File: h3s-robot.l

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euslisp 9.31%2Bdfsg-3
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file content (1512 lines) | stat: -rw-r--r-- 261,066 bytes
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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version 
;;
;;
(defclass h3s-robot
  :super robot-model
  :slots (sensors
         joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12 joint13 joint14 ))
(defmethod h3s-robot
  (:init
   (&rest args &key (name "h3s") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
   (let (c bc
         blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 blink8 blink9 blink10 blink11 blink12 blink13 blink14 blink15
                 )
     (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 -104.641 -140.0 120.0) (float-vector -112.265 -140.0 124.402) (float-vector -150.0 -74.641 146.188) (float-vector -150.0 74.641 146.188) (float-vector -112.265 140.0 124.402) (float-vector -104.641 140.0 120.0)))
         (instance face :init :vertices (list (float-vector -112.265 -140.0 310.0) (float-vector -112.265 -140.0 124.402) (float-vector -104.641 -140.0 120.0) (float-vector 104.641 -140.0 120.0) (float-vector 112.265 -140.0 124.402) (float-vector 112.265 -140.0 310.0)))
         (instance face :init :vertices (list (float-vector -150.0 -74.641 310.0) (float-vector -150.0 -74.641 146.188) (float-vector -112.265 -140.0 124.402) (float-vector -112.265 -140.0 310.0)))
         (instance face :init :vertices (list (float-vector 150.0 -74.641 146.188) (float-vector 150.0 -74.641 310.0) (float-vector 112.265 -140.0 310.0) (float-vector 112.265 -140.0 124.402)))
         (instance face :init :vertices (list (float-vector -150.0 74.641 310.0) (float-vector -150.0 74.641 146.188) (float-vector -150.0 -74.641 146.188) (float-vector -150.0 -74.641 310.0)))
         (instance face :init :vertices (list (float-vector 150.0 74.641 146.188) (float-vector 150.0 74.641 310.0) (float-vector 150.0 -74.641 310.0) (float-vector 150.0 -74.641 146.188)))
         (instance face :init :vertices (list (float-vector 104.641 140.0 120.0) (float-vector 104.641 -140.0 120.0) (float-vector -104.641 -140.0 120.0) (float-vector -104.641 140.0 120.0)))
         (instance face :init :vertices (list (float-vector 112.265 140.0 124.402) (float-vector 112.265 140.0 310.0) (float-vector 150.0 74.641 310.0) (float-vector 150.0 74.641 146.188)))
         (instance face :init :vertices (list (float-vector -112.265 140.0 310.0) (float-vector -112.265 140.0 124.402) (float-vector -150.0 74.641 146.188) (float-vector -150.0 74.641 310.0)))
         (instance face :init :vertices (list (float-vector 112.265 140.0 124.402) (float-vector 104.641 140.0 120.0) (float-vector -104.641 140.0 120.0) (float-vector -112.265 140.0 124.402) (float-vector -112.265 140.0 310.0) (float-vector 112.265 140.0 310.0)))
         (instance face :init :vertices (list (float-vector 104.641 140.0 120.0) (float-vector 112.265 140.0 124.402) (float-vector 150.0 74.641 146.188) (float-vector 150.0 -74.641 146.188) (float-vector 112.265 -140.0 124.402) (float-vector 104.641 -140.0 120.0)))
         (instance face :init :vertices (list (float-vector 205.0 0.0 430.0) (float-vector 205.0 0.0 310.0) (float-vector 177.535 102.5 310.0) (float-vector 177.535 102.5 430.0)))
         (instance face :init :vertices (list (float-vector 177.535 102.5 310.0) (float-vector 102.5 177.535 310.0) (float-vector 102.5 177.535 430.0) (float-vector 177.535 102.5 430.0)))
         (instance face :init :vertices (list (float-vector 102.5 177.535 310.0) (float-vector 9.947598e-14 205.0 310.0) (float-vector 9.947598e-14 205.0 430.0) (float-vector 102.5 177.535 430.0)))
         (instance face :init :vertices (list (float-vector 9.947598e-14 205.0 310.0) (float-vector -102.5 177.535 310.0) (float-vector -102.5 177.535 430.0) (float-vector 9.947598e-14 205.0 430.0)))
         (instance face :init :vertices (list (float-vector -102.5 177.535 310.0) (float-vector -177.535 102.5 310.0) (float-vector -177.535 102.5 430.0) (float-vector -102.5 177.535 430.0)))
         (instance face :init :vertices (list (float-vector -177.535 102.5 310.0) (float-vector -205.0 1.989520e-13 310.0) (float-vector -205.0 1.989520e-13 430.0) (float-vector -177.535 102.5 430.0)))
         (instance face :init :vertices (list (float-vector -205.0 1.989520e-13 310.0) (float-vector -177.535 -102.5 310.0) (float-vector -177.535 -102.5 430.0) (float-vector -205.0 1.989520e-13 430.0)))
         (instance face :init :vertices (list (float-vector -177.535 -102.5 310.0) (float-vector -102.5 -177.535 310.0) (float-vector -102.5 -177.535 430.0) (float-vector -177.535 -102.5 430.0)))
         (instance face :init :vertices (list (float-vector -102.5 -177.535 310.0) (float-vector -2.700062e-13 -205.0 310.0) (float-vector -2.700062e-13 -205.0 430.0) (float-vector -102.5 -177.535 430.0)))
         (instance face :init :vertices (list (float-vector -2.700062e-13 -205.0 310.0) (float-vector 102.5 -177.535 310.0) (float-vector 102.5 -177.535 430.0) (float-vector -2.700062e-13 -205.0 430.0)))
         (instance face :init :vertices (list (float-vector 102.5 -177.535 310.0) (float-vector 177.535 -102.5 310.0) (float-vector 177.535 -102.5 430.0) (float-vector 102.5 -177.535 430.0)))
         (instance face :init :vertices (list (float-vector 177.535 -102.5 430.0) (float-vector 205.0 0.0 430.0) (float-vector 177.535 102.5 430.0) (float-vector 102.5 177.535 430.0) (float-vector 9.947598e-14 205.0 430.0) (float-vector -102.5 177.535 430.0) (float-vector -177.535 102.5 430.0) (float-vector -205.0 1.989520e-13 430.0) (float-vector -177.535 -102.5 430.0) (float-vector -102.5 -177.535 430.0) (float-vector -2.700062e-13 -205.0 430.0) (float-vector 102.5 -177.535 430.0)))
         (instance face :init :vertices (list (float-vector 177.535 -102.5 310.0) (float-vector 205.0 0.0 310.0) (float-vector 205.0 0.0 430.0) (float-vector 177.535 -102.5 430.0)))
         (instance face :init :vertices (list (float-vector 205.0 0.0 310.0) (float-vector 177.535 -102.5 310.0) (float-vector 102.5 -177.535 310.0) (float-vector -2.700062e-13 -205.0 310.0) (float-vector -102.5 -177.535 310.0) (float-vector -177.535 -102.5 310.0) (float-vector -205.0 1.989520e-13 310.0) (float-vector -177.535 102.5 310.0) (float-vector -102.5 177.535 310.0) (float-vector 9.947598e-14 205.0 310.0) (float-vector 102.5 177.535 310.0) (float-vector 177.535 102.5 310.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -112.265 140.0 310.0) (float-vector -150.0 74.641 310.0) (float-vector -150.0 -74.641 310.0) (float-vector -112.265 -140.0 310.0) (float-vector 112.265 -140.0 310.0) (float-vector 150.0 -74.641 310.0) (float-vector 150.0 74.641 310.0) (float-vector 112.265 140.0 310.0)))
))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 186.195 -107.5 330.0) (float-vector 215.0 0.0 330.0) (float-vector 186.195 107.5 330.0) (float-vector 107.5 186.195 330.0) (float-vector 1.136868e-13 215.0 330.0) (float-vector -107.5 186.195 330.0) (float-vector -186.195 107.5 330.0) (float-vector -215.0 2.273737e-13 330.0) (float-vector -186.195 -107.5 330.0) (float-vector -107.5 -186.195 330.0) (float-vector -3.552714e-13 -215.0 330.0) (float-vector 107.5 -186.195 330.0)))
         (instance face :init :vertices (list (float-vector 215.0 0.0 310.0) (float-vector 186.195 -107.5 310.0) (float-vector 107.5 -186.195 310.0) (float-vector -3.552714e-13 -215.0 310.0) (float-vector -107.5 -186.195 310.0) (float-vector -186.195 -107.5 310.0) (float-vector -215.0 2.273737e-13 310.0) (float-vector -186.195 107.5 310.0) (float-vector -107.5 186.195 310.0) (float-vector 1.136868e-13 215.0 310.0) (float-vector 107.5 186.195 310.0) (float-vector 186.195 107.5 310.0)))
