File: h4-robot.l

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euslisp 9.31%2Bdfsg-3
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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version 
;;
;;
(defclass h4-robot
  :super robot-model
  :slots (sensors
         joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12 joint13 joint14 joint15 joint16 joint17 joint18 ))
(defmethod h4-robot
  (:init
   (&rest args &key (name "h4") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
   (let (c bc
         blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 blink8 blink9 blink10 blink11 blink12 blink13 blink14 blink15 blink16 blink17 blink18 blink19
                 )
     (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 -55.0 23.5359 327.5) (float-vector -58.0 24.3397 327.5) (float-vector -61.6603 28.0 327.5) (float-vector -62.4641 31.0 327.5) (float-vector -55.0 31.0 327.5)))
         (instance face :init :vertices (list (float-vector -55.0 23.5359 327.5) (float-vector -55.0 23.5359 572.5) (float-vector -58.0 24.3397 572.5) (float-vector -58.0 24.3397 327.5)))
         (instance face :init :vertices (list (float-vector -55.0 23.5359 572.5) (float-vector -55.0 31.0 572.5) (float-vector -62.4641 31.0 572.5) (float-vector -61.6603 28.0 572.5) (float-vector -58.0 24.3397 572.5)))
         (instance face :init :vertices (list (float-vector -61.6603 28.0 572.5) (float-vector -61.6603 28.0 327.5) (float-vector -58.0 24.3397 327.5) (float-vector -58.0 24.3397 572.5)))
         (instance face :init :vertices (list (float-vector -62.4641 31.0 572.5) (float-vector -62.4641 31.0 327.5) (float-vector -61.6603 28.0 327.5) (float-vector -61.6603 28.0 572.5)))
         (instance face :init :vertices (list (float-vector 62.4641 31.0 327.5) (float-vector 61.6603 28.0 327.5) (float-vector 58.0 24.3397 327.5) (float-vector 55.0 23.5359 327.5) (float-vector 55.0 31.0 327.5)))
         (instance face :init :vertices (list (float-vector 62.4641 31.0 327.5) (float-vector 62.4641 31.0 572.5) (float-vector 61.6603 28.0 572.5) (float-vector 61.6603 28.0 327.5)))
         (instance face :init :vertices (list (float-vector 62.4641 31.0 572.5) (float-vector 55.0 31.0 572.5) (float-vector 55.0 23.5359 572.5) (float-vector 58.0 24.3397 572.5) (float-vector 61.6603 28.0 572.5)))
         (instance face :init :vertices (list (float-vector 58.0 24.3397 572.5) (float-vector 58.0 24.3397 327.5) (float-vector 61.6603 28.0 327.5) (float-vector 61.6603 28.0 572.5)))
         (instance face :init :vertices (list (float-vector 55.0 23.5359 572.5) (float-vector 55.0 23.5359 327.5) (float-vector 58.0 24.3397 327.5) (float-vector 58.0 24.3397 572.5)))
         (instance face :init :vertices (list (float-vector -55.0 31.0 327.5) (float-vector -55.0 31.0 325.0) (float-vector -55.0 21.0 325.0) (float-vector -55.0 21.0 575.0) (float-vector -55.0 31.0 575.0) (float-vector -55.0 31.0 572.5) (float-vector -55.0 23.5359 572.5) (float-vector -55.0 23.5359 327.5)))
         (instance face :init :vertices (list (float-vector -55.0 31.0 575.0) (float-vector -65.0 31.0 575.0) (float-vector -65.0 31.0 325.0) (float-vector -55.0 31.0 325.0) (float-vector -55.0 31.0 327.5) (float-vector -62.4641 31.0 327.5) (float-vector -62.4641 31.0 572.5) (float-vector -55.0 31.0 572.5)))
         (instance face :init :vertices (list (float-vector 55.0 31.0 572.5) (float-vector 55.0 31.0 575.0) (float-vector 55.0 21.0 575.0) (float-vector 55.0 21.0 325.0) (float-vector 55.0 31.0 325.0) (float-vector 55.0 31.0 327.5) (float-vector 55.0 23.5359 327.5) (float-vector 55.0 23.5359 572.5)))
         (instance face :init :vertices (list (float-vector 55.0 31.0 325.0) (float-vector 65.0 31.0 325.0) (float-vector 65.0 31.0 575.0) (float-vector 55.0 31.0 575.0) (float-vector 55.0 31.0 572.5) (float-vector 62.4641 31.0 572.5) (float-vector 62.4641 31.0 327.5) (float-vector 55.0 31.0 327.5)))
         (instance face :init :vertices (list (float-vector 65.0 31.0 325.0) (float-vector 65.0 229.0 325.0) (float-vector 65.0 229.0 575.0) (float-vector 65.0 31.0 575.0)))
         (instance face :init :vertices (list (float-vector 55.0 21.0 325.0) (float-vector -55.0 21.0 325.0) (float-vector -55.0 31.0 325.0) (float-vector -65.0 31.0 325.0) (float-vector -65.0 229.0 325.0) (float-vector -55.0 229.0 325.0) (float-vector -55.0 239.0 325.0) (float-vector 55.0 239.0 325.0) (float-vector 55.0 229.0 325.0) (float-vector 65.0 229.0 325.0) (float-vector 65.0 31.0 325.0) (float-vector 55.0 31.0 325.0)))
         (instance face :init :vertices (list (float-vector -65.0 31.0 575.0) (float-vector -65.0 229.0 575.0) (float-vector -65.0 229.0 325.0) (float-vector -65.0 31.0 325.0)))
         (instance face :init :vertices (list (float-vector 55.0 21.0 575.0) (float-vector -55.0 21.0 575.0) (float-vector -55.0 21.0 325.0) (float-vector 55.0 21.0 325.0)))
         (instance face :init :vertices (list (float-vector 65.0 229.0 575.0) (float-vector 55.0 229.0 575.0) (float-vector 55.0 239.0 575.0) (float-vector -55.0 239.0 575.0) (float-vector -55.0 229.0 575.0) (float-vector -65.0 229.0 575.0) (float-vector -65.0 31.0 575.0) (float-vector -55.0 31.0 575.0) (float-vector -55.0 21.0 575.0) (float-vector 55.0 21.0 575.0) (float-vector 55.0 31.0 575.0) (float-vector 65.0 31.0 575.0)))
         (instance face :init :vertices (list (float-vector -55.0 239.0 325.0) (float-vector -55.0 239.0 575.0) (float-vector 55.0 239.0 575.0) (float-vector 55.0 239.0 325.0)))
         (instance face :init :vertices (list (float-vector 55.0 229.0 575.0) (float-vector 55.0 229.0 572.5) (float-vector 55.0 236.464 572.5) (float-vector 55.0 236.464 327.5) (float-vector 55.0 229.0 327.5) (float-vector 55.0 229.0 325.0) (float-vector 55.0 239.0 325.0) (float-vector 55.0 239.0 575.0)))
         (instance face :init :vertices (list (float-vector 55.0 229.0 327.5) (float-vector 62.4641 229.0 327.5) (float-vector 62.4641 229.0 572.5) (float-vector 55.0 229.0 572.5) (float-vector 55.0 229.0 575.0) (float-vector 65.0 229.0 575.0) (float-vector 65.0 229.0 325.0) (float-vector 55.0 229.0 325.0)))
         (instance face :init :vertices (list (float-vector -55.0 229.0 575.0) (float-vector -55.0 229.0 572.5) (float-vector -62.4641 229.0 572.5) (float-vector -62.4641 229.0 327.5) (float-vector -55.0 229.0 327.5) (float-vector -55.0 229.0 325.0) (float-vector -65.0 229.0 325.0) (float-vector -65.0 229.0 575.0)))
         (instance face :init :vertices (list (float-vector -55.0 229.0 572.5) (float-vector -55.0 229.0 575.0) (float-vector -55.0 239.0 575.0) (float-vector -55.0 239.0 325.0) (float-vector -55.0 229.0 325.0) (float-vector -55.0 229.0 327.5) (float-vector -55.0 236.464 327.5) (float-vector -55.0 236.464 572.5)))
         (instance face :init :vertices (list (float-vector 62.4641 229.0 327.5) (float-vector 61.6603 232.0 327.5) (float-vector 61.6603 232.0 572.5) (float-vector 62.4641 229.0 572.5)))
         (instance face :init :vertices (list (float-vector 61.6603 232.0 327.5) (float-vector 58.0 235.66 327.5) (float-vector 58.0 235.66 572.5) (float-vector 61.6603 232.0 572.5)))
         (instance face :init :vertices (list (float-vector 58.0 235.66 572.5) (float-vector 55.0 236.464 572.5) (float-vector 55.0 229.0 572.5) (float-vector 62.4641 229.0 572.5) (float-vector 61.6603 232.0 572.5)))
         (instance face :init :vertices (list (float-vector 58.0 235.66 327.5) (float-vector 55.0 236.464 327.5) (float-vector 55.0 236.464 572.5) (float-vector 58.0 235.66 572.5)))
         (instance face :init :vertices (list (float-vector 55.0 236.464 327.5) (float-vector 58.0 235.66 327.5) (float-vector 61.6603 232.0 327.5) (float-vector 62.4641 229.0 327.5) (float-vector 55.0 229.0 327.5)))
         (instance face :init :vertices (list (float-vector -55.0 236.464 327.5) (float-vector -58.0 235.66 327.5) (float-vector -58.0 235.66 572.5) (float-vector -55.0 236.464 572.5)))
         (instance face :init :vertices (list (float-vector -58.0 235.66 327.5) (float-vector -61.6603 232.0 327.5) (float-vector -61.6603 232.0 572.5) (float-vector -58.0 235.66 572.5)))
         (instance face :init :vertices (list (float-vector -61.6603 232.0 572.5) (float-vector -62.4641 229.0 572.5) (float-vector -55.0 229.0 572.5) (float-vector -55.0 236.464 572.5) (float-vector -58.0 235.66 572.5)))
         (instance face :init :vertices (list (float-vector -61.6603 232.0 327.5) (float-vector -62.4641 229.0 327.5) (float-vector -62.4641 229.0 572.5) (float-vector -61.6603 232.0 572.5)))
         (instance face :init :vertices (list (float-vector -62.4641 229.0 327.5) (float-vector -61.6603 232.0 327.5) (float-vector -58.0 235.66 327.5) (float-vector -55.0 236.464 327.5) (float-vector -55.0 229.0 327.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 20.0 110.0 655.0) (float-vector 20.0 110.0 582.0) (float-vector 30.0 112.679 582.0) (float-vector 30.0 112.679 655.0)))
         (instance face :init :vertices (list (float-vector 37.3205 120.0 582.0) (float-vector 37.3205 120.0 655.0) (float-vector 30.0 112.679 655.0) (float-vector 30.0 112.679 582.0)))
         (instance face :init :vertices (list (float-vector 40.0 130.0 582.0) (float-vector 40.0 130.0 655.0) (float-vector 37.3205 120.0 655.0) (float-vector 37.3205 120.0 582.0)))
         (instance face :init :vertices (list (float-vector 37.3205 140.0 582.0) (float-vector 37.3205 140.0 655.0) (float-vector 40.0 130.0 655.0) (float-vector 40.0 130.0 582.0)))
         (instance face :init :vertices (list (float-vector 30.0 147.321 582.0) (float-vector 30.0 147.321 655.0) (float-vector 37.3205 140.0 655.0) (float-vector 37.3205 140.0 582.0)))
         (instance face :init :vertices (list (float-vector 20.0 150.0 582.0) (float-vector 20.0 150.0 655.0) (float-vector 30.0 147.321 655.0) (float-vector 30.0 147.321 582.0)))
         (instance face :init :vertices (list (float-vector 10.0 147.321 582.0) (float-vector 10.0 147.321 655.0) (float-vector 20.0 150.0 655.0) (float-vector 20.0 150.0 582.0)))
         (instance face :init :vertices (list (float-vector 2.67949 140.0 582.0) (float-vector 2.67949 140.0 655.0) (float-vector 10.0 147.321 655.0) (float-vector 10.0 147.321 582.0)))
         (instance face :init :vertices (list (float-vector 8.914464e-15 130.0 582.0) (float-vector 7.947213e-15 130.0 655.0) (float-vector 2.67949 140.0 655.0) (float-vector 2.67949 140.0 582.0)))
         (instance face :init :vertices (list (float-vector 2.67949 120.0 582.0) (float-vector 2.67949 120.0 655.0) (float-vector 7.947213e-15 130.0 655.0) (float-vector 8.914464e-15 130.0 582.0)))
         (instance face :init :vertices (list (float-vector 10.0 112.679 582.0) (float-vector 10.0 112.679 655.0) (float-vector 2.67949 120.0 655.0) (float-vector 2.67949 120.0 582.0)))
         (instance face :init :vertices (list (float-vector 10.0 112.679 655.0) (float-vector 20.0 110.0 655.0) (float-vector 30.0 112.679 655.0) (float-vector 37.3205 120.0 655.0) (float-vector 40.0 130.0 655.0) (float-vector 37.3205 140.0 655.0) (float-vector 30.0 147.321 655.0) (float-vector 20.0 150.0 655.0) (float-vector 10.0 147.321 655.0) (float-vector 2.67949 140.0 655.0) (float-vector 7.947213e-15 130.0 655.0) (float-vector 2.67949 120.0 655.0)))
         (instance face :init :vertices (list (float-vector 20.0 110.0 655.0) (float-vector 10.0 112.679 655.0) (float-vector 10.0 112.679 582.0) (float-vector 20.0 110.0 582.0)))
         (instance face :init :vertices (list (float-vector 20.0 95.0 582.0) (float-vector 20.0 95.0 579.0) (float-vector 37.5 99.6891 579.0) (float-vector 37.5 99.6891 582.0)))
