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~%")
|