         (instance face :init :vertices (list (float-vector 186.195 -107.5 330.0) (float-vector 186.195 -107.5 310.0) (float-vector 215.0 0.0 310.0) (float-vector 215.0 0.0 330.0)))
         (instance face :init :vertices (list (float-vector 107.5 -186.195 330.0) (float-vector 107.5 -186.195 310.0) (float-vector 186.195 -107.5 310.0) (float-vector 186.195 -107.5 330.0)))
         (instance face :init :vertices (list (float-vector -3.552714e-13 -215.0 330.0) (float-vector -3.552714e-13 -215.0 310.0) (float-vector 107.5 -186.195 310.0) (float-vector 107.5 -186.195 330.0)))
         (instance face :init :vertices (list (float-vector -107.5 -186.195 330.0) (float-vector -107.5 -186.195 310.0) (float-vector -3.552714e-13 -215.0 310.0) (float-vector -3.552714e-13 -215.0 330.0)))
         (instance face :init :vertices (list (float-vector -186.195 -107.5 330.0) (float-vector -186.195 -107.5 310.0) (float-vector -107.5 -186.195 310.0) (float-vector -107.5 -186.195 330.0)))
         (instance face :init :vertices (list (float-vector -215.0 2.273737e-13 330.0) (float-vector -215.0 2.273737e-13 310.0) (float-vector -186.195 -107.5 310.0) (float-vector -186.195 -107.5 330.0)))
         (instance face :init :vertices (list (float-vector -186.195 107.5 330.0) (float-vector -186.195 107.5 310.0) (float-vector -215.0 2.273737e-13 310.0) (float-vector -215.0 2.273737e-13 330.0)))
         (instance face :init :vertices (list (float-vector -107.5 186.195 330.0) (float-vector -107.5 186.195 310.0) (float-vector -186.195 107.5 310.0) (float-vector -186.195 107.5 330.0)))
         (instance face :init :vertices (list (float-vector 1.136868e-13 215.0 330.0) (float-vector 1.136868e-13 215.0 310.0) (float-vector -107.5 186.195 310.0) (float-vector -107.5 186.195 330.0)))
         (instance face :init :vertices (list (float-vector 107.5 186.195 330.0) (float-vector 107.5 186.195 310.0) (float-vector 1.136868e-13 215.0 310.0) (float-vector 1.136868e-13 215.0 330.0)))
         (instance face :init :vertices (list (float-vector 186.195 107.5 330.0) (float-vector 186.195 107.5 310.0) (float-vector 107.5 186.195 310.0) (float-vector 107.5 186.195 330.0)))
         (instance face :init :vertices (list (float-vector 215.0 0.0 330.0) (float-vector 215.0 0.0 310.0) (float-vector 186.195 107.5 310.0) (float-vector 186.195 107.5 330.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 89.4487 -108.897 247.794) (float-vector 91.6987 -105.0 249.0) (float-vector 93.9487 -101.103 247.794) (float-vector 95.5958 -98.25 244.5) (float-vector 96.1987 -97.2058 240.0) (float-vector 95.5958 -98.25 235.5) (float-vector 93.9487 -101.103 232.206) (float-vector 91.6987 -105.0 231.0) (float-vector 89.4487 -108.897 232.206) (float-vector 87.8016 -111.75 235.5) (float-vector 87.1987 -112.794 240.0) (float-vector 87.8016 -111.75 244.5)))
         (instance face :init :vertices (list (float-vector 135.0 -130.0 249.0) (float-vector 132.75 -133.897 247.794) (float-vector 131.103 -136.75 244.5) (float-vector 130.5 -137.794 240.0) (float-vector 131.103 -136.75 235.5) (float-vector 132.75 -133.897 232.206) (float-vector 135.0 -130.0 231.0) (float-vector 137.25 -126.103 232.206) (float-vector 138.897 -123.25 235.5) (float-vector 139.5 -122.206 240.0) (float-vector 138.897 -123.25 244.5) (float-vector 137.25 -126.103 247.794)))
         (instance face :init :vertices (list (float-vector 89.4487 -108.897 247.794) (float-vector 132.75 -133.897 247.794) (float-vector 135.0 -130.0 249.0) (float-vector 91.6987 -105.0 249.0)))
         (instance face :init :vertices (list (float-vector 87.8016 -111.75 244.5) (float-vector 131.103 -136.75 244.5) (float-vector 132.75 -133.897 247.794) (float-vector 89.4487 -108.897 247.794)))
         (instance face :init :vertices (list (float-vector 87.1987 -112.794 240.0) (float-vector 130.5 -137.794 240.0) (float-vector 131.103 -136.75 244.5) (float-vector 87.8016 -111.75 244.5)))
         (instance face :init :vertices (list (float-vector 87.8016 -111.75 235.5) (float-vector 131.103 -136.75 235.5) (float-vector 130.5 -137.794 240.0) (float-vector 87.1987 -112.794 240.0)))
         (instance face :init :vertices (list (float-vector 89.4487 -108.897 232.206) (float-vector 132.75 -133.897 232.206) (float-vector 131.103 -136.75 235.5) (float-vector 87.8016 -111.75 235.5)))
         (instance face :init :vertices (list (float-vector 91.6987 -105.0 231.0) (float-vector 135.0 -130.0 231.0) (float-vector 132.75 -133.897 232.206) (float-vector 89.4487 -108.897 232.206)))
         (instance face :init :vertices (list (float-vector 93.9487 -101.103 232.206) (float-vector 137.25 -126.103 232.206) (float-vector 135.0 -130.0 231.0) (float-vector 91.6987 -105.0 231.0)))
         (instance face :init :vertices (list (float-vector 95.5958 -98.25 235.5) (float-vector 138.897 -123.25 235.5) (float-vector 137.25 -126.103 232.206) (float-vector 93.9487 -101.103 232.206)))
         (instance face :init :vertices (list (float-vector 96.1987 -97.2058 240.0) (float-vector 139.5 -122.206 240.0) (float-vector 138.897 -123.25 235.5) (float-vector 95.5958 -98.25 235.5)))
         (instance face :init :vertices (list (float-vector 95.5958 -98.25 244.5) (float-vector 138.897 -123.25 244.5) (float-vector 139.5 -122.206 240.0) (float-vector 96.1987 -97.2058 240.0)))
         (instance face :init :vertices (list (float-vector 93.9487 -101.103 247.794) (float-vector 137.25 -126.103 247.794) (float-vector 138.897 -123.25 244.5) (float-vector 95.5958 -98.25 244.5)))
         (instance face :init :vertices (list (float-vector 91.6987 -105.0 249.0) (float-vector 135.0 -130.0 249.0) (float-vector 137.25 -126.103 247.794) (float-vector 93.9487 -101.103 247.794)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 104.449 -78.8971 247.794) (float-vector 106.699 -75.0 249.0) (float-vector 108.949 -71.1029 247.794) (float-vector 110.596 -68.25 244.5) (float-vector 111.199 -67.2058 240.0) (float-vector 110.596 -68.25 235.5) (float-vector 108.949 -71.1029 232.206) (float-vector 106.699 -75.0 231.0) (float-vector 104.449 -78.8971 232.206) (float-vector 102.802 -81.75 235.5) (float-vector 102.199 -82.7942 240.0) (float-vector 102.802 -81.75 244.5)))
         (instance face :init :vertices (list (float-vector 150.0 -100.0 249.0) (float-vector 147.75 -103.897 247.794) (float-vector 146.103 -106.75 244.5) (float-vector 145.5 -107.794 240.0) (float-vector 146.103 -106.75 235.5) (float-vector 147.75 -103.897 232.206) (float-vector 150.0 -100.0 231.0) (float-vector 152.25 -96.1029 232.206) (float-vector 153.897 -93.25 235.5) (float-vector 154.5 -92.2058 240.0) (float-vector 153.897 -93.25 244.5) (float-vector 152.25 -96.1029 247.794)))
         (instance face :init :vertices (list (float-vector 104.449 -78.8971 247.794) (float-vector 147.75 -103.897 247.794) (float-vector 150.0 -100.0 249.0) (float-vector 106.699 -75.0 249.0)))
         (instance face :init :vertices (list (float-vector 102.802 -81.75 244.5) (float-vector 146.103 -106.75 244.5) (float-vector 147.75 -103.897 247.794) (float-vector 104.449 -78.8971 247.794)))
         (instance face :init :vertices (list (float-vector 102.199 -82.7942 240.0) (float-vector 145.5 -107.794 240.0) (float-vector 146.103 -106.75 244.5) (float-vector 102.802 -81.75 244.5)))
         (instance face :init :vertices (list (float-vector 102.802 -81.75 235.5) (float-vector 146.103 -106.75 235.5) (float-vector 145.5 -107.794 240.0) (float-vector 102.199 -82.7942 240.0)))
         (instance face :init :vertices (list (float-vector 104.449 -78.8971 232.206) (float-vector 147.75 -103.897 232.206) (float-vector 146.103 -106.75 235.5) (float-vector 102.802 -81.75 235.5)))
         (instance face :init :vertices (list (float-vector 106.699 -75.0 231.0) (float-vector 150.0 -100.0 231.0) (float-vector 147.75 -103.897 232.206) (float-vector 104.449 -78.8971 232.206)))
