0) (float-vector 80.0 -15.0 -22.0) (float-vector 80.0 -15.0 8.0) (float-vector 147.0 -15.0 8.0) (float-vector 147.0 -15.0 10.0) (float-vector 20.0 -15.0 10.0)))
         (instance face :init :vertices (list (float-vector 20.0 25.0 -21.0) (float-vector 20.0 25.0 21.0) (float-vector 20.0 -25.0 21.0) (float-vector 20.0 -25.0 -21.0) (float-vector 20.0 -15.0 -21.0) (float-vector 20.0 -15.0 10.0) (float-vector 20.0 15.0 10.0) (float-vector 20.0 15.0 -21.0)))
         (instance face :init :vertices (list (float-vector -20.0 25.0 -21.0) (float-vector -20.0 25.0 21.0) (float-vector 20.0 25.0 21.0) (float-vector 20.0 25.0 -21.0) (float-vector 10.6603 25.0 -21.0) (float-vector 10.6603 25.0 -20.0) (float-vector -10.6603 25.0 -20.0) (float-vector -10.6603 25.0 -21.0)))
         (instance face :init :vertices (list (float-vector -20.0 -25.0 -21.0) (float-vector -20.0 -25.0 21.0) (float-vector -20.0 25.0 21.0) (float-vector -20.0 25.0 -21.0)))
         (instance face :init :vertices (list (float-vector 20.0 -25.0 21.0) (float-vector 20.0 25.0 21.0) (float-vector -20.0 25.0 21.0) (float-vector -20.0 -25.0 21.0)))
         (instance face :init :vertices (list (float-vector -10.6603 -25.0 -21.0) (float-vector -10.6603 -25.0 -8.0) (float-vector 10.6603 -25.0 -8.0) (float-vector 10.6603 -25.0 -21.0) (float-vector 20.0 -25.0 -21.0) (float-vector 20.0 -25.0 21.0) (float-vector -20.0 -25.0 21.0) (float-vector -20.0 -25.0 -21.0)))
         (instance face :init :vertices (list (float-vector 12.0 -20.0 -21.0) (float-vector 10.3923 -14.0 -21.0) (float-vector 6.0 -9.6077 -21.0) (float-vector 0.0 -8.0 -21.0) (float-vector -6.0 -9.6077 -21.0) (float-vector -10.3923 -14.0 -21.0) (float-vector -12.0 -20.0 -21.0) (float-vector -10.6603 -25.0 -21.0) (float-vector -20.0 -25.0 -21.0) (float-vector -20.0 25.0 -21.0) (float-vector -10.6603 25.0 -21.0) (float-vector -12.0 20.0 -21.0) (float-vector -10.3923 14.0 -21.0) (float-vector -6.0 9.6077 -21.0) (float-vector 0.0 8.0 -21.0) (float-vector 6.0 9.6077 -21.0) (float-vector 10.3923 14.0 -21.0) (float-vector 12.0 20.0 -21.0) (float-vector 10.6603 25.0 -21.0) (float-vector 20.0 25.0 -21.0) (float-vector 20.0 15.0 -21.0) (float-vector 15.0 15.0 -21.0) (float-vector 15.0 -15.0 -21.0) (float-vector 20.0 -15.0 -21.0) (float-vector 20.0 -25.0 -21.0) (float-vector 10.6603 -25.0 -21.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -5.0 0.0 -21.0) (float-vector -4.33013 -2.5 -21.0) (float-vector -2.5 -4.33013 -21.0) (float-vector 0.0 -5.0 -21.0) (float-vector 2.5 -4.33013 -21.0) (float-vector 4.33013 -2.5 -21.0) (float-vector 5.0 3.552714e-15 -21.0) (float-vector 4.33013 2.5 -21.0) (float-vector 2.5 4.33013 -21.0) (float-vector 0.0 5.0 -21.0) (float-vector -2.5 4.33013 -21.0) (float-vector -4.33013 2.5 -21.0)))
))
         (instance face :init :vertices (list (float-vector -4.33013 2.5 -120.0) (float-vector -5.0 0.0 -120.0) (float-vector -5.0 0.0 -21.0) (float-vector -4.33013 2.5 -21.0)))
         (instance face :init :vertices (list (float-vector -2.5 4.33013 -120.0) (float-vector -4.33013 2.5 -120.0) (float-vector -4.33013 2.5 -21.0) (float-vector -2.5 4.33013 -21.0)))
         (instance face :init :vertices (list (float-vector -5.684342e-14 5.0 -120.0) (float-vector -2.5 4.33013 -120.0) (float-vector -2.5 4.33013 -21.0) (float-vector 0.0 5.0 -21.0)))
         (instance face :init :vertices (list (float-vector 2.5 4.33013 -120.0) (float-vector -5.684342e-14 5.0 -120.0) (float-vector 0.0 5.0 -21.0) (float-vector 2.5 4.33013 -21.0)))
         (instance face :init :vertices (list (float-vector 4.33013 2.5 -120.0) (float-vector 2.5 4.33013 -120.0) (float-vector 2.5 4.33013 -21.0) (float-vector 4.33013 2.5 -21.0)))
         (instance face :init :vertices (list (float-vector 5.0 7.105427e-15 -120.0) (float-vector 4.33013 2.5 -120.0) (float-vector 4.33013 2.5 -21.0) (float-vector 5.0 3.552714e-15 -21.0)))
         (instance face :init :vertices (list (float-vector 4.33013 -2.5 -120.0) (float-vector 5.0 7.105427e-15 -120.0) (float-vector 5.0 3.552714e-15 -21.0) (float-vector 4.33013 -2.5 -21.0)))
         (instance face :init :vertices (list (float-vector 2.5 -4.33013 -120.0) (float-vector 4.33013 -2.5 -120.0) (float-vector 4.33013 -2.5 -21.0) (float-vector 2.5 -4.33013 -21.0)))
         (instance face :init :vertices (list (float-vector -5.684342e-14 -5.0 -120.0) (float-vector 2.5 -4.33013 -120.0) (float-vector 2.5 -4.33013 -21.0) (float-vector 0.0 -5.0 -21.0)))
         (instance face :init :vertices (list (float-vector -2.5 -4.33013 -120.0) (float-vector -5.684342e-14 -5.0 -120.0) (float-vector 0.0 -5.0 -21.0) (float-vector -2.5 -4.33013 -21.0)))
         (instance face :init :vertices (list (float-vector -4.33013 -2.5 -120.0) (float-vector -2.5 -4.33013 -120.0) (float-vector -2.5 -4.33013 -21.0) (float-vector -4.33013 -2.5 -21.0)))
         (instance face :init :vertices (list (float-vector -4.33013 -2.5 -120.0) (float-vector -4.33013 -2.5 -21.0) (float-vector -5.0 0.0 -21.0) (float-vector -5.0 0.0 -120.0)))
         (instance face :init :vertices (list (float-vector -5.0 0.0 -120.0) (float-vector -4.33013 2.5 -120.0) (float-vector -2.5 4.33013 -120.0) (float-vector -5.684342e-14 5.0 -120.0) (float-vector 2.5 4.33013 -120.0) (float-vector 4.33013 2.5 -120.0) (float-vector 5.0 7.105427e-15 -120.0) (float-vector 4.33013 -2.5 -120.0) (float-vector 2.5 -4.33013 -120.0) (float-vector -5.684342e-14 -5.0 -120.0) (float-vector -2.5 -4.33013 -120.0) (float-vector -4.33013 -2.5 -120.0)))
         (instance face :init :vertices (list (float-vector -10.3923 -14.0 -106.0) (float-vector -12.0 -20.0 -106.0) (float-vector -12.0 -20.0 -21.0) (float-vector -10.3923 -14.0 -21.0)))
         (instance face :init :vertices (list (float-vector -6.0 -9.6077 -106.0) (float-vector -10.3923 -14.0 -106.0) (float-vector -10.3923 -14.0 -21.0) (float-vector -6.0 -9.6077 -21.0)))
         (instance face :init :vertices (list (float-vector -5.684342e-14 -8.0 -106.0) (float-vector -6.0 -9.6077 -106.0) (float-vector -6.0 -9.6077 -21.0) (float-vector 0.0 -8.0 -21.0)))
         (instance face :init :vertices (list (float-vector 6.0 -9.6077 -106.0) (float-vector -5.684342e-14 -8.0 -106.0) (float-vector 0.0 -8.0 -21.0) (float-vector 6.0 -9.6077 -21.0)))
         (instance face :init :vertices (list (float-vector 10.3923 -14.0 -106.0) (float-vector 6.0 -9.6077 -106.0) (float-vector 6.0 -9.6077 -21.0) (float-vector 10.3923 -14.0 -21.0)))
         (instance face :init :vertices (list (float-vector 12.0 -20.0 -106.0) (float-vector 10.3923 -14.0 -106.0) (float-vector 10.3923 -14.0 -21.0) (float-vector 12.0 -20.0 -21.0)))
         (instance face :init :vertices (list (float-vector 10.3923 -26.0 -8.0) (float-vector 10.3923 -26.0 -106.0) (float-vector 12.0 -20.0 -106.0) (float-vector 12.0 -20.0 -21.0) (float-vector 10.6603 -25.0 -21.0) (float-vector 10.6603 -25.0 -8.0)))
         (instance face :init :vertices (list (float-vector 6.0 -30.3923 -8.0) (float-vector 6.0 -30.3923 -106.0) (float-vector 10.3923 -26.0 -106.0) (float-vector 10.3923 -26.0 -8.0)))
         (instance face :init :vertices (list (float-vector 0.0 -32.0 -8.0) (float-vector -5.684342e-14 -32.0 -106.0) (float-vector 6.0 -30.3923 -106.0) (float-vector 6.0 -30.3923 -8.0)))
         (instance face :init :vertices (list (float-vector -6.0 -30.3923 -8.0) (float-vector -6.0 -30.3923 -106.0) (float-vector -5.684342e-14 -32.0 -106.0) (float-vector 0.0 -32.0 -8.0)))
         (instance face :init :vertices (list (float-vector -10.3923 -26.0 -8.0) (float-vector -10.3923 -26.0 -106.0) (float-vector -6.0 -30.3923 -106.0) (float-vector -6.0 -30.3923 -8.0)))
         (instance face :init :vertices (list (float-vector -12.0 -20.0 -106.0) (float-vector -10.3923 -14.0 -106.0) (float-vector -6.0 -9.6077 -106.0) (float-vector -5.684342e-14 -8.0 -106.0) (float-vector 6.0 -9.6077 -106.0) (float-vector 10.3923 -14.0 -106.0) (float-vector 12.0 -20.0 -106.0) (float-vector 10.3923 -26.0 -106.0) (float-vector 6.0 -30.3923 -106.0) (float-vector -5.684342e-14 -32.0 -106.0) (float-vector -6.0 -30.3923 -106.0) (float-vector -10.3923 -26.0 -106.0)))
         (instance face :init :vertices (list (float-vector -10.3923 -26.0 -8.0) (float-vector -6.0 -30.3923 -8.0) (float-vector 0.0 -32.0 -8.0) (float-vector 6.0 -30.3923 -8.0) (float-vector 10.3923 -26.0 -8.0) (float-vector 10.6603 -25.0 -8.0) (float-vector -10.6603 -25.0 -8.0)))
         (instance face :init :vertices (list (float-vector -10.6603 -25.0 -8.0) (float-vector -10.6603 -25.0 -21.0) (float-vector -12.0 -20.0 -21.0) (float-vector -12.0 -20.0 -106.0) (float-vector -10.3923 -26.0 -106.0) (float-vector -10.3923 -26.0 -8.0)))
         (instance face :init :vertices (list (float-vector 80.0 -15.0 -22.0) (float-vector 147.0 -15.0 -22.0) (float-vector 147.0 -14.1962 -22.0) (float-vector 150.0 -15.0 -22.0) (float-vector 157.5 -12.9904 -22.0) (float-vector 162.99 -7.5 -22.0) (float-vector 165.0 1.421085e-14 -22.0) (float-vector 162.99 7.5 -22.0) (float-vector 157.5 12.9904 -22.0) (float-vector 150.0 15.0 -22.0) (float-vector 147.0 14.1962 -22.0) (float-vector 147.0 15.0 -22.0) (float-vector 80.0 15.0 -22.0)))
         (instance face :init :vertices (list (float-vector 80.0 -15.0 8.0) (float-vector 80.0 -15.0 -22.0) (float-vector 80.0 15.0 -22.0) (float-vector 80.0 15.0 8.0)))
         (instance face :init :vertices (list (float-vector 80.0 15.0 8.0) (float-vector 147.0 15.0 8.0) (float-vector 147.0 14.1962 8.0) (float-vector 150.0 15.0 8.0) (float-vector 157.5 12.9904 8.0) (float-vector 162.99 7.5 8.0) (float-vector 165.0 1.421085e-14 8.0) (float-vector 162.99 -7.5 8.0) (float-vector 157.5 -12.9904 8.0) (float-vector 150.0 -15.0 8.0) (float-vector 147.0 -14.1962 8.0) (float-vector 147.0 -15.0 8.0) (float-vector 80.0 -15.0 8.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray80)
     (setq blink10 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h3rarm-shoulder-p :weight 50 :centroid (float-vector 16.9893 0.287019 -25.9877) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h3rarm-elbow-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 116.0 5.0 -3.0) (float-vector 116.0 5.0 13.0) (float-vector 116.0 -5.0 13.0) (float-vector 116.0 -5.0 -3.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 116.0 -1.73205 2.0) (float-vector 116.0 -1.0 2.73205) (float-vector 116.0 0.0 3.0) (float-vector 116.0 1.0 2.73205) (float-vector 116.0 1.73205 2.0) (float-vector 116.0 2.0 1.0) (float-vector 116.0 1.73205 0.0) (float-vector 116.0 1.0 -0.732051) (float-vector 116.0 3.552714e-15 -1.0) (float-vector 116.0 -1.0 -0.732051) (float-vector 116.0 -1.73205 0.0) (float-vector 116.0 -2.0 1.0)))
))
         (instance face :init :vertices (list (float-vector 116.0 5.0 -3.0) (float-vector 110.0 5.0 -3.0) (float-vector 110.0 5.0 1.0) (float-vector 113.0 5.0 1.0) (float-vector 113.0 5.0 11.0) (float-vector 110.0 5.0 11.0) (float-vector 110.0 5.0 13.0) (float-vector 116.0 5.0 13.0)))
         (instance face :init :vertices (list (float-vector 110.0 5.0 11.0) (float-vector 110.0 -5.0 11.0) (float-vector 110.0 -5.0 13.0) (float-vector 110.0 5.0 13.0)))
         (instance face :init :vertices (list (float-vector 110.0 5.0 -3.0) (float-vector 110.0 -5.0 -3.0) (float-vector 110.0 -5.0 1.0) (float-vector 110.0 5.0 1.0)))
         (instance face :init :vertices (list (float-vector 110.0 -5.0 13.0) (float-vector 116.0 -5.0 13.0) (float-vector 116.0 5.0 13.0) (float-vector 110.0 5.0 13.0)))
         (instance face :init :vertices (list (float-vector 116.0 -5.0 -3.0) (float-vector 110.0 -5.0 -3.0) (float-vector 110.0 5.0 -3.0) (float-vector 116.0 5.0 -3.0)))
         (instance face :init :vertices (list (float-vector 110.0 -5.0 11.0) (float-vector 113.0 -5.0 11.0) (float-vector 113.0 -5.0 1.0) (float-vector 110.0 -5.0 1.0) (float-vector 110.0 -5.0 -3.0) (float-vector 116.0 -5.0 -3.0) (float-vector 116.0 -5.0 13.0) (float-vector 110.0 -5.0 13.0)))
         (instance face :init :vertices (list (float-vector 18.1865 10.5 0.0) (float-vector 18.1865 10.5 12.0) (float-vector 21.0 3.552714e-15 12.0) (float-vector 21.0 3.552714e-15 11.0) (float-vector 19.3923 6.0 11.0) (float-vector 19.3923 6.0 1.0) (float-vector 21.0 0.0 1.0) (float-vector 21.0 0.0 0.0)))
         (instance face :init :vertices (list (float-vector 18.1865 10.5 0.0) (float-vector 10.5 18.1865 0.0) (float-vector 10.5 18.1865 12.0) (float-vector 18.1865 10.5 12.0)))
         (instance face :init :vertices (list (float-vector 10.5 18.1865 0.0) (float-vector 0.0 21.0 0.0) (float-vector 0.0 21.0 12.0) (float-vector 10.5 18.1865 12.0)))
         (instance face :init :vertices (list (float-vector 0.0 21.0 0.0) (float-vector -10.5 18.1865 0.0) (float-vector -10.5 18.1865 12.0) (float-vector 0.0 21.0 12.0)))
         (instance face :init :vertices (list (float-vector -10.5 18.1865 0.0) (float-vector -18.1865 10.5 0.0) (float-vector -18.1865 10.5 12.0) (float-vector -10.5 18.1865 12.0)))
         (instance face :init :vertices (list (float-vector -18.1865 10.5 0.0) (float-vector -21.0 2.486900e-14 0.0) (float-vector -21.0 2.486900e-14 12.0) (float-vector -18.1865 10.5 12.0)))
         (instance face :init :vertices (list (float-vector -21.0 2.486900e-14 0.0) (float-vector -18.1865 -10.5 0.0) (float-vector -18.1865 -10.5 12.0) (float-vector -21.0 2.486900e-14 12.0)))
         (instance face :init :vertices (list (float-vector -18.1865 -10.5 0.0) (float-vector -10.5 -18.1865 0.0) (float-vector -10.5 -18.1865 12.0) (float-vector -18.1865 -10.5 12.0)))
         (instance face :init :vertices (list (float-vector -10.5 -18.1865 0.0) (float-vector -5.684342e-14 -21.0 0.0) (float-vector -5.684342e-14 -21.0 12.0) (float-vector -10.5 -18.1865 12.0)))
         (instance face :init :vertices (list (float-vector -5.684342e-14 -21.0 0.0) (float-vector 10.5 -18.1865 0.0) (float-vector 10.5 -18.1865 12.0) (float-vector -5.684342e-14 -21.0 12.0)))
         (instance face :init :vertices (list (float-vector 10.5 -18.1865 0.0) (float-vector 18.1865 -10.5 0.0) (float-vector 18.1865 -10.5 12.0) (float-vector 10.5 -18.1865 12.0)))
         (instance face :init :vertices (list (float-vector 18.1865 -10.5 12.0) (float-vector 21.0 3.552714e-15 12.0) (float-vector 18.1865 10.5 12.0) (float-vector 10.5 18.1865 12.0) (float-vector 0.0 21.0 12.0) (float-vector -10.5 18.1865 12.0) (float-vector -18.1865 10.5 12.0) (float-vector -21.0 2.486900e-14 12.0) (float-vector -18.1865 -10.5 12.0) (float-vector -10.5 -18.1865 12.0) (float-vector -5.684342e-14 -21.0 12.0) (float-vector 10.5 -18.1865 12.0)))
         (instance face :init :vertices (list (float-vector 21.0 0.0 0.0) (float-vector 18.1865 -10.5 0.0) (float-vector 10.5 -18.1865 0.0) (float-vector -5.684342e-14 -21.0 0.0) (float-vector -10.5 -18.1865 0.0) (float-vector -18.1865 -10.5 0.0) (float-vector -21.0 2.486900e-14 0.0) (float-vector -18.1865 10.5 0.0) (float-vector -10.5 18.1865 0.0) (float-vector 0.0 21.0 0.0) (float-vector 10.5 18.1865 0.0) (float-vector 18.1865 10.5 0.0)))
         (instance face :init :vertices (list (float-vector 21.0 0.0 1.0) (float-vector 19.3923 -6.0 1.0) (float-vector 19.3923 -6.0 11.0) (float-vector 21.0 3.552714e-15 11.0) (float-vector 21.0 3.552714e-15 12.0) (float-vector 18.1865 -10.5 12.0) (float-vector 18.1865 -10.5 0.0) (float-vector 21.0 0.0 0.0)))
         (instance face :init :vertices (list (float-vector 19.3923 6.0 1.0) (float-vector 113.0 6.0 1.0) (float-vector 113.0 5.0 1.0) (float-vector 110.0 5.0 1.0) (float-vector 110.0 -5.0 1.0) (float-vector 113.0 -5.0 1.0) (float-vector 113.0 -6.0 1.0) (float-vector 19.3923 -6.0 1.0) (float-vector 21.0 0.0 1.0)))
         (instance face :init :vertices (list (float-vector 113.0 -6.0 1.0) (float-vector 113.0 -6.0 11.0) (float-vector 19.3923 -6.0 11.0) (float-vector 19.3923 -6.0 1.0)))
         (instance face :init :vertices (list (float-vector 113.0 -6.0 11.0) (float-vector 113.0 -5.0 11.0) (float-vector 110.0 -5.0 11.0) (float-vector 110.0 5.0 11.0) (float-vector 113.0 5.0 11.0) (float-vector 113.0 6.0 11.0) (float-vector 19.3923 6.0 11.0) (float-vector 21.0 3.552714e-15 11.0) (float-vector 19.3923 -6.0 11.0)))
         (instance face :init :vertices (list (float-vector 113.0 -5.0 11.0) (float-vector 113.0 -6.0 11.0) (float-vector 113.0 -6.0 1.0) (float-vector 113.0 -5.0 1.0)))
         (instance face :init :vertices (list (float-vector 113.0 6.0 11.0) (float-vector 113.0 6.0 1.0) (float-vector 19.3923 6.0 1.0) (float-vector 19.3923 6.0 11.0)))
         (instance face :init :vertices (list (float-vector 113.0 6.0 1.0) (float-vector 113.0 6.0 11.0) (float-vector 113.0 5.0 11.0) (float-vector 113.0 5.0 1.0)))
         (instance face :init :vertices (list (float-vector 116.0 0.0 3.0) (float-vector 135.0 0.0 3.0) (float-vector 135.0 1.0 2.73205) (float-vector 116.0 1.0 2.73205)))
         (instance face :init :vertices (list (float-vector 135.0 1.0 2.73205) (float-vector 135.0 1.73205 2.0) (float-vector 116.0 1.73205 2.0) (float-vector 116.0 1.0 2.73205)))
         (instance face :init :vertices (list (float-vector 135.0 1.73205 2.0) (float-vector 135.0 2.0 1.0) (float-vector 116.0 2.0 1.0) (float-vector 116.0 1.73205 2.0)))
         (instance face :init :vertices (list (float-vector 135.0 2.0 1.0) (float-vector 135.0 1.73205 0.0) (float-vector 116.0 1.73205 0.0) (float-vector 116.0 2.0 1.0)))
         (instance face :init :vertices (list (float-vector 135.0 1.73205 0.0) (float-vector 135.0 1.0 -0.732051) (float-vector 116.0 1.0 -0.732051) (float-vector 116.0 1.73205 0.0)))
         (instance face :init :vertices (list (float-vector 135.0 1.0 -0.732051) (float-vector 135.0 3.552714e-15 -1.0) (float-vector 116.0 3.552714e-15 -1.0) (float-vector 116.0 1.0 -0.732051)))
         (instance face :init :vertices (list (float-vector 135.0 3.552714e-15 -1.0) (float-vector 135.0 -1.0 -0.732051) (float-vector 116.0 -1.0 -0.732051) (float-vector 116.0 3.552714e-15 -1.0)))
         (instance face :init :vertices (list (float-vector 135.0 -1.0 -0.732051) (float-vector 135.0 -1.73205 0.0) (float-vector 116.0 -1.73205 0.0) (float-vector 116.0 -1.0 -0.732051)))
         (instance face :init :vertices (list (float-vector 135.0 -1.73205 0.0) (float-vector 135.0 -2.0 1.0) (float-vector 116.0 -2.0 1.0) (float-vector 116.0 -1.73205 0.0)))
         (instance face :init :vertices (list (float-vector 135.0 -2.0 1.0) (float-vector 135.0 -1.73205 2.0) (float-vector 116.0 -1.73205 2.0) (float-vector 116.0 -2.0 1.0)))
         (instance face :init :vertices (list (float-vector 135.0 -1.73205 2.0) (float-vector 135.0 -1.0 2.73205) (float-vector 116.0 -1.0 2.73205) (float-vector 116.0 -1.73205 2.0)))
         (instance face :init :vertices (list (float-vector 135.0 -1.0 2.73205) (float-vector 135.0 0.0 3.0) (float-vector 116.0 0.0 3.0) (float-vector 116.0 -1.0 2.73205)))
         (instance face :init :vertices (list (float-vector 135.0 0.0 3.0) (float-vector 135.0 -1.0 2.73205) (float-vector 135.0 -1.73205 2.0) (float-vector 135.0 -2.0 1.0) (float-vector 135.0 -1.73205 0.0) (float-vector 135.0 -1.0 -0.732051) (float-vector 135.0 3.552714e-15 -1.0) (float-vector 135.0 1.0 -0.732051) (float-vector 135.0 1.73205 0.0) (float-vector 135.0 2.0 1.0) (float-vector 135.0 1.73205 2.0) (float-vector 135.0 1.0 2.73205)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 100.0 10.0 16.0) (float-vector 100.0 10.0 36.0) (float-vector 100.0 4.56218 36.0) (float-vector 100.0 6.06218 34.5) (float-vector 100.0 7.0 31.0) (float-vector 100.0 6.06218 27.5) (float-vector 100.0 3.5 24.9378) (float-vector 100.0 7.105427e-15 24.0) (float-vector 100.0 -3.5 24.9378) (float-vector 100.0 -6.06218 27.5) (float-vector 100.0 -7.0 31.0) (float-vector 100.0 -6.06218 34.5) (float-vector 100.0 -4.56218 36.0) (float-vector 100.0 -10.0 36.0) (float-vector 100.0 -10.0 16.0)))
         (instance face :init :vertices (list (float-vector 100.0 10.0 16.0) (float-vector 94.0 10.0 16.0) (float-vector 94.0 10.0 36.0) (float-vector 100.0 10.0 36.0)))
         (instance face :init :vertices (list (float-vector 94.0 10.0 16.0) (float-vector 94.0 -10.0 16.0) (float-vector 94.0 -10.0 36.0) (float-vector 94.0 10.0 36.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 94.0 -6.0 17.0) (float-vector 94.0 6.0 17.0) (float-vector 94.0 6.0 27.0) (float-vector 94.0 -6.0 27.0)))
))
         (instance face :init :vertices (list (float-vector 94.0 -10.0 36.0) (float-vector 100.0 -10.0 36.0) (float-vector 100.0 -4.56218 36.0) (float-vector 99.0 -4.56218 36.0) (float-vector 99.0 4.56218 36.0) (float-vector 100.0 4.56218 36.0) (float-vector 100.0 10.0 36.0) (float-vector 94.0 10.0 36.0)))
         (instance face :init :vertices (list (float-vector 94.0 -10.0 16.0) (float-vector 100.0 -10.0 16.0) (float-vector 100.0 -10.0 36.0) (float-vector 94.0 -10.0 36.0)))
         (instance face :init :vertices (list (float-vector 100.0 -10.0 16.0) (float-vector 94.0 -10.0 16.0) (float-vector 94.0 10.0 16.0) (float-vector 100.0 10.0 16.0)))
         (instance face :init :vertices (list (float-vector 18.1865 10.5 16.0) (float-vector 18.1865 10.5 28.0) (float-vector 21.0 3.552714e-15 28.0) (float-vector 21.0 3.552714e-15 27.0) (float-vector 19.3923 6.0 27.0) (float-vector 19.3923 6.0 17.0) (float-vector 21.0 0.0 17.0) (float-vector 21.0 0.0 16.0)))
         (instance face :init :vertices (list (float-vector 18.1865 10.5 16.0) (float-vector 10.5 18.1865 16.0) (float-vector 10.5 18.1865 28.0) (float-vector 18.1865 10.5 28.0)))