         (instance face :init :vertices (list (float-vector 37.5 99.6891 579.0) (float-vector 50.3109 112.5 579.0) (float-vector 50.3109 112.5 582.0) (float-vector 37.5 99.6891 582.0)))
         (instance face :init :vertices (list (float-vector 50.3109 112.5 579.0) (float-vector 55.0 130.0 579.0) (float-vector 55.0 130.0 582.0) (float-vector 50.3109 112.5 582.0)))
         (instance face :init :vertices (list (float-vector 55.0 130.0 579.0) (float-vector 50.3109 147.5 579.0) (float-vector 50.3109 147.5 582.0) (float-vector 55.0 130.0 582.0)))
         (instance face :init :vertices (list (float-vector 50.3109 147.5 579.0) (float-vector 37.5 160.311 579.0) (float-vector 37.5 160.311 582.0) (float-vector 50.3109 147.5 582.0)))
         (instance face :init :vertices (list (float-vector 37.5 160.311 579.0) (float-vector 20.0 165.0 579.0) (float-vector 20.0 165.0 582.0) (float-vector 37.5 160.311 582.0)))
         (instance face :init :vertices (list (float-vector 20.0 165.0 579.0) (float-vector 2.5 160.311 579.0) (float-vector 2.5 160.311 582.0) (float-vector 20.0 165.0 582.0)))
         (instance face :init :vertices (list (float-vector 2.5 160.311 579.0) (float-vector -10.3109 147.5 579.0) (float-vector -10.3109 147.5 582.0) (float-vector 2.5 160.311 582.0)))
         (instance face :init :vertices (list (float-vector -10.3109 147.5 579.0) (float-vector -15.0 130.0 579.0) (float-vector -15.0 130.0 582.0) (float-vector -10.3109 147.5 582.0)))
         (instance face :init :vertices (list (float-vector -15.0 130.0 579.0) (float-vector -10.3109 112.5 579.0) (float-vector -10.3109 112.5 582.0) (float-vector -15.0 130.0 582.0)))
         (instance face :init :vertices (list (float-vector -10.3109 112.5 579.0) (float-vector 2.5 99.6891 579.0) (float-vector 2.5 99.6891 582.0) (float-vector -10.3109 112.5 582.0)))
         (instance face :init :vertices (list (float-vector 2.5 99.6891 582.0) (float-vector 20.0 95.0 582.0) (float-vector 37.5 99.6891 582.0) (float-vector 50.3109 112.5 582.0) (float-vector 55.0 130.0 582.0) (float-vector 50.3109 147.5 582.0) (float-vector 37.5 160.311 582.0) (float-vector 20.0 165.0 582.0) (float-vector 2.5 160.311 582.0) (float-vector -10.3109 147.5 582.0) (float-vector -15.0 130.0 582.0) (float-vector -10.3109 112.5 582.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 10.0 112.679 582.0) (float-vector 2.67949 120.0 582.0) (float-vector 8.914464e-15 130.0 582.0) (float-vector 2.67949 140.0 582.0) (float-vector 10.0 147.321 582.0) (float-vector 20.0 150.0 582.0) (float-vector 30.0 147.321 582.0) (float-vector 37.3205 140.0 582.0) (float-vector 40.0 130.0 582.0) (float-vector 37.3205 120.0 582.0) (float-vector 30.0 112.679 582.0) (float-vector 20.0 110.0 582.0)))
))
         (instance face :init :vertices (list (float-vector 2.5 99.6891 579.0) (float-vector 20.0 95.0 579.0) (float-vector 20.0 95.0 582.0) (float-vector 2.5 99.6891 582.0)))
         (instance face :init :vertices (list (float-vector 20.0 95.0 579.0) (float-vector 2.5 99.6891 579.0) (float-vector -10.3109 112.5 579.0) (float-vector -15.0 130.0 579.0) (float-vector -10.3109 147.5 579.0) (float-vector 2.5 160.311 579.0) (float-vector 20.0 165.0 579.0) (float-vector 37.5 160.311 579.0) (float-vector 50.3109 147.5 579.0) (float-vector 55.0 130.0 579.0) (float-vector 50.3109 112.5 579.0) (float-vector 37.5 99.6891 579.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 145.0 482.679) (float-vector 1.087931e-13 145.0 480.0) (float-vector 10.0 145.0 482.679) (float-vector 17.3205 145.0 490.0) (float-vector 20.0 145.0 500.0) (float-vector 17.3205 145.0 510.0) (float-vector 10.0 145.0 517.321) (float-vector 1.301269e-13 145.0 520.0) (float-vector -10.0 145.0 517.321) (float-vector -17.3205 145.0 510.0) (float-vector -20.0 145.0 500.0) (float-vector -17.3205 145.0 490.0)))
         (instance face :init :vertices (list (float-vector -1.021493e-13 245.0 480.0) (float-vector -10.0 245.0 482.679) (float-vector -17.3205 245.0 490.0) (float-vector -20.0 245.0 500.0) (float-vector -17.3205 245.0 510.0) (float-vector -10.0 245.0 517.321) (float-vector -8.081548e-14 245.0 520.0) (float-vector 10.0 245.0 517.321) (float-vector 17.3205 245.0 510.0) (float-vector 20.0 245.0 500.0) (float-vector 17.3205 245.0 490.0) (float-vector 10.0 245.0 482.679)))
         (instance face :init :vertices (list (float-vector -10.0 145.0 482.679) (float-vector -10.0 245.0 482.679) (float-vector -1.021493e-13 245.0 480.0) (float-vector 1.087931e-13 145.0 480.0)))
         (instance face :init :vertices (list (float-vector -17.3205 145.0 490.0) (float-vector -17.3205 245.0 490.0) (float-vector -10.0 245.0 482.679) (float-vector -10.0 145.0 482.679)))
         (instance face :init :vertices (list (float-vector -20.0 145.0 500.0) (float-vector -20.0 245.0 500.0) (float-vector -17.3205 245.0 490.0) (float-vector -17.3205 145.0 490.0)))
         (instance face :init :vertices (list (float-vector -17.3205 145.0 510.0) (float-vector -17.3205 245.0 510.0) (float-vector -20.0 245.0 500.0) (float-vector -20.0 145.0 500.0)))
         (instance face :init :vertices (list (float-vector -10.0 145.0 517.321) (float-vector -10.0 245.0 517.321) (float-vector -17.3205 245.0 510.0) (float-vector -17.3205 145.0 510.0)))
         (instance face :init :vertices (list (float-vector 1.301269e-13 145.0 520.0) (float-vector -8.081548e-14 245.0 520.0) (float-vector -10.0 245.0 517.321) (float-vector -10.0 145.0 517.321)))
         (instance face :init :vertices (list (float-vector 10.0 145.0 517.321) (float-vector 10.0 245.0 517.321) (float-vector -8.081548e-14 245.0 520.0) (float-vector 1.301269e-13 145.0 520.0)))
         (instance face :init :vertices (list (float-vector 17.3205 145.0 510.0) (float-vector 17.3205 245.0 510.0) (float-vector 10.0 245.0 517.321) (float-vector 10.0 145.0 517.321)))
         (instance face :init :vertices (list (float-vector 20.0 145.0 500.0) (float-vector 20.0 245.0 500.0) (float-vector 17.3205 245.0 510.0) (float-vector 17.3205 145.0 510.0)))
         (instance face :init :vertices (list (float-vector 17.3205 145.0 490.0) (float-vector 17.3205 245.0 490.0) (float-vector 20.0 245.0 500.0) (float-vector 20.0 145.0 500.0)))
         (instance face :init :vertices (list (float-vector 10.0 145.0 482.679) (float-vector 10.0 245.0 482.679) (float-vector 17.3205 245.0 490.0) (float-vector 17.3205 145.0 490.0)))
         (instance face :init :vertices (list (float-vector 1.087931e-13 145.0 480.0) (float-vector -1.021493e-13 245.0 480.0) (float-vector 10.0 245.0 482.679) (float-vector 10.0 145.0 482.679)))
       ))
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector 66.0 70.0 365.0) (float-vector 74.0 70.0 365.0) (float-vector 74.0 70.0 337.0) (float-vector 66.0 70.0 337.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 66.0 73.0 365.0) (float-vector 66.0 101.0 365.0) (float-vector 66.0 101.0 337.0) (float-vector 66.0 73.0 337.0)))
         (instance face :init :vertices (list (float-vector 74.0 101.0 365.0) (float-vector 74.0 73.0 365.0) (float-vector 74.0 73.0 337.0) (float-vector 74.0 101.0 337.0)))
         (instance face :init :vertices (list (float-vector 66.0 73.0 365.0) (float-vector 74.0 73.0 365.0) (float-vector 74.0 101.0 365.0) (float-vector 66.0 101.0 365.0)))
         (instance face :init :vertices (list (float-vector 66.0 73.0 337.0) (float-vector 74.0 73.0 337.0) (float-vector 74.0 73.0 365.0) (float-vector 66.0 73.0 365.0)))
         (instance face :init :vertices (list (float-vector 66.0 101.0 337.0) (float-vector 74.0 101.0 337.0) (float-vector 74.0 73.0 337.0) (float-vector 66.0 73.0 337.0)))
         (instance face :init :vertices (list (float-vector 66.0 101.0 365.0) (float-vector 74.0 101.0 365.0) (float-vector 74.0 101.0 337.0) (float-vector 66.0 101.0 337.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 66.0 104.0 365.0) (float-vector 66.0 132.0 365.0) (float-vector 66.0 132.0 337.0) (float-vector 66.0 104.0 337.0)))
         (instance face :init :vertices (list (float-vector 74.0 132.0 365.0) (float-vector 74.0 104.0 365.0) (float-vector 74.0 104.0 337.0) (float-vector 74.0 132.0 337.0)))
         (instance face :init :vertices (list (float-vector 66.0 104.0 365.0) (float-vector 74.0 104.0 365.0) (float-vector 74.0 132.0 365.0) (float-vector 66.0 132.0 365.0)))
         (instance face :init :vertices (list (float-vector 66.0 104.0 337.0) (float-vector 74.0 104.0 337.0) (float-vector 74.0 104.0 365.0) (float-vector 66.0 104.0 365.0)))
         (instance face :init :vertices (list (float-vector 66.0 132.0 337.0) (float-vector 74.0 132.0 337.0) (float-vector 74.0 104.0 337.0) (float-vector 66.0 104.0 337.0)))
         (instance face :init :vertices (list (float-vector 66.0 132.0 365.0) (float-vector 74.0 132.0 365.0) (float-vector 74.0 132.0 337.0) (float-vector 66.0 132.0 337.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 66.0 128.0 365.0) (float-vector 66.0 156.0 365.0) (float-vector 66.0 156.0 337.0) (float-vector 66.0 128.0 337.0)))
         (instance face :init :vertices (list (float-vector 74.0 156.0 365.0) (float-vector 74.0 128.0 365.0) (float-vector 74.0 128.0 337.0) (float-vector 74.0 156.0 337.0)))
         (instance face :init :vertices (list (float-vector 66.0 128.0 365.0) (float-vector 74.0 128.0 365.0) (float-vector 74.0 156.0 365.0) (float-vector 66.0 156.0 365.0)))
         (instance face :init :vertices (list (float-vector 66.0 128.0 337.0) (float-vector 74.0 128.0 337.0) (float-vector 74.0 128.0 365.0) (float-vector 66.0 128.0 365.0)))
         (instance face :init :vertices (list (float-vector 66.0 156.0 337.0) (float-vector 74.0 156.0 337.0) (float-vector 74.0 128.0 337.0) (float-vector 66.0 128.0 337.0)))
         (instance face :init :vertices (list (float-vector 66.0 156.0 365.0) (float-vector 74.0 156.0 365.0) (float-vector 74.0 156.0 337.0) (float-vector 66.0 156.0 337.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 66.0 159.0 365.0) (float-vector 66.0 187.0 365.0) (float-vector 66.0 187.0 337.0) (float-vector 66.0 159.0 337.0)))
         (instance face :init :vertices (list (float-vector 74.0 187.0 365.0) (float-vector 74.0 159.0 365.0) (float-vector 74.0 159.0 337.0) (float-vector 74.0 187.0 337.0)))
         (instance face :init :vertices (list (float-vector 66.0 159.0 365.0) (float-vector 74.0 159.0 365.0) (float-vector 74.0 187.0 365.0) (float-vector 66.0 187.0 365.0)))
         (instance face :init :vertices (list (float-vector 66.0 159.0 337.0) (float-vector 74.0 159.0 337.0) (float-vector 74.0 159.0 365.0) (float-vector 66.0 159.0 365.0)))
         (instance face :init :vertices (list (float-vector 66.0 187.0 337.0) (float-vector 74.0 187.0 337.0) (float-vector 74.0 159.0 337.0) (float-vector 66.0 159.0 337.0)))
         (instance face :init :vertices (list (float-vector 66.0 187.0 365.0) (float-vector 74.0 187.0 365.0) (float-vector 74.0 187.0 337.0) (float-vector 66.0 187.0 337.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 66.0 190.0 365.0) (float-vector 66.0 218.0 365.0) (float-vector 66.0 218.0 337.0) (float-vector 66.0 190.0 337.0)))
         (instance face :init :vertices (list (float-vector 74.0 218.0 365.0) (float-vector 74.0 190.0 365.0) (float-vector 74.0 190.0 337.0) (float-vector 74.0 218.0 337.0)))
         (instance face :init :vertices (list (float-vector 66.0 190.0 365.0) (float-vector 74.0 190.0 365.0) (float-vector 74.0 218.0 365.0) (float-vector 66.0 218.0 365.0)))
         (instance face :init :vertices (list (float-vector 66.0 190.0 337.0) (float-vector 74.0 190.0 337.0) (float-vector 74.0 190.0 365.0) (float-vector 66.0 190.0 365.0)))