         (instance face :init :vertices (list (float-vector 108.949 -71.1029 232.206) (float-vector 152.25 -96.1029 232.206) (float-vector 150.0 -100.0 231.0) (float-vector 106.699 -75.0 231.0)))
         (instance face :init :vertices (list (float-vector 110.596 -68.25 235.5) (float-vector 153.897 -93.25 235.5) (float-vector 152.25 -96.1029 232.206) (float-vector 108.949 -71.1029 232.206)))
         (instance face :init :vertices (list (float-vector 111.199 -67.2058 240.0) (float-vector 154.5 -92.2058 240.0) (float-vector 153.897 -93.25 235.5) (float-vector 110.596 -68.25 235.5)))
         (instance face :init :vertices (list (float-vector 110.596 -68.25 244.5) (float-vector 153.897 -93.25 244.5) (float-vector 154.5 -92.2058 240.0) (float-vector 111.199 -67.2058 240.0)))
         (instance face :init :vertices (list (float-vector 108.949 -71.1029 247.794) (float-vector 152.25 -96.1029 247.794) (float-vector 153.897 -93.25 244.5) (float-vector 110.596 -68.25 244.5)))
         (instance face :init :vertices (list (float-vector 106.699 -75.0 249.0) (float-vector 150.0 -100.0 249.0) (float-vector 152.25 -96.1029 247.794) (float-vector 108.949 -71.1029 247.794)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 17.3205 -150.0 210.0) (float-vector 20.0 -150.0 200.0) (float-vector 17.3205 -150.0 190.0) (float-vector 10.0 -150.0 182.679) (float-vector 1.065814e-14 -150.0 180.0) (float-vector -10.0 -150.0 182.679) (float-vector -17.3205 -150.0 190.0) (float-vector -20.0 -150.0 200.0) (float-vector -17.3205 -150.0 210.0) (float-vector -10.0 -150.0 217.321) (float-vector -3.197442e-14 -150.0 220.0) (float-vector 10.0 -150.0 217.321)))
         (instance face :init :vertices (list (float-vector 20.0 -200.0 200.0) (float-vector 17.3205 -200.0 210.0) (float-vector 10.0 -200.0 217.321) (float-vector -3.197442e-14 -200.0 220.0) (float-vector -10.0 -200.0 217.321) (float-vector -17.3205 -200.0 210.0) (float-vector -20.0 -200.0 200.0) (float-vector -17.3205 -200.0 190.0) (float-vector -10.0 -200.0 182.679) (float-vector 1.065814e-14 -200.0 180.0) (float-vector 10.0 -200.0 182.679) (float-vector 17.3205 -200.0 190.0)))
         (instance face :init :vertices (list (float-vector 17.3205 -150.0 210.0) (float-vector 17.3205 -200.0 210.0) (float-vector 20.0 -200.0 200.0) (float-vector 20.0 -150.0 200.0)))
         (instance face :init :vertices (list (float-vector 10.0 -150.0 217.321) (float-vector 10.0 -200.0 217.321) (float-vector 17.3205 -200.0 210.0) (float-vector 17.3205 -150.0 210.0)))
         (instance face :init :vertices (list (float-vector -3.197442e-14 -150.0 220.0) (float-vector -3.197442e-14 -200.0 220.0) (float-vector 10.0 -200.0 217.321) (float-vector 10.0 -150.0 217.321)))
         (instance face :init :vertices (list (float-vector -10.0 -150.0 217.321) (float-vector -10.0 -200.0 217.321) (float-vector -3.197442e-14 -200.0 220.0) (float-vector -3.197442e-14 -150.0 220.0)))
         (instance face :init :vertices (list (float-vector -17.3205 -150.0 210.0) (float-vector -17.3205 -200.0 210.0) (float-vector -10.0 -200.0 217.321) (float-vector -10.0 -150.0 217.321)))
         (instance face :init :vertices (list (float-vector -20.0 -150.0 200.0) (float-vector -20.0 -200.0 200.0) (float-vector -17.3205 -200.0 210.0) (float-vector -17.3205 -150.0 210.0)))
         (instance face :init :vertices (list (float-vector -17.3205 -150.0 190.0) (float-vector -17.3205 -200.0 190.0) (float-vector -20.0 -200.0 200.0) (float-vector -20.0 -150.0 200.0)))
         (instance face :init :vertices (list (float-vector -10.0 -150.0 182.679) (float-vector -10.0 -200.0 182.679) (float-vector -17.3205 -200.0 190.0) (float-vector -17.3205 -150.0 190.0)))
         (instance face :init :vertices (list (float-vector 1.065814e-14 -150.0 180.0) (float-vector 1.065814e-14 -200.0 180.0) (float-vector -10.0 -200.0 182.679) (float-vector -10.0 -150.0 182.679)))
         (instance face :init :vertices (list (float-vector 10.0 -150.0 182.679) (float-vector 10.0 -200.0 182.679) (float-vector 1.065814e-14 -200.0 180.0) (float-vector 1.065814e-14 -150.0 180.0)))
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         (instance face :init :vertices (list (float-vector 31.0 -25.2115 862.0) (float-vector 41.0 -23.086 862.0) (float-vector 41.0 -23.086 787.0) (float-vector 43.0 -22.6609 787.0) (float-vector 43.0 -22.6609 866.095) (float-vector 32.0396 -24.9906 907.0) (float-vector -15.051 -35.0 907.0) (float-vector -15.051 -35.0 905.0) (float-vector 31.0 -25.2115 905.0)))
         (instance face :init :vertices (list (float-vector 31.0 -25.2115 905.0) (float-vector 31.0 25.2115 905.0) (float-vector 31.0 25.2115 862.0) (float-vector 31.0 -25.2115 862.0)))
         (instance face :init :vertices (list (float-vector 41.0 -23.086 862.0) (float-vector 31.0 -25.2115 862.0) (float-vector 31.0 25.2115 862.0) (float-vector 41.0 23.086 862.0)))
         (instance face :init :vertices (list (float-vector 41.0 23.086 862.0) (float-vector 41.0 23.086 787.0) (float-vector 41.0 -23.086 787.0) (float-vector 41.0 -23.086 862.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -70.0 73.0 563.0) (float-vector -70.0 -73.0 563.0) (float-vector 45.0 -73.0 563.0) (float-vector 70.0 -50.0 563.0) (float-vector 70.0 50.0 563.0) (float-vector 45.0 73.0 563.0)))
         (instance face :init :vertices (list (float-vector -70.0 -73.0 430.0) (float-vector -70.0 73.0 430.0) (float-vector 45.0 73.0 430.0) (float-vector 70.0 50.0 430.0) (float-vector 70.0 -50.0 430.0) (float-vector 45.0 -73.0 430.0)))
         (instance face :init :vertices (list (float-vector -70.0 73.0 563.0) (float-vector -70.0 73.0 430.0) (float-vector -70.0 -73.0 430.0) (float-vector -70.0 -73.0 563.0)))
         (instance face :init :vertices (list (float-vector 45.0 73.0 563.0) (float-vector 45.0 73.0 430.0) (float-vector -70.0 73.0 430.0) (float-vector -70.0 73.0 563.0)))
         (instance face :init :vertices (list (float-vector 70.0 50.0 563.0) (float-vector 70.0 50.0 430.0) (float-vector 45.0 73.0 430.0) (float-vector 45.0 73.0 563.0)))
         (instance face :init :vertices (list (float-vector 70.0 -50.0 563.0) (float-vector 70.0 -50.0 430.0) (float-vector 70.0 50.0 430.0) (float-vector 70.0 50.0 563.0)))
         (instance face :init :vertices (list (float-vector 45.0 -73.0 563.0) (float-vector 45.0 -73.0 430.0) (float-vector 70.0 -50.0 430.0) (float-vector 70.0 -50.0 563.0)))
         (instance face :init :vertices (list (float-vector -70.0 -73.0 563.0) (float-vector -70.0 -73.0 430.0) (float-vector 45.0 -73.0 430.0) (float-vector 45.0 -73.0 563.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 49.2893 90.0 675.0) (float-vector 71.0 68.2893 675.0) (float-vector 71.0 68.2893 565.0) (float-vector 49.2893 90.0 565.0)))
         (instance face :init :vertices (list (float-vector -71.0 90.0 675.0) (float-vector -71.0 90.0 565.0) (float-vector -71.0 -90.0 565.0) (float-vector -71.0 -90.0 675.0)))
         (instance face :init :vertices (list (float-vector 49.2893 90.0 565.0) (float-vector -71.0 90.0 565.0) (float-vector -71.0 90.0 675.0) (float-vector 49.2893 90.0 675.0)))
         (instance face :init :vertices (list (float-vector 49.2893 -90.0 675.0) (float-vector -71.0 -90.0 675.0) (float-vector -71.0 -90.0 565.0) (float-vector 49.2893 -90.0 565.0)))
         (instance face :init :vertices (list (float-vector 71.0 -68.2893 675.0) (float-vector 71.0 68.2893 675.0) (float-vector 49.2893 90.0 675.0) (float-vector -71.0 90.0 675.0) (float-vector -71.0 -90.0 675.0) (float-vector 49.2893 -90.0 675.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -14.5 -59.0 675.0) (float-vector -69.5 -59.0 675.0) (float-vector -69.5 59.0 675.0) (float-vector -14.5 59.0 675.0)))
))