         (instance face :init :vertices (list (float-vector 10.5 18.1865 16.0) (float-vector 0.0 21.0 16.0) (float-vector 0.0 21.0 28.0) (float-vector 10.5 18.1865 28.0)))
         (instance face :init :vertices (list (float-vector 0.0 21.0 16.0) (float-vector -10.5 18.1865 16.0) (float-vector -10.5 18.1865 28.0) (float-vector 0.0 21.0 28.0)))
         (instance face :init :vertices (list (float-vector -10.5 18.1865 16.0) (float-vector -18.1865 10.5 16.0) (float-vector -18.1865 10.5 28.0) (float-vector -10.5 18.1865 28.0)))
         (instance face :init :vertices (list (float-vector -18.1865 10.5 16.0) (float-vector -21.0 2.131628e-14 16.0) (float-vector -21.0 2.486900e-14 28.0) (float-vector -18.1865 10.5 28.0)))
         (instance face :init :vertices (list (float-vector -21.0 2.131628e-14 16.0) (float-vector -18.1865 -10.5 16.0) (float-vector -18.1865 -10.5 28.0) (float-vector -21.0 2.486900e-14 28.0)))
         (instance face :init :vertices (list (float-vector -18.1865 -10.5 16.0) (float-vector -10.5 -18.1865 16.0) (float-vector -10.5 -18.1865 28.0) (float-vector -18.1865 -10.5 28.0)))
         (instance face :init :vertices (list (float-vector -10.5 -18.1865 16.0) (float-vector -5.684342e-14 -21.0 16.0) (float-vector -5.684342e-14 -21.0 28.0) (float-vector -10.5 -18.1865 28.0)))
         (instance face :init :vertices (list (float-vector -5.684342e-14 -21.0 16.0) (float-vector 10.5 -18.1865 16.0) (float-vector 10.5 -18.1865 28.0) (float-vector -5.684342e-14 -21.0 28.0)))
         (instance face :init :vertices (list (float-vector 10.5 -18.1865 16.0) (float-vector 18.1865 -10.5 16.0) (float-vector 18.1865 -10.5 28.0) (float-vector 10.5 -18.1865 28.0)))
         (instance face :init :vertices (list (float-vector 18.1865 -10.5 28.0) (float-vector 21.0 3.552714e-15 28.0) (float-vector 18.1865 10.5 28.0) (float-vector 10.5 18.1865 28.0) (float-vector 0.0 21.0 28.0) (float-vector -10.5 18.1865 28.0) (float-vector -18.1865 10.5 28.0) (float-vector -21.0 2.486900e-14 28.0) (float-vector -18.1865 -10.5 28.0) (float-vector -10.5 -18.1865 28.0) (float-vector -5.684342e-14 -21.0 28.0) (float-vector 10.5 -18.1865 28.0)))
         (instance face :init :vertices (list (float-vector 21.0 0.0 16.0) (float-vector 18.1865 -10.5 16.0) (float-vector 10.5 -18.1865 16.0) (float-vector -5.684342e-14 -21.0 16.0) (float-vector -10.5 -18.1865 16.0) (float-vector -18.1865 -10.5 16.0) (float-vector -21.0 2.131628e-14 16.0) (float-vector -18.1865 10.5 16.0) (float-vector -10.5 18.1865 16.0) (float-vector 0.0 21.0 16.0) (float-vector 10.5 18.1865 16.0) (float-vector 18.1865 10.5 16.0)))
         (instance face :init :vertices (list (float-vector 21.0 0.0 17.0) (float-vector 19.3923 -6.0 17.0) (float-vector 19.3923 -6.0 27.0) (float-vector 21.0 3.552714e-15 27.0) (float-vector 21.0 3.552714e-15 28.0) (float-vector 18.1865 -10.5 28.0) (float-vector 18.1865 -10.5 16.0) (float-vector 21.0 0.0 16.0)))
         (instance face :init :vertices (list (float-vector 19.3923 6.0 17.0) (float-vector 94.0 6.0 17.0) (float-vector 94.0 -6.0 17.0) (float-vector 19.3923 -6.0 17.0) (float-vector 21.0 0.0 17.0)))
         (instance face :init :vertices (list (float-vector 94.0 -6.0 27.0) (float-vector 19.3923 -6.0 27.0) (float-vector 19.3923 -6.0 17.0) (float-vector 94.0 -6.0 17.0)))
         (instance face :init :vertices (list (float-vector 19.3923 6.0 27.0) (float-vector 94.0 6.0 27.0) (float-vector 94.0 6.0 17.0) (float-vector 19.3923 6.0 17.0)))
         (instance face :init :vertices (list (float-vector 94.0 6.0 27.0) (float-vector 19.3923 6.0 27.0) (float-vector 21.0 3.552714e-15 27.0) (float-vector 19.3923 -6.0 27.0) (float-vector 94.0 -6.0 27.0)))
         (instance face :init :vertices (list (float-vector 99.0 0.0 38.0) (float-vector 149.0 0.0 38.0) (float-vector 149.0 3.5 37.0622) (float-vector 99.0 3.5 37.0622)))
         (instance face :init :vertices (list (float-vector 149.0 3.5 37.0622) (float-vector 149.0 6.06218 34.5) (float-vector 100.0 6.06218 34.5) (float-vector 100.0 4.56218 36.0) (float-vector 99.0 4.56218 36.0) (float-vector 99.0 3.5 37.0622)))
         (instance face :init :vertices (list (float-vector 149.0 6.06218 34.5) (float-vector 149.0 7.0 31.0) (float-vector 100.0 7.0 31.0) (float-vector 100.0 6.06218 34.5)))
         (instance face :init :vertices (list (float-vector 149.0 7.0 31.0) (float-vector 149.0 6.06218 27.5) (float-vector 100.0 6.06218 27.5) (float-vector 100.0 7.0 31.0)))
         (instance face :init :vertices (list (float-vector 149.0 6.06218 27.5) (float-vector 149.0 3.5 24.9378) (float-vector 100.0 3.5 24.9378) (float-vector 100.0 6.06218 27.5)))
         (instance face :init :vertices (list (float-vector 149.0 3.5 24.9378) (float-vector 149.0 7.105427e-15 24.0) (float-vector 100.0 7.105427e-15 24.0) (float-vector 100.0 3.5 24.9378)))
         (instance face :init :vertices (list (float-vector 149.0 7.105427e-15 24.0) (float-vector 149.0 -3.5 24.9378) (float-vector 100.0 -3.5 24.9378) (float-vector 100.0 7.105427e-15 24.0)))
         (instance face :init :vertices (list (float-vector 149.0 -3.5 24.9378) (float-vector 149.0 -6.06218 27.5) (float-vector 100.0 -6.06218 27.5) (float-vector 100.0 -3.5 24.9378)))
         (instance face :init :vertices (list (float-vector 149.0 -6.06218 27.5) (float-vector 149.0 -7.0 31.0) (float-vector 100.0 -7.0 31.0) (float-vector 100.0 -6.06218 27.5)))
         (instance face :init :vertices (list (float-vector 149.0 -7.0 31.0) (float-vector 149.0 -6.06218 34.5) (float-vector 100.0 -6.06218 34.5) (float-vector 100.0 -7.0 31.0)))
         (instance face :init :vertices (list (float-vector 149.0 -6.06218 34.5) (float-vector 149.0 -3.5 37.0622) (float-vector 99.0 -3.5 37.0622) (float-vector 99.0 -4.56218 36.0) (float-vector 100.0 -4.56218 36.0) (float-vector 100.0 -6.06218 34.5)))
         (instance face :init :vertices (list (float-vector 99.0 -3.5 37.0622) (float-vector 99.0 0.0 38.0) (float-vector 99.0 3.5 37.0622) (float-vector 99.0 4.56218 36.0) (float-vector 99.0 -4.56218 36.0)))
         (instance face :init :vertices (list (float-vector 149.0 -3.5 37.0622) (float-vector 149.0 0.0 38.0) (float-vector 99.0 0.0 38.0) (float-vector 99.0 -3.5 37.0622)))
         (instance face :init :vertices (list (float-vector 149.0 0.0 38.0) (float-vector 149.0 -3.5 37.0622) (float-vector 149.0 -6.06218 34.5) (float-vector 149.0 -7.0 31.0) (float-vector 149.0 -6.06218 27.5) (float-vector 149.0 -3.5 24.9378) (float-vector 149.0 7.105427e-15 24.0) (float-vector 149.0 3.5 24.9378) (float-vector 149.0 6.06218 27.5) (float-vector 149.0 7.0 31.0) (float-vector 149.0 6.06218 34.5) (float-vector 149.0 3.5 37.0622)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink11 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h3rarm-elbow-p :weight 100 :centroid (float-vector 38.9702 3.537988e-15 15.0484) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h3rarm-wrist-r
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -4.0 10.0 -16.0) (float-vector 24.0 10.0 -16.0) (float-vector 24.0 -10.0 -16.0) (float-vector -4.0 -10.0 -16.0)))
         (instance face :init :vertices (list (float-vector -4.0 10.0 -16.0) (float-vector -4.0 10.0 -15.0) (float-vector 5.0 10.0 -15.0) (float-vector 5.0 10.0 0.0) (float-vector 24.0 10.0 0.0) (float-vector 24.0 10.0 -16.0)))
         (instance face :init :vertices (list (float-vector 5.0 10.0 0.0) (float-vector 5.0 -10.0 0.0) (float-vector 24.0 -10.0 0.0) (float-vector 24.0 10.0 0.0)))
         (instance face :init :vertices (list (float-vector 24.0 -10.0 0.0) (float-vector 24.0 -10.0 -16.0) (float-vector 24.0 10.0 -16.0) (float-vector 24.0 10.0 0.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 24.0 -1.0 -11.7321) (float-vector 24.0 -1.73205 -11.0) (float-vector 24.0 -2.0 -10.0) (float-vector 24.0 -1.73205 -9.0) (float-vector 24.0 -1.0 -8.26795) (float-vector 24.0 3.552714e-15 -8.0) (float-vector 24.0 1.0 -8.26795) (float-vector 24.0 1.73205 -9.0) (float-vector 24.0 2.0 -10.0) (float-vector 24.0 1.73205 -11.0) (float-vector 24.0 1.0 -11.7321) (float-vector 24.0 3.552714e-15 -12.0)))
))
         (instance face :init :vertices (list (float-vector 5.0 -10.0 0.0) (float-vector 5.0 -10.0 -15.0) (float-vector -4.0 -10.0 -15.0) (float-vector -4.0 -10.0 -16.0) (float-vector 24.0 -10.0 -16.0) (float-vector 24.0 -10.0 0.0)))
         (instance face :init :vertices (list (float-vector -4.0 -10.0 -15.0) (float-vector -4.0 10.0 -15.0) (float-vector -4.0 10.0 -16.0) (float-vector -4.0 -10.0 -16.0)))
         (instance face :init :vertices (list (float-vector -5.0 11.0 -15.0) (float-vector 5.0 11.0 -15.0) (float-vector 5.0 10.0 -15.0) (float-vector -4.0 10.0 -15.0) (float-vector -4.0 -10.0 -15.0) (float-vector 5.0 -10.0 -15.0) (float-vector 5.0 -11.0 -15.0) (float-vector -5.0 -11.0 -15.0)))
         (instance face :init :vertices (list (float-vector -5.0 11.0 -15.0) (float-vector -5.0 11.0 15.0) (float-vector 5.0 11.0 15.0) (float-vector 5.0 11.0 -15.0)))
         (instance face :init :vertices (list (float-vector -5.0 11.0 15.0) (float-vector -5.0 -11.0 15.0) (float-vector 5.0 -11.0 15.0) (float-vector 5.0 11.0 15.0)))
         (instance face :init :vertices (list (float-vector 5.0 -11.0 15.0) (float-vector 5.0 -11.0 -15.0) (float-vector 5.0 -10.0 -15.0) (float-vector 5.0 -10.0 0.0) (float-vector 5.0 10.0 0.0) (float-vector 5.0 10.0 -15.0) (float-vector 5.0 11.0 -15.0) (float-vector 5.0 11.0 15.0)))
         (instance face :init :vertices (list (float-vector -5.0 -11.0 15.0) (float-vector -5.0 -11.0 -15.0) (float-vector 5.0 -11.0 -15.0) (float-vector 5.0 -11.0 15.0)))
         (instance face :init :vertices (list (float-vector -5.0 -11.0 -15.0) (float-vector -5.0 -11.0 15.0) (float-vector -5.0 11.0 15.0) (float-vector -5.0 11.0 -15.0)))
         (instance face :init :vertices (list (float-vector 38.0 0.0 -12.0) (float-vector 24.0 3.552714e-15 -12.0) (float-vector 24.0 1.0 -11.7321) (float-vector 38.0 1.0 -11.7321)))
         (instance face :init :vertices (list (float-vector 24.0 1.73205 -11.0) (float-vector 38.0 1.73205 -11.0) (float-vector 38.0 1.0 -11.7321) (float-vector 24.0 1.0 -11.7321)))
         (instance face :init :vertices (list (float-vector 24.0 2.0 -10.0) (float-vector 38.0 2.0 -10.0) (float-vector 38.0 1.73205 -11.0) (float-vector 24.0 1.73205 -11.0)))
         (instance face :init :vertices (list (float-vector 24.0 1.73205 -9.0) (float-vector 38.0 1.73205 -9.0) (float-vector 38.0 2.0 -10.0) (float-vector 24.0 2.0 -10.0)))
         (instance face :init :vertices (list (float-vector 24.0 1.0 -8.26795) (float-vector 38.0 1.0 -8.26795) (float-vector 38.0 1.73205 -9.0) (float-vector 24.0 1.73205 -9.0)))
         (instance face :init :vertices (list (float-vector 24.0 3.552714e-15 -8.0) (float-vector 38.0 3.552714e-15 -8.0) (float-vector 38.0 1.0 -8.26795) (float-vector 24.0 1.0 -8.26795)))
         (instance face :init :vertices (list (float-vector 24.0 -1.0 -8.26795) (float-vector 38.0 -1.0 -8.26795) (float-vector 38.0 3.552714e-15 -8.0) (float-vector 24.0 3.552714e-15 -8.0)))
         (instance face :init :vertices (list (float-vector 24.0 -1.73205 -9.0) (float-vector 38.0 -1.73205 -9.0) (float-vector 38.0 -1.0 -8.26795) (float-vector 24.0 -1.0 -8.26795)))
         (instance face :init :vertices (list (float-vector 24.0 -2.0 -10.0) (float-vector 38.0 -2.0 -10.0) (float-vector 38.0 -1.73205 -9.0) (float-vector 24.0 -1.73205 -9.0)))
         (instance face :init :vertices (list (float-vector 24.0 -1.73205 -11.0) (float-vector 38.0 -1.73205 -11.0) (float-vector 38.0 -2.0 -10.0) (float-vector 24.0 -2.0 -10.0)))
         (instance face :init :vertices (list (float-vector 24.0 -1.0 -11.7321) (float-vector 38.0 -1.0 -11.7321) (float-vector 38.0 -1.73205 -11.0) (float-vector 24.0 -1.73205 -11.0)))
         (instance face :init :vertices (list (float-vector 38.0 -1.0 -11.7321) (float-vector 38.0 0.0 -12.0) (float-vector 38.0 1.0 -11.7321) (float-vector 38.0 1.73205 -11.0) (float-vector 38.0 2.0 -10.0) (float-vector 38.0 1.73205 -9.0) (float-vector 38.0 1.0 -8.26795) (float-vector 38.0 3.552714e-15 -8.0) (float-vector 38.0 -1.0 -8.26795) (float-vector 38.0 -1.73205 -9.0) (float-vector 38.0 -2.0 -10.0) (float-vector 38.0 -1.73205 -11.0)))
         (instance face :init :vertices (list (float-vector 38.0 0.0 -12.0) (float-vector 38.0 -1.0 -11.7321) (float-vector 24.0 -1.0 -11.7321) (float-vector 24.0 3.552714e-15 -12.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 30.0 20.0 -15.0) (float-vector -10.0 20.0 -15.0) (float-vector -10.0 -20.0 -15.0) (float-vector 30.0 -20.0 -15.0)))
         (instance face :init :vertices (list (float-vector -10.0 20.0 -33.0) (float-vector 30.0 20.0 -33.0) (float-vector 30.0 -20.0 -33.0) (float-vector -10.0 -20.0 -33.0)))
         (instance face :init :vertices (list (float-vector 30.0 20.0 -15.0) (float-vector 30.0 20.0 -33.0) (float-vector -10.0 20.0 -33.0) (float-vector -10.0 20.0 -15.0)))
         (instance face :init :vertices (list (float-vector 30.0 -20.0 -15.0) (float-vector 30.0 -20.0 -33.0) (float-vector 30.0 20.0 -33.0) (float-vector 30.0 20.0 -15.0)))
         (instance face :init :vertices (list (float-vector -10.0 -20.0 -15.0) (float-vector -10.0 -20.0 -33.0) (float-vector 30.0 -20.0 -33.0) (float-vector 30.0 -20.0 -15.0)))
         (instance face :init :vertices (list (float-vector -10.0 20.0 -15.0) (float-vector -10.0 20.0 -33.0) (float-vector -10.0 -20.0 -33.0) (float-vector -10.0 -20.0 -15.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 0.0 -16.1408 -101.0) (float-vector 0.0 -25.0 -45.0649) (float-vector -5.66169 -25.0 -45.0649) (float-vector -2.73026 -16.1408 -101.0)))
         (instance face :init :vertices (list (float-vector 9.0 -25.0 -43.0) (float-vector 9.0 25.0 -43.0) (float-vector 9.0 25.0 -17.0) (float-vector 9.0 20.0 -17.0) (float-vector 9.0 20.0 -42.0) (float-vector 9.0 -20.0 -42.0) (float-vector 9.0 -20.0 -17.0) (float-vector 9.0 -25.0 -17.0)))
         (instance face :init :vertices (list (float-vector 0.0 16.1408 -101.0) (float-vector 0.0 -16.1408 -101.0) (float-vector -2.73026 -16.1408 -101.0) (float-vector -2.73026 16.1408 -101.0)))
         (instance face :init :vertices (list (float-vector -2.73026 16.1408 -101.0) (float-vector -2.73026 -16.1408 -101.0) (float-vector -5.66169 -25.0 -45.0649) (float-vector -7.13251 -25.0 -17.0) (float-vector -7.13251 -20.0 -17.0) (float-vector -5.82231 -20.0 -42.0) (float-vector -5.82231 20.0 -42.0) (float-vector -7.13251 20.0 -17.0) (float-vector -7.13251 25.0 -17.0) (float-vector -5.66169 25.0 -45.0649)))
         (instance face :init :vertices (list (float-vector -7.13251 -25.0 -17.0) (float-vector -5.66169 -25.0 -45.0649) (float-vector 0.0 -25.0 -45.0649) (float-vector 0.0 -25.0 -43.0) (float-vector 9.0 -25.0 -43.0) (float-vector 9.0 -25.0 -17.0)))
         (instance face :init :vertices (list (float-vector -7.13251 -20.0 -17.0) (float-vector -7.13251 -25.0 -17.0) (float-vector 9.0 -25.0 -17.0) (float-vector 9.0 -20.0 -17.0)))
         (instance face :init :vertices (list (float-vector 0.0 25.0 -45.0649) (float-vector 0.0 16.1408 -101.0) (float-vector -2.73026 16.1408 -101.0) (float-vector -5.66169 25.0 -45.0649)))
         (instance face :init :vertices (list (float-vector -5.66169 25.0 -45.0649) (float-vector -7.13251 25.0 -17.0) (float-vector 9.0 25.0 -17.0) (float-vector 9.0 25.0 -43.0) (float-vector 0.0 25.0 -43.0) (float-vector 0.0 25.0 -45.0649)))
         (instance face :init :vertices (list (float-vector 9.0 20.0 -17.0) (float-vector 9.0 25.0 -17.0) (float-vector -7.13251 25.0 -17.0) (float-vector -7.13251 20.0 -17.0)))
         (instance face :init :vertices (list (float-vector -5.82231 -20.0 -42.0) (float-vector -7.13251 -20.0 -17.0) (float-vector 9.0 -20.0 -17.0) (float-vector 9.0 -20.0 -42.0)))
         (instance face :init :vertices (list (float-vector 9.0 20.0 -42.0) (float-vector 9.0 20.0 -17.0) (float-vector -7.13251 20.0 -17.0) (float-vector -5.82231 20.0 -42.0)))
         (instance face :init :vertices (list (float-vector -5.82231 20.0 -42.0) (float-vector -5.82231 -20.0 -42.0) (float-vector 9.0 -20.0 -42.0) (float-vector 9.0 20.0 -42.0)))
         (instance face :init :vertices (list (float-vector 0.0 25.0 -43.0) (float-vector 9.0 25.0 -43.0) (float-vector 9.0 -25.0 -43.0) (float-vector 0.0 -25.0 -43.0)))
         (instance face :init :vertices (list (float-vector 0.0 -25.0 -43.0) (float-vector 0.0 -25.0 -45.0649) (float-vector 0.0 -16.1408 -101.0) (float-vector 0.0 16.1408 -101.0) (float-vector 0.0 25.0 -45.0649) (float-vector 0.0 25.0 -43.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray50)
     (send (elt bc 1) :set-color :gray60)
     (send (elt bc 2) :set-color :gray90)
     (setq blink12 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h3rarm-wrist-r :weight 70 :centroid (float-vector 6.38476 -6.903304e-15 -14.3166) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h3rarm-hand-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -2.842171e-14 77.0 -16.1408) (float-vector -2.842171e-14 21.0649 -25.0) (float-vector -5.66169 21.0649 -25.0) (float-vector -2.73026 77.0 -16.1408)))
         (instance face :init :vertices (list (float-vector 9.0 19.0 -25.0) (float-vector 9.0 19.0 25.0) (float-vector 9.0 -7.0 25.0) (float-vector 9.0 -7.0 20.0) (float-vector 9.0 18.0 20.0) (float-vector 9.0 18.0 -20.0) (float-vector 9.0 -7.0 -20.0) (float-vector 9.0 -7.0 -25.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 77.0 16.1408) (float-vector -2.842171e-14 77.0 -16.1408) (float-vector -2.73026 77.0 -16.1408) (float-vector -2.73026 77.0 16.1408)))
         (instance face :init :vertices (list (float-vector -2.73026 77.0 16.1408) (float-vector -2.73026 77.0 -16.1408) (float-vector -5.66169 21.0649 -25.0) (float-vector -7.13251 -7.0 -25.0) (float-vector -7.13251 -7.0 -20.0) (float-vector -5.82231 18.0 -20.0) (float-vector -5.82231 18.0 20.0) (float-vector -7.13251 -7.0 20.0) (float-vector -7.13251 -7.0 25.0) (float-vector -5.66169 21.0649 25.0)))
         (instance face :init :vertices (list (float-vector -7.13251 -7.0 -25.0) (float-vector -5.66169 21.0649 -25.0) (float-vector -2.842171e-14 21.0649 -25.0) (float-vector -2.842171e-14 19.0 -25.0) (float-vector 9.0 19.0 -25.0) (float-vector 9.0 -7.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.13251 -7.0 -20.0) (float-vector -7.13251 -7.0 -25.0) (float-vector 9.0 -7.0 -25.0) (float-vector 9.0 -7.0 -20.0)))
         (instance face :init :vertices (list (float-vector 0.0 21.0649 25.0) (float-vector -2.842171e-14 77.0 16.1408) (float-vector -2.73026 77.0 16.1408) (float-vector -5.66169 21.0649 25.0)))
         (instance face :init :vertices (list (float-vector -5.66169 21.0649 25.0) (float-vector -7.13251 -7.0 25.0) (float-vector 9.0 -7.0 25.0) (float-vector 9.0 19.0 25.0) (float-vector 0.0 19.0 25.0) (float-vector 0.0 21.0649 25.0)))
         (instance face :init :vertices (list (float-vector 9.0 -7.0 20.0) (float-vector 9.0 -7.0 25.0) (float-vector -7.13251 -7.0 25.0) (float-vector -7.13251 -7.0 20.0)))
         (instance face :init :vertices (list (float-vector -5.82231 18.0 -20.0) (float-vector -7.13251 -7.0 -20.0) (float-vector 9.0 -7.0 -20.0) (float-vector 9.0 18.0 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 18.0 20.0) (float-vector 9.0 -7.0 20.0) (float-vector -7.13251 -7.0 20.0) (float-vector -5.82231 18.0 20.0)))
         (instance face :init :vertices (list (float-vector -5.82231 18.0 20.0) (float-vector -5.82231 18.0 -20.0) (float-vector 9.0 18.0 -20.0) (float-vector 9.0 18.0 20.0)))
         (instance face :init :vertices (list (float-vector 0.0 19.0 25.0) (float-vector 9.0 19.0 25.0) (float-vector 9.0 19.0 -25.0) (float-vector -2.842171e-14 19.0 -25.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 19.0 -25.0) (float-vector -2.842171e-14 21.0649 -25.0) (float-vector -2.842171e-14 77.0 -16.1408) (float-vector -2.842171e-14 77.0 16.1408) (float-vector 0.0 21.0649 25.0) (float-vector 0.0 19.0 25.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (setq blink13 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h3rarm-hand-y :weight 10 :centroid (float-vector -1.17482 31.8335 -1.939732e-14) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h3larm-shoulder-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -21.0 -53.0 26.0) (float-vector 43.0 -53.0 26.0) (float-vector 43.0 -53.0 -31.0) (float-vector 99.0 -53.0 -31.0) (float-vector 99.0 -53.0 -62.0) (float-vector -21.0 -53.0 -62.0)))
         (instance face :init :vertices (list (float-vector -21.0 -53.0 26.0) (float-vector -21.0 -36.0 26.0) (float-vector 43.0 -36.0 26.0) (float-vector 43.0 -53.0 26.0)))
         (instance face :init :vertices (list (float-vector 99.0 -21.7107 -62.0) (float-vector 99.0 -21.0 -62.0) (float-vector -21.0 -21.0 -62.0) (float-vector -21.0 -53.0 -62.0) (float-vector 99.0 -53.0 -62.0) (float-vector 99.0 -52.0 -62.0) (float-vector 96.0 -52.0 -62.0) (float-vector 96.0 -21.7107 -62.0)))
         (instance face :init :vertices (list (float-vector 99.0 -21.0 -62.0) (float-vector 99.0 -21.0 -64.0) (float-vector -21.0 -21.0 -64.0) (float-vector -21.0 -21.0 -62.0)))
         (instance face :init :vertices (list (float-vector 99.0 -21.0 -64.0) (float-vector 99.0 -55.0 -64.0) (float-vector -21.0 -55.0 -64.0) (float-vector -21.0 -21.0 -64.0)))
         (instance face :init :vertices (list (float-vector -21.0 -55.0 -64.0) (float-vector -21.0 -55.0 28.0) (float-vector -21.0 -36.0 28.0) (float-vector -21.0 -36.0 26.0) (float-vector -21.0 -53.0 26.0) (float-vector -21.0 -53.0 -62.0) (float-vector -21.0 -21.0 -62.0) (float-vector -21.0 -21.0 -64.0)))