         (instance face :init :vertices (list (float-vector 66.0 218.0 337.0) (float-vector 74.0 218.0 337.0) (float-vector 74.0 190.0 337.0) (float-vector 66.0 190.0 337.0)))
         (instance face :init :vertices (list (float-vector 66.0 218.0 365.0) (float-vector 74.0 218.0 365.0) (float-vector 74.0 218.0 337.0) (float-vector 66.0 218.0 337.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 62.0711 226.272 337.0) (float-vector 62.0711 226.272 365.0) (float-vector 42.2721 246.071 365.0) (float-vector 42.2721 246.071 337.0)))
         (instance face :init :vertices (list (float-vector 67.7279 231.929 365.0) (float-vector 67.7279 231.929 337.0) (float-vector 47.9289 251.728 337.0) (float-vector 47.9289 251.728 365.0)))
         (instance face :init :vertices (list (float-vector 62.0711 226.272 337.0) (float-vector 67.7279 231.929 337.0) (float-vector 67.7279 231.929 365.0) (float-vector 62.0711 226.272 365.0)))
         (instance face :init :vertices (list (float-vector 42.2721 246.071 337.0) (float-vector 47.9289 251.728 337.0) (float-vector 67.7279 231.929 337.0) (float-vector 62.0711 226.272 337.0)))
         (instance face :init :vertices (list (float-vector 42.2721 246.071 365.0) (float-vector 47.9289 251.728 365.0) (float-vector 47.9289 251.728 337.0) (float-vector 42.2721 246.071 337.0)))
         (instance face :init :vertices (list (float-vector 62.0711 226.272 365.0) (float-vector 67.7279 231.929 365.0) (float-vector 47.9289 251.728 365.0) (float-vector 42.2721 246.071 365.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 35.0 235.0 337.0) (float-vector 35.0 235.0 365.0) (float-vector 7.0 235.0 365.0) (float-vector 7.0 235.0 337.0)))
         (instance face :init :vertices (list (float-vector 35.0 243.0 365.0) (float-vector 35.0 243.0 337.0) (float-vector 7.0 243.0 337.0) (float-vector 7.0 243.0 365.0)))
         (instance face :init :vertices (list (float-vector 35.0 235.0 337.0) (float-vector 35.0 243.0 337.0) (float-vector 35.0 243.0 365.0) (float-vector 35.0 235.0 365.0)))
         (instance face :init :vertices (list (float-vector 7.0 235.0 337.0) (float-vector 7.0 243.0 337.0) (float-vector 35.0 243.0 337.0) (float-vector 35.0 235.0 337.0)))
         (instance face :init :vertices (list (float-vector 7.0 235.0 365.0) (float-vector 7.0 243.0 365.0) (float-vector 7.0 243.0 337.0) (float-vector 7.0 235.0 337.0)))
         (instance face :init :vertices (list (float-vector 35.0 235.0 365.0) (float-vector 35.0 243.0 365.0) (float-vector 7.0 243.0 365.0) (float-vector 7.0 235.0 365.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 4.0 235.0 337.0) (float-vector 4.0 235.0 365.0) (float-vector -14.0 235.0 365.0) (float-vector -14.0 235.0 337.0)))
         (instance face :init :vertices (list (float-vector 4.0 243.0 365.0) (float-vector 4.0 243.0 337.0) (float-vector -14.0 243.0 337.0) (float-vector -14.0 243.0 365.0)))
         (instance face :init :vertices (list (float-vector 4.0 235.0 337.0) (float-vector 4.0 243.0 337.0) (float-vector 4.0 243.0 365.0) (float-vector 4.0 235.0 365.0)))
         (instance face :init :vertices (list (float-vector -14.0 235.0 337.0) (float-vector -14.0 243.0 337.0) (float-vector 4.0 243.0 337.0) (float-vector 4.0 235.0 337.0)))
         (instance face :init :vertices (list (float-vector -14.0 235.0 365.0) (float-vector -14.0 243.0 365.0) (float-vector -14.0 243.0 337.0) (float-vector -14.0 235.0 337.0)))
         (instance face :init :vertices (list (float-vector 4.0 235.0 365.0) (float-vector 4.0 243.0 365.0) (float-vector -14.0 243.0 365.0) (float-vector -14.0 235.0 365.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :white)
     (send (elt bc 2) :set-color (list))
     (send (elt bc 3) :set-color (list))
     (send (elt bc 4) :set-color :gray90)
     (send (elt bc 5) :set-color (list))
     (send (elt bc 6) :set-color (list))
     (send (elt bc 7) :set-color (list))
     (send (elt bc 8) :set-color (list))
     (send (elt bc 9) :set-color (list))
     (send (elt bc 10) :set-color (list))
     (send (elt bc 11) :set-color (list))
     (send (elt bc 12) :set-color (list))
     (send (elt bc 13) :set-color (list))
     (send (elt bc 14) :set-color (list))
     (send (elt bc 15) :set-color (list))
     (send (elt bc 16) :set-color (list))
     (send (elt bc 17) :set-color (list))
     (send (elt bc 18) :set-color (list))
     (send (elt bc 19) :set-color (list))
     (send (elt bc 20) :set-color (list))
     (send (elt bc 21) :set-color (list))
     (send (elt bc 22) :set-color (list))
     (send (elt bc 23) :set-color (list))
     (send (elt bc 24) :set-color (list))
     (send (elt bc 25) :set-color (list))
     (send (elt bc 26) :set-color (list))
     (send (elt bc 27) :set-color (list))
     (send (elt bc 28) :set-color (list))
     (send (elt bc 29) :set-color (list))
     (send (elt bc 30) :set-color (list))
     (send (elt bc 31) :set-color (list))
     (send (elt bc 32) :set-color (list))
     (send (elt bc 33) :set-color (list))
     (send (elt bc 34) :set-color (list))
     (send (elt bc 35) :set-color (list))
     (send (elt bc 36) :set-color (list))
     (send (elt bc 37) :set-color (list))
     (send (elt bc 38) :set-color (list))
     (send (elt bc 39) :set-color (list))
     (send (elt bc 40) :set-color (list))
     (send (elt bc 41) :set-color (list))
     (send (elt bc 42) :set-color (list))
     (send (elt bc 43) :set-color (list))
     (send (elt bc 44) :set-color (list))
     (send (elt bc 45) :set-color (list))
     (send (elt bc 46) :set-color (list))
     (send (elt bc 47) :set-color (list))
     (send (elt bc 48) :set-color (list))
     (send (elt bc 49) :set-color (list))
     (send (elt bc 50) :set-color (list))
     (send (elt bc 51) :set-color (list))
     (send (elt bc 52) :set-color (list))
     (send (elt bc 53) :set-color (list))
     (send (elt bc 54) :set-color (list))
     (send (elt bc 55) :set-color (list))
     (send (elt bc 56) :set-color (list))
     (send (elt bc 57) :set-color (list))
     (send (elt bc 58) :set-color (list))
     (send (elt bc 59) :set-color (list))
     (send (elt bc 60) :set-color (list))
     (send (elt bc 61) :set-color (list))
     (send (elt bc 62) :set-color (list))
     (send (elt bc 63) :set-color (list))
     (send (elt bc 64) :set-color (list))
     (send (elt bc 65) :set-color (list))
     (send (elt bc 66) :set-color (list))
     (send (elt bc 67) :set-color (list))
     (send (elt bc 68) :set-color (list))
     (send (elt bc 69) :set-color (list))
     (send (elt bc 70) :set-color (list))
     (send (elt bc 71) :set-color (list))
     (send (elt bc 72) :set-color (list))
     (send (elt bc 73) :set-color (list))
     (send (elt bc 74) :set-color (list))
     (send (elt bc 75) :set-color (list))
     (send (elt bc 76) :set-color (list))
     (send (elt bc 77) :set-color (list))
     (send (elt bc 78) :set-color (list))
     (send (elt bc 79) :set-color (list))
     (send (elt bc 80) :set-color (list))
     (send (elt bc 81) :set-color (list))
     (send (elt bc 82) :set-color (list))
     (send (elt bc 83) :set-color (list))
     (send (elt bc 84) :set-color (list))
     (send (elt bc 85) :set-color (list))
     (send (elt bc 86) :set-color (list))
     (send (elt bc 87) :set-color (list))
     (send (elt bc 88) :set-color (list))
     (send (elt bc 89) :set-color (list))
     (send (elt bc 90) :set-color (list))
     (send (elt bc 91) :set-color (list))
     (send (elt bc 92) :set-color (list))
     (send (elt bc 93) :set-color (list))
     (send (elt bc 94) :set-color (list))
     (send (elt bc 95) :set-color (list))
     (send (elt bc 96) :set-color (list))
     (send (elt bc 97) :set-color (list))
     (send (elt bc 98) :set-color (list))
     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :weight 5200 :centroid (float-vector 0.769231 130.0 488.861) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4waist-nil-0
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 27.0 0.0 114.5) (float-vector 23.3827 -13.5 114.5) (float-vector 23.3827 -13.5 83.5) (float-vector 27.0 0.0 83.5)))
         (instance face :init :vertices (list (float-vector 27.0 0.0 114.5) (float-vector 23.3827 13.5 114.5) (float-vector 13.5 23.3827 114.5) (float-vector 2.842171e-14 27.0 114.5) (float-vector -13.5 23.3827 114.5) (float-vector -23.3827 13.5 114.5) (float-vector -27.0 3.197442e-14 114.5) (float-vector -23.3827 -13.5 114.5) (float-vector -13.5 -23.3827 114.5) (float-vector -2.842171e-14 -27.0 114.5) (float-vector 13.5 -23.3827 114.5) (float-vector 23.3827 -13.5 114.5)))
         (instance face :init :vertices (list (float-vector 13.5 -23.3827 114.5) (float-vector 13.5 -23.3827 83.5) (float-vector 23.3827 -13.5 83.5) (float-vector 23.3827 -13.5 114.5)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -27.0 114.5) (float-vector -2.842171e-14 -27.0 83.5) (float-vector 13.5 -23.3827 83.5) (float-vector 13.5 -23.3827 114.5)))
         (instance face :init :vertices (list (float-vector -13.5 -23.3827 114.5) (float-vector -13.5 -23.3827 83.5) (float-vector -2.842171e-14 -27.0 83.5) (float-vector -2.842171e-14 -27.0 114.5)))
         (instance face :init :vertices (list (float-vector -23.3827 -13.5 114.5) (float-vector -23.3827 -13.5 83.5) (float-vector -13.5 -23.3827 83.5) (float-vector -13.5 -23.3827 114.5)))
         (instance face :init :vertices (list (float-vector -27.0 3.197442e-14 114.5) (float-vector -27.0 3.197442e-14 83.5) (float-vector -23.3827 -13.5 83.5) (float-vector -23.3827 -13.5 114.5)))
         (instance face :init :vertices (list (float-vector -23.3827 13.5 114.5) (float-vector -23.3827 13.5 83.5) (float-vector -27.0 3.197442e-14 83.5) (float-vector -27.0 3.197442e-14 114.5)))
         (instance face :init :vertices (list (float-vector -13.5 23.3827 114.5) (float-vector -13.5 23.3827 83.5) (float-vector -23.3827 13.5 83.5) (float-vector -23.3827 13.5 114.5)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 27.0 114.5) (float-vector 2.842171e-14 27.0 83.5) (float-vector -13.5 23.3827 83.5) (float-vector -13.5 23.3827 114.5)))
         (instance face :init :vertices (list (float-vector 13.5 23.3827 114.5) (float-vector 13.5 23.3827 83.5) (float-vector 2.842171e-14 27.0 83.5) (float-vector 2.842171e-14 27.0 114.5)))
         (instance face :init :vertices (list (float-vector 23.3827 13.5 114.5) (float-vector 23.3827 13.5 83.5) (float-vector 13.5 23.3827 83.5) (float-vector 13.5 23.3827 114.5)))
         (instance face :init :vertices (list (float-vector 27.0 0.0 83.5) (float-vector 23.3827 13.5 83.5) (float-vector 23.3827 13.5 114.5) (float-vector 27.0 0.0 114.5)))
         (instance face :init :vertices (list (float-vector -51.0 -80.0 -17.0) (float-vector -51.0 -80.0 52.0) (float-vector -51.0 36.0 52.0) (float-vector -51.0 36.0 -17.0)))
         (instance face :init :vertices (list (float-vector -51.0 -80.0 -17.0) (float-vector 51.0 -80.0 -17.0) (float-vector 51.0 -80.0 52.0) (float-vector -51.0 -80.0 52.0)))
         (instance face :init :vertices (list (float-vector 51.0 -80.0 -17.0) (float-vector 51.0 36.0 -17.0) (float-vector 51.0 36.0 52.0) (float-vector 51.0 -80.0 52.0)))
         (instance face :init :vertices (list (float-vector 51.0 36.0 52.0) (float-vector -51.0 36.0 52.0) (float-vector -51.0 -80.0 52.0) (float-vector 51.0 -80.0 52.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 27.7128 16.0 52.0) (float-vector 32.0 3.552714e-15 52.0) (float-vector 27.7128 -16.0 52.0) (float-vector 16.0 -27.7128 52.0) (float-vector -2.842171e-14 -32.0 52.0) (float-vector -16.0 -27.7128 52.0) (float-vector -27.7128 -16.0 52.0) (float-vector -32.0 3.907985e-14 52.0) (float-vector -27.7128 16.0 52.0) (float-vector -16.0 27.7128 52.0) (float-vector 2.842171e-14 32.0 52.0) (float-vector 16.0 27.7128 52.0)))