         (instance face :init :vertices (list (float-vector 71.0 -68.2893 565.0) (float-vector 49.2893 -90.0 565.0) (float-vector -71.0 -90.0 565.0) (float-vector -71.0 90.0 565.0) (float-vector 49.2893 90.0 565.0) (float-vector 71.0 68.2893 565.0)))
         (instance face :init :vertices (list (float-vector 71.0 -68.2893 675.0) (float-vector 71.0 -68.2893 565.0) (float-vector 71.0 68.2893 565.0) (float-vector 71.0 68.2893 675.0)))
         (instance face :init :vertices (list (float-vector 71.0 -68.2893 565.0) (float-vector 71.0 -68.2893 675.0) (float-vector 49.2893 -90.0 675.0) (float-vector 49.2893 -90.0 565.0)))
         (instance face :init :vertices (list (float-vector -14.5 59.0 788.0) (float-vector -14.5 59.0 675.0) (float-vector -69.5 59.0 675.0) (float-vector -69.5 59.0 788.0)))
         (instance face :init :vertices (list (float-vector -69.5 -59.0 675.0) (float-vector -69.5 -59.0 788.0) (float-vector -69.5 59.0 788.0) (float-vector -69.5 59.0 675.0)))
         (instance face :init :vertices (list (float-vector -14.5 -59.0 675.0) (float-vector -14.5 -59.0 788.0) (float-vector -69.5 -59.0 788.0) (float-vector -69.5 -59.0 675.0)))
         (instance face :init :vertices (list (float-vector -14.5 -59.0 788.0) (float-vector -14.5 59.0 788.0) (float-vector -69.5 59.0 788.0) (float-vector -69.5 -59.0 788.0)))
         (instance face :init :vertices (list (float-vector -14.5 59.0 788.0) (float-vector -14.5 -59.0 788.0) (float-vector -14.5 -59.0 675.0) (float-vector -14.5 59.0 675.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -38.0 -95.3205 673.0) (float-vector -45.3205 -88.0 673.0) (float-vector -47.4641 -80.0 673.0) (float-vector -50.0 -80.0 673.0) (float-vector -50.0 80.0 673.0) (float-vector -47.4641 80.0 673.0) (float-vector -45.3205 88.0 673.0) (float-vector -38.0 95.3205 673.0) (float-vector -30.0 97.4641 673.0) (float-vector -30.0 99.0 673.0) (float-vector 26.0 99.0 673.0) (float-vector 26.0 97.1962 673.0) (float-vector 33.0 95.3205 673.0) (float-vector 40.3205 88.0 673.0) (float-vector 42.4641 80.0 673.0) (float-vector 46.0 80.0 673.0) (float-vector 46.0 -80.0 673.0) (float-vector 42.4641 -80.0 673.0) (float-vector 40.3205 -88.0 673.0) (float-vector 33.0 -95.3205 673.0) (float-vector 26.0 -97.1962 673.0) (float-vector 26.0 -99.0 673.0) (float-vector -30.0 -99.0 673.0) (float-vector -30.0 -97.4641 673.0)))
         (instance face :init :vertices (list (float-vector -30.0 -97.4641 787.0) (float-vector -38.0 -95.3205 787.0) (float-vector -38.0 -95.3205 673.0) (float-vector -30.0 -97.4641 673.0)))
         (instance face :init :vertices (list (float-vector -45.3205 -88.0 673.0) (float-vector -38.0 -95.3205 673.0) (float-vector -38.0 -95.3205 787.0) (float-vector -45.3205 -88.0 787.0)))
         (instance face :init :vertices (list (float-vector -47.4641 -80.0 673.0) (float-vector -45.3205 -88.0 673.0) (float-vector -45.3205 -88.0 787.0) (float-vector -47.4641 -80.0 787.0)))
         (instance face :init :vertices (list (float-vector -47.4641 80.0 787.0) (float-vector -45.3205 88.0 787.0) (float-vector -45.3205 88.0 673.0) (float-vector -47.4641 80.0 673.0)))
         (instance face :init :vertices (list (float-vector -38.0 95.3205 673.0) (float-vector -45.3205 88.0 673.0) (float-vector -45.3205 88.0 787.0) (float-vector -38.0 95.3205 787.0)))
         (instance face :init :vertices (list (float-vector -30.0 97.4641 673.0) (float-vector -38.0 95.3205 673.0) (float-vector -38.0 95.3205 787.0) (float-vector -30.0 97.4641 787.0)))
         (instance face :init :vertices (list (float-vector -50.0 80.0 787.0) (float-vector -47.4641 80.0 787.0) (float-vector -47.4641 80.0 673.0) (float-vector -50.0 80.0 673.0)))
         (instance face :init :vertices (list (float-vector -50.0 -80.0 787.0) (float-vector -50.0 80.0 787.0) (float-vector -50.0 80.0 673.0) (float-vector -50.0 -80.0 673.0)))
         (instance face :init :vertices (list (float-vector -50.0 -80.0 673.0) (float-vector -47.4641 -80.0 673.0) (float-vector -47.4641 -80.0 787.0) (float-vector -50.0 -80.0 787.0)))
         (instance face :init :vertices (list (float-vector 46.0 -80.0 787.0) (float-vector 42.4641 -80.0 787.0) (float-vector 42.4641 -80.0 673.0) (float-vector 46.0 -80.0 673.0)))
         (instance face :init :vertices (list (float-vector 46.0 80.0 787.0) (float-vector 46.0 -80.0 787.0) (float-vector 46.0 -80.0 673.0) (float-vector 46.0 80.0 673.0)))
         (instance face :init :vertices (list (float-vector 42.4641 80.0 787.0) (float-vector 46.0 80.0 787.0) (float-vector 46.0 80.0 673.0) (float-vector 42.4641 80.0 673.0)))
         (instance face :init :vertices (list (float-vector -30.0 -99.0 787.0) (float-vector -30.0 -97.4641 787.0) (float-vector -30.0 -97.4641 673.0) (float-vector -30.0 -99.0 673.0)))
         (instance face :init :vertices (list (float-vector -30.0 99.0 673.0) (float-vector -30.0 97.4641 673.0) (float-vector -30.0 97.4641 787.0) (float-vector -30.0 99.0 787.0)))
         (instance face :init :vertices (list (float-vector 26.0 99.0 673.0) (float-vector -30.0 99.0 673.0) (float-vector -30.0 99.0 787.0) (float-vector 26.0 99.0 787.0)))
         (instance face :init :vertices (list (float-vector 26.0 -99.0 787.0) (float-vector -30.0 -99.0 787.0) (float-vector -30.0 -99.0 673.0) (float-vector 26.0 -99.0 673.0)))
         (instance face :init :vertices (list (float-vector 26.0 97.1962 673.0) (float-vector 26.0 99.0 673.0) (float-vector 26.0 99.0 787.0) (float-vector 26.0 97.1962 787.0)))
         (instance face :init :vertices (list (float-vector 26.0 -97.1962 787.0) (float-vector 26.0 -99.0 787.0) (float-vector 26.0 -99.0 673.0) (float-vector 26.0 -97.1962 673.0)))
         (instance face :init :vertices (list (float-vector 40.3205 88.0 787.0) (float-vector 42.4641 80.0 787.0) (float-vector 42.4641 80.0 673.0) (float-vector 40.3205 88.0 673.0)))
         (instance face :init :vertices (list (float-vector 33.0 95.3205 787.0) (float-vector 40.3205 88.0 787.0) (float-vector 40.3205 88.0 673.0) (float-vector 33.0 95.3205 673.0)))
         (instance face :init :vertices (list (float-vector 33.0 95.3205 673.0) (float-vector 26.0 97.1962 673.0) (float-vector 26.0 97.1962 787.0) (float-vector 33.0 95.3205 787.0)))
         (instance face :init :vertices (list (float-vector 33.0 -95.3205 787.0) (float-vector 26.0 -97.1962 787.0) (float-vector 26.0 -97.1962 673.0) (float-vector 33.0 -95.3205 673.0)))
         (instance face :init :vertices (list (float-vector 40.3205 -88.0 787.0) (float-vector 33.0 -95.3205 787.0) (float-vector 33.0 -95.3205 673.0) (float-vector 40.3205 -88.0 673.0)))
         (instance face :init :vertices (list (float-vector 40.3205 -88.0 673.0) (float-vector 42.4641 -80.0 673.0) (float-vector 42.4641 -80.0 787.0) (float-vector 40.3205 -88.0 787.0)))
         (instance face :init :vertices (list (float-vector 42.4641 -80.0 787.0) (float-vector 46.0 -80.0 787.0) (float-vector 46.0 80.0 787.0) (float-vector 42.4641 80.0 787.0) (float-vector 40.3205 88.0 787.0) (float-vector 33.0 95.3205 787.0) (float-vector 26.0 97.1962 787.0) (float-vector 26.0 99.0 787.0) (float-vector -30.0 99.0 787.0) (float-vector -30.0 97.4641 787.0) (float-vector -38.0 95.3205 787.0) (float-vector -45.3205 88.0 787.0) (float-vector -47.4641 80.0 787.0) (float-vector -50.0 80.0 787.0) (float-vector -50.0 -80.0 787.0) (float-vector -47.4641 -80.0 787.0) (float-vector -45.3205 -88.0 787.0) (float-vector -38.0 -95.3205 787.0) (float-vector -30.0 -97.4641 787.0) (float-vector -30.0 -99.0 787.0) (float-vector 26.0 -99.0 787.0) (float-vector 26.0 -97.1962 787.0) (float-vector 33.0 -95.3205 787.0) (float-vector 40.3205 -88.0 787.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray30)
     (send (elt bc 1) :set-color :red)
     (send (elt bc 2) :set-color :gray70)
     (send (elt bc 3) :set-color :red)
     (send (elt bc 4) :set-color :red)
     (send (elt bc 5) :set-color :gray30)