         (instance face :init :vertices (list (float-vector -21.0 -55.0 28.0) (float-vector 43.0 -55.0 28.0) (float-vector 43.0 -36.0 28.0) (float-vector -21.0 -36.0 28.0)))
         (instance face :init :vertices (list (float-vector 99.0 -53.0 -31.0) (float-vector 99.0 -55.0 -31.0) (float-vector 99.0 -55.0 -64.0) (float-vector 99.0 -21.0 -64.0) (float-vector 99.0 -21.0 -62.0) (float-vector 99.0 -21.7107 -62.0) (float-vector 99.0 -22.7107 -63.0) (float-vector 99.0 -52.0 -63.0) (float-vector 99.0 -52.0 -62.0) (float-vector 99.0 -53.0 -62.0)))
         (instance face :init :vertices (list (float-vector 99.0 -55.0 -31.0) (float-vector 43.0 -55.0 -31.0) (float-vector 43.0 -55.0 28.0) (float-vector -21.0 -55.0 28.0) (float-vector -21.0 -55.0 -64.0) (float-vector 99.0 -55.0 -64.0)))
         (instance face :init :vertices (list (float-vector 43.0 -53.0 -31.0) (float-vector 43.0 -55.0 -31.0) (float-vector 99.0 -55.0 -31.0) (float-vector 99.0 -53.0 -31.0)))
         (instance face :init :vertices (list (float-vector 43.0 -36.0 26.0) (float-vector 43.0 -36.0 28.0) (float-vector 43.0 -55.0 28.0) (float-vector 43.0 -55.0 -31.0) (float-vector 43.0 -53.0 -31.0) (float-vector 43.0 -53.0 26.0)))
         (instance face :init :vertices (list (float-vector 45.0 -36.0 29.0) (float-vector 45.0 -36.0 25.0) (float-vector 45.0 36.0 25.0) (float-vector 45.0 36.0 29.0)))
         (instance face :init :vertices (list (float-vector 45.0 -36.0 29.0) (float-vector -49.0 -36.0 29.0) (float-vector -49.0 -36.0 -29.0) (float-vector -47.0 -36.0 -29.0) (float-vector -47.0 -36.0 25.0) (float-vector 45.0 -36.0 25.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 43.0 -36.0 28.0) (float-vector 43.0 -36.0 26.0) (float-vector -21.0 -36.0 26.0) (float-vector -21.0 -36.0 28.0)))
))
         (instance face :init :vertices (list (float-vector -49.0 -36.0 29.0) (float-vector -49.0 36.0 29.0) (float-vector -49.0 36.0 -29.0) (float-vector -49.0 -36.0 -29.0)))
         (instance face :init :vertices (list (float-vector -49.0 36.0 -29.0) (float-vector -47.0 36.0 -29.0) (float-vector -47.0 -36.0 -29.0) (float-vector -49.0 -36.0 -29.0)))
         (instance face :init :vertices (list (float-vector 45.0 36.0 29.0) (float-vector -49.0 36.0 29.0) (float-vector -49.0 -36.0 29.0) (float-vector 45.0 -36.0 29.0)))
         (instance face :init :vertices (list (float-vector 45.0 36.0 25.0) (float-vector -47.0 36.0 25.0) (float-vector -47.0 36.0 -29.0) (float-vector -49.0 36.0 -29.0) (float-vector -49.0 36.0 29.0) (float-vector 45.0 36.0 29.0)))
         (instance face :init :vertices (list (float-vector -47.0 -36.0 25.0) (float-vector -47.0 36.0 25.0) (float-vector 45.0 36.0 25.0) (float-vector 45.0 -36.0 25.0)))
         (instance face :init :vertices (list (float-vector -47.0 36.0 25.0) (float-vector -47.0 -36.0 25.0) (float-vector -47.0 -36.0 -29.0) (float-vector -47.0 36.0 -29.0)))
         (instance face :init :vertices (list (float-vector 95.0 -32.0 -30.0) (float-vector 95.0 -38.5 -31.7417) (float-vector 95.0 -43.2583 -36.5) (float-vector 95.0 -45.0 -43.0) (float-vector 95.0 -43.2583 -49.5) (float-vector 95.0 -38.5 -54.2583) (float-vector 95.0 -32.0 -56.0) (float-vector 95.0 -25.5 -54.2583) (float-vector 95.0 -20.7417 -49.5) (float-vector 95.0 -19.0 -43.0) (float-vector 95.0 -20.7417 -36.5) (float-vector 95.0 -25.5 -31.7417)))
         (instance face :init :vertices (list (float-vector 95.0 -32.0 -30.0) (float-vector -3.0 -32.0 -30.0) (float-vector -3.0 -38.5 -31.7417) (float-vector 95.0 -38.5 -31.7417)))
         (instance face :init :vertices (list (float-vector -3.0 -32.0 -30.0) (float-vector -3.0 -25.5 -31.7417) (float-vector -3.0 -20.7417 -36.5) (float-vector -3.0 -19.0 -43.0) (float-vector -3.0 -20.7417 -49.5) (float-vector -3.0 -25.5 -54.2583) (float-vector -3.0 -32.0 -56.0) (float-vector -3.0 -38.5 -54.2583) (float-vector -3.0 -43.2583 -49.5) (float-vector -3.0 -45.0 -43.0) (float-vector -3.0 -43.2583 -36.5) (float-vector -3.0 -38.5 -31.7417)))
         (instance face :init :vertices (list (float-vector -3.0 -43.2583 -36.5) (float-vector 95.0 -43.2583 -36.5) (float-vector 95.0 -38.5 -31.7417) (float-vector -3.0 -38.5 -31.7417)))
         (instance face :init :vertices (list (float-vector -3.0 -45.0 -43.0) (float-vector 95.0 -45.0 -43.0) (float-vector 95.0 -43.2583 -36.5) (float-vector -3.0 -43.2583 -36.5)))
         (instance face :init :vertices (list (float-vector -3.0 -43.2583 -49.5) (float-vector 95.0 -43.2583 -49.5) (float-vector 95.0 -45.0 -43.0) (float-vector -3.0 -45.0 -43.0)))
         (instance face :init :vertices (list (float-vector -3.0 -38.5 -54.2583) (float-vector 95.0 -38.5 -54.2583) (float-vector 95.0 -43.2583 -49.5) (float-vector -3.0 -43.2583 -49.5)))
         (instance face :init :vertices (list (float-vector -3.0 -32.0 -56.0) (float-vector 95.0 -32.0 -56.0) (float-vector 95.0 -38.5 -54.2583) (float-vector -3.0 -38.5 -54.2583)))
         (instance face :init :vertices (list (float-vector -3.0 -25.5 -54.2583) (float-vector 95.0 -25.5 -54.2583) (float-vector 95.0 -32.0 -56.0) (float-vector -3.0 -32.0 -56.0)))
         (instance face :init :vertices (list (float-vector -3.0 -20.7417 -49.5) (float-vector 95.0 -20.7417 -49.5) (float-vector 95.0 -25.5 -54.2583) (float-vector -3.0 -25.5 -54.2583)))
         (instance face :init :vertices (list (float-vector -3.0 -19.0 -43.0) (float-vector 95.0 -19.0 -43.0) (float-vector 95.0 -20.7417 -49.5) (float-vector -3.0 -20.7417 -49.5)))
         (instance face :init :vertices (list (float-vector -3.0 -20.7417 -36.5) (float-vector 95.0 -20.7417 -36.5) (float-vector 95.0 -19.0 -43.0) (float-vector -3.0 -19.0 -43.0)))
         (instance face :init :vertices (list (float-vector -3.0 -25.5 -31.7417) (float-vector 95.0 -25.5 -31.7417) (float-vector 95.0 -20.7417 -36.5) (float-vector -3.0 -20.7417 -36.5)))
         (instance face :init :vertices (list (float-vector 95.0 -25.5 -31.7417) (float-vector -3.0 -25.5 -31.7417) (float-vector -3.0 -32.0 -30.0) (float-vector 95.0 -32.0 -30.0)))
         (instance face :init :vertices (list (float-vector 96.0 -52.0 -33.7107) (float-vector 100.0 -52.0 -33.7107) (float-vector 100.0 -13.2893 5.0) (float-vector 96.0 -13.2893 5.0)))
         (instance face :init :vertices (list (float-vector 96.0 -52.0 -33.7107) (float-vector 96.0 -52.0 -62.0) (float-vector 99.0 -52.0 -62.0) (float-vector 99.0 -52.0 -63.0) (float-vector 100.0 -52.0 -63.0) (float-vector 100.0 -52.0 -33.7107)))
         (instance face :init :vertices (list (float-vector 100.0 -52.0 -63.0) (float-vector 100.0 -22.7107 -63.0) (float-vector 100.0 16.0 -24.2893) (float-vector 100.0 16.0 -22.3205) (float-vector 100.0 10.0 -28.3205) (float-vector 100.0 2.486900e-14 -31.0) (float-vector 100.0 -10.0 -28.3205) (float-vector 100.0 -17.3205 -21.0) (float-vector 100.0 -20.0 -11.0) (float-vector 100.0 -17.3205 -1.0) (float-vector 100.0 -11.3205 5.0) (float-vector 100.0 -13.2893 5.0) (float-vector 100.0 -52.0 -33.7107)))
         (instance face :init :vertices (list (float-vector 99.0 -22.7107 -63.0) (float-vector 100.0 -22.7107 -63.0) (float-vector 100.0 -52.0 -63.0) (float-vector 99.0 -52.0 -63.0)))
         (instance face :init :vertices (list (float-vector 96.0 -13.2893 5.0) (float-vector 96.0 -11.3205 5.0) (float-vector 96.0 -17.3205 -1.0) (float-vector 96.0 -20.0 -11.0) (float-vector 96.0 -17.3205 -21.0) (float-vector 96.0 -10.0 -28.3205) (float-vector 96.0 2.131628e-14 -31.0) (float-vector 96.0 10.0 -28.3205) (float-vector 96.0 16.0 -22.3205) (float-vector 96.0 16.0 -24.2893) (float-vector 96.0 -21.7107 -62.0) (float-vector 96.0 -52.0 -62.0) (float-vector 96.0 -52.0 -33.7107)))
         (instance face :init :vertices (list (float-vector 100.0 -11.3205 5.0) (float-vector 96.0 -11.3205 5.0) (float-vector 96.0 -13.2893 5.0) (float-vector 100.0 -13.2893 5.0)))
         (instance face :init :vertices (list (float-vector 96.0 16.0 5.0) (float-vector 96.0 11.3205 5.0) (float-vector 100.0 11.3205 5.0) (float-vector 100.0 16.0 5.0)))
         (instance face :init :vertices (list (float-vector 96.0 16.0 5.0) (float-vector 96.0 16.0 0.320508) (float-vector 96.0 11.3205 5.0)))
         (instance face :init :vertices (list (float-vector 100.0 11.3205 5.0) (float-vector 100.0 16.0 0.320508) (float-vector 100.0 16.0 5.0)))
         (instance face :init :vertices (list (float-vector 100.0 16.0 0.320508) (float-vector 96.0 16.0 0.320508) (float-vector 96.0 16.0 5.0) (float-vector 100.0 16.0 5.0)))
         (instance face :init :vertices (list (float-vector 96.0 16.0 -24.2893) (float-vector 100.0 16.0 -24.2893) (float-vector 100.0 -22.7107 -63.0) (float-vector 99.0 -22.7107 -63.0) (float-vector 99.0 -21.7107 -62.0) (float-vector 96.0 -21.7107 -62.0)))
         (instance face :init :vertices (list (float-vector 96.0 16.0 -22.3205) (float-vector 100.0 16.0 -22.3205) (float-vector 100.0 16.0 -24.2893) (float-vector 96.0 16.0 -24.2893)))
         (instance face :init :vertices (list (float-vector 101.0 10.0 6.32051) (float-vector 95.0 10.0 6.32051) (float-vector 95.0 0.0 9.0) (float-vector 101.0 3.552714e-15 9.0)))
         (instance face :init :vertices (list (float-vector 101.0 10.0 6.32051) (float-vector 101.0 17.3205 -1.0) (float-vector 95.0 17.3205 -1.0) (float-vector 95.0 10.0 6.32051))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 96.0 16.0 0.320508) (float-vector 100.0 16.0 0.320508) (float-vector 100.0 11.3205 5.0) (float-vector 96.0 11.3205 5.0)))
))
         (instance face :init :vertices (list (float-vector 101.0 17.3205 -1.0) (float-vector 101.0 20.0 -11.0) (float-vector 95.0 20.0 -11.0) (float-vector 95.0 17.3205 -1.0)))
         (instance face :init :vertices (list (float-vector 101.0 20.0 -11.0) (float-vector 101.0 17.3205 -21.0) (float-vector 95.0 17.3205 -21.0) (float-vector 95.0 20.0 -11.0)))
         (instance face :init :vertices (list (float-vector 96.0 10.0 -28.3205) (float-vector 95.0 10.0 -28.3205) (float-vector 95.0 17.3205 -21.0) (float-vector 101.0 17.3205 -21.0) (float-vector 101.0 10.0 -28.3205) (float-vector 100.0 10.0 -28.3205) (float-vector 100.0 16.0 -22.3205) (float-vector 96.0 16.0 -22.3205)))
         (instance face :init :vertices (list (float-vector 96.0 2.131628e-14 -31.0) (float-vector 95.0 2.131628e-14 -31.0) (float-vector 95.0 10.0 -28.3205) (float-vector 96.0 10.0 -28.3205)))
         (instance face :init :vertices (list (float-vector 101.0 10.0 -28.3205) (float-vector 101.0 2.486900e-14 -31.0) (float-vector 100.0 2.486900e-14 -31.0) (float-vector 100.0 10.0 -28.3205)))
         (instance face :init :vertices (list (float-vector 96.0 -10.0 -28.3205) (float-vector 95.0 -10.0 -28.3205) (float-vector 95.0 2.131628e-14 -31.0) (float-vector 96.0 2.131628e-14 -31.0)))
         (instance face :init :vertices (list (float-vector 101.0 2.486900e-14 -31.0) (float-vector 101.0 -10.0 -28.3205) (float-vector 100.0 -10.0 -28.3205) (float-vector 100.0 2.486900e-14 -31.0)))
         (instance face :init :vertices (list (float-vector 96.0 -17.3205 -21.0) (float-vector 95.0 -17.3205 -21.0) (float-vector 95.0 -10.0 -28.3205) (float-vector 96.0 -10.0 -28.3205)))
         (instance face :init :vertices (list (float-vector 101.0 -10.0 -28.3205) (float-vector 101.0 -17.3205 -21.0) (float-vector 100.0 -17.3205 -21.0) (float-vector 100.0 -10.0 -28.3205)))
         (instance face :init :vertices (list (float-vector 96.0 -20.0 -11.0) (float-vector 95.0 -20.0 -11.0) (float-vector 95.0 -17.3205 -21.0) (float-vector 96.0 -17.3205 -21.0)))
         (instance face :init :vertices (list (float-vector 101.0 -17.3205 -21.0) (float-vector 101.0 -20.0 -11.0) (float-vector 100.0 -20.0 -11.0) (float-vector 100.0 -17.3205 -21.0)))
         (instance face :init :vertices (list (float-vector 96.0 -17.3205 -1.0) (float-vector 95.0 -17.3205 -1.0) (float-vector 95.0 -20.0 -11.0) (float-vector 96.0 -20.0 -11.0)))
         (instance face :init :vertices (list (float-vector 101.0 -20.0 -11.0) (float-vector 101.0 -17.3205 -1.0) (float-vector 100.0 -17.3205 -1.0) (float-vector 100.0 -20.0 -11.0)))
         (instance face :init :vertices (list (float-vector 101.0 -17.3205 -1.0) (float-vector 101.0 -10.0 6.32051) (float-vector 95.0 -10.0 6.32051) (float-vector 95.0 -17.3205 -1.0) (float-vector 96.0 -17.3205 -1.0) (float-vector 96.0 -11.3205 5.0) (float-vector 100.0 -11.3205 5.0) (float-vector 100.0 -17.3205 -1.0)))
         (instance face :init :vertices (list (float-vector 95.0 -10.0 6.32051) (float-vector 95.0 0.0 9.0) (float-vector 95.0 10.0 6.32051) (float-vector 95.0 17.3205 -1.0) (float-vector 95.0 20.0 -11.0) (float-vector 95.0 17.3205 -21.0) (float-vector 95.0 10.0 -28.3205) (float-vector 95.0 2.131628e-14 -31.0) (float-vector 95.0 -10.0 -28.3205) (float-vector 95.0 -17.3205 -21.0) (float-vector 95.0 -20.0 -11.0) (float-vector 95.0 -17.3205 -1.0)))
         (instance face :init :vertices (list (float-vector 101.0 -10.0 6.32051) (float-vector 101.0 3.552714e-15 9.0) (float-vector 95.0 0.0 9.0) (float-vector 95.0 -10.0 6.32051)))
         (instance face :init :vertices (list (float-vector 101.0 3.552714e-15 9.0) (float-vector 101.0 -10.0 6.32051) (float-vector 101.0 -17.3205 -1.0) (float-vector 101.0 -20.0 -11.0) (float-vector 101.0 -17.3205 -21.0) (float-vector 101.0 -10.0 -28.3205) (float-vector 101.0 2.486900e-14 -31.0) (float-vector 101.0 10.0 -28.3205) (float-vector 101.0 17.3205 -21.0) (float-vector 101.0 20.0 -11.0) (float-vector 101.0 17.3205 -1.0) (float-vector 101.0 10.0 6.32051)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (setq blink4 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h3larm-shoulder-y :weight 50 :centroid (float-vector 32.5169 -24.1725 -20.9257) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h3larm-shoulder-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -150.0 -15.0 -9.0) (float-vector -157.5 -12.9904 -9.0) (float-vector -162.99 -7.5 -9.0) (float-vector -165.0 3.552714e-14 -9.0) (float-vector -162.99 7.5 -9.0) (float-vector -157.5 12.9904 -9.0) (float-vector -150.0 15.0 -9.0) (float-vector -147.0 14.1962 -9.0) (float-vector -147.0 -14.1962 -9.0)))
         (instance face :init :vertices (list (float-vector -147.0 -14.1962 -8.0) (float-vector -150.0 -15.0 -8.0) (float-vector -150.0 -15.0 -9.0) (float-vector -147.0 -14.1962 -9.0)))
         (instance face :init :vertices (list (float-vector -147.0 -14.1962 23.0) (float-vector -150.0 -15.0 23.0) (float-vector -150.0 -15.0 22.0) (float-vector -147.0 -14.1962 22.0)))
         (instance face :init :vertices (list (float-vector -147.0 14.1962 23.0) (float-vector -150.0 15.0 23.0) (float-vector -157.5 12.9904 23.0) (float-vector -162.99 7.5 23.0) (float-vector -165.0 3.552714e-14 23.0) (float-vector -162.99 -7.5 23.0) (float-vector -157.5 -12.9904 23.0) (float-vector -150.0 -15.0 23.0) (float-vector -147.0 -14.1962 23.0)))
         (instance face :init :vertices (list (float-vector -157.5 -12.9904 -9.0) (float-vector -150.0 -15.0 -9.0) (float-vector -150.0 -15.0 -8.0) (float-vector -157.5 -12.9904 -8.0)))
         (instance face :init :vertices (list (float-vector -157.5 -12.9904 22.0) (float-vector -150.0 -15.0 22.0) (float-vector -150.0 -15.0 23.0) (float-vector -157.5 -12.9904 23.0)))
         (instance face :init :vertices (list (float-vector -162.99 -7.5 -9.0) (float-vector -157.5 -12.9904 -9.0) (float-vector -157.5 -12.9904 -8.0) (float-vector -162.99 -7.5 -8.0)))
         (instance face :init :vertices (list (float-vector -162.99 -7.5 22.0) (float-vector -157.5 -12.9904 22.0) (float-vector -157.5 -12.9904 23.0) (float-vector -162.99 -7.5 23.0)))
         (instance face :init :vertices (list (float-vector -165.0 3.552714e-14 -9.0) (float-vector -162.99 -7.5 -9.0) (float-vector -162.99 -7.5 -8.0) (float-vector -165.0 3.552714e-14 -8.0)))
         (instance face :init :vertices (list (float-vector -165.0 3.552714e-14 22.0) (float-vector -162.99 -7.5 22.0) (float-vector -162.99 -7.5 23.0) (float-vector -165.0 3.552714e-14 23.0)))
         (instance face :init :vertices (list (float-vector -162.99 7.5 -9.0) (float-vector -165.0 3.552714e-14 -9.0) (float-vector -165.0 3.552714e-14 -8.0) (float-vector -162.99 7.5 -8.0)))
         (instance face :init :vertices (list (float-vector -162.99 7.5 22.0) (float-vector -165.0 3.552714e-14 22.0) (float-vector -165.0 3.552714e-14 23.0) (float-vector -162.99 7.5 23.0)))
         (instance face :init :vertices (list (float-vector -157.5 12.9904 -9.0) (float-vector -162.99 7.5 -9.0) (float-vector -162.99 7.5 -8.0) (float-vector -157.5 12.9904 -8.0)))
         (instance face :init :vertices (list (float-vector -157.5 12.9904 22.0) (float-vector -162.99 7.5 22.0) (float-vector -162.99 7.5 23.0) (float-vector -157.5 12.9904 23.0)))
         (instance face :init :vertices (list (float-vector -150.0 15.0 -9.0) (float-vector -157.5 12.9904 -9.0) (float-vector -157.5 12.9904 -8.0) (float-vector -150.0 15.0 -8.0)))
         (instance face :init :vertices (list (float-vector -150.0 15.0 22.0) (float-vector -157.5 12.9904 22.0) (float-vector -157.5 12.9904 23.0) (float-vector -150.0 15.0 23.0)))
         (instance face :init :vertices (list (float-vector -147.0 14.1962 22.0) (float-vector -150.0 15.0 22.0) (float-vector -150.0 15.0 23.0) (float-vector -147.0 14.1962 23.0)))
         (instance face :init :vertices (list (float-vector -147.0 14.1962 -9.0) (float-vector -150.0 15.0 -9.0) (float-vector -150.0 15.0 -8.0) (float-vector -147.0 14.1962 -8.0)))
         (instance face :init :vertices (list (float-vector 10.3923 14.0 106.0) (float-vector 10.3923 14.0 21.0) (float-vector 12.0 20.0 21.0) (float-vector 12.0 20.0 106.0)))
         (instance face :init :vertices (list (float-vector 10.3923 26.0 106.0) (float-vector 6.0 30.3923 106.0) (float-vector 0.0 32.0 106.0) (float-vector -6.0 30.3923 106.0) (float-vector -10.3923 26.0 106.0) (float-vector -12.0 20.0 106.0) (float-vector -10.3923 14.0 106.0) (float-vector -6.0 9.6077 106.0) (float-vector 0.0 8.0 106.0) (float-vector 6.0 9.6077 106.0) (float-vector 10.3923 14.0 106.0) (float-vector 12.0 20.0 106.0)))
         (instance face :init :vertices (list (float-vector 6.0 9.6077 21.0) (float-vector 10.3923 14.0 21.0) (float-vector 10.3923 14.0 106.0) (float-vector 6.0 9.6077 106.0)))
         (instance face :init :vertices (list (float-vector 0.0 8.0 21.0) (float-vector 6.0 9.6077 21.0) (float-vector 6.0 9.6077 106.0) (float-vector 0.0 8.0 106.0)))
         (instance face :init :vertices (list (float-vector -6.0 9.6077 21.0) (float-vector 0.0 8.0 21.0) (float-vector 0.0 8.0 106.0) (float-vector -6.0 9.6077 106.0)))
         (instance face :init :vertices (list (float-vector -10.3923 14.0 21.0) (float-vector -6.0 9.6077 21.0) (float-vector -6.0 9.6077 106.0) (float-vector -10.3923 14.0 106.0)))
         (instance face :init :vertices (list (float-vector -12.0 20.0 21.0) (float-vector -10.3923 14.0 21.0) (float-vector -10.3923 14.0 106.0) (float-vector -12.0 20.0 106.0)))
         (instance face :init :vertices (list (float-vector -10.3923 26.0 8.0) (float-vector -10.6603 25.0 8.0) (float-vector -10.6603 25.0 21.0) (float-vector -12.0 20.0 21.0) (float-vector -12.0 20.0 106.0) (float-vector -10.3923 26.0 106.0)))
         (instance face :init :vertices (list (float-vector -6.0 30.3923 8.0) (float-vector 0.0 32.0 8.0) (float-vector 6.0 30.3923 8.0) (float-vector 10.3923 26.0 8.0) (float-vector 10.6603 25.0 8.0) (float-vector -10.6603 25.0 8.0) (float-vector -10.3923 26.0 8.0)))
         (instance face :init :vertices (list (float-vector -6.0 30.3923 8.0) (float-vector -10.3923 26.0 8.0) (float-vector -10.3923 26.0 106.0) (float-vector -6.0 30.3923 106.0)))
         (instance face :init :vertices (list (float-vector 0.0 32.0 8.0) (float-vector -6.0 30.3923 8.0) (float-vector -6.0 30.3923 106.0) (float-vector 0.0 32.0 106.0)))
         (instance face :init :vertices (list (float-vector 6.0 30.3923 8.0) (float-vector 0.0 32.0 8.0) (float-vector 0.0 32.0 106.0) (float-vector 6.0 30.3923 106.0)))
         (instance face :init :vertices (list (float-vector 10.3923 26.0 8.0) (float-vector 6.0 30.3923 8.0) (float-vector 6.0 30.3923 106.0) (float-vector 10.3923 26.0 106.0)))
         (instance face :init :vertices (list (float-vector 10.6603 25.0 21.0) (float-vector 10.6603 25.0 8.0) (float-vector 10.3923 26.0 8.0) (float-vector 10.3923 26.0 106.0) (float-vector 12.0 20.0 106.0) (float-vector 12.0 20.0 21.0)))
         (instance face :init :vertices (list (float-vector -147.0 15.0 22.0) (float-vector -147.0 14.1962 22.0) (float-vector -147.0 14.1962 23.0) (float-vector -147.0 -14.1962 23.0) (float-vector -147.0 -14.1962 22.0) (float-vector -147.0 -15.0 22.0) (float-vector -147.0 -15.0 24.0) (float-vector -147.0 15.0 24.0)))
         (instance face :init :vertices (list (float-vector -147.0 15.0 -10.0) (float-vector -147.0 -15.0 -10.0) (float-vector -147.0 -15.0 -8.0) (float-vector -147.0 -14.1962 -8.0) (float-vector -147.0 -14.1962 -9.0) (float-vector -147.0 14.1962 -9.0) (float-vector -147.0 14.1962 -8.0) (float-vector -147.0 15.0 -8.0)))
         (instance face :init :vertices (list (float-vector -15.0 15.0 24.0) (float-vector -15.0 15.0 21.0) (float-vector -20.0 15.0 21.0) (float-vector -20.0 15.0 -10.0) (float-vector -147.0 15.0 -10.0) (float-vector -147.0 15.0 -8.0) (float-vector -80.0 15.0 -8.0) (float-vector -80.0 15.0 22.0) (float-vector -147.0 15.0 22.0) (float-vector -147.0 15.0 24.0)))