         (instance hole :init :vertices (list (float-vector 15.1554 -58.75 52.0) (float-vector 8.75 -65.1554 52.0) (float-vector 0.0 -67.5 52.0) (float-vector -8.75 -65.1554 52.0) (float-vector -15.1554 -58.75 52.0) (float-vector -17.5 -50.0 52.0) (float-vector -15.1554 -41.25 52.0) (float-vector -8.75 -34.8446 52.0) (float-vector 2.842171e-14 -32.5 52.0) (float-vector 8.75 -34.8446 52.0) (float-vector 15.1554 -41.25 52.0) (float-vector 17.5 -50.0 52.0)))
))
         (instance face :init :vertices (list (float-vector 51.0 36.0 -17.0) (float-vector -51.0 36.0 -17.0) (float-vector -51.0 36.0 52.0) (float-vector 51.0 36.0 52.0)))
         (instance face :init :vertices (list (float-vector -51.0 36.0 -17.0) (float-vector 51.0 36.0 -17.0) (float-vector 51.0 -80.0 -17.0) (float-vector -51.0 -80.0 -17.0)))
         (instance face :init :vertices (list (float-vector 27.7128 16.0 52.0) (float-vector 27.7128 16.0 83.5) (float-vector 32.0 3.552714e-15 83.5) (float-vector 32.0 3.552714e-15 52.0)))
         (instance face :init :vertices (list (float-vector 16.0 27.7128 52.0) (float-vector 16.0 27.7128 83.5) (float-vector 27.7128 16.0 83.5) (float-vector 27.7128 16.0 52.0)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 32.0 52.0) (float-vector 2.842171e-14 32.0 83.5) (float-vector 16.0 27.7128 83.5) (float-vector 16.0 27.7128 52.0)))
         (instance face :init :vertices (list (float-vector -16.0 27.7128 52.0) (float-vector -16.0 27.7128 83.5) (float-vector 2.842171e-14 32.0 83.5) (float-vector 2.842171e-14 32.0 52.0)))
         (instance face :init :vertices (list (float-vector -27.7128 16.0 52.0) (float-vector -27.7128 16.0 83.5) (float-vector -16.0 27.7128 83.5) (float-vector -16.0 27.7128 52.0)))
         (instance face :init :vertices (list (float-vector -32.0 3.907985e-14 52.0) (float-vector -32.0 3.907985e-14 83.5) (float-vector -27.7128 16.0 83.5) (float-vector -27.7128 16.0 52.0)))
         (instance face :init :vertices (list (float-vector -27.7128 -16.0 52.0) (float-vector -27.7128 -16.0 83.5) (float-vector -32.0 3.907985e-14 83.5) (float-vector -32.0 3.907985e-14 52.0)))
         (instance face :init :vertices (list (float-vector -16.0 -27.7128 52.0) (float-vector -16.0 -27.7128 83.5) (float-vector -27.7128 -16.0 83.5) (float-vector -27.7128 -16.0 52.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -32.0 52.0) (float-vector -2.842171e-14 -32.0 83.5) (float-vector -16.0 -27.7128 83.5) (float-vector -16.0 -27.7128 52.0)))
         (instance face :init :vertices (list (float-vector 16.0 -27.7128 52.0) (float-vector 16.0 -27.7128 83.5) (float-vector -2.842171e-14 -32.0 83.5) (float-vector -2.842171e-14 -32.0 52.0)))
         (instance face :init :vertices (list (float-vector 27.7128 -16.0 52.0) (float-vector 27.7128 -16.0 83.5) (float-vector 16.0 -27.7128 83.5) (float-vector 16.0 -27.7128 52.0)))
         (instance face :init :vertices (list (float-vector 27.7128 -16.0 83.5) (float-vector 32.0 3.552714e-15 83.5) (float-vector 27.7128 16.0 83.5) (float-vector 16.0 27.7128 83.5) (float-vector 2.842171e-14 32.0 83.5) (float-vector -16.0 27.7128 83.5) (float-vector -27.7128 16.0 83.5) (float-vector -32.0 3.907985e-14 83.5) (float-vector -27.7128 -16.0 83.5) (float-vector -16.0 -27.7128 83.5) (float-vector -2.842171e-14 -32.0 83.5) (float-vector 16.0 -27.7128 83.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 23.3827 13.5 83.5) (float-vector 27.0 0.0 83.5) (float-vector 23.3827 -13.5 83.5) (float-vector 13.5 -23.3827 83.5) (float-vector -2.842171e-14 -27.0 83.5) (float-vector -13.5 -23.3827 83.5) (float-vector -23.3827 -13.5 83.5) (float-vector -27.0 3.197442e-14 83.5) (float-vector -23.3827 13.5 83.5) (float-vector -13.5 23.3827 83.5) (float-vector 2.842171e-14 27.0 83.5) (float-vector 13.5 23.3827 83.5)))
))
         (instance face :init :vertices (list (float-vector 32.0 3.552714e-15 83.5) (float-vector 27.7128 -16.0 83.5) (float-vector 27.7128 -16.0 52.0) (float-vector 32.0 3.552714e-15 52.0)))
         (instance face :init :vertices (list (float-vector 17.5 -50.0 145.0) (float-vector 17.5 -50.0 52.0) (float-vector 15.1554 -41.25 52.0) (float-vector 15.1554 -41.25 145.0)))
         (instance face :init :vertices (list (float-vector 8.75 -34.8446 52.0) (float-vector 8.75 -34.8446 145.0) (float-vector 15.1554 -41.25 145.0) (float-vector 15.1554 -41.25 52.0)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 -32.5 52.0) (float-vector 2.842171e-14 -32.5 145.0) (float-vector 8.75 -34.8446 145.0) (float-vector 8.75 -34.8446 52.0)))
         (instance face :init :vertices (list (float-vector -8.75 -34.8446 52.0) (float-vector -8.75 -34.8446 145.0) (float-vector 2.842171e-14 -32.5 145.0) (float-vector 2.842171e-14 -32.5 52.0)))
         (instance face :init :vertices (list (float-vector -15.1554 -41.25 52.0) (float-vector -15.1554 -41.25 145.0) (float-vector -8.75 -34.8446 145.0) (float-vector -8.75 -34.8446 52.0)))
         (instance face :init :vertices (list (float-vector -17.5 -50.0 52.0) (float-vector -17.5 -50.0 145.0) (float-vector -15.1554 -41.25 145.0) (float-vector -15.1554 -41.25 52.0)))
         (instance face :init :vertices (list (float-vector -15.1554 -58.75 52.0) (float-vector -15.1554 -58.75 145.0) (float-vector -17.5 -50.0 145.0) (float-vector -17.5 -50.0 52.0)))
         (instance face :init :vertices (list (float-vector -8.75 -65.1554 52.0) (float-vector -8.75 -65.1554 145.0) (float-vector -15.1554 -58.75 145.0) (float-vector -15.1554 -58.75 52.0)))
         (instance face :init :vertices (list (float-vector 0.0 -67.5 52.0) (float-vector 0.0 -67.5 145.0) (float-vector -8.75 -65.1554 145.0) (float-vector -8.75 -65.1554 52.0)))
         (instance face :init :vertices (list (float-vector 8.75 -65.1554 52.0) (float-vector 8.75 -65.1554 145.0) (float-vector 0.0 -67.5 145.0) (float-vector 0.0 -67.5 52.0)))
         (instance face :init :vertices (list (float-vector 15.1554 -58.75 52.0) (float-vector 15.1554 -58.75 145.0) (float-vector 8.75 -65.1554 145.0) (float-vector 8.75 -65.1554 52.0)))
         (instance face :init :vertices (list (float-vector 15.1554 -58.75 145.0) (float-vector 17.5 -50.0 145.0) (float-vector 15.1554 -41.25 145.0) (float-vector 8.75 -34.8446 145.0) (float-vector 2.842171e-14 -32.5 145.0) (float-vector -8.75 -34.8446 145.0) (float-vector -15.1554 -41.25 145.0) (float-vector -17.5 -50.0 145.0) (float-vector -15.1554 -58.75 145.0) (float-vector -8.75 -65.1554 145.0) (float-vector 0.0 -67.5 145.0) (float-vector 8.75 -65.1554 145.0)))
         (instance face :init :vertices (list (float-vector 17.5 -50.0 145.0) (float-vector 15.1554 -58.75 145.0) (float-vector 15.1554 -58.75 52.0) (float-vector 17.5 -50.0 52.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (setq blink19 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4waist-nil-0 :weight 1050 :centroid (float-vector -1.364562e-16 -20.8485 33.731) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4waist-nil-1
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -52.5 36.0 47.0) (float-vector -52.5 36.0 -47.0) (float-vector -52.5 -80.0 -47.0) (float-vector -52.5 -80.0 47.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -52.5 -3.552714e-15 -32.0) (float-vector -52.5 16.0 -27.7128) (float-vector -52.5 27.7128 -16.0) (float-vector -52.5 32.0 0.0) (float-vector -52.5 27.7128 16.0) (float-vector -52.5 16.0 27.7128) (float-vector -52.5 3.197442e-14 32.0) (float-vector -52.5 -16.0 27.7128) (float-vector -52.5 -27.7128 16.0) (float-vector -52.5 -32.0 5.684342e-14) (float-vector -52.5 -27.7128 -16.0) (float-vector -52.5 -16.0 -27.7128)))
         (instance hole :init :vertices (list (float-vector -52.5 -65.1554 -8.75) (float-vector -52.5 -58.75 -15.1554) (float-vector -52.5 -50.0 -17.5) (float-vector -52.5 -41.25 -15.1554) (float-vector -52.5 -34.8446 -8.75) (float-vector -52.5 -32.5 0.0) (float-vector -52.5 -34.8446 8.75) (float-vector -52.5 -41.25 15.1554) (float-vector -52.5 -50.0 17.5) (float-vector -52.5 -58.75 15.1554) (float-vector -52.5 -65.1554 8.75) (float-vector -52.5 -67.5 2.842171e-14)))
))
         (instance face :init :vertices (list (float-vector -52.5 36.0 47.0) (float-vector 26.5 36.0 47.0) (float-vector 26.5 36.0 -47.0) (float-vector -52.5 36.0 -47.0)))
         (instance face :init :vertices (list (float-vector 26.5 36.0 47.0) (float-vector 26.5 -80.0 47.0) (float-vector 26.5 -80.0 -47.0) (float-vector 26.5 36.0 -47.0)))
         (instance face :init :vertices (list (float-vector 26.5 -80.0 -47.0) (float-vector -52.5 -80.0 -47.0) (float-vector -52.5 36.0 -47.0) (float-vector 26.5 36.0 -47.0)))
         (instance face :init :vertices (list (float-vector 26.5 -80.0 47.0) (float-vector -52.5 -80.0 47.0) (float-vector -52.5 -80.0 -47.0) (float-vector 26.5 -80.0 -47.0)))
         (instance face :init :vertices (list (float-vector -52.5 -80.0 47.0) (float-vector 26.5 -80.0 47.0) (float-vector 26.5 36.0 47.0) (float-vector -52.5 36.0 47.0)))
         (instance face :init :vertices (list (float-vector -106.5 13.5 -23.3827) (float-vector -83.5 13.5 -23.3827) (float-vector -83.5 -7.105427e-15 -27.0) (float-vector -106.5 -7.105427e-15 -27.0)))
         (instance face :init :vertices (list (float-vector -106.5 13.5 -23.3827) (float-vector -106.5 23.3827 -13.5) (float-vector -83.5 23.3827 -13.5) (float-vector -83.5 13.5 -23.3827)))
         (instance face :init :vertices (list (float-vector -106.5 23.3827 -13.5) (float-vector -106.5 27.0 0.0) (float-vector -83.5 27.0 0.0) (float-vector -83.5 23.3827 -13.5)))
         (instance face :init :vertices (list (float-vector -106.5 27.0 0.0) (float-vector -106.5 23.3827 13.5) (float-vector -83.5 23.3827 13.5) (float-vector -83.5 27.0 0.0)))
         (instance face :init :vertices (list (float-vector -106.5 23.3827 13.5) (float-vector -106.5 13.5 23.3827) (float-vector -83.5 13.5 23.3827) (float-vector -83.5 23.3827 13.5)))
         (instance face :init :vertices (list (float-vector -106.5 13.5 23.3827) (float-vector -106.5 2.486900e-14 27.0) (float-vector -83.5 2.486900e-14 27.0) (float-vector -83.5 13.5 23.3827)))
         (instance face :init :vertices (list (float-vector -106.5 2.486900e-14 27.0) (float-vector -106.5 -13.5 23.3827) (float-vector -83.5 -13.5 23.3827) (float-vector -83.5 2.486900e-14 27.0)))
         (instance face :init :vertices (list (float-vector -106.5 -13.5 23.3827) (float-vector -106.5 -23.3827 13.5) (float-vector -83.5 -23.3827 13.5) (float-vector -83.5 -13.5 23.3827)))
         (instance face :init :vertices (list (float-vector -106.5 -23.3827 13.5) (float-vector -106.5 -27.0 5.684342e-14) (float-vector -83.5 -27.0 2.842171e-14) (float-vector -83.5 -23.3827 13.5)))
         (instance face :init :vertices (list (float-vector -106.5 -27.0 5.684342e-14) (float-vector -106.5 -23.3827 -13.5) (float-vector -83.5 -23.3827 -13.5) (float-vector -83.5 -27.0 2.842171e-14)))
         (instance face :init :vertices (list (float-vector -106.5 -23.3827 -13.5) (float-vector -106.5 -13.5 -23.3827) (float-vector -83.5 -13.5 -23.3827) (float-vector -83.5 -23.3827 -13.5)))
         (instance face :init :vertices (list (float-vector -106.5 -7.105427e-15 -27.0) (float-vector -106.5 -13.5 -23.3827) (float-vector -106.5 -23.3827 -13.5) (float-vector -106.5 -27.0 5.684342e-14) (float-vector -106.5 -23.3827 13.5) (float-vector -106.5 -13.5 23.3827) (float-vector -106.5 2.486900e-14 27.0) (float-vector -106.5 13.5 23.3827) (float-vector -106.5 23.3827 13.5) (float-vector -106.5 27.0 0.0) (float-vector -106.5 23.3827 -13.5) (float-vector -106.5 13.5 -23.3827)))