     (send (elt bc 6) :set-color :red)
     (send (elt bc 7) :set-color :gray30)
     (send (elt bc 8) :set-color :gray50)
     (send (elt bc 9) :set-color :gray50)
     (send (elt bc 10) :set-color :gray90)
     (send (elt bc 11) :set-color :gray90)
     (send (elt bc 12) :set-color :gray90)
     (send (elt bc 13) :set-color :brown)
     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :weight 3180 :centroid (float-vector 0.142373 -0.644654 300.876) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h3scout-tire-r
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 86.6025 -50.0 30.0) (float-vector 100.0 0.0 30.0) (float-vector 86.6025 50.0 30.0) (float-vector 50.0 86.6025 30.0) (float-vector 4.973799e-14 100.0 30.0) (float-vector -50.0 86.6025 30.0) (float-vector -86.6025 50.0 30.0) (float-vector -100.0 9.947598e-14 30.0) (float-vector -86.6025 -50.0 30.0) (float-vector -50.0 -86.6025 30.0) (float-vector -1.634248e-13 -100.0 30.0) (float-vector 50.0 -86.6025 30.0)))
         (instance face :init :vertices (list (float-vector 100.0 0.0 0.0) (float-vector 86.6025 -50.0 0.0) (float-vector 50.0 -86.6025 -2.842171e-14) (float-vector -1.634248e-13 -100.0 0.0) (float-vector -50.0 -86.6025 -2.842171e-14) (float-vector -86.6025 -50.0 0.0) (float-vector -100.0 1.136868e-13 0.0) (float-vector -86.6025 50.0 -2.842171e-14) (float-vector -50.0 86.6025 0.0) (float-vector 4.973799e-14 100.0 0.0) (float-vector 50.0 86.6025 0.0) (float-vector 86.6025 50.0 -2.842171e-14)))
         (instance face :init :vertices (list (float-vector 86.6025 -50.0 30.0) (float-vector 86.6025 -50.0 0.0) (float-vector 100.0 0.0 0.0) (float-vector 100.0 0.0 30.0)))
         (instance face :init :vertices (list (float-vector 50.0 -86.6025 30.0) (float-vector 50.0 -86.6025 -2.842171e-14) (float-vector 86.6025 -50.0 0.0) (float-vector 86.6025 -50.0 30.0)))
         (instance face :init :vertices (list (float-vector -1.634248e-13 -100.0 30.0) (float-vector -1.634248e-13 -100.0 0.0) (float-vector 50.0 -86.6025 -2.842171e-14) (float-vector 50.0 -86.6025 30.0)))
         (instance face :init :vertices (list (float-vector -50.0 -86.6025 30.0) (float-vector -50.0 -86.6025 -2.842171e-14) (float-vector -1.634248e-13 -100.0 0.0) (float-vector -1.634248e-13 -100.0 30.0)))
         (instance face :init :vertices (list (float-vector -86.6025 -50.0 30.0) (float-vector -86.6025 -50.0 0.0) (float-vector -50.0 -86.6025 -2.842171e-14) (float-vector -50.0 -86.6025 30.0)))
         (instance face :init :vertices (list (float-vector -100.0 9.947598e-14 30.0) (float-vector -100.0 1.136868e-13 0.0) (float-vector -86.6025 -50.0 0.0) (float-vector -86.6025 -50.0 30.0)))
         (instance face :init :vertices (list (float-vector -86.6025 50.0 30.0) (float-vector -86.6025 50.0 -2.842171e-14) (float-vector -100.0 1.136868e-13 0.0) (float-vector -100.0 9.947598e-14 30.0)))
         (instance face :init :vertices (list (float-vector -50.0 86.6025 30.0) (float-vector -50.0 86.6025 0.0) (float-vector -86.6025 50.0 -2.842171e-14) (float-vector -86.6025 50.0 30.0)))
         (instance face :init :vertices (list (float-vector 4.973799e-14 100.0 30.0) (float-vector 4.973799e-14 100.0 0.0) (float-vector -50.0 86.6025 0.0) (float-vector -50.0 86.6025 30.0)))
         (instance face :init :vertices (list (float-vector 50.0 86.6025 30.0) (float-vector 50.0 86.6025 0.0) (float-vector 4.973799e-14 100.0 0.0) (float-vector 4.973799e-14 100.0 30.0)))
         (instance face :init :vertices (list (float-vector 86.6025 50.0 30.0) (float-vector 86.6025 50.0 -2.842171e-14) (float-vector 50.0 86.6025 0.0) (float-vector 50.0 86.6025 30.0)))
         (instance face :init :vertices (list (float-vector 100.0 0.0 30.0) (float-vector 100.0 0.0 0.0) (float-vector 86.6025 50.0 -2.842171e-14) (float-vector 86.6025 50.0 30.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray30)
     (setq blink14 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h3scout-tire-r :weight 800 :centroid (float-vector -4.915314e-15 -5.684342e-14 15.0) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h3scout-tire-l
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 86.6025 -50.0 30.0) (float-vector 100.0 0.0 30.0) (float-vector 86.6025 50.0 30.0) (float-vector 50.0 86.6025 30.0) (float-vector 4.973799e-14 100.0 30.0) (float-vector -50.0 86.6025 30.0) (float-vector -86.6025 50.0 30.0) (float-vector -100.0 9.947598e-14 30.0) (float-vector -86.6025 -50.0 30.0) (float-vector -50.0 -86.6025 30.0) (float-vector -1.634248e-13 -100.0 30.0) (float-vector 50.0 -86.6025 30.0)))
         (instance face :init :vertices (list (float-vector 100.0 0.0 0.0) (float-vector 86.6025 -50.0 0.0) (float-vector 50.0 -86.6025 -2.842171e-14) (float-vector -1.634248e-13 -100.0 0.0) (float-vector -50.0 -86.6025 -2.842171e-14) (float-vector -86.6025 -50.0 0.0) (float-vector -100.0 1.136868e-13 0.0) (float-vector -86.6025 50.0 -2.842171e-14) (float-vector -50.0 86.6025 0.0) (float-vector 4.973799e-14 100.0 0.0) (float-vector 50.0 86.6025 0.0) (float-vector 86.6025 50.0 -2.842171e-14)))
         (instance face :init :vertices (list (float-vector 86.6025 -50.0 30.0) (float-vector 86.6025 -50.0 0.0) (float-vector 100.0 0.0 0.0) (float-vector 100.0 0.0 30.0)))
         (instance face :init :vertices (list (float-vector 50.0 -86.6025 30.0) (float-vector 50.0 -86.6025 -2.842171e-14) (float-vector 86.6025 -50.0 0.0) (float-vector 86.6025 -50.0 30.0)))
         (instance face :init :vertices (list (float-vector -1.634248e-13 -100.0 30.0) (float-vector -1.634248e-13 -100.0 0.0) (float-vector 50.0 -86.6025 -2.842171e-14) (float-vector 50.0 -86.6025 30.0)))
         (instance face :init :vertices (list (float-vector -50.0 -86.6025 30.0) (float-vector -50.0 -86.6025 -2.842171e-14) (float-vector -1.634248e-13 -100.0 0.0) (float-vector -1.634248e-13 -100.0 30.0)))
         (instance face :init :vertices (list (float-vector -86.6025 -50.0 30.0) (float-vector -86.6025 -50.0 0.0) (float-vector -50.0 -86.6025 -2.842171e-14) (float-vector -50.0 -86.6025 30.0)))
         (instance face :init :vertices (list (float-vector -100.0 9.947598e-14 30.0) (float-vector -100.0 1.136868e-13 0.0) (float-vector -86.6025 -50.0 0.0) (float-vector -86.6025 -50.0 30.0)))
         (instance face :init :vertices (list (float-vector -86.6025 50.0 30.0) (float-vector -86.6025 50.0 -2.842171e-14) (float-vector -100.0 1.136868e-13 0.0) (float-vector -100.0 9.947598e-14 30.0)))
         (instance face :init :vertices (list (float-vector -50.0 86.6025 30.0) (float-vector -50.0 86.6025 0.0) (float-vector -86.6025 50.0 -2.842171e-14) (float-vector -86.6025 50.0 30.0)))
         (instance face :init :vertices (list (float-vector 4.973799e-14 100.0 30.0) (float-vector 4.973799e-14 100.0 0.0) (float-vector -50.0 86.6025 0.0) (float-vector -50.0 86.6025 30.0)))
         (instance face :init :vertices (list (float-vector 50.0 86.6025 30.0) (float-vector 50.0 86.6025 0.0) (float-vector 4.973799e-14 100.0 0.0) (float-vector 4.973799e-14 100.0 30.0)))
         (instance face :init :vertices (list (float-vector 86.6025 50.0 30.0) (float-vector 86.6025 50.0 -2.842171e-14) (float-vector 50.0 86.6025 0.0) (float-vector 50.0 86.6025 30.0)))
         (instance face :init :vertices (list (float-vector 100.0 0.0 30.0) (float-vector 100.0 0.0 0.0) (float-vector 86.6025 50.0 -2.842171e-14) (float-vector 86.6025 50.0 30.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray30)