         (instance face :init :vertices (list (float-vector -15.0 -15.0 24.0) (float-vector -15.0 -15.0 21.0) (float-vector -15.0 15.0 21.0) (float-vector -15.0 15.0 24.0)))
         (instance face :init :vertices (list (float-vector -20.0 -15.0 -10.0) (float-vector -147.0 -15.0 -10.0) (float-vector -147.0 15.0 -10.0) (float-vector -20.0 15.0 -10.0)))
         (instance face :init :vertices (list (float-vector -15.0 -15.0 24.0) (float-vector -15.0 15.0 24.0) (float-vector -147.0 15.0 24.0) (float-vector -147.0 -15.0 24.0)))
         (instance face :init :vertices (list (float-vector -20.0 -15.0 21.0) (float-vector -15.0 -15.0 21.0) (float-vector -15.0 -15.0 24.0) (float-vector -147.0 -15.0 24.0) (float-vector -147.0 -15.0 22.0) (float-vector -80.0 -15.0 22.0) (float-vector -80.0 -15.0 -8.0) (float-vector -147.0 -15.0 -8.0) (float-vector -147.0 -15.0 -10.0) (float-vector -20.0 -15.0 -10.0)))
         (instance face :init :vertices (list (float-vector -20.0 25.0 21.0) (float-vector -20.0 25.0 -21.0) (float-vector -20.0 -25.0 -21.0) (float-vector -20.0 -25.0 21.0) (float-vector -20.0 -15.0 21.0) (float-vector -20.0 -15.0 -10.0) (float-vector -20.0 15.0 -10.0) (float-vector -20.0 15.0 21.0)))
         (instance face :init :vertices (list (float-vector 20.0 25.0 21.0) (float-vector 20.0 25.0 -21.0) (float-vector -20.0 25.0 -21.0) (float-vector -20.0 25.0 21.0) (float-vector -10.6603 25.0 21.0) (float-vector -10.6603 25.0 8.0) (float-vector 10.6603 25.0 8.0) (float-vector 10.6603 25.0 21.0)))
         (instance face :init :vertices (list (float-vector 20.0 -25.0 21.0) (float-vector 20.0 -25.0 -21.0) (float-vector 20.0 25.0 -21.0) (float-vector 20.0 25.0 21.0)))
         (instance face :init :vertices (list (float-vector -20.0 -25.0 -21.0) (float-vector -20.0 25.0 -21.0) (float-vector 20.0 25.0 -21.0) (float-vector 20.0 -25.0 -21.0)))
         (instance face :init :vertices (list (float-vector 10.6603 -25.0 21.0) (float-vector 10.6603 -25.0 20.0) (float-vector -10.6603 -25.0 20.0) (float-vector -10.6603 -25.0 21.0) (float-vector -20.0 -25.0 21.0) (float-vector -20.0 -25.0 -21.0) (float-vector 20.0 -25.0 -21.0) (float-vector 20.0 -25.0 21.0)))
         (instance face :init :vertices (list (float-vector -12.0 -20.0 21.0) (float-vector -10.3923 -14.0 21.0) (float-vector -6.0 -9.6077 21.0) (float-vector 5.684342e-14 -8.0 21.0) (float-vector 6.0 -9.6077 21.0) (float-vector 10.3923 -14.0 21.0) (float-vector 12.0 -20.0 21.0) (float-vector 10.6603 -25.0 21.0) (float-vector 20.0 -25.0 21.0) (float-vector 20.0 25.0 21.0) (float-vector 10.6603 25.0 21.0) (float-vector 12.0 20.0 21.0) (float-vector 10.3923 14.0 21.0) (float-vector 6.0 9.6077 21.0) (float-vector 0.0 8.0 21.0) (float-vector -6.0 9.6077 21.0) (float-vector -10.3923 14.0 21.0) (float-vector -12.0 20.0 21.0) (float-vector -10.6603 25.0 21.0) (float-vector -20.0 25.0 21.0) (float-vector -20.0 15.0 21.0) (float-vector -15.0 15.0 21.0) (float-vector -15.0 -15.0 21.0) (float-vector -20.0 -15.0 21.0) (float-vector -20.0 -25.0 21.0) (float-vector -10.6603 -25.0 21.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 5.0 0.0 21.0) (float-vector 4.33013 -2.5 21.0) (float-vector 2.5 -4.33013 21.0) (float-vector 0.0 -5.0 21.0) (float-vector -2.5 -4.33013 21.0) (float-vector -4.33013 -2.5 21.0) (float-vector -5.0 7.105427e-15 21.0) (float-vector -4.33013 2.5 21.0) (float-vector -2.5 4.33013 21.0) (float-vector 0.0 5.0 21.0) (float-vector 2.5 4.33013 21.0) (float-vector 4.33013 2.5 21.0)))
))
         (instance face :init :vertices (list (float-vector 4.33013 2.5 120.0) (float-vector 5.0 7.105427e-15 120.0) (float-vector 5.0 0.0 21.0) (float-vector 4.33013 2.5 21.0)))
         (instance face :init :vertices (list (float-vector 2.5 4.33013 120.0) (float-vector 4.33013 2.5 120.0) (float-vector 4.33013 2.5 21.0) (float-vector 2.5 4.33013 21.0)))
         (instance face :init :vertices (list (float-vector 0.0 5.0 120.0) (float-vector 2.5 4.33013 120.0) (float-vector 2.5 4.33013 21.0) (float-vector 0.0 5.0 21.0)))
         (instance face :init :vertices (list (float-vector -2.5 4.33013 120.0) (float-vector 0.0 5.0 120.0) (float-vector 0.0 5.0 21.0) (float-vector -2.5 4.33013 21.0)))
         (instance face :init :vertices (list (float-vector -4.33013 2.5 120.0) (float-vector -2.5 4.33013 120.0) (float-vector -2.5 4.33013 21.0) (float-vector -4.33013 2.5 21.0)))
         (instance face :init :vertices (list (float-vector -5.0 1.421085e-14 120.0) (float-vector -4.33013 2.5 120.0) (float-vector -4.33013 2.5 21.0) (float-vector -5.0 7.105427e-15 21.0)))
         (instance face :init :vertices (list (float-vector -4.33013 -2.5 120.0) (float-vector -5.0 1.421085e-14 120.0) (float-vector -5.0 7.105427e-15 21.0) (float-vector -4.33013 -2.5 21.0)))
         (instance face :init :vertices (list (float-vector -2.5 -4.33013 120.0) (float-vector -4.33013 -2.5 120.0) (float-vector -4.33013 -2.5 21.0) (float-vector -2.5 -4.33013 21.0)))
         (instance face :init :vertices (list (float-vector 0.0 -5.0 120.0) (float-vector -2.5 -4.33013 120.0) (float-vector -2.5 -4.33013 21.0) (float-vector 0.0 -5.0 21.0)))
         (instance face :init :vertices (list (float-vector 2.5 -4.33013 120.0) (float-vector 0.0 -5.0 120.0) (float-vector 0.0 -5.0 21.0) (float-vector 2.5 -4.33013 21.0)))
         (instance face :init :vertices (list (float-vector 4.33013 -2.5 120.0) (float-vector 2.5 -4.33013 120.0) (float-vector 2.5 -4.33013 21.0) (float-vector 4.33013 -2.5 21.0)))
         (instance face :init :vertices (list (float-vector 4.33013 -2.5 120.0) (float-vector 4.33013 -2.5 21.0) (float-vector 5.0 0.0 21.0) (float-vector 5.0 7.105427e-15 120.0)))
         (instance face :init :vertices (list (float-vector 5.0 7.105427e-15 120.0) (float-vector 4.33013 2.5 120.0) (float-vector 2.5 4.33013 120.0) (float-vector 0.0 5.0 120.0) (float-vector -2.5 4.33013 120.0) (float-vector -4.33013 2.5 120.0) (float-vector -5.0 1.421085e-14 120.0) (float-vector -4.33013 -2.5 120.0) (float-vector -2.5 -4.33013 120.0) (float-vector 0.0 -5.0 120.0) (float-vector 2.5 -4.33013 120.0) (float-vector 4.33013 -2.5 120.0)))
         (instance face :init :vertices (list (float-vector 10.3923 -14.0 118.0) (float-vector 12.0 -20.0 118.0) (float-vector 12.0 -20.0 21.0) (float-vector 10.3923 -14.0 21.0)))
         (instance face :init :vertices (list (float-vector 6.0 -9.6077 118.0) (float-vector 10.3923 -14.0 118.0) (float-vector 10.3923 -14.0 21.0) (float-vector 6.0 -9.6077 21.0)))
         (instance face :init :vertices (list (float-vector 0.0 -8.0 118.0) (float-vector 6.0 -9.6077 118.0) (float-vector 6.0 -9.6077 21.0) (float-vector 5.684342e-14 -8.0 21.0)))
         (instance face :init :vertices (list (float-vector -6.0 -9.6077 118.0) (float-vector 0.0 -8.0 118.0) (float-vector 5.684342e-14 -8.0 21.0) (float-vector -6.0 -9.6077 21.0)))
         (instance face :init :vertices (list (float-vector -10.3923 -14.0 118.0) (float-vector -6.0 -9.6077 118.0) (float-vector -6.0 -9.6077 21.0) (float-vector -10.3923 -14.0 21.0)))
         (instance face :init :vertices (list (float-vector -12.0 -20.0 118.0) (float-vector -10.3923 -14.0 118.0) (float-vector -10.3923 -14.0 21.0) (float-vector -12.0 -20.0 21.0)))
         (instance face :init :vertices (list (float-vector -10.3923 -26.0 20.0) (float-vector -10.3923 -26.0 118.0) (float-vector -12.0 -20.0 118.0) (float-vector -12.0 -20.0 21.0) (float-vector -10.6603 -25.0 21.0) (float-vector -10.6603 -25.0 20.0)))
         (instance face :init :vertices (list (float-vector -6.0 -30.3923 20.0) (float-vector -6.0 -30.3923 118.0) (float-vector -10.3923 -26.0 118.0) (float-vector -10.3923 -26.0 20.0)))
         (instance face :init :vertices (list (float-vector 0.0 -32.0 20.0) (float-vector 0.0 -32.0 118.0) (float-vector -6.0 -30.3923 118.0) (float-vector -6.0 -30.3923 20.0)))
         (instance face :init :vertices (list (float-vector 6.0 -30.3923 20.0) (float-vector 6.0 -30.3923 118.0) (float-vector 0.0 -32.0 118.0) (float-vector 0.0 -32.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.3923 -26.0 20.0) (float-vector 10.3923 -26.0 118.0) (float-vector 6.0 -30.3923 118.0) (float-vector 6.0 -30.3923 20.0)))
         (instance face :init :vertices (list (float-vector 12.0 -20.0 118.0) (float-vector 10.3923 -14.0 118.0) (float-vector 6.0 -9.6077 118.0) (float-vector 0.0 -8.0 118.0) (float-vector -6.0 -9.6077 118.0) (float-vector -10.3923 -14.0 118.0) (float-vector -12.0 -20.0 118.0) (float-vector -10.3923 -26.0 118.0) (float-vector -6.0 -30.3923 118.0) (float-vector 0.0 -32.0 118.0) (float-vector 6.0 -30.3923 118.0) (float-vector 10.3923 -26.0 118.0)))
         (instance face :init :vertices (list (float-vector 10.3923 -26.0 20.0) (float-vector 6.0 -30.3923 20.0) (float-vector 0.0 -32.0 20.0) (float-vector -6.0 -30.3923 20.0) (float-vector -10.3923 -26.0 20.0) (float-vector -10.6603 -25.0 20.0) (float-vector 10.6603 -25.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.6603 -25.0 20.0) (float-vector 10.6603 -25.0 21.0) (float-vector 12.0 -20.0 21.0) (float-vector 12.0 -20.0 118.0) (float-vector 10.3923 -26.0 118.0) (float-vector 10.3923 -26.0 20.0)))
         (instance face :init :vertices (list (float-vector -80.0 -15.0 22.0) (float-vector -147.0 -15.0 22.0) (float-vector -147.0 -14.1962 22.0) (float-vector -150.0 -15.0 22.0) (float-vector -157.5 -12.9904 22.0) (float-vector -162.99 -7.5 22.0) (float-vector -165.0 3.552714e-14 22.0) (float-vector -162.99 7.5 22.0) (float-vector -157.5 12.9904 22.0) (float-vector -150.0 15.0 22.0) (float-vector -147.0 14.1962 22.0) (float-vector -147.0 15.0 22.0) (float-vector -80.0 15.0 22.0)))
         (instance face :init :vertices (list (float-vector -80.0 -15.0 -8.0) (float-vector -80.0 -15.0 22.0) (float-vector -80.0 15.0 22.0) (float-vector -80.0 15.0 -8.0)))
         (instance face :init :vertices (list (float-vector -80.0 15.0 -8.0) (float-vector -147.0 15.0 -8.0) (float-vector -147.0 14.1962 -8.0) (float-vector -150.0 15.0 -8.0) (float-vector -157.5 12.9904 -8.0) (float-vector -162.99 7.5 -8.0) (float-vector -165.0 3.552714e-14 -8.0) (float-vector -162.99 -7.5 -8.0) (float-vector -157.5 -12.9904 -8.0) (float-vector -150.0 -15.0 -8.0) (float-vector -147.0 -14.1962 -8.0) (float-vector -147.0 -15.0 -8.0) (float-vector -80.0 -15.0 -8.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray80)
     (setq blink5 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h3larm-shoulder-p :weight 50 :centroid (float-vector -16.9893 -0.287019 25.9877) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h3larm-elbow-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -116.0 5.0 3.0) (float-vector -116.0 5.0 -13.0) (float-vector -116.0 -5.0 -13.0) (float-vector -116.0 -5.0 3.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -116.0 -1.73205 -2.0) (float-vector -116.0 -1.0 -2.73205) (float-vector -116.0 7.105427e-15 -3.0) (float-vector -116.0 1.0 -2.73205) (float-vector -116.0 1.73205 -2.0) (float-vector -116.0 2.0 -1.0) (float-vector -116.0 1.73205 -5.684342e-14) (float-vector -116.0 1.0 0.732051) (float-vector -116.0 7.105427e-15 1.0) (float-vector -116.0 -1.0 0.732051) (float-vector -116.0 -1.73205 -5.684342e-14) (float-vector -116.0 -2.0 -1.0)))
))
         (instance face :init :vertices (list (float-vector -116.0 5.0 3.0) (float-vector -110.0 5.0 3.0) (float-vector -110.0 5.0 -1.0) (float-vector -113.0 5.0 -1.0) (float-vector -113.0 5.0 -11.0) (float-vector -110.0 5.0 -11.0) (float-vector -110.0 5.0 -13.0) (float-vector -116.0 5.0 -13.0)))
         (instance face :init :vertices (list (float-vector -110.0 5.0 -11.0) (float-vector -110.0 -5.0 -11.0) (float-vector -110.0 -5.0 -13.0) (float-vector -110.0 5.0 -13.0)))
         (instance face :init :vertices (list (float-vector -110.0 5.0 3.0) (float-vector -110.0 -5.0 3.0) (float-vector -110.0 -5.0 -1.0) (float-vector -110.0 5.0 -1.0)))
         (instance face :init :vertices (list (float-vector -110.0 -5.0 -13.0) (float-vector -116.0 -5.0 -13.0) (float-vector -116.0 5.0 -13.0) (float-vector -110.0 5.0 -13.0)))
         (instance face :init :vertices (list (float-vector -116.0 -5.0 3.0) (float-vector -110.0 -5.0 3.0) (float-vector -110.0 5.0 3.0) (float-vector -116.0 5.0 3.0)))
         (instance face :init :vertices (list (float-vector -110.0 -5.0 -11.0) (float-vector -113.0 -5.0 -11.0) (float-vector -113.0 -5.0 -1.0) (float-vector -110.0 -5.0 -1.0) (float-vector -110.0 -5.0 3.0) (float-vector -116.0 -5.0 3.0) (float-vector -116.0 -5.0 -13.0) (float-vector -110.0 -5.0 -13.0)))
         (instance face :init :vertices (list (float-vector -18.1865 10.5 -1.421085e-14) (float-vector -18.1865 10.5 -12.0) (float-vector -21.0 -3.552714e-15 -12.0) (float-vector -21.0 -3.552714e-15 -11.0) (float-vector -19.3923 6.0 -11.0) (float-vector -19.3923 6.0 -1.0) (float-vector -21.0 0.0 -1.0) (float-vector -21.0 0.0 0.0)))
         (instance face :init :vertices (list (float-vector -18.1865 10.5 -1.421085e-14) (float-vector -10.5 18.1865 -1.421085e-14) (float-vector -10.5 18.1865 -12.0) (float-vector -18.1865 10.5 -12.0)))
         (instance face :init :vertices (list (float-vector -10.5 18.1865 -1.421085e-14) (float-vector 0.0 21.0 0.0) (float-vector 0.0 21.0 -12.0) (float-vector -10.5 18.1865 -12.0)))
         (instance face :init :vertices (list (float-vector 0.0 21.0 0.0) (float-vector 10.5 18.1865 1.421085e-14) (float-vector 10.5 18.1865 -12.0) (float-vector 0.0 21.0 -12.0)))
         (instance face :init :vertices (list (float-vector 10.5 18.1865 1.421085e-14) (float-vector 18.1865 10.5 0.0) (float-vector 18.1865 10.5 -12.0) (float-vector 10.5 18.1865 -12.0)))
         (instance face :init :vertices (list (float-vector 18.1865 10.5 0.0) (float-vector 21.0 2.486900e-14 0.0) (float-vector 21.0 2.131628e-14 -12.0) (float-vector 18.1865 10.5 -12.0)))
         (instance face :init :vertices (list (float-vector 21.0 2.486900e-14 0.0) (float-vector 18.1865 -10.5 0.0) (float-vector 18.1865 -10.5 -12.0) (float-vector 21.0 2.131628e-14 -12.0)))
         (instance face :init :vertices (list (float-vector 18.1865 -10.5 0.0) (float-vector 10.5 -18.1865 1.421085e-14) (float-vector 10.5 -18.1865 -12.0) (float-vector 18.1865 -10.5 -12.0)))
         (instance face :init :vertices (list (float-vector 10.5 -18.1865 1.421085e-14) (float-vector 5.684342e-14 -21.0 0.0) (float-vector 5.684342e-14 -21.0 -12.0) (float-vector 10.5 -18.1865 -12.0)))
         (instance face :init :vertices (list (float-vector 5.684342e-14 -21.0 0.0) (float-vector -10.5 -18.1865 -1.421085e-14) (float-vector -10.5 -18.1865 -12.0) (float-vector 5.684342e-14 -21.0 -12.0)))
         (instance face :init :vertices (list (float-vector -10.5 -18.1865 -1.421085e-14) (float-vector -18.1865 -10.5 -1.421085e-14) (float-vector -18.1865 -10.5 -12.0) (float-vector -10.5 -18.1865 -12.0)))
         (instance face :init :vertices (list (float-vector -18.1865 -10.5 -12.0) (float-vector -21.0 -3.552714e-15 -12.0) (float-vector -18.1865 10.5 -12.0) (float-vector -10.5 18.1865 -12.0) (float-vector 0.0 21.0 -12.0) (float-vector 10.5 18.1865 -12.0) (float-vector 18.1865 10.5 -12.0) (float-vector 21.0 2.131628e-14 -12.0) (float-vector 18.1865 -10.5 -12.0) (float-vector 10.5 -18.1865 -12.0) (float-vector 5.684342e-14 -21.0 -12.0) (float-vector -10.5 -18.1865 -12.0)))
         (instance face :init :vertices (list (float-vector -21.0 0.0 0.0) (float-vector -18.1865 -10.5 -1.421085e-14) (float-vector -10.5 -18.1865 -1.421085e-14) (float-vector 5.684342e-14 -21.0 0.0) (float-vector 10.5 -18.1865 1.421085e-14) (float-vector 18.1865 -10.5 0.0) (float-vector 21.0 2.486900e-14 0.0) (float-vector 18.1865 10.5 0.0) (float-vector 10.5 18.1865 1.421085e-14) (float-vector 0.0 21.0 0.0) (float-vector -10.5 18.1865 -1.421085e-14) (float-vector -18.1865 10.5 -1.421085e-14)))
         (instance face :init :vertices (list (float-vector -21.0 0.0 -1.0) (float-vector -19.3923 -6.0 -1.0) (float-vector -19.3923 -6.0 -11.0) (float-vector -21.0 -3.552714e-15 -11.0) (float-vector -21.0 -3.552714e-15 -12.0) (float-vector -18.1865 -10.5 -12.0) (float-vector -18.1865 -10.5 -1.421085e-14) (float-vector -21.0 0.0 0.0)))
         (instance face :init :vertices (list (float-vector -19.3923 6.0 -1.0) (float-vector -113.0 6.0 -1.0) (float-vector -113.0 5.0 -1.0) (float-vector -110.0 5.0 -1.0) (float-vector -110.0 -5.0 -1.0) (float-vector -113.0 -5.0 -1.0) (float-vector -113.0 -6.0 -1.0) (float-vector -19.3923 -6.0 -1.0) (float-vector -21.0 0.0 -1.0)))
         (instance face :init :vertices (list (float-vector -113.0 -6.0 -1.0) (float-vector -113.0 -6.0 -11.0) (float-vector -19.3923 -6.0 -11.0) (float-vector -19.3923 -6.0 -1.0)))
         (instance face :init :vertices (list (float-vector -113.0 -6.0 -11.0) (float-vector -113.0 -5.0 -11.0) (float-vector -110.0 -5.0 -11.0) (float-vector -110.0 5.0 -11.0) (float-vector -113.0 5.0 -11.0) (float-vector -113.0 6.0 -11.0) (float-vector -19.3923 6.0 -11.0) (float-vector -21.0 -3.552714e-15 -11.0) (float-vector -19.3923 -6.0 -11.0)))
         (instance face :init :vertices (list (float-vector -113.0 -5.0 -11.0) (float-vector -113.0 -6.0 -11.0) (float-vector -113.0 -6.0 -1.0) (float-vector -113.0 -5.0 -1.0)))
         (instance face :init :vertices (list (float-vector -113.0 6.0 -11.0) (float-vector -113.0 6.0 -1.0) (float-vector -19.3923 6.0 -1.0) (float-vector -19.3923 6.0 -11.0)))
         (instance face :init :vertices (list (float-vector -113.0 6.0 -1.0) (float-vector -113.0 6.0 -11.0) (float-vector -113.0 5.0 -11.0) (float-vector -113.0 5.0 -1.0)))
         (instance face :init :vertices (list (float-vector -116.0 7.105427e-15 -3.0) (float-vector -135.0 7.105427e-15 -3.0) (float-vector -135.0 1.0 -2.73205) (float-vector -116.0 1.0 -2.73205)))
         (instance face :init :vertices (list (float-vector -135.0 1.0 -2.73205) (float-vector -135.0 1.73205 -2.0) (float-vector -116.0 1.73205 -2.0) (float-vector -116.0 1.0 -2.73205)))
         (instance face :init :vertices (list (float-vector -135.0 1.73205 -2.0) (float-vector -135.0 2.0 -1.0) (float-vector -116.0 2.0 -1.0) (float-vector -116.0 1.73205 -2.0)))
         (instance face :init :vertices (list (float-vector -135.0 2.0 -1.0) (float-vector -135.0 1.73205 -7.105427e-14) (float-vector -116.0 1.73205 -5.684342e-14) (float-vector -116.0 2.0 -1.0)))
         (instance face :init :vertices (list (float-vector -135.0 1.73205 -7.105427e-14) (float-vector -135.0 1.0 0.732051) (float-vector -116.0 1.0 0.732051) (float-vector -116.0 1.73205 -5.684342e-14)))
         (instance face :init :vertices (list (float-vector -135.0 1.0 0.732051) (float-vector -135.0 1.065814e-14 1.0) (float-vector -116.0 7.105427e-15 1.0) (float-vector -116.0 1.0 0.732051)))
         (instance face :init :vertices (list (float-vector -135.0 1.065814e-14 1.0) (float-vector -135.0 -1.0 0.732051) (float-vector -116.0 -1.0 0.732051) (float-vector -116.0 7.105427e-15 1.0)))
         (instance face :init :vertices (list (float-vector -135.0 -1.0 0.732051) (float-vector -135.0 -1.73205 -7.105427e-14) (float-vector -116.0 -1.73205 -5.684342e-14) (float-vector -116.0 -1.0 0.732051)))
         (instance face :init :vertices (list (float-vector -135.0 -1.73205 -7.105427e-14) (float-vector -135.0 -2.0 -1.0) (float-vector -116.0 -2.0 -1.0) (float-vector -116.0 -1.73205 -5.684342e-14)))
         (instance face :init :vertices (list (float-vector -135.0 -2.0 -1.0) (float-vector -135.0 -1.73205 -2.0) (float-vector -116.0 -1.73205 -2.0) (float-vector -116.0 -2.0 -1.0)))
         (instance face :init :vertices (list (float-vector -135.0 -1.73205 -2.0) (float-vector -135.0 -1.0 -2.73205) (float-vector -116.0 -1.0 -2.73205) (float-vector -116.0 -1.73205 -2.0)))
         (instance face :init :vertices (list (float-vector -135.0 -1.0 -2.73205) (float-vector -135.0 7.105427e-15 -3.0) (float-vector -116.0 7.105427e-15 -3.0) (float-vector -116.0 -1.0 -2.73205)))
         (instance face :init :vertices (list (float-vector -135.0 7.105427e-15 -3.0) (float-vector -135.0 -1.0 -2.73205) (float-vector -135.0 -1.73205 -2.0) (float-vector -135.0 -2.0 -1.0) (float-vector -135.0 -1.73205 -7.105427e-14) (float-vector -135.0 -1.0 0.732051) (float-vector -135.0 1.065814e-14 1.0) (float-vector -135.0 1.0 0.732051) (float-vector -135.0 1.73205 -7.105427e-14) (float-vector -135.0 2.0 -1.0) (float-vector -135.0 1.73205 -2.0) (float-vector -135.0 1.0 -2.73205)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -100.0 10.0 -16.0) (float-vector -100.0 10.0 -36.0) (float-vector -100.0 4.56218 -36.0) (float-vector -100.0 6.06218 -34.5) (float-vector -100.0 7.0 -31.0) (float-vector -100.0 6.06218 -27.5) (float-vector -100.0 3.5 -24.9378) (float-vector -100.0 1.421085e-14 -24.0) (float-vector -100.0 -3.5 -24.9378) (float-vector -100.0 -6.06218 -27.5) (float-vector -100.0 -7.0 -31.0) (float-vector -100.0 -6.06218 -34.5) (float-vector -100.0 -4.56218 -36.0) (float-vector -100.0 -10.0 -36.0) (float-vector -100.0 -10.0 -16.0)))
         (instance face :init :vertices (list (float-vector -100.0 10.0 -16.0) (float-vector -94.0 10.0 -16.0) (float-vector -94.0 10.0 -36.0) (float-vector -100.0 10.0 -36.0)))
         (instance face :init :vertices (list (float-vector -94.0 10.0 -16.0) (float-vector -94.0 -10.0 -16.0) (float-vector -94.0 -10.0 -36.0) (float-vector -94.0 10.0 -36.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -94.0 -6.0 -17.0) (float-vector -94.0 6.0 -17.0) (float-vector -94.0 6.0 -27.0) (float-vector -94.0 -6.0 -27.0)))