         (instance face :init :vertices (list (float-vector -83.5 -7.105427e-15 -27.0) (float-vector -83.5 -13.5 -23.3827) (float-vector -106.5 -13.5 -23.3827) (float-vector -106.5 -7.105427e-15 -27.0)))
         (instance face :init :vertices (list (float-vector -83.5 16.0 -27.7128) (float-vector -52.5 16.0 -27.7128) (float-vector -52.5 -3.552714e-15 -32.0) (float-vector -83.5 -3.552714e-15 -32.0)))
         (instance face :init :vertices (list (float-vector -83.5 16.0 -27.7128) (float-vector -83.5 27.7128 -16.0) (float-vector -52.5 27.7128 -16.0) (float-vector -52.5 16.0 -27.7128)))
         (instance face :init :vertices (list (float-vector -83.5 27.7128 -16.0) (float-vector -83.5 32.0 0.0) (float-vector -52.5 32.0 0.0) (float-vector -52.5 27.7128 -16.0)))
         (instance face :init :vertices (list (float-vector -83.5 32.0 0.0) (float-vector -83.5 27.7128 16.0) (float-vector -52.5 27.7128 16.0) (float-vector -52.5 32.0 0.0)))
         (instance face :init :vertices (list (float-vector -83.5 27.7128 16.0) (float-vector -83.5 16.0 27.7128) (float-vector -52.5 16.0 27.7128) (float-vector -52.5 27.7128 16.0)))
         (instance face :init :vertices (list (float-vector -83.5 16.0 27.7128) (float-vector -83.5 3.197442e-14 32.0) (float-vector -52.5 3.197442e-14 32.0) (float-vector -52.5 16.0 27.7128)))
         (instance face :init :vertices (list (float-vector -83.5 3.197442e-14 32.0) (float-vector -83.5 -16.0 27.7128) (float-vector -52.5 -16.0 27.7128) (float-vector -52.5 3.197442e-14 32.0)))
         (instance face :init :vertices (list (float-vector -83.5 -16.0 27.7128) (float-vector -83.5 -27.7128 16.0) (float-vector -52.5 -27.7128 16.0) (float-vector -52.5 -16.0 27.7128)))
         (instance face :init :vertices (list (float-vector -83.5 -27.7128 16.0) (float-vector -83.5 -32.0 5.684342e-14) (float-vector -52.5 -32.0 5.684342e-14) (float-vector -52.5 -27.7128 16.0)))
         (instance face :init :vertices (list (float-vector -83.5 -32.0 5.684342e-14) (float-vector -83.5 -27.7128 -16.0) (float-vector -52.5 -27.7128 -16.0) (float-vector -52.5 -32.0 5.684342e-14)))
         (instance face :init :vertices (list (float-vector -83.5 -27.7128 -16.0) (float-vector -83.5 -16.0 -27.7128) (float-vector -52.5 -16.0 -27.7128) (float-vector -52.5 -27.7128 -16.0)))
         (instance face :init :vertices (list (float-vector -83.5 -16.0 -27.7128) (float-vector -83.5 -3.552714e-15 -32.0) (float-vector -52.5 -3.552714e-15 -32.0) (float-vector -52.5 -16.0 -27.7128)))
         (instance face :init :vertices (list (float-vector -83.5 -3.552714e-15 -32.0) (float-vector -83.5 -16.0 -27.7128) (float-vector -83.5 -27.7128 -16.0) (float-vector -83.5 -32.0 5.684342e-14) (float-vector -83.5 -27.7128 16.0) (float-vector -83.5 -16.0 27.7128) (float-vector -83.5 3.197442e-14 32.0) (float-vector -83.5 16.0 27.7128) (float-vector -83.5 27.7128 16.0) (float-vector -83.5 32.0 0.0) (float-vector -83.5 27.7128 -16.0) (float-vector -83.5 16.0 -27.7128))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -83.5 -13.5 -23.3827) (float-vector -83.5 -7.105427e-15 -27.0) (float-vector -83.5 13.5 -23.3827) (float-vector -83.5 23.3827 -13.5) (float-vector -83.5 27.0 0.0) (float-vector -83.5 23.3827 13.5) (float-vector -83.5 13.5 23.3827) (float-vector -83.5 2.486900e-14 27.0) (float-vector -83.5 -13.5 23.3827) (float-vector -83.5 -23.3827 13.5) (float-vector -83.5 -27.0 2.842171e-14) (float-vector -83.5 -23.3827 -13.5)))
))
         (instance face :init :vertices (list (float-vector -52.5 -50.0 -17.5) (float-vector -145.0 -50.0 -17.5) (float-vector -145.0 -41.25 -15.1554) (float-vector -52.5 -41.25 -15.1554)))
         (instance face :init :vertices (list (float-vector -145.0 -41.25 -15.1554) (float-vector -145.0 -34.8446 -8.75) (float-vector -52.5 -34.8446 -8.75) (float-vector -52.5 -41.25 -15.1554)))
         (instance face :init :vertices (list (float-vector -145.0 -34.8446 -8.75) (float-vector -145.0 -32.5 -2.842171e-14) (float-vector -52.5 -32.5 0.0) (float-vector -52.5 -34.8446 -8.75)))
         (instance face :init :vertices (list (float-vector -145.0 -32.5 -2.842171e-14) (float-vector -145.0 -34.8446 8.75) (float-vector -52.5 -34.8446 8.75) (float-vector -52.5 -32.5 0.0)))
         (instance face :init :vertices (list (float-vector -145.0 -34.8446 8.75) (float-vector -145.0 -41.25 15.1554) (float-vector -52.5 -41.25 15.1554) (float-vector -52.5 -34.8446 8.75)))
         (instance face :init :vertices (list (float-vector -145.0 -41.25 15.1554) (float-vector -145.0 -50.0 17.5) (float-vector -52.5 -50.0 17.5) (float-vector -52.5 -41.25 15.1554)))
         (instance face :init :vertices (list (float-vector -145.0 -50.0 17.5) (float-vector -145.0 -58.75 15.1554) (float-vector -52.5 -58.75 15.1554) (float-vector -52.5 -50.0 17.5)))
         (instance face :init :vertices (list (float-vector -145.0 -58.75 15.1554) (float-vector -145.0 -65.1554 8.75) (float-vector -52.5 -65.1554 8.75) (float-vector -52.5 -58.75 15.1554)))
         (instance face :init :vertices (list (float-vector -145.0 -65.1554 8.75) (float-vector -145.0 -67.5 2.842171e-14) (float-vector -52.5 -67.5 2.842171e-14) (float-vector -52.5 -65.1554 8.75)))
         (instance face :init :vertices (list (float-vector -145.0 -67.5 2.842171e-14) (float-vector -145.0 -65.1554 -8.75) (float-vector -52.5 -65.1554 -8.75) (float-vector -52.5 -67.5 2.842171e-14)))
         (instance face :init :vertices (list (float-vector -145.0 -65.1554 -8.75) (float-vector -145.0 -58.75 -15.1554) (float-vector -52.5 -58.75 -15.1554) (float-vector -52.5 -65.1554 -8.75)))
         (instance face :init :vertices (list (float-vector -145.0 -58.75 -15.1554) (float-vector -145.0 -50.0 -17.5) (float-vector -52.5 -50.0 -17.5) (float-vector -52.5 -58.75 -15.1554)))
         (instance face :init :vertices (list (float-vector -145.0 -50.0 -17.5) (float-vector -145.0 -58.75 -15.1554) (float-vector -145.0 -65.1554 -8.75) (float-vector -145.0 -67.5 2.842171e-14) (float-vector -145.0 -65.1554 8.75) (float-vector -145.0 -58.75 15.1554) (float-vector -145.0 -50.0 17.5) (float-vector -145.0 -41.25 15.1554) (float-vector -145.0 -34.8446 8.75) (float-vector -145.0 -32.5 -2.842171e-14) (float-vector -145.0 -34.8446 -8.75) (float-vector -145.0 -41.25 -15.1554)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (setq blink18 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4waist-nil-1 :weight 2000 :centroid (float-vector -28.248 -21.2471 3.078709e-15) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4waist-nil-2
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 260.0 -150.0 -130.0) (float-vector 260.0 -153.827 -139.239) (float-vector 260.0 -150.0 -140.0) (float-vector 260.0 -150.0 -130.0)))
         (instance face :init :vertices (list (float-vector 260.0 -150.0 -130.0) (float-vector 260.0 -157.071 -137.071) (float-vector 260.0 -153.827 -139.239) (float-vector 260.0 -150.0 -130.0)))
         (instance face :init :vertices (list (float-vector 260.0 -150.0 -130.0) (float-vector 260.0 -159.239 -133.827) (float-vector 260.0 -157.071 -137.071) (float-vector 260.0 -150.0 -130.0)))
         (instance face :init :vertices (list (float-vector 260.0 -150.0 -130.0) (float-vector 260.0 -160.0 -130.0) (float-vector 260.0 -159.239 -133.827) (float-vector 260.0 -150.0 -130.0)))
         (instance face :init :vertices (list (float-vector 260.0 -150.0 -130.0) (float-vector 260.0 -159.239 -126.173) (float-vector 260.0 -160.0 -130.0) (float-vector 260.0 -150.0 -130.0)))
         (instance face :init :vertices (list (float-vector 260.0 -150.0 -130.0) (float-vector 260.0 -157.071 -122.929) (float-vector 260.0 -159.239 -126.173) (float-vector 260.0 -150.0 -130.0)))
         (instance face :init :vertices (list (float-vector 260.0 -150.0 -130.0) (float-vector 260.0 -153.827 -120.761) (float-vector 260.0 -157.071 -122.929) (float-vector 260.0 -150.0 -130.0)))
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         (instance face :init :vertices (list (float-vector 190.0 -350.0 -30.0) (float-vector 190.0 -350.0 -230.0) (float-vector 190.0 -50.0 -230.0) (float-vector 190.0 -50.0 -30.0)))
         (instance face :init :vertices (list (float-vector -190.0 -350.0 -30.0) (float-vector -190.0 -350.0 -230.0) (float-vector 190.0 -350.0 -230.0) (float-vector 190.0 -350.0 -30.0)))
         (instance face :init :vertices (list (float-vector -190.0 -50.0 -30.0) (float-vector -190.0 -50.0 -230.0) (float-vector -190.0 -350.0 -230.0) (float-vector -190.0 -350.0 -30.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 17.5 17.5 191.75) (float-vector -17.5 17.5 191.75) (float-vector -17.5 -17.5 191.75) (float-vector 17.5 -17.5 191.75)))
         (instance face :init :vertices (list (float-vector -17.5 17.5 -191.75) (float-vector 17.5 17.5 -191.75) (float-vector 17.5 -17.5 -191.75) (float-vector -17.5 -17.5 -191.75)))
         (instance face :init :vertices (list (float-vector 17.5 17.5 191.75) (float-vector 17.5 17.5 -191.75) (float-vector -17.5 17.5 -191.75) (float-vector -17.5 17.5 191.75)))
         (instance face :init :vertices (list (float-vector 17.5 -17.5 191.75) (float-vector 17.5 -17.5 -191.75) (float-vector 17.5 17.5 -191.75) (float-vector 17.5 17.5 191.75)))
         (instance face :init :vertices (list (float-vector -17.5 -17.5 191.75) (float-vector -17.5 -17.5 -191.75) (float-vector 17.5 -17.5 -191.75) (float-vector 17.5 -17.5 191.75)))
         (instance face :init :vertices (list (float-vector -17.5 17.5 191.75) (float-vector -17.5 17.5 -191.75) (float-vector -17.5 -17.5 -191.75) (float-vector -17.5 -17.5 191.75)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color (list))
     (send (elt bc 3) :set-color (list))
     (send (elt bc 4) :set-color (list))
     (send (elt bc 5) :set-color (list))
     (send (elt bc 6) :set-color (list))
     (send (elt bc 7) :set-color (list))
     (send (elt bc 8) :set-color (list))
     (send (elt bc 9) :set-color (list))
     (send (elt bc 10) :set-color (list))
     (send (elt bc 11) :set-color (list))
     (send (elt bc 12) :set-color (list))
     (send (elt bc 13) :set-color (list))
     (send (elt bc 14) :set-color (list))
     (send (elt bc 15) :set-color (list))
     (send (elt bc 16) :set-color (list))
     (send (elt bc 17) :set-color (list))
     (send (elt bc 18) :set-color (list))
     (send (elt bc 19) :set-color (list))
     (send (elt bc 20) :set-color (list))
     (send (elt bc 21) :set-color :gray40)
     (send (elt bc 22) :set-color (list))
     (setq blink17 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4waist-nil-2 :weight 49600 :centroid (float-vector 1.666952e-14 -185.768 -124.98) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4rarm-nil-0
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 74.0 -35.0 48.0) (float-vector 74.0 -36.3 48.0) (float-vector 74.0 -36.3 -5.329071e-15) (float-vector 74.0 36.3 6.217249e-15) (float-vector 74.0 36.3 48.0) (float-vector 74.0 35.0 48.0) (float-vector 74.0 35.0 2.0) (float-vector 74.0 -35.0 2.0)))
         (instance face :init :vertices (list (float-vector 74.0 -35.0 48.0) (float-vector 69.0 -35.0 58.0) (float-vector 69.0 -36.3 58.0) (float-vector 74.0 -36.3 48.0)))
         (instance face :init :vertices (list (float-vector 74.0 36.3 48.0) (float-vector 69.0 36.3 58.0) (float-vector 69.0 35.0 58.0) (float-vector 74.0 35.0 48.0)))