     (setq blink15 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h3scout-tire-l :weight 800 :centroid (float-vector 2.017866e-14 1.989520e-13 15.0) :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 2.131628e-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 0.0 -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 2.131628e-14 31.0) (float-vector 101.0 2.131628e-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 2.131628e-14 31.0) (float-vector 100.0 2.131628e-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 0.0 -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 2.131628e-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 0.0 -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 0.0 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 0.0 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 0.0 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 5.329071e-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 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 5.329071e-15 -120.0) (float-vector 4.33013 2.5 -120.0) (float-vector 4.33013 2.5 -21.0) (float-vector 5.0 5.329071e-15 -21.0)))
         (instance face :init :vertices (list (float-vector 4.33013 -2.5 -120.0) (float-vector 5.0 5.329071e-15 -120.0) (float-vector 5.0 5.329071e-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 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 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 5.329071e-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)))
         (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 0.0 -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 0.0 -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 0.0 -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 0.0 -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 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) (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)))
         (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 -6.310887e-30 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 2.109424e-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 -2.842171e-14) (float-vector 18.1865 10.5 12.0) (float-vector 21.0 0.0 12.0) (float-vector 21.0 0.0 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 -2.842171e-14)))
         (instance face :init :vertices (list (float-vector 18.1865 10.5 -2.842171e-14) (float-vector 10.5 18.1865 -2.842171e-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 -2.842171e-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 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 2.309264e-14 0.0) (float-vector -21.0 2.309264e-14 12.0) (float-vector -18.1865 10.5 12.0)))
         (instance face :init :vertices (list (float-vector -21.0 2.309264e-14 0.0) (float-vector -18.1865 -10.5 0.0) (float-vector -18.1865 -10.5 12.0) (float-vector -21.0 2.309264e-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 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 -2.842171e-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 -2.842171e-14) (float-vector 18.1865 -10.5 -2.842171e-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 0.0 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 2.309264e-14 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)))
         (instance face :init :vertices (list (float-vector 21.0 0.0 -2.842171e-14) (float-vector 18.1865 -10.5 -2.842171e-14) (float-vector 10.5 -18.1865 -2.842171e-14) (float-vector 0.0 -21.0 0.0) (float-vector -10.5 -18.1865 0.0) (float-vector -18.1865 -10.5 0.0) (float-vector -21.0 2.309264e-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 -2.842171e-14) (float-vector 18.1865 10.5 -2.842171e-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 0.0 11.0) (float-vector 21.0 0.0 12.0) (float-vector 18.1865 -10.5 12.0) (float-vector 18.1865 -10.5 -2.842171e-14) (float-vector 21.0 0.0 -2.842171e-14)))
         (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 0.0 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 -6.310887e-30 3.0) (float-vector 135.0 -6.310887e-30 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 2.109424e-15 -1.0) (float-vector 116.0 2.109424e-15 -1.0) (float-vector 116.0 1.0 -0.732051)))
         (instance face :init :vertices (list (float-vector 135.0 2.109424e-15 -1.0) (float-vector 135.0 -1.0 -0.732051) (float-vector 116.0 -1.0 -0.732051) (float-vector 116.0 2.109424e-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 -6.310887e-30 3.0) (float-vector 116.0 -6.310887e-30 3.0) (float-vector 116.0 -1.0 2.73205)))
         (instance face :init :vertices (list (float-vector 135.0 -6.310887e-30 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 2.109424e-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 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 2.309264e-14 16.0) (float-vector -21.0 2.309264e-14 28.0) (float-vector -18.1865 10.5 28.0)))
         (instance face :init :vertices (list (float-vector -21.0 2.309264e-14 16.0) (float-vector -18.1865 -10.5 16.0) (float-vector -18.1865 -10.5 28.0) (float-vector -21.0 2.309264e-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 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 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 2.309264e-14 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)))
         (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 0.0 -21.0 16.0) (float-vector -10.5 -18.1865 16.0) (float-vector -18.1865 -10.5 16.0) (float-vector -21.0 2.309264e-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 0.0 38.0) (float-vector 149.0 -6.310887e-30 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 -6.310887e-30 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 -6.310887e-30 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 2.109424e-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 0.0 -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 0.0 -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 2.109424e-15 -8.0) (float-vector 38.0 2.109424e-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 2.109424e-15 -8.0) (float-vector 24.0 2.109424e-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 2.109424e-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 0.0 -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 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 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 2.131628e-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 0.0 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 2.131628e-14 -31.0) (float-vector 100.0 2.131628e-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 2.131628e-14 -31.0) (float-vector 101.0 -10.0 -28.3205) (float-vector 100.0 -10.0 -28.3205) (float-vector 100.0 2.131628e-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 0.0 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 0.0 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 2.131628e-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 3.202993e-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 3.380629e-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 3.202993e-14 -9.0) (float-vector -162.99 -7.5 -9.0) (float-vector -162.99 -7.5 -8.0) (float-vector -165.0 3.208545e-14 -8.0)))
         (instance face :init :vertices (list (float-vector -165.0 3.375078e-14 22.0) (float-vector -162.99 -7.5 22.0) (float-vector -162.99 -7.5 23.0) (float-vector -165.0 3.380629e-14 23.0)))
         (instance face :init :vertices (list (float-vector -162.99 7.5 -9.0) (float-vector -165.0 3.202993e-14 -9.0) (float-vector -165.0 3.208545e-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 3.375078e-14 22.0) (float-vector -165.0 3.380629e-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 -1.136868e-13 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 -1.136868e-13 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 -1.136868e-13 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 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 6.106227e-16 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 7.049916e-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 6.106227e-15 120.0) (float-vector 5.0 6.106227e-16 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 1.254552e-14 120.0) (float-vector -4.33013 2.5 120.0) (float-vector -4.33013 2.5 21.0) (float-vector -5.0 7.049916e-15 21.0)))