))
         (instance face :init :vertices (list (float-vector -94.0 -10.0 -36.0) (float-vector -100.0 -10.0 -36.0) (float-vector -100.0 -4.56218 -36.0) (float-vector -99.0 -4.56218 -36.0) (float-vector -99.0 4.56218 -36.0) (float-vector -100.0 4.56218 -36.0) (float-vector -100.0 10.0 -36.0) (float-vector -94.0 10.0 -36.0)))
         (instance face :init :vertices (list (float-vector -94.0 -10.0 -16.0) (float-vector -100.0 -10.0 -16.0) (float-vector -100.0 -10.0 -36.0) (float-vector -94.0 -10.0 -36.0)))
         (instance face :init :vertices (list (float-vector -100.0 -10.0 -16.0) (float-vector -94.0 -10.0 -16.0) (float-vector -94.0 10.0 -16.0) (float-vector -100.0 10.0 -16.0)))
         (instance face :init :vertices (list (float-vector -18.1865 10.5 -16.0) (float-vector -18.1865 10.5 -28.0) (float-vector -21.0 0.0 -28.0) (float-vector -21.0 0.0 -27.0) (float-vector -19.3923 6.0 -27.0) (float-vector -19.3923 6.0 -17.0) (float-vector -21.0 0.0 -17.0) (float-vector -21.0 0.0 -16.0)))
         (instance face :init :vertices (list (float-vector -18.1865 10.5 -16.0) (float-vector -10.5 18.1865 -16.0) (float-vector -10.5 18.1865 -28.0) (float-vector -18.1865 10.5 -28.0)))
         (instance face :init :vertices (list (float-vector -10.5 18.1865 -16.0) (float-vector 0.0 21.0 -16.0) (float-vector 0.0 21.0 -28.0) (float-vector -10.5 18.1865 -28.0)))
         (instance face :init :vertices (list (float-vector 0.0 21.0 -16.0) (float-vector 10.5 18.1865 -16.0) (float-vector 10.5 18.1865 -28.0) (float-vector 0.0 21.0 -28.0)))
         (instance face :init :vertices (list (float-vector 10.5 18.1865 -16.0) (float-vector 18.1865 10.5 -16.0) (float-vector 18.1865 10.5 -28.0) (float-vector 10.5 18.1865 -28.0)))
         (instance face :init :vertices (list (float-vector 18.1865 10.5 -16.0) (float-vector 21.0 2.486900e-14 -16.0) (float-vector 21.0 2.486900e-14 -28.0) (float-vector 18.1865 10.5 -28.0)))
         (instance face :init :vertices (list (float-vector 21.0 2.486900e-14 -16.0) (float-vector 18.1865 -10.5 -16.0) (float-vector 18.1865 -10.5 -28.0) (float-vector 21.0 2.486900e-14 -28.0)))
         (instance face :init :vertices (list (float-vector 18.1865 -10.5 -16.0) (float-vector 10.5 -18.1865 -16.0) (float-vector 10.5 -18.1865 -28.0) (float-vector 18.1865 -10.5 -28.0)))
         (instance face :init :vertices (list (float-vector 10.5 -18.1865 -16.0) (float-vector 5.684342e-14 -21.0 -16.0) (float-vector 5.684342e-14 -21.0 -28.0) (float-vector 10.5 -18.1865 -28.0)))
         (instance face :init :vertices (list (float-vector 5.684342e-14 -21.0 -16.0) (float-vector -10.5 -18.1865 -16.0) (float-vector -10.5 -18.1865 -28.0) (float-vector 5.684342e-14 -21.0 -28.0)))
         (instance face :init :vertices (list (float-vector -10.5 -18.1865 -16.0) (float-vector -18.1865 -10.5 -16.0) (float-vector -18.1865 -10.5 -28.0) (float-vector -10.5 -18.1865 -28.0)))
         (instance face :init :vertices (list (float-vector -18.1865 -10.5 -28.0) (float-vector -21.0 0.0 -28.0) (float-vector -18.1865 10.5 -28.0) (float-vector -10.5 18.1865 -28.0) (float-vector 0.0 21.0 -28.0) (float-vector 10.5 18.1865 -28.0) (float-vector 18.1865 10.5 -28.0) (float-vector 21.0 2.486900e-14 -28.0) (float-vector 18.1865 -10.5 -28.0) (float-vector 10.5 -18.1865 -28.0) (float-vector 5.684342e-14 -21.0 -28.0) (float-vector -10.5 -18.1865 -28.0)))
         (instance face :init :vertices (list (float-vector -21.0 0.0 -16.0) (float-vector -18.1865 -10.5 -16.0) (float-vector -10.5 -18.1865 -16.0) (float-vector 5.684342e-14 -21.0 -16.0) (float-vector 10.5 -18.1865 -16.0) (float-vector 18.1865 -10.5 -16.0) (float-vector 21.0 2.486900e-14 -16.0) (float-vector 18.1865 10.5 -16.0) (float-vector 10.5 18.1865 -16.0) (float-vector 0.0 21.0 -16.0) (float-vector -10.5 18.1865 -16.0) (float-vector -18.1865 10.5 -16.0)))
         (instance face :init :vertices (list (float-vector -21.0 0.0 -17.0) (float-vector -19.3923 -6.0 -17.0) (float-vector -19.3923 -6.0 -27.0) (float-vector -21.0 0.0 -27.0) (float-vector -21.0 0.0 -28.0) (float-vector -18.1865 -10.5 -28.0) (float-vector -18.1865 -10.5 -16.0) (float-vector -21.0 0.0 -16.0)))
         (instance face :init :vertices (list (float-vector -19.3923 6.0 -17.0) (float-vector -94.0 6.0 -17.0) (float-vector -94.0 -6.0 -17.0) (float-vector -19.3923 -6.0 -17.0) (float-vector -21.0 0.0 -17.0)))
         (instance face :init :vertices (list (float-vector -94.0 -6.0 -27.0) (float-vector -19.3923 -6.0 -27.0) (float-vector -19.3923 -6.0 -17.0) (float-vector -94.0 -6.0 -17.0)))
         (instance face :init :vertices (list (float-vector -19.3923 6.0 -27.0) (float-vector -94.0 6.0 -27.0) (float-vector -94.0 6.0 -17.0) (float-vector -19.3923 6.0 -17.0)))
         (instance face :init :vertices (list (float-vector -94.0 6.0 -27.0) (float-vector -19.3923 6.0 -27.0) (float-vector -21.0 0.0 -27.0) (float-vector -19.3923 -6.0 -27.0) (float-vector -94.0 -6.0 -27.0)))
         (instance face :init :vertices (list (float-vector -99.0 3.552714e-15 -38.0) (float-vector -149.0 7.105427e-15 -38.0) (float-vector -149.0 3.5 -37.0622) (float-vector -99.0 3.5 -37.0622)))
         (instance face :init :vertices (list (float-vector -149.0 3.5 -37.0622) (float-vector -149.0 6.06218 -34.5) (float-vector -100.0 6.06218 -34.5) (float-vector -100.0 4.56218 -36.0) (float-vector -99.0 4.56218 -36.0) (float-vector -99.0 3.5 -37.0622)))
         (instance face :init :vertices (list (float-vector -149.0 6.06218 -34.5) (float-vector -149.0 7.0 -31.0) (float-vector -100.0 7.0 -31.0) (float-vector -100.0 6.06218 -34.5)))
         (instance face :init :vertices (list (float-vector -149.0 7.0 -31.0) (float-vector -149.0 6.06218 -27.5) (float-vector -100.0 6.06218 -27.5) (float-vector -100.0 7.0 -31.0)))
         (instance face :init :vertices (list (float-vector -149.0 6.06218 -27.5) (float-vector -149.0 3.5 -24.9378) (float-vector -100.0 3.5 -24.9378) (float-vector -100.0 6.06218 -27.5)))
         (instance face :init :vertices (list (float-vector -149.0 3.5 -24.9378) (float-vector -149.0 1.421085e-14 -24.0) (float-vector -100.0 1.421085e-14 -24.0) (float-vector -100.0 3.5 -24.9378)))
         (instance face :init :vertices (list (float-vector -149.0 1.421085e-14 -24.0) (float-vector -149.0 -3.5 -24.9378) (float-vector -100.0 -3.5 -24.9378) (float-vector -100.0 1.421085e-14 -24.0)))
         (instance face :init :vertices (list (float-vector -149.0 -3.5 -24.9378) (float-vector -149.0 -6.06218 -27.5) (float-vector -100.0 -6.06218 -27.5) (float-vector -100.0 -3.5 -24.9378)))
         (instance face :init :vertices (list (float-vector -149.0 -6.06218 -27.5) (float-vector -149.0 -7.0 -31.0) (float-vector -100.0 -7.0 -31.0) (float-vector -100.0 -6.06218 -27.5)))
         (instance face :init :vertices (list (float-vector -149.0 -7.0 -31.0) (float-vector -149.0 -6.06218 -34.5) (float-vector -100.0 -6.06218 -34.5) (float-vector -100.0 -7.0 -31.0)))
         (instance face :init :vertices (list (float-vector -149.0 -6.06218 -34.5) (float-vector -149.0 -3.5 -37.0622) (float-vector -99.0 -3.5 -37.0622) (float-vector -99.0 -4.56218 -36.0) (float-vector -100.0 -4.56218 -36.0) (float-vector -100.0 -6.06218 -34.5)))
         (instance face :init :vertices (list (float-vector -99.0 -3.5 -37.0622) (float-vector -99.0 3.552714e-15 -38.0) (float-vector -99.0 3.5 -37.0622) (float-vector -99.0 4.56218 -36.0) (float-vector -99.0 -4.56218 -36.0)))
         (instance face :init :vertices (list (float-vector -149.0 -3.5 -37.0622) (float-vector -149.0 7.105427e-15 -38.0) (float-vector -99.0 3.552714e-15 -38.0) (float-vector -99.0 -3.5 -37.0622)))
         (instance face :init :vertices (list (float-vector -149.0 7.105427e-15 -38.0) (float-vector -149.0 -3.5 -37.0622) (float-vector -149.0 -6.06218 -34.5) (float-vector -149.0 -7.0 -31.0) (float-vector -149.0 -6.06218 -27.5) (float-vector -149.0 -3.5 -24.9378) (float-vector -149.0 1.421085e-14 -24.0) (float-vector -149.0 3.5 -24.9378) (float-vector -149.0 6.06218 -27.5) (float-vector -149.0 7.0 -31.0) (float-vector -149.0 6.06218 -34.5) (float-vector -149.0 3.5 -37.0622)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink6 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h3larm-elbow-p :weight 100 :centroid (float-vector -38.9702 2.576881e-15 -15.0484) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h3larm-wrist-r
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 4.0 10.0 16.0) (float-vector -24.0 10.0 16.0) (float-vector -24.0 -10.0 16.0) (float-vector 4.0 -10.0 16.0)))
         (instance face :init :vertices (list (float-vector 4.0 10.0 16.0) (float-vector 4.0 10.0 15.0) (float-vector -5.0 10.0 15.0) (float-vector -5.0 10.0 0.0) (float-vector -24.0 10.0 0.0) (float-vector -24.0 10.0 16.0)))
         (instance face :init :vertices (list (float-vector -5.0 10.0 0.0) (float-vector -5.0 -10.0 0.0) (float-vector -24.0 -10.0 0.0) (float-vector -24.0 10.0 0.0)))
         (instance face :init :vertices (list (float-vector -24.0 -10.0 0.0) (float-vector -24.0 -10.0 16.0) (float-vector -24.0 10.0 16.0) (float-vector -24.0 10.0 0.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -24.0 -1.0 11.7321) (float-vector -24.0 -1.73205 11.0) (float-vector -24.0 -2.0 10.0) (float-vector -24.0 -1.73205 9.0) (float-vector -24.0 -1.0 8.26795) (float-vector -24.0 0.0 8.0) (float-vector -24.0 1.0 8.26795) (float-vector -24.0 1.73205 9.0) (float-vector -24.0 2.0 10.0) (float-vector -24.0 1.73205 11.0) (float-vector -24.0 1.0 11.7321) (float-vector -24.0 -3.552714e-15 12.0)))
))
         (instance face :init :vertices (list (float-vector -5.0 -10.0 0.0) (float-vector -5.0 -10.0 15.0) (float-vector 4.0 -10.0 15.0) (float-vector 4.0 -10.0 16.0) (float-vector -24.0 -10.0 16.0) (float-vector -24.0 -10.0 0.0)))
         (instance face :init :vertices (list (float-vector 4.0 -10.0 15.0) (float-vector 4.0 10.0 15.0) (float-vector 4.0 10.0 16.0) (float-vector 4.0 -10.0 16.0)))
         (instance face :init :vertices (list (float-vector 5.0 11.0 15.0) (float-vector -5.0 11.0 15.0) (float-vector -5.0 10.0 15.0) (float-vector 4.0 10.0 15.0) (float-vector 4.0 -10.0 15.0) (float-vector -5.0 -10.0 15.0) (float-vector -5.0 -11.0 15.0) (float-vector 5.0 -11.0 15.0)))
         (instance face :init :vertices (list (float-vector 5.0 11.0 15.0) (float-vector 5.0 11.0 -15.0) (float-vector -5.0 11.0 -15.0) (float-vector -5.0 11.0 15.0)))
         (instance face :init :vertices (list (float-vector 5.0 11.0 -15.0) (float-vector 5.0 -11.0 -15.0) (float-vector -5.0 -11.0 -15.0) (float-vector -5.0 11.0 -15.0)))
         (instance face :init :vertices (list (float-vector -5.0 -11.0 -15.0) (float-vector -5.0 -11.0 15.0) (float-vector -5.0 -10.0 15.0) (float-vector -5.0 -10.0 0.0) (float-vector -5.0 10.0 0.0) (float-vector -5.0 10.0 15.0) (float-vector -5.0 11.0 15.0) (float-vector -5.0 11.0 -15.0)))
         (instance face :init :vertices (list (float-vector 5.0 -11.0 -15.0) (float-vector 5.0 -11.0 15.0) (float-vector -5.0 -11.0 15.0) (float-vector -5.0 -11.0 -15.0)))
         (instance face :init :vertices (list (float-vector 5.0 -11.0 15.0) (float-vector 5.0 -11.0 -15.0) (float-vector 5.0 11.0 -15.0) (float-vector 5.0 11.0 15.0)))
         (instance face :init :vertices (list (float-vector -38.0 0.0 12.0) (float-vector -24.0 -3.552714e-15 12.0) (float-vector -24.0 1.0 11.7321) (float-vector -38.0 1.0 11.7321)))
         (instance face :init :vertices (list (float-vector -24.0 1.73205 11.0) (float-vector -38.0 1.73205 11.0) (float-vector -38.0 1.0 11.7321) (float-vector -24.0 1.0 11.7321)))
         (instance face :init :vertices (list (float-vector -24.0 2.0 10.0) (float-vector -38.0 2.0 10.0) (float-vector -38.0 1.73205 11.0) (float-vector -24.0 1.73205 11.0)))
         (instance face :init :vertices (list (float-vector -24.0 1.73205 9.0) (float-vector -38.0 1.73205 9.0) (float-vector -38.0 2.0 10.0) (float-vector -24.0 2.0 10.0)))
         (instance face :init :vertices (list (float-vector -24.0 1.0 8.26795) (float-vector -38.0 1.0 8.26795) (float-vector -38.0 1.73205 9.0) (float-vector -24.0 1.73205 9.0)))
         (instance face :init :vertices (list (float-vector -24.0 0.0 8.0) (float-vector -38.0 3.552714e-15 8.0) (float-vector -38.0 1.0 8.26795) (float-vector -24.0 1.0 8.26795)))
         (instance face :init :vertices (list (float-vector -24.0 -1.0 8.26795) (float-vector -38.0 -1.0 8.26795) (float-vector -38.0 3.552714e-15 8.0) (float-vector -24.0 0.0 8.0)))
         (instance face :init :vertices (list (float-vector -24.0 -1.73205 9.0) (float-vector -38.0 -1.73205 9.0) (float-vector -38.0 -1.0 8.26795) (float-vector -24.0 -1.0 8.26795)))
         (instance face :init :vertices (list (float-vector -24.0 -2.0 10.0) (float-vector -38.0 -2.0 10.0) (float-vector -38.0 -1.73205 9.0) (float-vector -24.0 -1.73205 9.0)))
         (instance face :init :vertices (list (float-vector -24.0 -1.73205 11.0) (float-vector -38.0 -1.73205 11.0) (float-vector -38.0 -2.0 10.0) (float-vector -24.0 -2.0 10.0)))
         (instance face :init :vertices (list (float-vector -24.0 -1.0 11.7321) (float-vector -38.0 -1.0 11.7321) (float-vector -38.0 -1.73205 11.0) (float-vector -24.0 -1.73205 11.0)))
         (instance face :init :vertices (list (float-vector -38.0 -1.0 11.7321) (float-vector -38.0 0.0 12.0) (float-vector -38.0 1.0 11.7321) (float-vector -38.0 1.73205 11.0) (float-vector -38.0 2.0 10.0) (float-vector -38.0 1.73205 9.0) (float-vector -38.0 1.0 8.26795) (float-vector -38.0 3.552714e-15 8.0) (float-vector -38.0 -1.0 8.26795) (float-vector -38.0 -1.73205 9.0) (float-vector -38.0 -2.0 10.0) (float-vector -38.0 -1.73205 11.0)))
         (instance face :init :vertices (list (float-vector -38.0 0.0 12.0) (float-vector -38.0 -1.0 11.7321) (float-vector -24.0 -1.0 11.7321) (float-vector -24.0 -3.552714e-15 12.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -30.0 20.0 15.0) (float-vector 10.0 20.0 15.0) (float-vector 10.0 -20.0 15.0) (float-vector -30.0 -20.0 15.0)))
         (instance face :init :vertices (list (float-vector 10.0 20.0 33.0) (float-vector -30.0 20.0 33.0) (float-vector -30.0 -20.0 33.0) (float-vector 10.0 -20.0 33.0)))
         (instance face :init :vertices (list (float-vector -30.0 20.0 15.0) (float-vector -30.0 20.0 33.0) (float-vector 10.0 20.0 33.0) (float-vector 10.0 20.0 15.0)))
         (instance face :init :vertices (list (float-vector -30.0 -20.0 15.0) (float-vector -30.0 -20.0 33.0) (float-vector -30.0 20.0 33.0) (float-vector -30.0 20.0 15.0)))
         (instance face :init :vertices (list (float-vector 10.0 -20.0 15.0) (float-vector 10.0 -20.0 33.0) (float-vector -30.0 -20.0 33.0) (float-vector -30.0 -20.0 15.0)))
         (instance face :init :vertices (list (float-vector 10.0 20.0 15.0) (float-vector 10.0 20.0 33.0) (float-vector 10.0 -20.0 33.0) (float-vector 10.0 -20.0 15.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 0.0 -16.1408 101.0) (float-vector -1.421085e-14 -25.0 45.0649) (float-vector 5.66169 -25.0 45.0649) (float-vector 2.73026 -16.1408 101.0)))
         (instance face :init :vertices (list (float-vector -9.0 -25.0 43.0) (float-vector -9.0 25.0 43.0) (float-vector -9.0 25.0 17.0) (float-vector -9.0 20.0 17.0) (float-vector -9.0 20.0 42.0) (float-vector -9.0 -20.0 42.0) (float-vector -9.0 -20.0 17.0) (float-vector -9.0 -25.0 17.0)))
         (instance face :init :vertices (list (float-vector 0.0 16.1408 101.0) (float-vector 0.0 -16.1408 101.0) (float-vector 2.73026 -16.1408 101.0) (float-vector 2.73026 16.1408 101.0)))
         (instance face :init :vertices (list (float-vector 2.73026 16.1408 101.0) (float-vector 2.73026 -16.1408 101.0) (float-vector 5.66169 -25.0 45.0649) (float-vector 7.13251 -25.0 17.0) (float-vector 7.13251 -20.0 17.0) (float-vector 5.82231 -20.0 42.0) (float-vector 5.82231 20.0 42.0) (float-vector 7.13251 20.0 17.0) (float-vector 7.13251 25.0 17.0) (float-vector 5.66169 25.0 45.0649)))
         (instance face :init :vertices (list (float-vector 7.13251 -25.0 17.0) (float-vector 5.66169 -25.0 45.0649) (float-vector -1.421085e-14 -25.0 45.0649) (float-vector -1.421085e-14 -25.0 43.0) (float-vector -9.0 -25.0 43.0) (float-vector -9.0 -25.0 17.0)))
         (instance face :init :vertices (list (float-vector 7.13251 -20.0 17.0) (float-vector 7.13251 -25.0 17.0) (float-vector -9.0 -25.0 17.0) (float-vector -9.0 -20.0 17.0)))
         (instance face :init :vertices (list (float-vector 0.0 25.0 45.0649) (float-vector 0.0 16.1408 101.0) (float-vector 2.73026 16.1408 101.0) (float-vector 5.66169 25.0 45.0649)))
         (instance face :init :vertices (list (float-vector 5.66169 25.0 45.0649) (float-vector 7.13251 25.0 17.0) (float-vector -9.0 25.0 17.0) (float-vector -9.0 25.0 43.0) (float-vector 0.0 25.0 43.0) (float-vector 0.0 25.0 45.0649)))
         (instance face :init :vertices (list (float-vector -9.0 20.0 17.0) (float-vector -9.0 25.0 17.0) (float-vector 7.13251 25.0 17.0) (float-vector 7.13251 20.0 17.0)))
         (instance face :init :vertices (list (float-vector 5.82231 -20.0 42.0) (float-vector 7.13251 -20.0 17.0) (float-vector -9.0 -20.0 17.0) (float-vector -9.0 -20.0 42.0)))
         (instance face :init :vertices (list (float-vector -9.0 20.0 42.0) (float-vector -9.0 20.0 17.0) (float-vector 7.13251 20.0 17.0) (float-vector 5.82231 20.0 42.0)))
         (instance face :init :vertices (list (float-vector 5.82231 20.0 42.0) (float-vector 5.82231 -20.0 42.0) (float-vector -9.0 -20.0 42.0) (float-vector -9.0 20.0 42.0)))
         (instance face :init :vertices (list (float-vector 0.0 25.0 43.0) (float-vector -9.0 25.0 43.0) (float-vector -9.0 -25.0 43.0) (float-vector -1.421085e-14 -25.0 43.0)))
         (instance face :init :vertices (list (float-vector -1.421085e-14 -25.0 43.0) (float-vector -1.421085e-14 -25.0 45.0649) (float-vector 0.0 -16.1408 101.0) (float-vector 0.0 16.1408 101.0) (float-vector 0.0 25.0 45.0649) (float-vector 0.0 25.0 43.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray50)
     (send (elt bc 1) :set-color :gray60)
     (send (elt bc 2) :set-color :gray90)
     (setq blink7 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h3larm-wrist-r :weight 70 :centroid (float-vector -6.38476 7.866975e-16 14.3166) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h3larm-hand-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 0.0 77.0 -16.1408) (float-vector 0.0 21.0649 -25.0) (float-vector -5.66169 21.0649 -25.0) (float-vector -2.73026 77.0 -16.1408)))
         (instance face :init :vertices (list (float-vector 9.0 19.0 -25.0) (float-vector 9.0 19.0 25.0) (float-vector 9.0 -7.0 25.0) (float-vector 9.0 -7.0 20.0) (float-vector 9.0 18.0 20.0) (float-vector 9.0 18.0 -20.0) (float-vector 9.0 -7.0 -20.0) (float-vector 9.0 -7.0 -25.0)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 77.0 16.1408) (float-vector 0.0 77.0 -16.1408) (float-vector -2.73026 77.0 -16.1408) (float-vector -2.73026 77.0 16.1408)))
         (instance face :init :vertices (list (float-vector -2.73026 77.0 16.1408) (float-vector -2.73026 77.0 -16.1408) (float-vector -5.66169 21.0649 -25.0) (float-vector -7.13251 -7.0 -25.0) (float-vector -7.13251 -7.0 -20.0) (float-vector -5.82231 18.0 -20.0) (float-vector -5.82231 18.0 20.0) (float-vector -7.13251 -7.0 20.0) (float-vector -7.13251 -7.0 25.0) (float-vector -5.66169 21.0649 25.0)))
         (instance face :init :vertices (list (float-vector -7.13251 -7.0 -25.0) (float-vector -5.66169 21.0649 -25.0) (float-vector 0.0 21.0649 -25.0) (float-vector 0.0 19.0 -25.0) (float-vector 9.0 19.0 -25.0) (float-vector 9.0 -7.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.13251 -7.0 -20.0) (float-vector -7.13251 -7.0 -25.0) (float-vector 9.0 -7.0 -25.0) (float-vector 9.0 -7.0 -20.0)))
         (instance face :init :vertices (list (float-vector 0.0 21.0649 25.0) (float-vector 2.842171e-14 77.0 16.1408) (float-vector -2.73026 77.0 16.1408) (float-vector -5.66169 21.0649 25.0)))
         (instance face :init :vertices (list (float-vector -5.66169 21.0649 25.0) (float-vector -7.13251 -7.0 25.0) (float-vector 9.0 -7.0 25.0) (float-vector 9.0 19.0 25.0) (float-vector 0.0 19.0 25.0) (float-vector 0.0 21.0649 25.0)))
         (instance face :init :vertices (list (float-vector 9.0 -7.0 20.0) (float-vector 9.0 -7.0 25.0) (float-vector -7.13251 -7.0 25.0) (float-vector -7.13251 -7.0 20.0)))
         (instance face :init :vertices (list (float-vector -5.82231 18.0 -20.0) (float-vector -7.13251 -7.0 -20.0) (float-vector 9.0 -7.0 -20.0) (float-vector 9.0 18.0 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 18.0 20.0) (float-vector 9.0 -7.0 20.0) (float-vector -7.13251 -7.0 20.0) (float-vector -5.82231 18.0 20.0)))
         (instance face :init :vertices (list (float-vector -5.82231 18.0 20.0) (float-vector -5.82231 18.0 -20.0) (float-vector 9.0 18.0 -20.0) (float-vector 9.0 18.0 20.0)))
         (instance face :init :vertices (list (float-vector 0.0 19.0 25.0) (float-vector 9.0 19.0 25.0) (float-vector 9.0 19.0 -25.0) (float-vector 0.0 19.0 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 19.0 -25.0) (float-vector 0.0 21.0649 -25.0) (float-vector 0.0 77.0 -16.1408) (float-vector 2.842171e-14 77.0 16.1408) (float-vector 0.0 21.0649 25.0) (float-vector 0.0 19.0 25.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (setq blink8 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h3larm-hand-y :weight 10 :centroid (float-vector -1.17482 31.8335 5.383698e-15) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h3head-neck-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 15.0 21.0 70.0) (float-vector -15.0 21.0 70.0) (float-vector -15.0 -15.0 70.0) (float-vector 15.0 -15.0 70.0)))