         (instance face :init :vertices (list (float-vector 69.0 -35.0 58.0) (float-vector 64.0 -35.0 64.0) (float-vector 64.0 -36.3 64.0) (float-vector 69.0 -36.3 58.0)))
         (instance face :init :vertices (list (float-vector 69.0 36.3 58.0) (float-vector 64.0 36.3 64.0) (float-vector 64.0 35.0 64.0) (float-vector 69.0 35.0 58.0)))
         (instance face :init :vertices (list (float-vector 64.0 -35.0 64.0) (float-vector 54.0 -35.0 67.0) (float-vector 54.0 -36.3 67.0) (float-vector 64.0 -36.3 64.0)))
         (instance face :init :vertices (list (float-vector 64.0 36.3 64.0) (float-vector 54.0 36.3 67.0) (float-vector 54.0 35.0 67.0) (float-vector 64.0 35.0 64.0)))
         (instance face :init :vertices (list (float-vector 54.0 -35.0 67.0) (float-vector -1.0 -35.0 78.0) (float-vector -1.0 -36.3 78.0) (float-vector 54.0 -36.3 67.0)))
         (instance face :init :vertices (list (float-vector 54.0 36.3 67.0) (float-vector -1.0 36.3 78.0) (float-vector -1.0 35.0 78.0) (float-vector 54.0 35.0 67.0)))
         (instance face :init :vertices (list (float-vector -1.0 -35.0 78.0) (float-vector -11.0 -35.0 78.0) (float-vector -11.0 -36.3 78.0) (float-vector -1.0 -36.3 78.0)))
         (instance face :init :vertices (list (float-vector -1.0 36.3 78.0) (float-vector -11.0 36.3 78.0) (float-vector -11.0 35.0 78.0) (float-vector -1.0 35.0 78.0)))
         (instance face :init :vertices (list (float-vector -11.0 -35.0 78.0) (float-vector -18.0 -35.0 73.0) (float-vector -18.0 -36.3 73.0) (float-vector -11.0 -36.3 78.0)))
         (instance face :init :vertices (list (float-vector -11.0 36.3 78.0) (float-vector -18.0 36.3 73.0) (float-vector -18.0 35.0 73.0) (float-vector -11.0 35.0 78.0)))
         (instance face :init :vertices (list (float-vector -18.0 -35.0 73.0) (float-vector -21.0 -35.0 68.0) (float-vector -21.0 -36.3 68.0) (float-vector -18.0 -36.3 73.0)))
         (instance face :init :vertices (list (float-vector -18.0 36.3 73.0) (float-vector -21.0 36.3 68.0) (float-vector -21.0 35.0 68.0) (float-vector -18.0 35.0 73.0)))
         (instance face :init :vertices (list (float-vector -21.0 36.3 68.0) (float-vector -21.0 36.3 6.217249e-15) (float-vector -21.0 -36.3 -5.329071e-15) (float-vector -21.0 -36.3 68.0) (float-vector -21.0 -35.0 68.0) (float-vector -21.0 -35.0 2.0) (float-vector -21.0 35.0 2.0) (float-vector -21.0 35.0 68.0)))
         (instance face :init :vertices (list (float-vector -21.0 -36.3 -5.329071e-15) (float-vector 74.0 -36.3 -5.329071e-15) (float-vector 74.0 -36.3 48.0) (float-vector 69.0 -36.3 58.0) (float-vector 64.0 -36.3 64.0) (float-vector 54.0 -36.3 67.0) (float-vector -1.0 -36.3 78.0) (float-vector -11.0 -36.3 78.0) (float-vector -18.0 -36.3 73.0) (float-vector -21.0 -36.3 68.0)))
         (instance face :init :vertices (list (float-vector -21.0 36.3 6.217249e-15) (float-vector 74.0 36.3 6.217249e-15) (float-vector 74.0 -36.3 -5.329071e-15) (float-vector -21.0 -36.3 -5.329071e-15)))
         (instance face :init :vertices (list (float-vector 74.0 36.3 6.217249e-15) (float-vector -21.0 36.3 6.217249e-15) (float-vector -21.0 36.3 68.0) (float-vector -18.0 36.3 73.0) (float-vector -11.0 36.3 78.0) (float-vector -1.0 36.3 78.0) (float-vector 54.0 36.3 67.0) (float-vector 64.0 36.3 64.0) (float-vector 69.0 36.3 58.0) (float-vector 74.0 36.3 48.0)))
         (instance face :init :vertices (list (float-vector 74.0 -35.0 2.0) (float-vector 69.0 -35.0 2.0) (float-vector 69.0 -35.0 48.5) (float-vector 66.5981 -35.0 48.5) (float-vector 64.9904 -35.0 54.5) (float-vector 59.5 -35.0 59.9904) (float-vector 52.0 -35.0 62.0) (float-vector 44.5 -35.0 59.9904) (float-vector 39.0096 -35.0 54.5) (float-vector 37.4019 -35.0 48.5) (float-vector 35.0 -35.0 48.5) (float-vector 35.0 -35.0 2.0) (float-vector -21.0 -35.0 2.0) (float-vector -21.0 -35.0 68.0) (float-vector -18.0 -35.0 73.0) (float-vector -11.0 -35.0 78.0) (float-vector -1.0 -35.0 78.0) (float-vector 54.0 -35.0 67.0) (float-vector 64.0 -35.0 64.0) (float-vector 69.0 -35.0 58.0) (float-vector 74.0 -35.0 48.0)))
         (instance face :init :vertices (list (float-vector -21.0 35.0 2.0) (float-vector 35.0 35.0 2.0) (float-vector 35.0 35.0 48.5) (float-vector 37.4019 35.0 48.5) (float-vector 39.0096 35.0 54.5) (float-vector 44.5 35.0 59.9904) (float-vector 52.0 35.0 62.0) (float-vector 59.5 35.0 59.9904) (float-vector 64.9904 35.0 54.5) (float-vector 66.5981 35.0 48.5) (float-vector 69.0 35.0 48.5) (float-vector 69.0 35.0 2.0) (float-vector 74.0 35.0 2.0) (float-vector 74.0 35.0 48.0) (float-vector 69.0 35.0 58.0) (float-vector 64.0 35.0 64.0) (float-vector 54.0 35.0 67.0) (float-vector -1.0 35.0 78.0) (float-vector -11.0 35.0 78.0) (float-vector -18.0 35.0 73.0) (float-vector -21.0 35.0 68.0)))
         (instance face :init :vertices (list (float-vector 69.0 35.0 2.0) (float-vector 69.0 -35.0 2.0) (float-vector 74.0 -35.0 2.0) (float-vector 74.0 35.0 2.0)))
         (instance face :init :vertices (list (float-vector 35.0 -35.0 2.0) (float-vector 35.0 35.0 2.0) (float-vector -21.0 35.0 2.0) (float-vector -21.0 -35.0 2.0)))
         (instance face :init :vertices (list (float-vector 35.0 -35.0 48.5) (float-vector 35.0 35.0 48.5) (float-vector 35.0 35.0 2.0) (float-vector 35.0 -35.0 2.0)))
         (instance face :init :vertices (list (float-vector 69.0 35.0 48.5) (float-vector 69.0 -35.0 48.5) (float-vector 69.0 -35.0 2.0) (float-vector 69.0 35.0 2.0)))
         (instance face :init :vertices (list (float-vector 35.0 35.0 48.5) (float-vector 35.0 -35.0 48.5) (float-vector 37.4019 -35.0 48.5) (float-vector 37.4019 35.0 48.5)))
         (instance face :init :vertices (list (float-vector 69.0 -35.0 48.5) (float-vector 69.0 35.0 48.5) (float-vector 66.5981 35.0 48.5) (float-vector 66.5981 -35.0 48.5)))
         (instance face :init :vertices (list (float-vector 64.9904 35.0 54.5) (float-vector 64.9904 -35.0 54.5) (float-vector 66.5981 -35.0 48.5) (float-vector 66.5981 35.0 48.5)))
         (instance face :init :vertices (list (float-vector 59.5 35.0 59.9904) (float-vector 59.5 -35.0 59.9904) (float-vector 64.9904 -35.0 54.5) (float-vector 64.9904 35.0 54.5)))
         (instance face :init :vertices (list (float-vector 52.0 35.0 62.0) (float-vector 52.0 -35.0 62.0) (float-vector 59.5 -35.0 59.9904) (float-vector 59.5 35.0 59.9904)))
         (instance face :init :vertices (list (float-vector 44.5 35.0 59.9904) (float-vector 44.5 -35.0 59.9904) (float-vector 52.0 -35.0 62.0) (float-vector 52.0 35.0 62.0)))
         (instance face :init :vertices (list (float-vector 39.0096 -35.0 54.5) (float-vector 39.0096 35.0 54.5) (float-vector 37.4019 35.0 48.5) (float-vector 37.4019 -35.0 48.5)))
         (instance face :init :vertices (list (float-vector 39.0096 35.0 54.5) (float-vector 39.0096 -35.0 54.5) (float-vector 44.5 -35.0 59.9904) (float-vector 44.5 35.0 59.9904)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color (list))
     (setq blink11 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4rarm-nil-0 :weight 1000 :centroid (float-vector 46.9239 -1.827978e-14 28.0377) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4rarm-nil-1
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 22.4641 12.5 -14.0) (float-vector 21.6603 12.5 -17.0) (float-vector 18.0 12.5 -20.6603) (float-vector 15.0 12.5 -21.4641) (float-vector 15.0 12.5 -14.0)))
         (instance face :init :vertices (list (float-vector 22.4641 12.5 -14.0) (float-vector 22.4641 -12.5 -14.0) (float-vector 21.6603 -12.5 -17.0) (float-vector 21.6603 12.5 -17.0)))
         (instance face :init :vertices (list (float-vector 22.4641 -12.5 -14.0) (float-vector 15.0 -12.5 -14.0) (float-vector 15.0 -12.5 -21.4641) (float-vector 18.0 -12.5 -20.6603) (float-vector 21.6603 -12.5 -17.0)))
         (instance face :init :vertices (list (float-vector 18.0 -12.5 -20.6603) (float-vector 18.0 12.5 -20.6603) (float-vector 21.6603 12.5 -17.0) (float-vector 21.6603 -12.5 -17.0)))
         (instance face :init :vertices (list (float-vector 15.0 -12.5 -21.4641) (float-vector 15.0 12.5 -21.4641) (float-vector 18.0 12.5 -20.6603) (float-vector 18.0 -12.5 -20.6603)))
         (instance face :init :vertices (list (float-vector 15.0 12.5 21.4641) (float-vector 18.0 12.5 20.6603) (float-vector 21.6603 12.5 17.0) (float-vector 22.4641 12.5 14.0) (float-vector 15.0 12.5 14.0)))
         (instance face :init :vertices (list (float-vector 15.0 12.5 21.4641) (float-vector 15.0 -12.5 21.4641) (float-vector 18.0 -12.5 20.6603) (float-vector 18.0 12.5 20.6603)))
         (instance face :init :vertices (list (float-vector 15.0 -12.5 21.4641) (float-vector 15.0 -12.5 14.0) (float-vector 22.4641 -12.5 14.0) (float-vector 21.6603 -12.5 17.0) (float-vector 18.0 -12.5 20.6603)))
         (instance face :init :vertices (list (float-vector 21.6603 -12.5 17.0) (float-vector 21.6603 12.5 17.0) (float-vector 18.0 12.5 20.6603) (float-vector 18.0 -12.5 20.6603)))
         (instance face :init :vertices (list (float-vector 22.4641 -12.5 14.0) (float-vector 22.4641 12.5 14.0) (float-vector 21.6603 12.5 17.0) (float-vector 21.6603 -12.5 17.0)))
         (instance face :init :vertices (list (float-vector 15.0 12.5 -14.0) (float-vector 15.0 15.0 -14.0) (float-vector 25.0 15.0 -14.0) (float-vector 25.0 -15.0 -14.0) (float-vector 15.0 -15.0 -14.0) (float-vector 15.0 -12.5 -14.0) (float-vector 22.4641 -12.5 -14.0) (float-vector 22.4641 12.5 -14.0)))
         (instance face :init :vertices (list (float-vector 15.0 -15.0 -14.0) (float-vector 15.0 -15.0 -24.0) (float-vector 15.0 15.0 -24.0) (float-vector 15.0 15.0 -14.0) (float-vector 15.0 12.5 -14.0) (float-vector 15.0 12.5 -21.4641) (float-vector 15.0 -12.5 -21.4641) (float-vector 15.0 -12.5 -14.0)))
         (instance face :init :vertices (list (float-vector 15.0 -12.5 14.0) (float-vector 15.0 -15.0 14.0) (float-vector 25.0 -15.0 14.0) (float-vector 25.0 15.0 14.0) (float-vector 15.0 15.0 14.0) (float-vector 15.0 12.5 14.0) (float-vector 22.4641 12.5 14.0) (float-vector 22.4641 -12.5 14.0)))
         (instance face :init :vertices (list (float-vector 15.0 15.0 14.0) (float-vector 15.0 15.0 24.0) (float-vector 15.0 -15.0 24.0) (float-vector 15.0 -15.0 14.0) (float-vector 15.0 -12.5 14.0) (float-vector 15.0 -12.5 21.4641) (float-vector 15.0 12.5 21.4641) (float-vector 15.0 12.5 14.0)))
         (instance face :init :vertices (list (float-vector 15.0 15.0 24.0) (float-vector -15.0 15.0 24.0) (float-vector -15.0 -15.0 24.0) (float-vector 15.0 -15.0 24.0)))
         (instance face :init :vertices (list (float-vector 25.0 15.0 14.0) (float-vector 25.0 15.0 -14.0) (float-vector 15.0 15.0 -14.0) (float-vector 15.0 15.0 -24.0) (float-vector -15.0 15.0 -24.0) (float-vector -15.0 15.0 -14.0) (float-vector -25.0 15.0 -14.0) (float-vector -25.0 15.0 14.0) (float-vector -15.0 15.0 14.0) (float-vector -15.0 15.0 24.0) (float-vector 15.0 15.0 24.0) (float-vector 15.0 15.0 14.0)))
         (instance face :init :vertices (list (float-vector 15.0 -15.0 -24.0) (float-vector -15.0 -15.0 -24.0) (float-vector -15.0 15.0 -24.0) (float-vector 15.0 15.0 -24.0)))
         (instance face :init :vertices (list (float-vector 25.0 -15.0 14.0) (float-vector 25.0 -15.0 -14.0) (float-vector 25.0 15.0 -14.0) (float-vector 25.0 15.0 14.0)))
         (instance face :init :vertices (list (float-vector -15.0 -15.0 24.0) (float-vector -15.0 -15.0 14.0) (float-vector -25.0 -15.0 14.0) (float-vector -25.0 -15.0 -14.0) (float-vector -15.0 -15.0 -14.0) (float-vector -15.0 -15.0 -24.0) (float-vector 15.0 -15.0 -24.0) (float-vector 15.0 -15.0 -14.0) (float-vector 25.0 -15.0 -14.0) (float-vector 25.0 -15.0 14.0) (float-vector 15.0 -15.0 14.0) (float-vector 15.0 -15.0 24.0)))