         (instance face :init :vertices (list (float-vector -4.33013 -2.5 120.0) (float-vector -5.0 1.254552e-14 120.0) (float-vector -5.0 7.049916e-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 -1.136868e-13 -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 -1.136868e-13 -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 6.106227e-16 21.0) (float-vector 5.0 6.106227e-15 120.0)))
         (instance face :init :vertices (list (float-vector 5.0 6.106227e-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 1.254552e-14 120.0) (float-vector -4.33013 -2.5 120.0) (float-vector -2.5 -4.33013 120.0) (float-vector -1.136868e-13 -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 0.0 -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 0.0 -8.0 21.0) (float-vector -6.0 -9.6077 21.0)))
         (instance face :init :vertices (list (float-vector -10.3923 -14.0 118.0) (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 -1.136868e-13 -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 -1.136868e-13 -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 -1.136868e-13 -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 3.375078e-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 3.208545e-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 6.439294e-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 8.548717e-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 -2.842171e-14) (float-vector -18.1865 10.5 -12.0) (float-vector -21.0 1.165734e-15 -12.0) (float-vector -21.0 1.165734e-15 -11.0) (float-vector -19.3923 6.0 -11.0) (float-vector -19.3923 6.0 -1.0) (float-vector -21.0 1.165734e-15 -1.0) (float-vector -21.0 1.165734e-15 -2.842171e-14)))
         (instance face :init :vertices (list (float-vector -18.1865 10.5 -2.842171e-14) (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 2.842171e-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 2.842171e-14) (float-vector 21.0 2.192690e-14 2.842171e-14) (float-vector 21.0 2.192690e-14 -12.0) (float-vector 18.1865 10.5 -12.0)))
         (instance face :init :vertices (list (float-vector 21.0 2.192690e-14 2.842171e-14) (float-vector 18.1865 -10.5 2.842171e-14) (float-vector 18.1865 -10.5 -12.0) (float-vector 21.0 2.192690e-14 -12.0)))
         (instance face :init :vertices (list (float-vector 18.1865 -10.5 2.842171e-14) (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 1.136868e-13 -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 1.136868e-13 -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 -2.842171e-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 1.165734e-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 2.192690e-14 -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)))
         (instance face :init :vertices (list (float-vector -21.0 1.165734e-15 -2.842171e-14) (float-vector -18.1865 -10.5 -2.842171e-14) (float-vector -10.5 -18.1865 0.0) (float-vector 1.136868e-13 -21.0 0.0) (float-vector 10.5 -18.1865 0.0) (float-vector 18.1865 -10.5 2.842171e-14) (float-vector 21.0 2.192690e-14 2.842171e-14) (float-vector 18.1865 10.5 2.842171e-14) (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 -2.842171e-14)))
         (instance face :init :vertices (list (float-vector -21.0 1.165734e-15 -1.0) (float-vector -19.3923 -6.0 -1.0) (float-vector -19.3923 -6.0 -11.0) (float-vector -21.0 1.165734e-15 -11.0) (float-vector -21.0 1.165734e-15 -12.0) (float-vector -18.1865 -10.5 -12.0) (float-vector -18.1865 -10.5 -2.842171e-14) (float-vector -21.0 1.165734e-15 -2.842171e-14)))
         (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 1.165734e-15 -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 1.165734e-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 6.439294e-15 -3.0) (float-vector -135.0 7.494005e-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 -8.526513e-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 -8.526513e-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 9.603429e-15 1.0) (float-vector -116.0 8.548717e-15 1.0) (float-vector -116.0 1.0 0.732051)))
         (instance face :init :vertices (list (float-vector -135.0 9.603429e-15 1.0) (float-vector -135.0 -1.0 0.732051) (float-vector -116.0 -1.0 0.732051) (float-vector -116.0 8.548717e-15 1.0)))
         (instance face :init :vertices (list (float-vector -135.0 -1.0 0.732051) (float-vector -135.0 -1.73205 -5.684342e-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 -5.684342e-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 7.494005e-15 -3.0) (float-vector -116.0 6.439294e-15 -3.0) (float-vector -116.0 -1.0 -2.73205)))
         (instance face :init :vertices (list (float-vector -135.0 7.494005e-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 -5.684342e-14) (float-vector -135.0 -1.0 0.732051) (float-vector -135.0 9.603429e-15 1.0) (float-vector -135.0 1.0 0.732051) (float-vector -135.0 1.73205 -8.526513e-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 1.461598e-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 3.125169e-15 -28.0) (float-vector -21.0 3.125169e-15 -27.0) (float-vector -19.3923 6.0 -27.0) (float-vector -19.3923 6.0 -17.0) (float-vector -21.0 3.125169e-15 -17.0) (float-vector -21.0 3.125169e-15 -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 2.388634e-14 -16.0) (float-vector 21.0 2.388634e-14 -28.0) (float-vector 18.1865 10.5 -28.0)))
         (instance face :init :vertices (list (float-vector 21.0 2.388634e-14 -16.0) (float-vector 18.1865 -10.5 -16.0) (float-vector 18.1865 -10.5 -28.0) (float-vector 21.0 2.388634e-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 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 -28.0) (float-vector -21.0 3.125169e-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 2.388634e-14 -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)))
         (instance face :init :vertices (list (float-vector -21.0 3.125169e-15 -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) (float-vector 21.0 2.388634e-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 3.125169e-15 -17.0) (float-vector -19.3923 -6.0 -17.0) (float-vector -19.3923 -6.0 -27.0) (float-vector -21.0 3.125169e-15 -27.0) (float-vector -21.0 3.125169e-15 -28.0) (float-vector -18.1865 -10.5 -28.0) (float-vector -18.1865 -10.5 -16.0) (float-vector -21.0 3.125169e-15 -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 3.125169e-15 -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 3.125169e-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 7.455039e-15 -38.0) (float-vector -149.0 1.023060e-14 -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 1.733602e-14 -24.0) (float-vector -100.0 1.461598e-14 -24.0) (float-vector -100.0 3.5 -24.9378)))
         (instance face :init :vertices (list (float-vector -149.0 1.733602e-14 -24.0) (float-vector -149.0 -3.5 -24.9378) (float-vector -100.0 -3.5 -24.9378) (float-vector -100.0 1.461598e-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 7.455039e-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 1.023060e-14 -38.0) (float-vector -99.0 7.455039e-15 -38.0) (float-vector -99.0 -3.5 -37.0622)))
         (instance face :init :vertices (list (float-vector -149.0 1.023060e-14 -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 1.733602e-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 5.684342e-14) (float-vector -24.0 10.0 5.684342e-14) (float-vector -24.0 10.0 16.0)))
         (instance face :init :vertices (list (float-vector -5.0 10.0 5.684342e-14) (float-vector -5.0 -10.0 5.684342e-14) (float-vector -24.0 -10.0 5.684342e-14) (float-vector -24.0 10.0 5.684342e-14)))