         (instance face :init :vertices (list (float-vector -15.0 21.0 105.0) (float-vector -15.0 21.0 70.0) (float-vector 15.0 21.0 70.0) (float-vector 15.0 21.0 105.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 2.59808 21.0 90.5) (float-vector 1.5 21.0 89.4019) (float-vector -3.552714e-15 21.0 89.0) (float-vector -1.5 21.0 89.4019) (float-vector -2.59808 21.0 90.5) (float-vector -3.0 21.0 92.0) (float-vector -2.59808 21.0 93.5) (float-vector -1.5 21.0 94.5981) (float-vector 3.552714e-15 21.0 95.0) (float-vector 1.5 21.0 94.5981) (float-vector 2.59808 21.0 93.5) (float-vector 3.0 21.0 92.0)))
))
         (instance face :init :vertices (list (float-vector 15.0 -15.0 105.0) (float-vector 15.0 -15.0 70.0) (float-vector -15.0 -15.0 70.0) (float-vector -15.0 -15.0 105.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 1.5 -15.0 89.4019) (float-vector 2.59808 -15.0 90.5) (float-vector 3.0 -15.0 92.0) (float-vector 2.59808 -15.0 93.5) (float-vector 1.5 -15.0 94.5981) (float-vector 3.552714e-15 -15.0 95.0) (float-vector -1.5 -15.0 94.5981) (float-vector -2.59808 -15.0 93.5) (float-vector -3.0 -15.0 92.0) (float-vector -2.59808 -15.0 90.5) (float-vector -1.5 -15.0 89.4019) (float-vector 0.0 -15.0 89.0)))
))
         (instance face :init :vertices (list (float-vector -15.0 -25.0 105.0) (float-vector -15.0 -25.0 55.0) (float-vector 15.0 -25.0 55.0) (float-vector 15.0 -25.0 105.0)))
         (instance face :init :vertices (list (float-vector -15.0 25.0 55.0) (float-vector -15.0 -25.0 55.0) (float-vector -15.0 -25.0 105.0) (float-vector -15.0 -15.0 105.0) (float-vector -15.0 -15.0 70.0) (float-vector -15.0 21.0 70.0) (float-vector -15.0 21.0 105.0) (float-vector -15.0 25.0 105.0)))
         (instance face :init :vertices (list (float-vector 15.0 -25.0 105.0) (float-vector 15.0 -15.0 105.0) (float-vector -15.0 -15.0 105.0) (float-vector -15.0 -25.0 105.0)))
         (instance face :init :vertices (list (float-vector 15.0 -15.0 105.0) (float-vector 15.0 -25.0 105.0) (float-vector 15.0 -25.0 55.0) (float-vector 15.0 25.0 55.0) (float-vector 15.0 25.0 105.0) (float-vector 15.0 21.0 105.0) (float-vector 15.0 21.0 70.0) (float-vector 15.0 -15.0 70.0)))
         (instance face :init :vertices (list (float-vector 15.0 25.0 105.0) (float-vector -15.0 25.0 105.0) (float-vector -15.0 21.0 105.0) (float-vector 15.0 21.0 105.0)))
         (instance face :init :vertices (list (float-vector 15.0 25.0 55.0) (float-vector -15.0 25.0 55.0) (float-vector -15.0 25.0 105.0) (float-vector 15.0 25.0 105.0)))
         (instance face :init :vertices (list (float-vector -15.0 25.0 55.0) (float-vector 15.0 25.0 55.0) (float-vector 15.0 -25.0 55.0) (float-vector -15.0 -25.0 55.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 8.0 -3.552714e-15 55.0) (float-vector 6.9282 4.0 55.0) (float-vector 4.0 6.9282 55.0) (float-vector 7.105427e-15 8.0 55.0) (float-vector -4.0 6.9282 55.0) (float-vector -6.9282 4.0 55.0) (float-vector -8.0 7.105427e-15 55.0) (float-vector -6.9282 -4.0 55.0) (float-vector -4.0 -6.9282 55.0) (float-vector -1.065814e-14 -8.0 55.0) (float-vector 4.0 -6.9282 55.0) (float-vector 6.9282 -4.0 55.0)))
))
         (instance face :init :vertices (list (float-vector 6.9282 4.0 41.0) (float-vector 6.9282 4.0 55.0) (float-vector 8.0 -3.552714e-15 55.0) (float-vector 8.0 -3.552714e-15 41.0)))
         (instance face :init :vertices (list (float-vector 4.0 6.9282 41.0) (float-vector 4.0 6.9282 55.0) (float-vector 6.9282 4.0 55.0) (float-vector 6.9282 4.0 41.0)))
         (instance face :init :vertices (list (float-vector 7.105427e-15 8.0 41.0) (float-vector 7.105427e-15 8.0 55.0) (float-vector 4.0 6.9282 55.0) (float-vector 4.0 6.9282 41.0)))
         (instance face :init :vertices (list (float-vector -4.0 6.9282 41.0) (float-vector -4.0 6.9282 55.0) (float-vector 7.105427e-15 8.0 55.0) (float-vector 7.105427e-15 8.0 41.0)))
         (instance face :init :vertices (list (float-vector -6.9282 4.0 41.0) (float-vector -6.9282 4.0 55.0) (float-vector -4.0 6.9282 55.0) (float-vector -4.0 6.9282 41.0)))
         (instance face :init :vertices (list (float-vector -8.0 7.105427e-15 41.0) (float-vector -8.0 7.105427e-15 55.0) (float-vector -6.9282 4.0 55.0) (float-vector -6.9282 4.0 41.0)))
         (instance face :init :vertices (list (float-vector -6.9282 -4.0 41.0) (float-vector -6.9282 -4.0 55.0) (float-vector -8.0 7.105427e-15 55.0) (float-vector -8.0 7.105427e-15 41.0)))
         (instance face :init :vertices (list (float-vector -4.0 -6.9282 41.0) (float-vector -4.0 -6.9282 55.0) (float-vector -6.9282 -4.0 55.0) (float-vector -6.9282 -4.0 41.0)))
         (instance face :init :vertices (list (float-vector -1.065814e-14 -8.0 41.0) (float-vector -1.065814e-14 -8.0 55.0) (float-vector -4.0 -6.9282 55.0) (float-vector -4.0 -6.9282 41.0)))
         (instance face :init :vertices (list (float-vector 4.0 -6.9282 41.0) (float-vector 4.0 -6.9282 55.0) (float-vector -1.065814e-14 -8.0 55.0) (float-vector -1.065814e-14 -8.0 41.0)))
         (instance face :init :vertices (list (float-vector 6.9282 -4.0 41.0) (float-vector 6.9282 -4.0 55.0) (float-vector 4.0 -6.9282 55.0) (float-vector 4.0 -6.9282 41.0)))
         (instance face :init :vertices (list (float-vector 6.9282 -4.0 41.0) (float-vector 8.0 -3.552714e-15 41.0) (float-vector 8.0 -3.552714e-15 55.0) (float-vector 6.9282 -4.0 55.0)))
         (instance face :init :vertices (list (float-vector 8.0 -3.552714e-15 41.0) (float-vector 6.9282 -4.0 41.0) (float-vector 4.0 -6.9282 41.0) (float-vector -1.065814e-14 -8.0 41.0) (float-vector -4.0 -6.9282 41.0) (float-vector -6.9282 -4.0 41.0) (float-vector -8.0 7.105427e-15 41.0) (float-vector -6.9282 4.0 41.0) (float-vector -4.0 6.9282 41.0) (float-vector 7.105427e-15 8.0 41.0) (float-vector 4.0 6.9282 41.0) (float-vector 6.9282 4.0 41.0)))
         (instance face :init :vertices (list (float-vector 3.0 -15.0 92.0) (float-vector 3.0 21.0 92.0) (float-vector 2.59808 21.0 93.5) (float-vector 2.59808 -15.0 93.5)))
         (instance face :init :vertices (list (float-vector 1.5 21.0 94.5981) (float-vector 1.5 -15.0 94.5981) (float-vector 2.59808 -15.0 93.5) (float-vector 2.59808 21.0 93.5)))
         (instance face :init :vertices (list (float-vector 3.552714e-15 21.0 95.0) (float-vector 3.552714e-15 -15.0 95.0) (float-vector 1.5 -15.0 94.5981) (float-vector 1.5 21.0 94.5981)))
         (instance face :init :vertices (list (float-vector -1.5 21.0 94.5981) (float-vector -1.5 -15.0 94.5981) (float-vector 3.552714e-15 -15.0 95.0) (float-vector 3.552714e-15 21.0 95.0)))
         (instance face :init :vertices (list (float-vector -2.59808 21.0 93.5) (float-vector -2.59808 -15.0 93.5) (float-vector -1.5 -15.0 94.5981) (float-vector -1.5 21.0 94.5981)))
         (instance face :init :vertices (list (float-vector -3.0 21.0 92.0) (float-vector -3.0 -15.0 92.0) (float-vector -2.59808 -15.0 93.5) (float-vector -2.59808 21.0 93.5)))
         (instance face :init :vertices (list (float-vector -2.59808 21.0 90.5) (float-vector -2.59808 -15.0 90.5) (float-vector -3.0 -15.0 92.0) (float-vector -3.0 21.0 92.0)))
         (instance face :init :vertices (list (float-vector -1.5 21.0 89.4019) (float-vector -1.5 -15.0 89.4019) (float-vector -2.59808 -15.0 90.5) (float-vector -2.59808 21.0 90.5)))
         (instance face :init :vertices (list (float-vector -3.552714e-15 21.0 89.0) (float-vector 0.0 -15.0 89.0) (float-vector -1.5 -15.0 89.4019) (float-vector -1.5 21.0 89.4019)))
         (instance face :init :vertices (list (float-vector 1.5 21.0 89.4019) (float-vector 1.5 -15.0 89.4019) (float-vector 0.0 -15.0 89.0) (float-vector -3.552714e-15 21.0 89.0)))
         (instance face :init :vertices (list (float-vector 2.59808 -15.0 90.5) (float-vector 2.59808 21.0 90.5) (float-vector 3.0 21.0 92.0) (float-vector 3.0 -15.0 92.0)))
         (instance face :init :vertices (list (float-vector 2.59808 21.0 90.5) (float-vector 2.59808 -15.0 90.5) (float-vector 1.5 -15.0 89.4019) (float-vector 1.5 21.0 89.4019)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray50)
     (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h3head-neck-y :weight 50 :centroid (float-vector 2.448468e-16 -2.70396 71.242) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h3head-neck-r
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -12.0 12.0 -12.0) (float-vector -12.0 -20.0 -12.0) (float-vector -12.0 -20.0 -10.0) (float-vector -12.0 -18.0 -10.0) (float-vector -12.0 -18.0 30.0) (float-vector -12.0 -20.0 30.0) (float-vector -12.0 -20.0 31.0) (float-vector -12.0 4.0 31.0) (float-vector -12.0 4.0 32.0) (float-vector -12.0 9.0 32.0) (float-vector -12.0 9.0 31.0) (float-vector -12.0 12.0 31.0) (float-vector -12.0 12.0 30.0) (float-vector -12.0 -17.0 30.0) (float-vector -12.0 -17.0 -10.0) (float-vector -12.0 12.0 -10.0)))
         (instance face :init :vertices (list (float-vector -12.0 12.0 -12.0) (float-vector 12.0 12.0 -12.0) (float-vector 12.0 -20.0 -12.0) (float-vector -12.0 -20.0 -12.0)))
         (instance face :init :vertices (list (float-vector 12.0 4.0 32.0) (float-vector 12.0 9.0 32.0) (float-vector -12.0 9.0 32.0) (float-vector -12.0 4.0 32.0)))
         (instance face :init :vertices (list (float-vector 12.0 12.0 -12.0) (float-vector 12.0 12.0 -10.0) (float-vector 12.0 -17.0 -10.0) (float-vector 12.0 -17.0 30.0) (float-vector 12.0 12.0 30.0) (float-vector 12.0 12.0 31.0) (float-vector 12.0 9.0 31.0) (float-vector 12.0 9.0 32.0) (float-vector 12.0 4.0 32.0) (float-vector 12.0 4.0 31.0) (float-vector 12.0 -20.0 31.0) (float-vector 12.0 -20.0 30.0) (float-vector 12.0 -18.0 30.0) (float-vector 12.0 -18.0 -10.0) (float-vector 12.0 -20.0 -10.0) (float-vector 12.0 -20.0 -12.0)))
         (instance face :init :vertices (list (float-vector 12.0 -20.0 -10.0) (float-vector -12.0 -20.0 -10.0) (float-vector -12.0 -20.0 -12.0) (float-vector 12.0 -20.0 -12.0)))
         (instance face :init :vertices (list (float-vector -12.0 -20.0 30.0) (float-vector 12.0 -20.0 30.0) (float-vector 12.0 -20.0 31.0) (float-vector -12.0 -20.0 31.0)))
         (instance face :init :vertices (list (float-vector -12.0 12.0 -10.0) (float-vector 12.0 12.0 -10.0) (float-vector 12.0 12.0 -12.0) (float-vector -12.0 12.0 -12.0)))
         (instance face :init :vertices (list (float-vector 12.0 12.0 30.0) (float-vector -12.0 12.0 30.0) (float-vector -12.0 12.0 31.0) (float-vector 12.0 12.0 31.0)))
         (instance face :init :vertices (list (float-vector -12.0 -17.0 -10.0) (float-vector 12.0 -17.0 -10.0) (float-vector 12.0 12.0 -10.0) (float-vector -12.0 12.0 -10.0)))
         (instance face :init :vertices (list (float-vector 12.0 -17.0 30.0) (float-vector -12.0 -17.0 30.0) (float-vector -12.0 12.0 30.0) (float-vector 12.0 12.0 30.0)))
         (instance face :init :vertices (list (float-vector -12.0 -17.0 30.0) (float-vector 12.0 -17.0 30.0) (float-vector 12.0 -17.0 -10.0) (float-vector -12.0 -17.0 -10.0)))
         (instance face :init :vertices (list (float-vector 12.0 -18.0 30.0) (float-vector 24.0 -18.0 30.0) (float-vector 24.0 -18.0 -10.0) (float-vector 12.0 -18.0 -10.0)))
         (instance face :init :vertices (list (float-vector -24.0 -18.0 30.0) (float-vector -12.0 -18.0 30.0) (float-vector -12.0 -18.0 -10.0) (float-vector -24.0 -18.0 -10.0)))
         (instance face :init :vertices (list (float-vector -24.0 -18.0 30.0) (float-vector -24.0 -38.0 30.0) (float-vector 24.0 -38.0 30.0) (float-vector 24.0 -18.0 30.0) (float-vector 12.0 -18.0 30.0) (float-vector 12.0 -20.0 30.0) (float-vector -12.0 -20.0 30.0) (float-vector -12.0 -18.0 30.0)))
         (instance face :init :vertices (list (float-vector -24.0 -38.0 30.0) (float-vector -24.0 -38.0 -10.0) (float-vector 24.0 -38.0 -10.0) (float-vector 24.0 -38.0 30.0)))
         (instance face :init :vertices (list (float-vector 24.0 -38.0 -10.0) (float-vector 24.0 -18.0 -10.0) (float-vector 24.0 -18.0 30.0) (float-vector 24.0 -38.0 30.0)))
         (instance face :init :vertices (list (float-vector -24.0 -38.0 -10.0) (float-vector -24.0 -18.0 -10.0) (float-vector -12.0 -18.0 -10.0) (float-vector -12.0 -20.0 -10.0) (float-vector 12.0 -20.0 -10.0) (float-vector 12.0 -18.0 -10.0) (float-vector 24.0 -18.0 -10.0) (float-vector 24.0 -38.0 -10.0)))
         (instance face :init :vertices (list (float-vector -24.0 -18.0 -10.0) (float-vector -24.0 -38.0 -10.0) (float-vector -24.0 -38.0 30.0) (float-vector -24.0 -18.0 30.0)))
         (instance face :init :vertices (list (float-vector 20.0 9.0 31.0) (float-vector 20.0 9.0 50.9289) (float-vector 15.9289 9.0 55.0) (float-vector -15.9289 9.0 55.0) (float-vector -20.0 9.0 50.9289) (float-vector -20.0 9.0 31.0) (float-vector -12.0 9.0 31.0) (float-vector -12.0 9.0 32.0) (float-vector 12.0 9.0 32.0) (float-vector 12.0 9.0 31.0)))
         (instance face :init :vertices (list (float-vector 20.0 4.0 50.9289) (float-vector 20.0 9.0 50.9289) (float-vector 20.0 9.0 31.0) (float-vector 20.0 4.0 31.0)))
         (instance face :init :vertices (list (float-vector 15.9289 4.0 55.0) (float-vector 20.0 4.0 50.9289) (float-vector 20.0 4.0 31.0) (float-vector 12.0 4.0 31.0) (float-vector 12.0 4.0 32.0) (float-vector -12.0 4.0 32.0) (float-vector -12.0 4.0 31.0) (float-vector -20.0 4.0 31.0) (float-vector -20.0 4.0 50.9289) (float-vector -15.9289 4.0 55.0)))
         (instance face :init :vertices (list (float-vector -20.0 4.0 31.0) (float-vector -20.0 9.0 31.0) (float-vector -20.0 9.0 50.9289) (float-vector -20.0 4.0 50.9289)))
         (instance face :init :vertices (list (float-vector 20.0 29.0 31.0) (float-vector 20.0 29.0 50.9289) (float-vector 15.9289 29.0 55.0) (float-vector -15.9289 29.0 55.0) (float-vector -20.0 29.0 50.9289) (float-vector -20.0 29.0 31.0)))
         (instance face :init :vertices (list (float-vector 20.0 24.0 50.9289) (float-vector 20.0 29.0 50.9289) (float-vector 20.0 29.0 31.0) (float-vector 20.0 24.0 31.0)))
         (instance face :init :vertices (list (float-vector 15.9289 24.0 55.0) (float-vector 20.0 24.0 50.9289) (float-vector 20.0 24.0 31.0) (float-vector -20.0 24.0 31.0) (float-vector -20.0 24.0 50.9289) (float-vector -15.9289 24.0 55.0)))
         (instance face :init :vertices (list (float-vector -20.0 29.0 50.9289) (float-vector -20.0 24.0 50.9289) (float-vector -20.0 24.0 31.0) (float-vector -20.0 29.0 31.0)))
         (instance face :init :vertices (list (float-vector 24.0 -15.3462 31.0) (float-vector 16.7691 -61.0 31.0) (float-vector -16.7691 -61.0 31.0) (float-vector -24.0 -15.3462 31.0) (float-vector -24.0 39.0 31.0) (float-vector 24.0 39.0 31.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -20.0 19.0 31.0) (float-vector -20.0 14.0 31.0) (float-vector 20.0 14.0 31.0) (float-vector 20.0 19.0 31.0)))
         (instance hole :init :vertices (list (float-vector -20.0 29.0 31.0) (float-vector -20.0 24.0 31.0) (float-vector 20.0 24.0 31.0) (float-vector 20.0 29.0 31.0)))
         (instance hole :init :vertices (list (float-vector -20.0 9.0 31.0) (float-vector -20.0 4.0 31.0) (float-vector -12.0 4.0 31.0) (float-vector -12.0 -20.0 31.0) (float-vector 12.0 -20.0 31.0) (float-vector 12.0 4.0 31.0) (float-vector 20.0 4.0 31.0) (float-vector 20.0 9.0 31.0) (float-vector 12.0 9.0 31.0) (float-vector 12.0 12.0 31.0) (float-vector -12.0 12.0 31.0) (float-vector -12.0 9.0 31.0)))
))
         (instance face :init :vertices (list (float-vector 16.7691 -61.0 38.2394) (float-vector 16.7691 -61.0 31.0) (float-vector 24.0 -15.3462 31.0) (float-vector 24.0 -15.3462 46.9289) (float-vector 21.9864 -28.0593 48.9425)))
         (instance face :init :vertices (list (float-vector -24.0 39.0 46.9289) (float-vector -24.0 39.0 31.0) (float-vector -24.0 -15.3462 31.0) (float-vector -24.0 -15.3462 46.9289)))
         (instance face :init :vertices (list (float-vector -15.9289 19.0 55.0) (float-vector -15.9289 24.0 55.0) (float-vector -20.0 24.0 50.9289) (float-vector -20.0 29.0 50.9289) (float-vector -15.9289 29.0 55.0) (float-vector -15.9289 39.0 55.0) (float-vector -24.0 39.0 46.9289) (float-vector -24.0 -15.3462 46.9289) (float-vector -21.9864 -28.0593 48.9425) (float-vector -15.9289 -9.41616 55.0) (float-vector -15.9289 4.0 55.0) (float-vector -20.0 4.0 50.9289) (float-vector -20.0 9.0 50.9289) (float-vector -15.9289 9.0 55.0) (float-vector -15.9289 14.0 55.0) (float-vector -20.0 14.0 50.9289) (float-vector -20.0 19.0 50.9289)))
         (instance face :init :vertices (list (float-vector 24.0 39.0 46.9289) (float-vector 24.0 -15.3462 46.9289) (float-vector 24.0 -15.3462 31.0) (float-vector 24.0 39.0 31.0)))
         (instance face :init :vertices (list (float-vector -16.7691 -61.0 38.2394) (float-vector -21.9864 -28.0593 48.9425) (float-vector -24.0 -15.3462 46.9289) (float-vector -24.0 -15.3462 31.0) (float-vector -16.7691 -61.0 31.0)))
         (instance face :init :vertices (list (float-vector 16.7691 -61.0 38.2394) (float-vector -16.7691 -61.0 38.2394) (float-vector -16.7691 -61.0 31.0) (float-vector 16.7691 -61.0 31.0)))
         (instance face :init :vertices (list (float-vector 15.9289 39.0 55.0) (float-vector 24.0 39.0 46.9289) (float-vector 24.0 39.0 31.0) (float-vector -24.0 39.0 31.0) (float-vector -24.0 39.0 46.9289) (float-vector -15.9289 39.0 55.0)))
         (instance face :init :vertices (list (float-vector 15.9289 -9.41616 55.0) (float-vector -15.9289 -9.41616 55.0) (float-vector -21.9864 -28.0593 48.9425) (float-vector -16.7691 -61.0 38.2394) (float-vector 16.7691 -61.0 38.2394) (float-vector 21.9864 -28.0593 48.9425)))
         (instance face :init :vertices (list (float-vector 15.9289 19.0 55.0) (float-vector 15.9289 24.0 55.0) (float-vector -15.9289 24.0 55.0) (float-vector -15.9289 19.0 55.0)))
         (instance face :init :vertices (list (float-vector 15.9289 -9.41616 55.0) (float-vector 15.9289 4.0 55.0) (float-vector -15.9289 4.0 55.0) (float-vector -15.9289 -9.41616 55.0)))
         (instance face :init :vertices (list (float-vector 15.9289 14.0 55.0) (float-vector -15.9289 14.0 55.0) (float-vector -15.9289 9.0 55.0) (float-vector 15.9289 9.0 55.0)))
         (instance face :init :vertices (list (float-vector 15.9289 29.0 55.0) (float-vector 15.9289 39.0 55.0) (float-vector -15.9289 39.0 55.0) (float-vector -15.9289 29.0 55.0)))
         (instance face :init :vertices (list (float-vector 20.0 14.0 50.9289) (float-vector 15.9289 14.0 55.0) (float-vector 15.9289 9.0 55.0) (float-vector 20.0 9.0 50.9289) (float-vector 20.0 4.0 50.9289) (float-vector 15.9289 4.0 55.0) (float-vector 15.9289 -9.41616 55.0) (float-vector 21.9864 -28.0593 48.9425) (float-vector 24.0 -15.3462 46.9289) (float-vector 24.0 39.0 46.9289) (float-vector 15.9289 39.0 55.0) (float-vector 15.9289 29.0 55.0) (float-vector 20.0 29.0 50.9289) (float-vector 20.0 24.0 50.9289) (float-vector 15.9289 24.0 55.0) (float-vector 15.9289 19.0 55.0) (float-vector 20.0 19.0 50.9289)))
         (instance face :init :vertices (list (float-vector -20.0 14.0 50.9289) (float-vector -20.0 14.0 31.0) (float-vector -20.0 19.0 31.0) (float-vector -20.0 19.0 50.9289)))
         (instance face :init :vertices (list (float-vector 20.0 14.0 50.9289) (float-vector 20.0 14.0 31.0) (float-vector -20.0 14.0 31.0) (float-vector -20.0 14.0 50.9289) (float-vector -15.9289 14.0 55.0) (float-vector 15.9289 14.0 55.0)))
         (instance face :init :vertices (list (float-vector 20.0 19.0 31.0) (float-vector 20.0 19.0 50.9289) (float-vector 15.9289 19.0 55.0) (float-vector -15.9289 19.0 55.0) (float-vector -20.0 19.0 50.9289) (float-vector -20.0 19.0 31.0)))
         (instance face :init :vertices (list (float-vector 20.0 19.0 50.9289) (float-vector 20.0 19.0 31.0) (float-vector 20.0 14.0 31.0) (float-vector 20.0 14.0 50.9289)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :white)
     (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h3head-neck-r :weight 50 :centroid (float-vector -1.843700e-15 -13.6353 29.5903) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h3head-neck-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 4.0 -12.0 -39.0) (float-vector 4.0 -12.0 -33.0) (float-vector -17.0 -12.0 -33.0) (float-vector -17.0 -12.0 -39.0)))
         (instance face :init :vertices (list (float-vector 4.0 -12.0 -39.0) (float-vector 4.0 12.0 -39.0) (float-vector 4.0 12.0 -33.0) (float-vector 4.0 2.83013 -33.0) (float-vector 4.0 2.83013 -36.0) (float-vector 4.0 -2.83013 -36.0) (float-vector 4.0 -2.83013 -33.0) (float-vector 4.0 -12.0 -33.0)))
         (instance face :init :vertices (list (float-vector 4.0 12.0 -39.0) (float-vector -17.0 12.0 -39.0) (float-vector -17.0 12.0 -33.0) (float-vector 4.0 12.0 -33.0)))
         (instance face :init :vertices (list (float-vector 4.0 -2.83013 -33.0) (float-vector 2.5 -4.33013 -33.0) (float-vector 0.0 -5.0 -33.0) (float-vector -2.5 -4.33013 -33.0) (float-vector -4.33013 -2.5 -33.0) (float-vector -5.0 0.0 -33.0) (float-vector -4.33013 2.5 -33.0) (float-vector -2.5 4.33013 -33.0) (float-vector 0.0 5.0 -33.0) (float-vector 2.5 4.33013 -33.0) (float-vector 4.0 2.83013 -33.0) (float-vector 4.0 12.0 -33.0) (float-vector -17.0 12.0 -33.0) (float-vector -17.0 -12.0 -33.0) (float-vector 4.0 -12.0 -33.0)))