         (instance face :init :vertices (list (float-vector -25.0 15.0 -14.0) (float-vector -25.0 -15.0 -14.0) (float-vector -25.0 -15.0 14.0) (float-vector -25.0 15.0 14.0)))
         (instance face :init :vertices (list (float-vector -15.0 -15.0 14.0) (float-vector -15.0 -12.5 14.0) (float-vector -22.4641 -12.5 14.0) (float-vector -22.4641 12.5 14.0) (float-vector -15.0 12.5 14.0) (float-vector -15.0 15.0 14.0) (float-vector -25.0 15.0 14.0) (float-vector -25.0 -15.0 14.0)))
         (instance face :init :vertices (list (float-vector -15.0 12.5 14.0) (float-vector -15.0 12.5 21.4641) (float-vector -15.0 -12.5 21.4641) (float-vector -15.0 -12.5 14.0) (float-vector -15.0 -15.0 14.0) (float-vector -15.0 -15.0 24.0) (float-vector -15.0 15.0 24.0) (float-vector -15.0 15.0 14.0)))
         (instance face :init :vertices (list (float-vector -15.0 -15.0 -14.0) (float-vector -15.0 -12.5 -14.0) (float-vector -15.0 -12.5 -21.4641) (float-vector -15.0 12.5 -21.4641) (float-vector -15.0 12.5 -14.0) (float-vector -15.0 15.0 -14.0) (float-vector -15.0 15.0 -24.0) (float-vector -15.0 -15.0 -24.0)))
         (instance face :init :vertices (list (float-vector -15.0 -12.5 -14.0) (float-vector -15.0 -15.0 -14.0) (float-vector -25.0 -15.0 -14.0) (float-vector -25.0 15.0 -14.0) (float-vector -15.0 15.0 -14.0) (float-vector -15.0 12.5 -14.0) (float-vector -22.4641 12.5 -14.0) (float-vector -22.4641 -12.5 -14.0)))
         (instance face :init :vertices (list (float-vector -15.0 12.5 21.4641) (float-vector -18.0 12.5 20.6603) (float-vector -18.0 -12.5 20.6603) (float-vector -15.0 -12.5 21.4641)))
         (instance face :init :vertices (list (float-vector -18.0 12.5 20.6603) (float-vector -21.6603 12.5 17.0) (float-vector -21.6603 -12.5 17.0) (float-vector -18.0 -12.5 20.6603)))
         (instance face :init :vertices (list (float-vector -21.6603 -12.5 17.0) (float-vector -22.4641 -12.5 14.0) (float-vector -15.0 -12.5 14.0) (float-vector -15.0 -12.5 21.4641) (float-vector -18.0 -12.5 20.6603)))
         (instance face :init :vertices (list (float-vector -21.6603 12.5 17.0) (float-vector -22.4641 12.5 14.0) (float-vector -22.4641 -12.5 14.0) (float-vector -21.6603 -12.5 17.0)))
         (instance face :init :vertices (list (float-vector -22.4641 12.5 14.0) (float-vector -21.6603 12.5 17.0) (float-vector -18.0 12.5 20.6603) (float-vector -15.0 12.5 21.4641) (float-vector -15.0 12.5 14.0)))
         (instance face :init :vertices (list (float-vector -22.4641 12.5 -14.0) (float-vector -21.6603 12.5 -17.0) (float-vector -21.6603 -12.5 -17.0) (float-vector -22.4641 -12.5 -14.0)))
         (instance face :init :vertices (list (float-vector -21.6603 12.5 -17.0) (float-vector -18.0 12.5 -20.6603) (float-vector -18.0 -12.5 -20.6603) (float-vector -21.6603 -12.5 -17.0)))
         (instance face :init :vertices (list (float-vector -18.0 -12.5 -20.6603) (float-vector -15.0 -12.5 -21.4641) (float-vector -15.0 -12.5 -14.0) (float-vector -22.4641 -12.5 -14.0) (float-vector -21.6603 -12.5 -17.0)))
         (instance face :init :vertices (list (float-vector -18.0 12.5 -20.6603) (float-vector -15.0 12.5 -21.4641) (float-vector -15.0 -12.5 -21.4641) (float-vector -18.0 -12.5 -20.6603)))
         (instance face :init :vertices (list (float-vector -15.0 12.5 -21.4641) (float-vector -18.0 12.5 -20.6603) (float-vector -21.6603 12.5 -17.0) (float-vector -22.4641 12.5 -14.0) (float-vector -15.0 12.5 -14.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color (list))
     (setq blink12 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4rarm-nil-1 :weight 500 :centroid (float-vector 1.278833e-15 -1.101218e-16 -2.770806e-16) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4rarm-nil-2
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -9.5 19.5 -125.5) (float-vector 23.5 19.5 -125.5) (float-vector 23.5 -19.5 -125.5) (float-vector -9.5 -19.5 -125.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -8.0 17.866 -125.5) (float-vector -8.0 -17.866 -125.5) (float-vector 22.0 -17.866 -125.5) (float-vector 22.0 17.866 -125.5)))
))
         (instance face :init :vertices (list (float-vector -9.5 19.5 -125.5) (float-vector -9.5 19.5 -76.0) (float-vector 13.0 19.5 -76.0) (float-vector 13.0 19.5 -72.5) (float-vector 23.5 19.5 -72.5) (float-vector 23.5 19.5 -125.5)))
         (instance face :init :vertices (list (float-vector 13.0 19.5 -72.5) (float-vector 13.0 17.4641 -72.5) (float-vector 17.0 16.3923 -72.5) (float-vector 21.3923 12.0 -72.5) (float-vector 22.4641 8.0 -72.5) (float-vector 23.5 8.0 -72.5) (float-vector 23.5 19.5 -72.5)))
         (instance face :init :vertices (list (float-vector 23.5 -19.5 -72.5) (float-vector 23.5 -8.0 -72.5) (float-vector 22.4641 -8.0 -72.5) (float-vector 21.3923 -12.0 -72.5) (float-vector 17.0 -16.3923 -72.5) (float-vector 13.0 -17.4641 -72.5) (float-vector 13.0 -19.5 -72.5)))
         (instance face :init :vertices (list (float-vector 23.5 8.0 -72.5) (float-vector 23.5 8.0 -76.0) (float-vector 23.5 -8.0 -76.0) (float-vector 23.5 -8.0 -72.5) (float-vector 23.5 -19.5 -72.5) (float-vector 23.5 -19.5 -125.5) (float-vector 23.5 19.5 -125.5) (float-vector 23.5 19.5 -72.5)))
         (instance face :init :vertices (list (float-vector 13.0 -19.5 -72.5) (float-vector 13.0 -19.5 -76.0) (float-vector -9.5 -19.5 -76.0) (float-vector -9.5 -19.5 -125.5) (float-vector 23.5 -19.5 -125.5) (float-vector 23.5 -19.5 -72.5)))
         (instance face :init :vertices (list (float-vector -9.5 -19.5 -76.0) (float-vector -9.5 19.5 -76.0) (float-vector -9.5 19.5 -125.5) (float-vector -9.5 -19.5 -125.5)))
         (instance face :init :vertices (list (float-vector 22.4641 -8.0 73.5) (float-vector 21.3923 -12.0 73.5) (float-vector 21.3923 -12.0 -72.5) (float-vector 22.4641 -8.0 -72.5)))
         (instance face :init :vertices (list (float-vector 22.4641 -8.0 73.5) (float-vector 13.0 -8.0 73.5) (float-vector 13.0 -17.4641 73.5) (float-vector 17.0 -16.3923 73.5) (float-vector 21.3923 -12.0 73.5)))
         (instance face :init :vertices (list (float-vector 17.0 -16.3923 73.5) (float-vector 17.0 -16.3923 -72.5) (float-vector 21.3923 -12.0 -72.5) (float-vector 21.3923 -12.0 73.5)))
         (instance face :init :vertices (list (float-vector 13.0 -17.4641 73.5) (float-vector 13.0 -17.4641 -72.5) (float-vector 17.0 -16.3923 -72.5) (float-vector 17.0 -16.3923 73.5)))
         (instance face :init :vertices (list (float-vector 13.0 17.4641 73.5) (float-vector 17.0 16.3923 73.5) (float-vector 17.0 16.3923 -72.5) (float-vector 13.0 17.4641 -72.5)))
         (instance face :init :vertices (list (float-vector 13.0 17.4641 73.5) (float-vector 13.0 8.0 73.5) (float-vector 22.4641 8.0 73.5) (float-vector 21.3923 12.0 73.5) (float-vector 17.0 16.3923 73.5)))
         (instance face :init :vertices (list (float-vector 21.3923 12.0 73.5) (float-vector 21.3923 12.0 -72.5) (float-vector 17.0 16.3923 -72.5) (float-vector 17.0 16.3923 73.5)))
         (instance face :init :vertices (list (float-vector 22.4641 8.0 73.5) (float-vector 22.4641 8.0 -72.5) (float-vector 21.3923 12.0 -72.5) (float-vector 21.3923 12.0 73.5)))
         (instance face :init :vertices (list (float-vector 23.5 -8.0 -76.0) (float-vector 25.0 -8.0 -76.0) (float-vector 25.0 -8.0 76.0) (float-vector 13.0 -8.0 76.0) (float-vector 13.0 -8.0 73.5) (float-vector 22.4641 -8.0 73.5) (float-vector 22.4641 -8.0 -72.5) (float-vector 23.5 -8.0 -72.5)))
         (instance face :init :vertices (list (float-vector 13.0 -8.0 76.0) (float-vector 13.0 -20.0 76.0) (float-vector 13.0 -20.0 -76.0) (float-vector 13.0 -19.5 -76.0) (float-vector 13.0 -19.5 -72.5) (float-vector 13.0 -17.4641 -72.5) (float-vector 13.0 -17.4641 73.5) (float-vector 13.0 -8.0 73.5)))
         (instance face :init :vertices (list (float-vector 13.0 8.0 73.5) (float-vector 13.0 8.0 76.0) (float-vector 25.0 8.0 76.0) (float-vector 25.0 8.0 -76.0) (float-vector 23.5 8.0 -76.0) (float-vector 23.5 8.0 -72.5) (float-vector 22.4641 8.0 -72.5) (float-vector 22.4641 8.0 73.5)))
         (instance face :init :vertices (list (float-vector 13.0 19.5 -76.0) (float-vector 13.0 20.0 -76.0) (float-vector 13.0 20.0 76.0) (float-vector 13.0 8.0 76.0) (float-vector 13.0 8.0 73.5) (float-vector 13.0 17.4641 73.5) (float-vector 13.0 17.4641 -72.5) (float-vector 13.0 19.5 -72.5)))
         (instance face :init :vertices (list (float-vector 13.0 20.0 -76.0) (float-vector -13.0 20.0 -76.0) (float-vector -13.0 20.0 76.0) (float-vector 13.0 20.0 76.0)))
         (instance face :init :vertices (list (float-vector 25.0 8.0 -76.0) (float-vector 25.0 -8.0 -76.0) (float-vector 23.5 -8.0 -76.0) (float-vector 23.5 8.0 -76.0)))
         (instance face :init :vertices (list (float-vector 13.0 -20.0 -76.0) (float-vector -13.0 -20.0 -76.0) (float-vector -13.0 -8.0 -76.0) (float-vector -25.0 -8.0 -76.0) (float-vector -25.0 8.0 -76.0) (float-vector -13.0 8.0 -76.0) (float-vector -13.0 20.0 -76.0) (float-vector 13.0 20.0 -76.0) (float-vector 13.0 19.5 -76.0) (float-vector -9.5 19.5 -76.0) (float-vector -9.5 -19.5 -76.0) (float-vector 13.0 -19.5 -76.0)))
         (instance face :init :vertices (list (float-vector 13.0 -20.0 76.0) (float-vector -13.0 -20.0 76.0) (float-vector -13.0 -20.0 -76.0) (float-vector 13.0 -20.0 -76.0)))
         (instance face :init :vertices (list (float-vector 25.0 8.0 76.0) (float-vector 25.0 -8.0 76.0) (float-vector 25.0 -8.0 -76.0) (float-vector 25.0 8.0 -76.0)))
         (instance face :init :vertices (list (float-vector -13.0 20.0 76.0) (float-vector -13.0 8.0 76.0) (float-vector -25.0 8.0 76.0) (float-vector -25.0 -8.0 76.0) (float-vector -13.0 -8.0 76.0) (float-vector -13.0 -20.0 76.0) (float-vector 13.0 -20.0 76.0) (float-vector 13.0 -8.0 76.0) (float-vector 25.0 -8.0 76.0) (float-vector 25.0 8.0 76.0) (float-vector 13.0 8.0 76.0) (float-vector 13.0 20.0 76.0)))
         (instance face :init :vertices (list (float-vector -25.0 8.0 76.0) (float-vector -25.0 8.0 -76.0) (float-vector -25.0 -8.0 -76.0) (float-vector -25.0 -8.0 76.0)))
         (instance face :init :vertices (list (float-vector -13.0 8.0 76.0) (float-vector -13.0 8.0 73.5) (float-vector -22.4641 8.0 73.5) (float-vector -22.4641 8.0 -73.5) (float-vector -13.0 8.0 -73.5) (float-vector -13.0 8.0 -76.0) (float-vector -25.0 8.0 -76.0) (float-vector -25.0 8.0 76.0)))
         (instance face :init :vertices (list (float-vector -13.0 8.0 -73.5) (float-vector -13.0 17.4641 -73.5) (float-vector -13.0 17.4641 73.5) (float-vector -13.0 8.0 73.5) (float-vector -13.0 8.0 76.0) (float-vector -13.0 20.0 76.0) (float-vector -13.0 20.0 -76.0) (float-vector -13.0 8.0 -76.0)))
         (instance face :init :vertices (list (float-vector -13.0 -8.0 76.0) (float-vector -13.0 -8.0 73.5) (float-vector -13.0 -17.4641 73.5) (float-vector -13.0 -17.4641 -73.5) (float-vector -13.0 -8.0 -73.5) (float-vector -13.0 -8.0 -76.0) (float-vector -13.0 -20.0 -76.0) (float-vector -13.0 -20.0 76.0)))
         (instance face :init :vertices (list (float-vector -13.0 -8.0 -73.5) (float-vector -22.4641 -8.0 -73.5) (float-vector -22.4641 -8.0 73.5) (float-vector -13.0 -8.0 73.5) (float-vector -13.0 -8.0 76.0) (float-vector -25.0 -8.0 76.0) (float-vector -25.0 -8.0 -76.0) (float-vector -13.0 -8.0 -76.0)))
         (instance face :init :vertices (list (float-vector -13.0 17.4641 -73.5) (float-vector -17.0 16.3923 -73.5) (float-vector -17.0 16.3923 73.5) (float-vector -13.0 17.4641 73.5)))
         (instance face :init :vertices (list (float-vector -17.0 16.3923 -73.5) (float-vector -21.3923 12.0 -73.5) (float-vector -21.3923 12.0 73.5) (float-vector -17.0 16.3923 73.5)))