         (instance face :init :vertices (list (float-vector -24.0 -10.0 5.684342e-14) (float-vector -24.0 -10.0 16.0) (float-vector -24.0 10.0 16.0) (float-vector -24.0 10.0 5.684342e-14))
                              :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 2.109424e-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 -1.262177e-29 12.0)))
))
         (instance face :init :vertices (list (float-vector -5.0 -10.0 5.684342e-14) (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 5.684342e-14)))
         (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 5.684342e-14) (float-vector -5.0 10.0 5.684342e-14) (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 -1.262177e-29 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 2.109424e-15 8.0) (float-vector -38.0 2.109424e-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 2.109424e-15 8.0) (float-vector -24.0 2.109424e-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 2.109424e-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 -1.262177e-29 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 2.842171e-14 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 2.842171e-14 25.0 45.0649) (float-vector 2.842171e-14 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 2.842171e-14 25.0 43.0) (float-vector 2.842171e-14 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 2.842171e-14 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 2.842171e-14 16.1408 101.0) (float-vector 2.842171e-14 25.0 45.0649) (float-vector 2.842171e-14 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 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 0.0 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 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 0.0 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 0.0 77.0 -16.1408) (float-vector 0.0 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 -4.218847e-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 1.332268e-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 1.332268e-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 -4.218847e-15 -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 0.0 55.0) (float-vector 6.9282 4.0 55.0) (float-vector 4.0 6.9282 55.0) (float-vector 3.996803e-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 8.437695e-15 55.0) (float-vector -6.9282 -4.0 55.0) (float-vector -4.0 -6.9282 55.0) (float-vector -1.376677e-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 0.0 55.0) (float-vector 8.0 0.0 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 3.996803e-15 8.0 41.0) (float-vector 3.996803e-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 3.996803e-15 8.0 55.0) (float-vector 3.996803e-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 8.437695e-15 41.0) (float-vector -8.0 8.437695e-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 8.437695e-15 55.0) (float-vector -8.0 8.437695e-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 -1.376677e-14 -8.0 41.0) (float-vector -1.376677e-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 -1.376677e-14 -8.0 55.0) (float-vector -1.376677e-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 0.0 41.0) (float-vector 8.0 0.0 55.0) (float-vector 6.9282 -4.0 55.0)))
         (instance face :init :vertices (list (float-vector 8.0 0.0 41.0) (float-vector 6.9282 -4.0 41.0) (float-vector 4.0 -6.9282 41.0) (float-vector -1.376677e-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 8.437695e-15 41.0) (float-vector -6.9282 4.0 41.0) (float-vector -4.0 6.9282 41.0) (float-vector 3.996803e-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 1.332268e-15 21.0 95.0) (float-vector 1.332268e-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 1.332268e-15 -15.0 95.0) (float-vector 1.332268e-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 -4.218847e-15 21.0 89.0) (float-vector -4.218847e-15 -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 -4.218847e-15 -15.0 89.0) (float-vector -4.218847e-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 1.776357e-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) (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 1.776357e-15 -33.0) (float-vector -5.0 1.776357e-15 -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 1.776357e-15 -21.0) (float-vector -5.0 1.776357e-15 -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 -8.881784e-15 -36.0) (float-vector 5.0 -8.881784e-15 -21.0) (float-vector 4.33013 -2.5 -21.0)))
         (instance face :init :vertices (list (float-vector 5.0 -8.881784e-15 -36.0) (float-vector 4.33013 2.5 -36.0) (float-vector 4.33013 2.5 -21.0) (float-vector 5.0 -8.881784e-15 -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 -8.881784e-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 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 1.776357e-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 -8.881784e-15 -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)))
))
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                              :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 1.800231e-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 -6.310887e-30 -5.684342e-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 -6.310887e-30 -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 -1.922695e-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 5.199803e-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 -1.406024e-15 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 -1.224647e-14 -28.0 1.846372e-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 -1.224647e-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 0.0 0.0 867.0) :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 -1.709743e-14 77.0 824.0) :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 1.709743e-14 -77.0 824.0) :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 blink15 :newcoords (make-coords :pos (float-vector 0.0 170.0 200.0) :rot #2f((1.0 0.0 0.0) (0.0 2.220446e-16 1.0) (0.0 -1.0 2.220446e-16))))
     (send blink0 :assoc blink15)
     (send blink14 :newcoords (make-coords :pos (float-vector 0.0 -200.0 200.0) :rot #2f((1.0 0.0 0.0) (0.0 2.220446e-16 1.0) (0.0 -1.0 2.220446e-16))))
     (send blink0 :assoc blink14)
     (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 0.0 0.0 787.0) :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 -3.375078e-14 152.0 834.0) :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 3.375078e-14 -152.0 834.0) :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 h3scout-end-coords
     (setq h3scout-end-coords
       (make-cascoords
	:coords (send (send blink0 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))))
     (send blink0 :assoc h3scout-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))

     ;; definition of :h3scout-tire-r
     (setq joint13 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink14 :name :h3scout-tire-r :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h3scout-tire-l
     (setq joint14 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink15 :name :h3scout-tire-l :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))
     (setq h3scout-root-link blink14)
     (setq h3scout (list blink14 blink15))

     ;; init-ending 
     (setq links (list blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 blink8 blink9 blink10 blink11 blink12 blink13 blink14 blink15))
     (setq joint-list (list joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12 joint13 joint14))
     ;; 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))
  (:h3scout-tire-r (&rest args) (forward-message-to joint13 args))
  (:h3scout-tire-l (&rest args) (forward-message-to joint14 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 h3s (&rest args) (instance* h3s-robot :init args))
;; (format *error-output* "(instance h3s-robot :init) for generating model~%")