         (instance face :init :vertices (list (float-vector -17.0 -12.0 -39.0) (float-vector -17.0 12.0 -39.0) (float-vector 4.0 12.0 -39.0) (float-vector 4.0 -12.0 -39.0)))
         (instance face :init :vertices (list (float-vector -2.5 4.33013 -33.0) (float-vector -2.5 4.33013 -21.0) (float-vector 0.0 5.0 -21.0) (float-vector 0.0 5.0 -33.0)))
         (instance face :init :vertices (list (float-vector -4.33013 2.5 -33.0) (float-vector -4.33013 2.5 -21.0) (float-vector -2.5 4.33013 -21.0) (float-vector -2.5 4.33013 -33.0)))
         (instance face :init :vertices (list (float-vector -5.0 0.0 -33.0) (float-vector -5.0 0.0 -21.0) (float-vector -4.33013 2.5 -21.0) (float-vector -4.33013 2.5 -33.0)))
         (instance face :init :vertices (list (float-vector -4.33013 -2.5 -33.0) (float-vector -4.33013 -2.5 -21.0) (float-vector -5.0 0.0 -21.0) (float-vector -5.0 0.0 -33.0)))
         (instance face :init :vertices (list (float-vector -2.5 -4.33013 -33.0) (float-vector -2.5 -4.33013 -21.0) (float-vector -4.33013 -2.5 -21.0) (float-vector -4.33013 -2.5 -33.0)))
         (instance face :init :vertices (list (float-vector 0.0 -5.0 -33.0) (float-vector 0.0 -5.0 -21.0) (float-vector -2.5 -4.33013 -21.0) (float-vector -2.5 -4.33013 -33.0)))
         (instance face :init :vertices (list (float-vector 2.5 -4.33013 -33.0) (float-vector 2.5 -4.33013 -21.0) (float-vector 0.0 -5.0 -21.0) (float-vector 0.0 -5.0 -33.0)))
         (instance face :init :vertices (list (float-vector 4.0 -2.83013 -36.0) (float-vector 4.33013 -2.5 -36.0) (float-vector 4.33013 -2.5 -21.0) (float-vector 2.5 -4.33013 -21.0) (float-vector 2.5 -4.33013 -33.0) (float-vector 4.0 -2.83013 -33.0)))
         (instance face :init :vertices (list (float-vector 4.33013 -2.5 -36.0) (float-vector 5.0 -1.065814e-14 -36.0) (float-vector 5.0 -1.065814e-14 -21.0) (float-vector 4.33013 -2.5 -21.0)))
         (instance face :init :vertices (list (float-vector 5.0 -1.065814e-14 -36.0) (float-vector 4.33013 2.5 -36.0) (float-vector 4.33013 2.5 -21.0) (float-vector 5.0 -1.065814e-14 -21.0)))
         (instance face :init :vertices (list (float-vector 4.0 2.83013 -36.0) (float-vector 4.33013 2.5 -36.0) (float-vector 5.0 -1.065814e-14 -36.0) (float-vector 4.33013 -2.5 -36.0) (float-vector 4.0 -2.83013 -36.0)))
         (instance face :init :vertices (list (float-vector 2.5 4.33013 -33.0) (float-vector 2.5 4.33013 -21.0) (float-vector 4.33013 2.5 -21.0) (float-vector 4.33013 2.5 -36.0) (float-vector 4.0 2.83013 -36.0) (float-vector 4.0 2.83013 -33.0)))
         (instance face :init :vertices (list (float-vector 2.5 4.33013 -21.0) (float-vector 0.0 5.0 -21.0) (float-vector -2.5 4.33013 -21.0) (float-vector -4.33013 2.5 -21.0) (float-vector -5.0 0.0 -21.0) (float-vector -4.33013 -2.5 -21.0) (float-vector -2.5 -4.33013 -21.0) (float-vector 0.0 -5.0 -21.0) (float-vector 2.5 -4.33013 -21.0) (float-vector 4.33013 -2.5 -21.0) (float-vector 5.0 -1.065814e-14 -21.0) (float-vector 4.33013 2.5 -21.0)))
         (instance face :init :vertices (list (float-vector 0.0 5.0 -21.0) (float-vector 2.5 4.33013 -21.0) (float-vector 2.5 4.33013 -33.0) (float-vector 0.0 5.0 -33.0)))
         (instance face :init :vertices (list (float-vector -61.0 -2.71068 25.0) (float-vector -61.0 -20.0 25.0) (float-vector -61.0 -20.0 -25.0) (float-vector -61.0 -2.71068 -25.0)))
         (instance face :init :vertices (list (float-vector -61.0 -2.71068 25.0) (float-vector -18.2893 40.0 25.0) (float-vector -17.0 40.0 25.0) (float-vector -17.0 -20.0 25.0) (float-vector -61.0 -20.0 25.0)))
         (instance face :init :vertices (list (float-vector -61.0 -20.0 -25.0) (float-vector -17.0 -20.0 -25.0) (float-vector -17.0 40.0 -25.0) (float-vector -18.2893 40.0 -25.0) (float-vector -61.0 -2.71068 -25.0)))
         (instance face :init :vertices (list (float-vector -19.0 -20.0 27.0) (float-vector -19.0 39.2893 27.0) (float-vector -63.0 -4.71068 27.0) (float-vector -63.0 -20.0 27.0)))
         (instance face :init :vertices (list (float-vector -19.0 -20.0 27.0) (float-vector -19.0 -20.0 72.0) (float-vector -19.0 39.2893 72.0) (float-vector -19.0 39.2893 27.0)))
         (instance face :init :vertices (list (float-vector -18.2893 40.0 25.0) (float-vector -18.2893 40.0 72.0) (float-vector -17.0 40.0 72.0) (float-vector -17.0 40.0 25.0)))
         (instance face :init :vertices (list (float-vector -17.0 40.0 -25.0) (float-vector -17.0 40.0 -72.0) (float-vector -18.2893 40.0 -72.0) (float-vector -18.2893 40.0 -25.0)))
         (instance face :init :vertices (list (float-vector -17.0 40.0 72.0) (float-vector -17.0 -20.0 72.0) (float-vector -17.0 -20.0 25.0) (float-vector -17.0 40.0 25.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -17.0 12.0 39.0) (float-vector -17.0 12.0 33.0) (float-vector -17.0 -12.0 33.0) (float-vector -17.0 -12.0 39.0)))
))
         (instance face :init :vertices (list (float-vector -17.0 -20.0 -25.0) (float-vector -17.0 -20.0 -72.0) (float-vector -17.0 40.0 -72.0) (float-vector -17.0 40.0 -25.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -17.0 12.0 -39.0) (float-vector -17.0 -12.0 -39.0) (float-vector -17.0 -12.0 -33.0) (float-vector -17.0 12.0 -33.0)))
))
         (instance face :init :vertices (list (float-vector -63.0 -4.71068 27.0) (float-vector -63.0 -4.71068 -27.0) (float-vector -63.0 -20.0 -27.0) (float-vector -63.0 -20.0 27.0)))
         (instance face :init :vertices (list (float-vector -19.0 -20.0 72.0) (float-vector -17.0 -20.0 72.0) (float-vector -17.0 40.0 72.0) (float-vector -18.2893 40.0 72.0) (float-vector -19.0 39.2893 72.0)))
         (instance face :init :vertices (list (float-vector -17.0 -20.0 -72.0) (float-vector -19.0 -20.0 -72.0) (float-vector -19.0 39.2893 -72.0) (float-vector -18.2893 40.0 -72.0) (float-vector -17.0 40.0 -72.0)))
         (instance face :init :vertices (list (float-vector -63.0 -20.0 -27.0) (float-vector -19.0 -20.0 -27.0) (float-vector -19.0 -20.0 -72.0) (float-vector -17.0 -20.0 -72.0) (float-vector -17.0 -20.0 -25.0) (float-vector -61.0 -20.0 -25.0) (float-vector -61.0 -20.0 25.0) (float-vector -17.0 -20.0 25.0) (float-vector -17.0 -20.0 72.0) (float-vector -19.0 -20.0 72.0) (float-vector -19.0 -20.0 27.0) (float-vector -63.0 -20.0 27.0)))
         (instance face :init :vertices (list (float-vector -63.0 -4.71068 -27.0) (float-vector -19.0 39.2893 -27.0) (float-vector -19.0 -20.0 -27.0) (float-vector -63.0 -20.0 -27.0)))
         (instance face :init :vertices (list (float-vector -19.0 39.2893 -27.0) (float-vector -19.0 39.2893 -72.0) (float-vector -19.0 -20.0 -72.0) (float-vector -19.0 -20.0 -27.0)))
         (instance face :init :vertices (list (float-vector -19.0 39.2893 -72.0) (float-vector -19.0 39.2893 -27.0) (float-vector -63.0 -4.71068 -27.0) (float-vector -63.0 -4.71068 27.0) (float-vector -19.0 39.2893 27.0) (float-vector -19.0 39.2893 72.0) (float-vector -18.2893 40.0 72.0) (float-vector -18.2893 40.0 25.0) (float-vector -61.0 -2.71068 25.0) (float-vector -61.0 -2.71068 -25.0) (float-vector -18.2893 40.0 -25.0) (float-vector -18.2893 40.0 -72.0)))
         (instance face :init :vertices (list (float-vector 0.0 -5.0 21.0) (float-vector 2.5 -4.33013 21.0) (float-vector 2.5 -4.33013 33.0) (float-vector 0.0 -5.0 33.0)))
         (instance face :init :vertices (list (float-vector 0.0 -5.0 21.0) (float-vector -2.5 -4.33013 21.0) (float-vector -4.33013 -2.5 21.0) (float-vector -5.0 -7.105427e-15 21.0) (float-vector -4.33013 2.5 21.0) (float-vector -2.5 4.33013 21.0) (float-vector 0.0 5.0 21.0) (float-vector 2.5 4.33013 21.0) (float-vector 4.33013 2.5 21.0) (float-vector 5.0 3.552714e-15 21.0) (float-vector 4.33013 -2.5 21.0) (float-vector 2.5 -4.33013 21.0)))
         (instance face :init :vertices (list (float-vector 4.0 -2.83013 36.0) (float-vector 4.33013 -2.5 36.0) (float-vector 5.0 3.552714e-15 36.0) (float-vector 4.33013 2.5 36.0) (float-vector 4.0 2.83013 36.0)))
         (instance face :init :vertices (list (float-vector 4.0 -2.83013 36.0) (float-vector 4.0 -2.83013 33.0) (float-vector 2.5 -4.33013 33.0) (float-vector 2.5 -4.33013 21.0) (float-vector 4.33013 -2.5 21.0) (float-vector 4.33013 -2.5 36.0)))
         (instance face :init :vertices (list (float-vector 5.0 3.552714e-15 21.0) (float-vector 5.0 3.552714e-15 36.0) (float-vector 4.33013 -2.5 36.0) (float-vector 4.33013 -2.5 21.0)))
         (instance face :init :vertices (list (float-vector 4.33013 2.5 21.0) (float-vector 4.33013 2.5 36.0) (float-vector 5.0 3.552714e-15 36.0) (float-vector 5.0 3.552714e-15 21.0)))
         (instance face :init :vertices (list (float-vector 2.5 4.33013 21.0) (float-vector 2.5 4.33013 33.0) (float-vector 4.0 2.83013 33.0) (float-vector 4.0 2.83013 36.0) (float-vector 4.33013 2.5 36.0) (float-vector 4.33013 2.5 21.0)))
         (instance face :init :vertices (list (float-vector 0.0 5.0 21.0) (float-vector 0.0 5.0 33.0) (float-vector 2.5 4.33013 33.0) (float-vector 2.5 4.33013 21.0)))
         (instance face :init :vertices (list (float-vector -2.5 4.33013 21.0) (float-vector -2.5 4.33013 33.0) (float-vector 0.0 5.0 33.0) (float-vector 0.0 5.0 21.0)))
         (instance face :init :vertices (list (float-vector -4.33013 2.5 21.0) (float-vector -4.33013 2.5 33.0) (float-vector -2.5 4.33013 33.0) (float-vector -2.5 4.33013 21.0)))
         (instance face :init :vertices (list (float-vector -5.0 -7.105427e-15 21.0) (float-vector -5.0 -3.552714e-15 33.0) (float-vector -4.33013 2.5 33.0) (float-vector -4.33013 2.5 21.0)))
         (instance face :init :vertices (list (float-vector -4.33013 -2.5 21.0) (float-vector -4.33013 -2.5 33.0) (float-vector -5.0 -3.552714e-15 33.0) (float-vector -5.0 -7.105427e-15 21.0)))
         (instance face :init :vertices (list (float-vector -2.5 -4.33013 21.0) (float-vector -2.5 -4.33013 33.0) (float-vector -4.33013 -2.5 33.0) (float-vector -4.33013 -2.5 21.0)))
         (instance face :init :vertices (list (float-vector 0.0 -5.0 33.0) (float-vector -2.5 -4.33013 33.0) (float-vector -2.5 -4.33013 21.0) (float-vector 0.0 -5.0 21.0)))
         (instance face :init :vertices (list (float-vector -17.0 -12.0 39.0) (float-vector 4.0 -12.0 39.0) (float-vector 4.0 12.0 39.0) (float-vector -17.0 12.0 39.0)))
         (instance face :init :vertices (list (float-vector -17.0 12.0 33.0) (float-vector 4.0 12.0 33.0) (float-vector 4.0 2.83013 33.0) (float-vector 2.5 4.33013 33.0) (float-vector 0.0 5.0 33.0) (float-vector -2.5 4.33013 33.0) (float-vector -4.33013 2.5 33.0) (float-vector -5.0 -3.552714e-15 33.0) (float-vector -4.33013 -2.5 33.0) (float-vector -2.5 -4.33013 33.0) (float-vector 0.0 -5.0 33.0) (float-vector 2.5 -4.33013 33.0) (float-vector 4.0 -2.83013 33.0) (float-vector 4.0 -12.0 33.0) (float-vector -17.0 -12.0 33.0)))
         (instance face :init :vertices (list (float-vector 4.0 -12.0 33.0) (float-vector 4.0 -12.0 39.0) (float-vector -17.0 -12.0 39.0) (float-vector -17.0 -12.0 33.0)))
         (instance face :init :vertices (list (float-vector 4.0 12.0 33.0) (float-vector 4.0 12.0 39.0) (float-vector 4.0 -12.0 39.0) (float-vector 4.0 -12.0 33.0) (float-vector 4.0 -2.83013 33.0) (float-vector 4.0 -2.83013 36.0) (float-vector 4.0 2.83013 36.0) (float-vector 4.0 2.83013 33.0)))
         (instance face :init :vertices (list (float-vector 4.0 12.0 39.0) (float-vector 4.0 12.0 33.0) (float-vector -17.0 12.0 33.0) (float-vector -17.0 12.0 39.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -35.0 75.0 65.0) (float-vector -42.5 75.0 62.9904) (float-vector -47.9904 75.0 57.5) (float-vector -50.0 75.0 50.0) (float-vector -47.9904 75.0 42.5) (float-vector -42.5 75.0 37.0096) (float-vector -35.0 75.0 35.0) (float-vector -27.5 75.0 37.0096) (float-vector -22.0096 75.0 42.5) (float-vector -20.0 75.0 50.0) (float-vector -22.0096 75.0 57.5) (float-vector -27.5 75.0 62.9904))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -35.0 75.0 61.0) (float-vector -29.5 75.0 59.5263) (float-vector -25.4737 75.0 55.5) (float-vector -24.0 75.0 50.0) (float-vector -25.4737 75.0 44.5) (float-vector -29.5 75.0 40.4737) (float-vector -35.0 75.0 39.0) (float-vector -40.5 75.0 40.4737) (float-vector -44.5263 75.0 44.5) (float-vector -46.0 75.0 50.0) (float-vector -44.5263 75.0 55.5) (float-vector -40.5 75.0 59.5263)))
))
         (instance face :init :vertices (list (float-vector -35.0 75.0 65.0) (float-vector -35.0 80.0 65.0) (float-vector -42.5 80.0 62.9904) (float-vector -42.5 75.0 62.9904)))
         (instance face :init :vertices (list (float-vector -35.0 80.0 65.0) (float-vector -27.5 80.0 62.9904) (float-vector -22.0096 80.0 57.5) (float-vector -20.0 80.0 50.0) (float-vector -22.0096 80.0 42.5) (float-vector -27.5 80.0 37.0096) (float-vector -35.0 80.0 35.0) (float-vector -42.5 80.0 37.0096) (float-vector -47.9904 80.0 42.5) (float-vector -50.0 80.0 50.0) (float-vector -47.9904 80.0 57.5) (float-vector -42.5 80.0 62.9904)))
         (instance face :init :vertices (list (float-vector -47.9904 80.0 57.5) (float-vector -47.9904 75.0 57.5) (float-vector -42.5 75.0 62.9904) (float-vector -42.5 80.0 62.9904)))
         (instance face :init :vertices (list (float-vector -50.0 80.0 50.0) (float-vector -50.0 75.0 50.0) (float-vector -47.9904 75.0 57.5) (float-vector -47.9904 80.0 57.5)))
         (instance face :init :vertices (list (float-vector -47.9904 80.0 42.5) (float-vector -47.9904 75.0 42.5) (float-vector -50.0 75.0 50.0) (float-vector -50.0 80.0 50.0)))
         (instance face :init :vertices (list (float-vector -42.5 80.0 37.0096) (float-vector -42.5 75.0 37.0096) (float-vector -47.9904 75.0 42.5) (float-vector -47.9904 80.0 42.5)))
         (instance face :init :vertices (list (float-vector -35.0 80.0 35.0) (float-vector -35.0 75.0 35.0) (float-vector -42.5 75.0 37.0096) (float-vector -42.5 80.0 37.0096)))
         (instance face :init :vertices (list (float-vector -27.5 80.0 37.0096) (float-vector -27.5 75.0 37.0096) (float-vector -35.0 75.0 35.0) (float-vector -35.0 80.0 35.0)))
         (instance face :init :vertices (list (float-vector -22.0096 80.0 42.5) (float-vector -22.0096 75.0 42.5) (float-vector -27.5 75.0 37.0096) (float-vector -27.5 80.0 37.0096)))
         (instance face :init :vertices (list (float-vector -20.0 80.0 50.0) (float-vector -20.0 75.0 50.0) (float-vector -22.0096 75.0 42.5) (float-vector -22.0096 80.0 42.5)))
         (instance face :init :vertices (list (float-vector -22.0096 80.0 57.5) (float-vector -22.0096 75.0 57.5) (float-vector -20.0 75.0 50.0) (float-vector -20.0 80.0 50.0)))
         (instance face :init :vertices (list (float-vector -27.5 80.0 62.9904) (float-vector -27.5 75.0 62.9904) (float-vector -22.0096 75.0 57.5) (float-vector -22.0096 80.0 57.5)))
         (instance face :init :vertices (list (float-vector -27.5 75.0 62.9904) (float-vector -27.5 80.0 62.9904) (float-vector -35.0 80.0 65.0) (float-vector -35.0 75.0 65.0)))
         (instance face :init :vertices (list (float-vector -35.0 60.0 64.0) (float-vector -42.0 60.0 62.1244) (float-vector -42.0 40.0 62.1244) (float-vector -35.0 40.0 64.0)))
         (instance face :init :vertices (list (float-vector -35.0 60.0 64.0) (float-vector -28.0 60.0 62.1244) (float-vector -22.8756 60.0 57.0) (float-vector -21.0 60.0 50.0) (float-vector -22.8756 60.0 43.0) (float-vector -28.0 60.0 37.8756) (float-vector -35.0 60.0 36.0) (float-vector -42.0 60.0 37.8756) (float-vector -47.1244 60.0 43.0) (float-vector -49.0 60.0 50.0) (float-vector -47.1244 60.0 57.0) (float-vector -42.0 60.0 62.1244))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -29.5 60.0 59.5263) (float-vector -35.0 60.0 61.0) (float-vector -40.5 60.0 59.5263) (float-vector -44.5263 60.0 55.5) (float-vector -46.0 60.0 50.0) (float-vector -44.5263 60.0 44.5) (float-vector -40.5 60.0 40.4737) (float-vector -35.0 60.0 39.0) (float-vector -29.5 60.0 40.4737) (float-vector -25.4737 60.0 44.5) (float-vector -24.0 60.0 50.0) (float-vector -25.4737 60.0 55.5)))
))
         (instance face :init :vertices (list (float-vector -47.1244 60.0 57.0) (float-vector -47.1244 40.0 57.0) (float-vector -42.0 40.0 62.1244) (float-vector -42.0 60.0 62.1244)))
         (instance face :init :vertices (list (float-vector -49.0 60.0 50.0) (float-vector -49.0 40.0 50.0) (float-vector -47.1244 40.0 57.0) (float-vector -47.1244 60.0 57.0)))
         (instance face :init :vertices (list (float-vector -47.1244 60.0 43.0) (float-vector -47.1244 40.0 43.0) (float-vector -49.0 40.0 50.0) (float-vector -49.0 60.0 50.0)))
         (instance face :init :vertices (list (float-vector -42.0 60.0 37.8756) (float-vector -42.0 40.0 37.8756) (float-vector -47.1244 40.0 43.0) (float-vector -47.1244 60.0 43.0)))
         (instance face :init :vertices (list (float-vector -35.0 60.0 36.0) (float-vector -35.0 40.0 36.0) (float-vector -42.0 40.0 37.8756) (float-vector -42.0 60.0 37.8756)))
         (instance face :init :vertices (list (float-vector -28.0 60.0 37.8756) (float-vector -28.0 40.0 37.8756) (float-vector -35.0 40.0 36.0) (float-vector -35.0 60.0 36.0)))
         (instance face :init :vertices (list (float-vector -22.8756 60.0 43.0) (float-vector -22.8756 40.0 43.0) (float-vector -28.0 40.0 37.8756) (float-vector -28.0 60.0 37.8756)))
         (instance face :init :vertices (list (float-vector -21.0 60.0 50.0) (float-vector -21.0 41.0 50.0) (float-vector -21.2679 41.0 49.0) (float-vector -21.2679 40.0 49.0) (float-vector -22.8756 40.0 43.0) (float-vector -22.8756 60.0 43.0)))
         (instance face :init :vertices (list (float-vector -22.8756 60.0 57.0) (float-vector -22.8756 40.0 57.0) (float-vector -21.2679 40.0 51.0) (float-vector -21.2679 41.0 51.0) (float-vector -21.0 41.0 50.0) (float-vector -21.0 60.0 50.0)))
         (instance face :init :vertices (list (float-vector -28.0 60.0 62.1244) (float-vector -28.0 40.0 62.1244) (float-vector -22.8756 40.0 57.0) (float-vector -22.8756 60.0 57.0)))
         (instance face :init :vertices (list (float-vector -35.0 40.0 64.0) (float-vector -28.0 40.0 62.1244) (float-vector -28.0 60.0 62.1244) (float-vector -35.0 60.0 64.0)))
         (instance face :init :vertices (list (float-vector -19.0 40.0 51.0) (float-vector -19.0 40.0 73.0) (float-vector -19.0 -60.0 73.0) (float-vector -19.0 -60.0 27.0) (float-vector -19.0 40.0 27.0) (float-vector -19.0 40.0 49.0) (float-vector -19.0 39.0 49.0) (float-vector -19.0 39.0 51.0)))
         (instance face :init :vertices (list (float-vector -19.0 40.0 27.0) (float-vector -51.0 40.0 27.0) (float-vector -51.0 40.0 73.0) (float-vector -19.0 40.0 73.0) (float-vector -19.0 40.0 51.0) (float-vector -21.2679 40.0 51.0) (float-vector -22.8756 40.0 57.0) (float-vector -28.0 40.0 62.1244) (float-vector -35.0 40.0 64.0) (float-vector -42.0 40.0 62.1244) (float-vector -47.1244 40.0 57.0) (float-vector -49.0 40.0 50.0) (float-vector -47.1244 40.0 43.0) (float-vector -42.0 40.0 37.8756) (float-vector -35.0 40.0 36.0) (float-vector -28.0 40.0 37.8756) (float-vector -22.8756 40.0 43.0) (float-vector -21.2679 40.0 49.0) (float-vector -19.0 40.0 49.0)))
         (instance face :init :vertices (list (float-vector -51.0 40.0 27.0) (float-vector -51.0 -60.0 27.0) (float-vector -51.0 -60.0 73.0) (float-vector -51.0 40.0 73.0)))
         (instance face :init :vertices (list (float-vector -51.0 -60.0 73.0) (float-vector -19.0 -60.0 73.0) (float-vector -19.0 40.0 73.0) (float-vector -51.0 40.0 73.0)))
         (instance face :init :vertices (list (float-vector -51.0 -60.0 27.0) (float-vector -19.0 -60.0 27.0) (float-vector -19.0 -60.0 73.0) (float-vector -51.0 -60.0 73.0)))
         (instance face :init :vertices (list (float-vector -19.0 -60.0 27.0) (float-vector -51.0 -60.0 27.0) (float-vector -51.0 40.0 27.0) (float-vector -19.0 40.0 27.0)))
         (instance face :init :vertices (list (float-vector -29.5 60.0 59.5263) (float-vector -29.5 75.0 59.5263) (float-vector -35.0 75.0 61.0) (float-vector -35.0 60.0 61.0)))
         (instance face :init :vertices (list (float-vector -25.4737 60.0 55.5) (float-vector -25.4737 75.0 55.5) (float-vector -29.5 75.0 59.5263) (float-vector -29.5 60.0 59.5263)))
         (instance face :init :vertices (list (float-vector -24.0 60.0 50.0) (float-vector -24.0 75.0 50.0) (float-vector -25.4737 75.0 55.5) (float-vector -25.4737 60.0 55.5)))
         (instance face :init :vertices (list (float-vector -25.4737 60.0 44.5) (float-vector -25.4737 75.0 44.5) (float-vector -24.0 75.0 50.0) (float-vector -24.0 60.0 50.0)))
         (instance face :init :vertices (list (float-vector -29.5 60.0 40.4737) (float-vector -29.5 75.0 40.4737) (float-vector -25.4737 75.0 44.5) (float-vector -25.4737 60.0 44.5)))
         (instance face :init :vertices (list (float-vector -35.0 60.0 39.0) (float-vector -35.0 75.0 39.0) (float-vector -29.5 75.0 40.4737) (float-vector -29.5 60.0 40.4737)))
         (instance face :init :vertices (list (float-vector -40.5 60.0 40.4737) (float-vector -40.5 75.0 40.4737) (float-vector -35.0 75.0 39.0) (float-vector -35.0 60.0 39.0)))
         (instance face :init :vertices (list (float-vector -44.5263 60.0 44.5) (float-vector -44.5263 75.0 44.5) (float-vector -40.5 75.0 40.4737) (float-vector -40.5 60.0 40.4737)))
         (instance face :init :vertices (list (float-vector -46.0 60.0 50.0) (float-vector -46.0 75.0 50.0) (float-vector -44.5263 75.0 44.5) (float-vector -44.5263 60.0 44.5)))
         (instance face :init :vertices (list (float-vector -44.5263 60.0 55.5) (float-vector -44.5263 75.0 55.5) (float-vector -46.0 75.0 50.0) (float-vector -46.0 60.0 50.0)))
         (instance face :init :vertices (list (float-vector -40.5 75.0 59.5263) (float-vector -40.5 60.0 59.5263) (float-vector -35.0 60.0 61.0) (float-vector -35.0 75.0 61.0)))
         (instance face :init :vertices (list (float-vector -40.5 60.0 59.5263) (float-vector -40.5 75.0 59.5263) (float-vector -44.5263 75.0 55.5) (float-vector -44.5263 60.0 55.5)))
         (instance face :init :vertices (list (float-vector -21.2679 41.0 49.0) (float-vector -18.0 41.0 49.0) (float-vector -18.0 39.0 49.0) (float-vector -19.0 39.0 49.0) (float-vector -19.0 40.0 49.0) (float-vector -21.2679 40.0 49.0)))
         (instance face :init :vertices (list (float-vector -18.0 39.0 49.0) (float-vector -18.0 39.0 51.0) (float-vector -19.0 39.0 51.0) (float-vector -19.0 39.0 49.0)))
         (instance face :init :vertices (list (float-vector -18.0 39.0 51.0) (float-vector -18.0 41.0 51.0) (float-vector -21.2679 41.0 51.0) (float-vector -21.2679 40.0 51.0) (float-vector -19.0 40.0 51.0) (float-vector -19.0 39.0 51.0)))
         (instance face :init :vertices (list (float-vector -18.0 41.0 51.0) (float-vector -18.0 41.0 49.0) (float-vector -21.2679 41.0 49.0) (float-vector -21.0 41.0 50.0) (float-vector -21.2679 41.0 51.0)))
         (instance face :init :vertices (list (float-vector -18.0 41.0 49.0) (float-vector -18.0 41.0 51.0) (float-vector -18.0 39.0 51.0) (float-vector -18.0 39.0 49.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -35.0 75.0 -35.0) (float-vector -42.5 75.0 -37.0096) (float-vector -47.9904 75.0 -42.5) (float-vector -50.0 75.0 -50.0) (float-vector -47.9904 75.0 -57.5) (float-vector -42.5 75.0 -62.9904) (float-vector -35.0 75.0 -65.0) (float-vector -27.5 75.0 -62.9904) (float-vector -22.0096 75.0 -57.5) (float-vector -20.0 75.0 -50.0) (float-vector -22.0096 75.0 -42.5) (float-vector -27.5 75.0 -37.0096))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -35.0 75.0 -39.0) (float-vector -29.5 75.0 -40.4737) (float-vector -25.4737 75.0 -44.5) (float-vector -24.0 75.0 -50.0) (float-vector -25.4737 75.0 -55.5) (float-vector -29.5 75.0 -59.5263) (float-vector -35.0 75.0 -61.0) (float-vector -40.5 75.0 -59.5263) (float-vector -44.5263 75.0 -55.5) (float-vector -46.0 75.0 -50.0) (float-vector -44.5263 75.0 -44.5) (float-vector -40.5 75.0 -40.4737)))
))
         (instance face :init :vertices (list (float-vector -35.0 75.0 -35.0) (float-vector -35.0 80.0 -35.0) (float-vector -42.5 80.0 -37.0096) (float-vector -42.5 75.0 -37.0096)))
         (instance face :init :vertices (list (float-vector -35.0 80.0 -35.0) (float-vector -27.5 80.0 -37.0096) (float-vector -22.0096 80.0 -42.5) (float-vector -20.0 80.0 -50.0) (float-vector -22.0096 80.0 -57.5) (float-vector -27.5 80.0 -62.9904) (float-vector -35.0 80.0 -65.0) (float-vector -42.5 80.0 -62.9904) (float-vector -47.9904 80.0 -57.5) (float-vector -50.0 80.0 -50.0) (float-vector -47.9904 80.0 -42.5) (float-vector -42.5 80.0 -37.0096)))
         (instance face :init :vertices (list (float-vector -47.9904 80.0 -42.5) (float-vector -47.9904 75.0 -42.5) (float-vector -42.5 75.0 -37.0096) (float-vector -42.5 80.0 -37.0096)))
         (instance face :init :vertices (list (float-vector -50.0 80.0 -50.0) (float-vector -50.0 75.0 -50.0) (float-vector -47.9904 75.0 -42.5) (float-vector -47.9904 80.0 -42.5)))
         (instance face :init :vertices (list (float-vector -47.9904 80.0 -57.5) (float-vector -47.9904 75.0 -57.5) (float-vector -50.0 75.0 -50.0) (float-vector -50.0 80.0 -50.0)))
         (instance face :init :vertices (list (float-vector -42.5 80.0 -62.9904) (float-vector -42.5 75.0 -62.9904) (float-vector -47.9904 75.0 -57.5) (float-vector -47.9904 80.0 -57.5)))
         (instance face :init :vertices (list (float-vector -35.0 80.0 -65.0) (float-vector -35.0 75.0 -65.0) (float-vector -42.5 75.0 -62.9904) (float-vector -42.5 80.0 -62.9904)))
         (instance face :init :vertices (list (float-vector -27.5 80.0 -62.9904) (float-vector -27.5 75.0 -62.9904) (float-vector -35.0 75.0 -65.0) (float-vector -35.0 80.0 -65.0)))
         (instance face :init :vertices (list (float-vector -22.0096 80.0 -57.5) (float-vector -22.0096 75.0 -57.5) (float-vector -27.5 75.0 -62.9904) (float-vector -27.5 80.0 -62.9904)))
         (instance face :init :vertices (list (float-vector -20.0 80.0 -50.0) (float-vector -20.0 75.0 -50.0) (float-vector -22.0096 75.0 -57.5) (float-vector -22.0096 80.0 -57.5)))
         (instance face :init :vertices (list (float-vector -22.0096 80.0 -42.5) (float-vector -22.0096 75.0 -42.5) (float-vector -20.0 75.0 -50.0) (float-vector -20.0 80.0 -50.0)))
         (instance face :init :vertices (list (float-vector -27.5 80.0 -37.0096) (float-vector -27.5 75.0 -37.0096) (float-vector -22.0096 75.0 -42.5) (float-vector -22.0096 80.0 -42.5)))
         (instance face :init :vertices (list (float-vector -27.5 75.0 -37.0096) (float-vector -27.5 80.0 -37.0096) (float-vector -35.0 80.0 -35.0) (float-vector -35.0 75.0 -35.0)))
         (instance face :init :vertices (list (float-vector -35.0 60.0 -36.0) (float-vector -42.0 60.0 -37.8756) (float-vector -42.0 40.0 -37.8756) (float-vector -35.0 40.0 -36.0)))
         (instance face :init :vertices (list (float-vector -35.0 60.0 -36.0) (float-vector -28.0 60.0 -37.8756) (float-vector -22.8756 60.0 -43.0) (float-vector -21.0 60.0 -50.0) (float-vector -22.8756 60.0 -57.0) (float-vector -28.0 60.0 -62.1244) (float-vector -35.0 60.0 -64.0) (float-vector -42.0 60.0 -62.1244) (float-vector -47.1244 60.0 -57.0) (float-vector -49.0 60.0 -50.0) (float-vector -47.1244 60.0 -43.0) (float-vector -42.0 60.0 -37.8756))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -29.5 60.0 -40.4737) (float-vector -35.0 60.0 -39.0) (float-vector -40.5 60.0 -40.4737) (float-vector -44.5263 60.0 -44.5) (float-vector -46.0 60.0 -50.0) (float-vector -44.5263 60.0 -55.5) (float-vector -40.5 60.0 -59.5263) (float-vector -35.0 60.0 -61.0) (float-vector -29.5 60.0 -59.5263) (float-vector -25.4737 60.0 -55.5) (float-vector -24.0 60.0 -50.0) (float-vector -25.4737 60.0 -44.5)))
))
         (instance face :init :vertices (list (float-vector -47.1244 60.0 -43.0) (float-vector -47.1244 40.0 -43.0) (float-vector -42.0 40.0 -37.8756) (float-vector -42.0 60.0 -37.8756)))
         (instance face :init :vertices (list (float-vector -49.0 60.0 -50.0) (float-vector -49.0 40.0 -50.0) (float-vector -47.1244 40.0 -43.0) (float-vector -47.1244 60.0 -43.0)))
         (instance face :init :vertices (list (float-vector -47.1244 60.0 -57.0) (float-vector -47.1244 40.0 -57.0) (float-vector -49.0 40.0 -50.0) (float-vector -49.0 60.0 -50.0)))
         (instance face :init :vertices (list (float-vector -42.0 60.0 -62.1244) (float-vector -42.0 40.0 -62.1244) (float-vector -47.1244 40.0 -57.0) (float-vector -47.1244 60.0 -57.0)))
         (instance face :init :vertices (list (float-vector -35.0 60.0 -64.0) (float-vector -35.0 40.0 -64.0) (float-vector -42.0 40.0 -62.1244) (float-vector -42.0 60.0 -62.1244)))
         (instance face :init :vertices (list (float-vector -28.0 60.0 -62.1244) (float-vector -28.0 40.0 -62.1244) (float-vector -35.0 40.0 -64.0) (float-vector -35.0 60.0 -64.0)))
         (instance face :init :vertices (list (float-vector -22.8756 60.0 -57.0) (float-vector -22.8756 40.0 -57.0) (float-vector -28.0 40.0 -62.1244) (float-vector -28.0 60.0 -62.1244)))
         (instance face :init :vertices (list (float-vector -21.0 60.0 -50.0) (float-vector -21.0 41.0 -50.0) (float-vector -21.2679 41.0 -51.0) (float-vector -21.2679 40.0 -51.0) (float-vector -22.8756 40.0 -57.0) (float-vector -22.8756 60.0 -57.0)))
         (instance face :init :vertices (list (float-vector -22.8756 60.0 -43.0) (float-vector -22.8756 40.0 -43.0) (float-vector -21.2679 40.0 -49.0) (float-vector -21.2679 41.0 -49.0) (float-vector -21.0 41.0 -50.0) (float-vector -21.0 60.0 -50.0)))
         (instance face :init :vertices (list (float-vector -28.0 60.0 -37.8756) (float-vector -28.0 40.0 -37.8756) (float-vector -22.8756 40.0 -43.0) (float-vector -22.8756 60.0 -43.0)))
         (instance face :init :vertices (list (float-vector -35.0 40.0 -36.0) (float-vector -28.0 40.0 -37.8756) (float-vector -28.0 60.0 -37.8756) (float-vector -35.0 60.0 -36.0)))
         (instance face :init :vertices (list (float-vector -19.0 40.0 -49.0) (float-vector -19.0 40.0 -27.0) (float-vector -19.0 -60.0 -27.0) (float-vector -19.0 -60.0 -73.0) (float-vector -19.0 40.0 -73.0) (float-vector -19.0 40.0 -51.0) (float-vector -19.0 39.0 -51.0) (float-vector -19.0 39.0 -49.0)))
         (instance face :init :vertices (list (float-vector -19.0 40.0 -73.0) (float-vector -51.0 40.0 -73.0) (float-vector -51.0 40.0 -27.0) (float-vector -19.0 40.0 -27.0) (float-vector -19.0 40.0 -49.0) (float-vector -21.2679 40.0 -49.0) (float-vector -22.8756 40.0 -43.0) (float-vector -28.0 40.0 -37.8756) (float-vector -35.0 40.0 -36.0) (float-vector -42.0 40.0 -37.8756) (float-vector -47.1244 40.0 -43.0) (float-vector -49.0 40.0 -50.0) (float-vector -47.1244 40.0 -57.0) (float-vector -42.0 40.0 -62.1244) (float-vector -35.0 40.0 -64.0) (float-vector -28.0 40.0 -62.1244) (float-vector -22.8756 40.0 -57.0) (float-vector -21.2679 40.0 -51.0) (float-vector -19.0 40.0 -51.0)))
         (instance face :init :vertices (list (float-vector -51.0 40.0 -73.0) (float-vector -51.0 -60.0 -73.0) (float-vector -51.0 -60.0 -27.0) (float-vector -51.0 40.0 -27.0)))
         (instance face :init :vertices (list (float-vector -51.0 -60.0 -27.0) (float-vector -19.0 -60.0 -27.0) (float-vector -19.0 40.0 -27.0) (float-vector -51.0 40.0 -27.0)))
         (instance face :init :vertices (list (float-vector -51.0 -60.0 -73.0) (float-vector -19.0 -60.0 -73.0) (float-vector -19.0 -60.0 -27.0) (float-vector -51.0 -60.0 -27.0)))
         (instance face :init :vertices (list (float-vector -19.0 -60.0 -73.0) (float-vector -51.0 -60.0 -73.0) (float-vector -51.0 40.0 -73.0) (float-vector -19.0 40.0 -73.0)))
         (instance face :init :vertices (list (float-vector -29.5 60.0 -40.4737) (float-vector -29.5 75.0 -40.4737) (float-vector -35.0 75.0 -39.0) (float-vector -35.0 60.0 -39.0)))
         (instance face :init :vertices (list (float-vector -25.4737 60.0 -44.5) (float-vector -25.4737 75.0 -44.5) (float-vector -29.5 75.0 -40.4737) (float-vector -29.5 60.0 -40.4737)))
         (instance face :init :vertices (list (float-vector -24.0 60.0 -50.0) (float-vector -24.0 75.0 -50.0) (float-vector -25.4737 75.0 -44.5) (float-vector -25.4737 60.0 -44.5)))
         (instance face :init :vertices (list (float-vector -25.4737 60.0 -55.5) (float-vector -25.4737 75.0 -55.5) (float-vector -24.0 75.0 -50.0) (float-vector -24.0 60.0 -50.0)))
         (instance face :init :vertices (list (float-vector -29.5 60.0 -59.5263) (float-vector -29.5 75.0 -59.5263) (float-vector -25.4737 75.0 -55.5) (float-vector -25.4737 60.0 -55.5)))
         (instance face :init :vertices (list (float-vector -35.0 60.0 -61.0) (float-vector -35.0 75.0 -61.0) (float-vector -29.5 75.0 -59.5263) (float-vector -29.5 60.0 -59.5263)))
         (instance face :init :vertices (list (float-vector -40.5 60.0 -59.5263) (float-vector -40.5 75.0 -59.5263) (float-vector -35.0 75.0 -61.0) (float-vector -35.0 60.0 -61.0)))
         (instance face :init :vertices (list (float-vector -44.5263 60.0 -55.5) (float-vector -44.5263 75.0 -55.5) (float-vector -40.5 75.0 -59.5263) (float-vector -40.5 60.0 -59.5263)))
         (instance face :init :vertices (list (float-vector -46.0 60.0 -50.0) (float-vector -46.0 75.0 -50.0) (float-vector -44.5263 75.0 -55.5) (float-vector -44.5263 60.0 -55.5)))
         (instance face :init :vertices (list (float-vector -44.5263 60.0 -44.5) (float-vector -44.5263 75.0 -44.5) (float-vector -46.0 75.0 -50.0) (float-vector -46.0 60.0 -50.0)))
         (instance face :init :vertices (list (float-vector -40.5 75.0 -40.4737) (float-vector -40.5 60.0 -40.4737) (float-vector -35.0 60.0 -39.0) (float-vector -35.0 75.0 -39.0)))
         (instance face :init :vertices (list (float-vector -40.5 60.0 -40.4737) (float-vector -40.5 75.0 -40.4737) (float-vector -44.5263 75.0 -44.5) (float-vector -44.5263 60.0 -44.5)))
         (instance face :init :vertices (list (float-vector -21.2679 41.0 -51.0) (float-vector -18.0 41.0 -51.0) (float-vector -18.0 39.0 -51.0) (float-vector -19.0 39.0 -51.0) (float-vector -19.0 40.0 -51.0) (float-vector -21.2679 40.0 -51.0)))
         (instance face :init :vertices (list (float-vector -18.0 39.0 -51.0) (float-vector -18.0 39.0 -49.0) (float-vector -19.0 39.0 -49.0) (float-vector -19.0 39.0 -51.0)))
         (instance face :init :vertices (list (float-vector -18.0 39.0 -49.0) (float-vector -18.0 41.0 -49.0) (float-vector -21.2679 41.0 -49.0) (float-vector -21.2679 40.0 -49.0) (float-vector -19.0 40.0 -49.0) (float-vector -19.0 39.0 -49.0)))
         (instance face :init :vertices (list (float-vector -18.0 41.0 -49.0) (float-vector -18.0 41.0 -51.0) (float-vector -21.2679 41.0 -51.0) (float-vector -21.0 41.0 -50.0) (float-vector -21.2679 41.0 -49.0)))
         (instance face :init :vertices (list (float-vector -18.0 41.0 -51.0) (float-vector -18.0 41.0 -49.0) (float-vector -18.0 39.0 -49.0) (float-vector -18.0 39.0 -51.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray30)
     (send (elt bc 2) :set-color :gray30)
     (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h3head-neck-p :weight 250 :centroid (float-vector -32.2712 -0.497244 -1.696767e-14) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of assoc
     (send blink13 :newcoords (make-coords :pos (float-vector 21.0 1.776357e-14 -24.0) :rot #2f((-1.0 2.355139e-16 7.850462e-17) (-7.850462e-17 0.0 -1.0) (-2.355139e-16 -1.0 0.0))))
     (send blink12 :assoc blink13)
     (send blink12 :newcoords (make-coords :pos (float-vector 140.0 0.0 -2.842171e-14) :rot #2f((2.220446e-16 0.0 -1.0) (0.0 1.0 0.0) (1.0 0.0 2.220446e-16))))
     (send blink11 :assoc blink12)
     (send blink11 :newcoords (make-coords :pos (float-vector 150.0 0.0 -21.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink10 :assoc blink11)
     (send blink10 :newcoords (make-coords :pos (float-vector 75.0 0.0 10.0) :rot #2f((2.220446e-16 0.0 1.0) (0.0 1.0 0.0) (-1.0 0.0 2.220446e-16))))
     (send blink9 :assoc blink10)
     (send blink8 :newcoords (make-coords :pos (float-vector -21.0 -1.776357e-14 24.0) :rot #2f((1.0 7.850462e-17 1.570092e-16) (1.570092e-16 6.162976e-33 -1.0) (-7.850462e-17 1.0 -6.162976e-33))))
     (send blink7 :assoc blink8)
     (send blink7 :newcoords (make-coords :pos (float-vector -140.0 7.105427e-15 0.0) :rot #2f((2.220446e-16 -4.788845e-17 -1.0) (-2.661300e-16 1.0 -4.788845e-17) (1.0 2.661300e-16 2.220446e-16))))
     (send blink6 :assoc blink7)
     (send blink6 :newcoords (make-coords :pos (float-vector -150.0 0.0 21.0) :rot #2f((1.0 0.0 -4.440892e-16) (0.0 1.0 0.0) (4.440892e-16 0.0 1.0))))
     (send blink5 :assoc blink6)
     (send blink5 :newcoords (make-coords :pos (float-vector 75.0 0.0 -10.0) :rot #2f((-2.220446e-16 7.850462e-17 -1.0) (1.397370e-16 -1.0 -7.850462e-17) (-1.0 -1.397370e-16 2.220446e-16))))
     (send blink4 :assoc blink5)
     (send blink3 :newcoords (make-coords :pos (float-vector -1.065814e-14 -28.0 1.776357e-14) :rot #2f((3.885781e-16 0.0 1.0) (1.0 1.665335e-16 -3.885781e-16) (-2.220446e-16 1.0 5.551115e-17))))
     (send blink2 :assoc blink3)
     (send blink2 :newcoords (make-coords :pos (float-vector 0.0 -1.065814e-14 92.0) :rot #2f((1.0 0.0 0.0) (0.0 2.220446e-16 1.0) (0.0 -1.0 2.220446e-16))))
     (send blink1 :assoc blink2)
     (send blink1 :newcoords (make-coords :pos (float-vector 23.0 -23.0 304.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink1)
     (send blink4 :newcoords (make-coords :pos (float-vector 23.0 54.0 254.0) :rot #2f((-2.220446e-16 1.0 -2.465190e-32) (1.0 2.220446e-16 1.224647e-16) (1.224647e-16 0.0 -1.0))))
     (send blink0 :assoc blink4)
     (send blink9 :newcoords (make-coords :pos (float-vector 23.0 -100.0 254.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink9)
     (send self :assoc blink0)

     ;; definition of end-coords

     ;; definition of h3head-end-coords
     (setq h3head-end-coords
       (make-cascoords
	:coords (send (send blink0 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 23.0 -23.0 224.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))))
     (send blink0 :assoc h3head-end-coords)

     ;; definition of h3larm-end-coords
     (setq h3larm-end-coords
       (make-cascoords
	:coords (send (send blink0 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 23.0 129.0 264.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))))
     (send blink0 :assoc h3larm-end-coords)

     ;; definition of h3rarm-end-coords
     (setq h3rarm-end-coords
       (make-cascoords
	:coords (send (send blink0 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 23.0 -175.0 264.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))))
     (send blink0 :assoc h3rarm-end-coords)

     ;; definition of joint

     ;; definition of :h3head-neck-y
     (setq joint0 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink1 :name :h3head-neck-y :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h3head-neck-r
     (setq joint1 (instance rotational-joint :init
			     :parent-link blink1 :child-link blink2 :name :h3head-neck-r :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h3head-neck-p
     (setq joint2 (instance rotational-joint :init
			     :parent-link blink2 :child-link blink3 :name :h3head-neck-p :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h3larm-shoulder-y
     (setq joint3 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink4 :name :h3larm-shoulder-y :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h3larm-shoulder-p
     (setq joint4 (instance rotational-joint :init
			     :parent-link blink4 :child-link blink5 :name :h3larm-shoulder-p :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h3larm-elbow-p
     (setq joint5 (instance rotational-joint :init
			     :parent-link blink5 :child-link blink6 :name :h3larm-elbow-p :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h3larm-wrist-r
     (setq joint6 (instance rotational-joint :init
			     :parent-link blink6 :child-link blink7 :name :h3larm-wrist-r :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h3larm-hand-y
     (setq joint7 (instance rotational-joint :init
			     :parent-link blink7 :child-link blink8 :name :h3larm-hand-y :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h3rarm-shoulder-y
     (setq joint8 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink9 :name :h3rarm-shoulder-y :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h3rarm-shoulder-p
     (setq joint9 (instance rotational-joint :init
			     :parent-link blink9 :child-link blink10 :name :h3rarm-shoulder-p :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h3rarm-elbow-p
     (setq joint10 (instance rotational-joint :init
			     :parent-link blink10 :child-link blink11 :name :h3rarm-elbow-p :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h3rarm-wrist-r
     (setq joint11 (instance rotational-joint :init
			     :parent-link blink11 :child-link blink12 :name :h3rarm-wrist-r :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h3rarm-hand-y
     (setq joint12 (instance rotational-joint :init
			     :parent-link blink12 :child-link blink13 :name :h3rarm-hand-y :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     (setq h3head-root-link blink1)
     (setq h3head (list blink1 blink2 blink3))
     (setq h3larm-root-link blink4)
     (setq h3larm (list blink4 blink5 blink6 blink7 blink8))
     (setq h3rarm-root-link blink9)
     (setq h3rarm (list blink9 blink10 blink11 blink12 blink13))

     ;; init-ending 
     (setq links (list blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 blink8 blink9 blink10 blink11 blink12 blink13))
     (setq joint-list (list joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12))
     ;; definition of collision-avoidance-links
     (setq collision-avoidance-links
       (list
        ))

     (setq sensors (list))
     (send self :init-ending)
     (send self :move-to (make-coords :pos pos :rot rot))
     (send-all links :worldcoords)

     self))

  (:h3head-neck-y (&rest args) (forward-message-to joint0 args))
  (:h3head-neck-r (&rest args) (forward-message-to joint1 args))
  (:h3head-neck-p (&rest args) (forward-message-to joint2 args))
  (:h3larm-shoulder-y (&rest args) (forward-message-to joint3 args))
  (:h3larm-shoulder-p (&rest args) (forward-message-to joint4 args))
  (:h3larm-elbow-p (&rest args) (forward-message-to joint5 args))
  (:h3larm-wrist-r (&rest args) (forward-message-to joint6 args))
  (:h3larm-hand-y (&rest args) (forward-message-to joint7 args))
  (:h3rarm-shoulder-y (&rest args) (forward-message-to joint8 args))
  (:h3rarm-shoulder-p (&rest args) (forward-message-to joint9 args))
  (:h3rarm-elbow-p (&rest args) (forward-message-to joint10 args))
  (:h3rarm-wrist-r (&rest args) (forward-message-to joint11 args))
  (:h3rarm-hand-y (&rest args) (forward-message-to joint12 args))
  (:handle (&rest args) (forward-message-to-all (list ) args))
  (:attention (&rest args) (forward-message-to-all (list ) args))
  (:button (&rest args) (forward-message-to-all (list ) args))
  )

(defun h3 (&rest args) (instance* h3-robot :init args))
;; (format *error-output* "(instance h3-robot :init) for generating model~%")