         (instance face :init :vertices (list (float-vector -21.3923 12.0 73.5) (float-vector -22.4641 8.0 73.5) (float-vector -13.0 8.0 73.5) (float-vector -13.0 17.4641 73.5) (float-vector -17.0 16.3923 73.5)))
         (instance face :init :vertices (list (float-vector -21.3923 12.0 -73.5) (float-vector -22.4641 8.0 -73.5) (float-vector -22.4641 8.0 73.5) (float-vector -21.3923 12.0 73.5)))
         (instance face :init :vertices (list (float-vector -22.4641 8.0 -73.5) (float-vector -21.3923 12.0 -73.5) (float-vector -17.0 16.3923 -73.5) (float-vector -13.0 17.4641 -73.5) (float-vector -13.0 8.0 -73.5)))
         (instance face :init :vertices (list (float-vector -22.4641 -8.0 -73.5) (float-vector -21.3923 -12.0 -73.5) (float-vector -21.3923 -12.0 73.5) (float-vector -22.4641 -8.0 73.5)))
         (instance face :init :vertices (list (float-vector -21.3923 -12.0 -73.5) (float-vector -17.0 -16.3923 -73.5) (float-vector -17.0 -16.3923 73.5) (float-vector -21.3923 -12.0 73.5)))
         (instance face :init :vertices (list (float-vector -17.0 -16.3923 73.5) (float-vector -13.0 -17.4641 73.5) (float-vector -13.0 -8.0 73.5) (float-vector -22.4641 -8.0 73.5) (float-vector -21.3923 -12.0 73.5)))
         (instance face :init :vertices (list (float-vector -17.0 -16.3923 -73.5) (float-vector -13.0 -17.4641 -73.5) (float-vector -13.0 -17.4641 73.5) (float-vector -17.0 -16.3923 73.5)))
         (instance face :init :vertices (list (float-vector -13.0 -17.4641 -73.5) (float-vector -17.0 -16.3923 -73.5) (float-vector -21.3923 -12.0 -73.5) (float-vector -22.4641 -8.0 -73.5) (float-vector -13.0 -8.0 -73.5)))
         (instance face :init :vertices (list (float-vector 22.0 -1.099121e-14 -143.0) (float-vector -8.0 3.996803e-15 -143.0) (float-vector -8.0 9.0 -140.588) (float-vector 22.0 9.0 -140.588)))
         (instance face :init :vertices (list (float-vector -8.0 9.0 -140.588) (float-vector -8.0 15.5885 -134.0) (float-vector 22.0 15.5885 -134.0) (float-vector 22.0 9.0 -140.588)))
         (instance face :init :vertices (list (float-vector -8.0 15.5885 -134.0) (float-vector -8.0 17.866 -125.5) (float-vector 22.0 17.866 -125.5) (float-vector 22.0 15.5885 -134.0)))
         (instance face :init :vertices (list (float-vector -8.0 -17.866 -125.5) (float-vector -8.0 -15.5885 -134.0) (float-vector 22.0 -15.5885 -134.0) (float-vector 22.0 -17.866 -125.5)))
         (instance face :init :vertices (list (float-vector -8.0 -15.5885 -134.0) (float-vector -8.0 -9.0 -140.588) (float-vector 22.0 -9.0 -140.588) (float-vector 22.0 -15.5885 -134.0)))
         (instance face :init :vertices (list (float-vector 22.0 -9.0 -140.588) (float-vector 22.0 -1.099121e-14 -143.0) (float-vector 22.0 9.0 -140.588) (float-vector 22.0 15.5885 -134.0) (float-vector 22.0 17.866 -125.5) (float-vector 22.0 -17.866 -125.5) (float-vector 22.0 -15.5885 -134.0)))
         (instance face :init :vertices (list (float-vector -8.0 -9.0 -140.588) (float-vector -8.0 3.996803e-15 -143.0) (float-vector 22.0 -1.099121e-14 -143.0) (float-vector 22.0 -9.0 -140.588)))
         (instance face :init :vertices (list (float-vector -8.0 3.996803e-15 -143.0) (float-vector -8.0 -9.0 -140.588) (float-vector -8.0 -15.5885 -134.0) (float-vector -8.0 -17.866 -125.5) (float-vector -8.0 17.866 -125.5) (float-vector -8.0 15.5885 -134.0) (float-vector -8.0 9.0 -140.588)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color (list))
     (setq blink13 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4rarm-nil-2 :weight 2000 :centroid (float-vector 1.67322 8.415485e-16 -25.0189) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4rarm-nil-3
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -82.0 -11.75 -25.3516) (float-vector -82.0 -20.3516 -16.75) (float-vector -82.0 -23.5 -5.0) (float-vector -82.0 -20.3516 6.75) (float-vector -82.0 -11.75 15.3516) (float-vector -82.0 1.387779e-14 18.5) (float-vector -82.0 11.75 15.3516) (float-vector -82.0 20.3516 6.75) (float-vector -82.0 23.5 -5.0) (float-vector -82.0 20.3516 -16.75) (float-vector -82.0 11.75 -25.3516) (float-vector -82.0 8.104628e-15 -28.5)))
         (instance face :init :vertices (list (float-vector -50.0 9.880985e-15 -28.5) (float-vector -50.0 -11.75 -25.3516) (float-vector -82.0 -11.75 -25.3516) (float-vector -82.0 8.104628e-15 -28.5)))
         (instance face :init :vertices (list (float-vector -50.0 -20.3516 -16.75) (float-vector -82.0 -20.3516 -16.75) (float-vector -82.0 -11.75 -25.3516) (float-vector -50.0 -11.75 -25.3516)))
         (instance face :init :vertices (list (float-vector -50.0 -23.5 -5.0) (float-vector -82.0 -23.5 -5.0) (float-vector -82.0 -20.3516 -16.75) (float-vector -50.0 -20.3516 -16.75)))
         (instance face :init :vertices (list (float-vector -50.0 -20.3516 6.75) (float-vector -82.0 -20.3516 6.75) (float-vector -82.0 -23.5 -5.0) (float-vector -50.0 -23.5 -5.0)))
         (instance face :init :vertices (list (float-vector -50.0 -11.75 15.3516) (float-vector -82.0 -11.75 15.3516) (float-vector -82.0 -20.3516 6.75) (float-vector -50.0 -20.3516 6.75)))
         (instance face :init :vertices (list (float-vector -50.0 1.565414e-14 18.5) (float-vector -82.0 1.387779e-14 18.5) (float-vector -82.0 -11.75 15.3516) (float-vector -50.0 -11.75 15.3516)))
         (instance face :init :vertices (list (float-vector -50.0 11.75 15.3516) (float-vector -82.0 11.75 15.3516) (float-vector -82.0 1.387779e-14 18.5) (float-vector -50.0 1.565414e-14 18.5)))
         (instance face :init :vertices (list (float-vector -50.0 20.3516 6.75) (float-vector -82.0 20.3516 6.75) (float-vector -82.0 11.75 15.3516) (float-vector -50.0 11.75 15.3516)))
         (instance face :init :vertices (list (float-vector -50.0 23.5 -5.0) (float-vector -82.0 23.5 -5.0) (float-vector -82.0 20.3516 6.75) (float-vector -50.0 20.3516 6.75)))
         (instance face :init :vertices (list (float-vector -50.0 20.3516 -16.75) (float-vector -82.0 20.3516 -16.75) (float-vector -82.0 23.5 -5.0) (float-vector -50.0 23.5 -5.0)))
         (instance face :init :vertices (list (float-vector -50.0 11.75 -25.3516) (float-vector -82.0 11.75 -25.3516) (float-vector -82.0 20.3516 -16.75) (float-vector -50.0 20.3516 -16.75)))
         (instance face :init :vertices (list (float-vector -50.0 9.880985e-15 -28.5) (float-vector -82.0 8.104628e-15 -28.5) (float-vector -82.0 11.75 -25.3516) (float-vector -50.0 11.75 -25.3516)))
         (instance face :init :vertices (list (float-vector 0.0 -24.0 31.0) (float-vector 0.0 24.0 31.0) (float-vector -50.0 24.0 31.0) (float-vector -50.0 -24.0 31.0)))
         (instance face :init :vertices (list (float-vector -50.0 -24.0 -31.0) (float-vector 0.0 -24.0 -31.0) (float-vector 0.0 -24.0 -27.0) (float-vector -47.0 -24.0 -27.0) (float-vector -47.0 -24.0 14.0) (float-vector 0.0 -24.0 14.0) (float-vector 0.0 -24.0 31.0) (float-vector -50.0 -24.0 31.0)))
         (instance face :init :vertices (list (float-vector -50.0 24.0 -31.0) (float-vector 0.0 24.0 -31.0) (float-vector 0.0 -24.0 -31.0) (float-vector -50.0 -24.0 -31.0)))
         (instance face :init :vertices (list (float-vector 0.0 24.0 31.0) (float-vector 0.0 -24.0 31.0) (float-vector 0.0 -24.0 14.0) (float-vector 0.0 -22.7321 14.0) (float-vector 0.0 -22.7321 30.0) (float-vector 0.0 22.7321 30.0) (float-vector 0.0 22.7321 14.0) (float-vector 0.0 24.0 14.0)))
         (instance face :init :vertices (list (float-vector 0.0 24.0 -27.0) (float-vector 0.0 22.7321 -27.0) (float-vector 0.0 22.7321 -30.0) (float-vector 0.0 -22.7321 -30.0) (float-vector 0.0 -22.7321 -27.0) (float-vector 0.0 -24.0 -27.0) (float-vector 0.0 -24.0 -31.0) (float-vector 0.0 24.0 -31.0)))
         (instance face :init :vertices (list (float-vector -50.0 24.0 -31.0) (float-vector -50.0 -24.0 -31.0) (float-vector -50.0 -24.0 31.0) (float-vector -50.0 24.0 31.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -50.0 11.75 -25.3516) (float-vector -50.0 20.3516 -16.75) (float-vector -50.0 23.5 -5.0) (float-vector -50.0 20.3516 6.75) (float-vector -50.0 11.75 15.3516) (float-vector -50.0 1.565414e-14 18.5) (float-vector -50.0 -11.75 15.3516) (float-vector -50.0 -20.3516 6.75) (float-vector -50.0 -23.5 -5.0) (float-vector -50.0 -20.3516 -16.75) (float-vector -50.0 -11.75 -25.3516) (float-vector -50.0 9.880985e-15 -28.5)))
))
         (instance face :init :vertices (list (float-vector -50.0 24.0 31.0) (float-vector 0.0 24.0 31.0) (float-vector 0.0 24.0 14.0) (float-vector -47.0 24.0 14.0) (float-vector -47.0 24.0 -27.0) (float-vector 0.0 24.0 -27.0) (float-vector 0.0 24.0 -31.0) (float-vector -50.0 24.0 -31.0)))
         (instance face :init :vertices (list (float-vector 10.5 19.9186 -30.0) (float-vector 0.0 22.7321 -30.0) (float-vector 0.0 22.7321 -27.0) (float-vector 10.5 19.9186 -27.0)))
         (instance face :init :vertices (list (float-vector 10.5 19.9186 30.0) (float-vector 10.5 19.9186 14.0) (float-vector 0.0 22.7321 14.0) (float-vector 0.0 22.7321 30.0)))
         (instance face :init :vertices (list (float-vector 18.9186 11.5 -30.0) (float-vector 10.5 19.9186 -30.0) (float-vector 10.5 19.9186 -27.0) (float-vector 18.9186 11.5 -27.0)))
         (instance face :init :vertices (list (float-vector 18.9186 11.5 30.0) (float-vector 18.9186 11.5 14.0) (float-vector 10.5 19.9186 14.0) (float-vector 10.5 19.9186 30.0)))
         (instance face :init :vertices (list (float-vector 22.0 3.763656e-14 -30.0) (float-vector 18.9186 11.5 -30.0) (float-vector 18.9186 11.5 -27.0) (float-vector 22.0 3.630429e-14 -27.0)))
         (instance face :init :vertices (list (float-vector 22.0 1.099121e-14 30.0) (float-vector 22.0 1.809664e-14 14.0) (float-vector 18.9186 11.5 14.0) (float-vector 18.9186 11.5 30.0)))
         (instance face :init :vertices (list (float-vector 18.9186 -11.5 -30.0) (float-vector 22.0 3.763656e-14 -30.0) (float-vector 22.0 3.630429e-14 -27.0) (float-vector 18.9186 -11.5 -27.0)))
         (instance face :init :vertices (list (float-vector 18.9186 -11.5 30.0) (float-vector 18.9186 -11.5 14.0) (float-vector 22.0 1.809664e-14 14.0) (float-vector 22.0 1.099121e-14 30.0)))
         (instance face :init :vertices (list (float-vector 10.5 -19.9186 -30.0) (float-vector 18.9186 -11.5 -30.0) (float-vector 18.9186 -11.5 -27.0) (float-vector 10.5 -19.9186 -27.0)))
         (instance face :init :vertices (list (float-vector 10.5 -19.9186 30.0) (float-vector 10.5 -19.9186 14.0) (float-vector 18.9186 -11.5 14.0) (float-vector 18.9186 -11.5 30.0)))
         (instance face :init :vertices (list (float-vector 0.0 -22.7321 -30.0) (float-vector 0.0 22.7321 -30.0) (float-vector 10.5 19.9186 -30.0) (float-vector 18.9186 11.5 -30.0) (float-vector 22.0 3.763656e-14 -30.0) (float-vector 18.9186 -11.5 -30.0) (float-vector 10.5 -19.9186 -30.0)))
         (instance face :init :vertices (list (float-vector 10.5 -19.9186 30.0) (float-vector 18.9186 -11.5 30.0) (float-vector 22.0 1.099121e-14 30.0) (float-vector 18.9186 11.5 30.0) (float-vector 10.5 19.9186 30.0) (float-vector 0.0 22.7321 30.0) (float-vector 0.0 -22.7321 30.0)))
         (instance face :init :vertices (list (float-vector 10.5 -19.9186 -30.0) (float-vector 10.5 -19.9186 -27.0) (float-vector 0.0 -22.7321 -27.0) (float-vector 0.0 -22.7321 -30.0)))
         (instance face :init :vertices (list (float-vector 0.0 -22.7321 30.0) (float-vector 0.0 -22.7321 14.0) (float-vector 10.5 -19.9186 14.0) (float-vector 10.5 -19.9186 30.0)))
         (instance face :init :vertices (list (float-vector -47.0 24.0 14.0) (float-vector 0.0 24.0 14.0) (float-vector 0.0 22.7321 14.0) (float-vector 10.5 19.9186 14.0) (float-vector 18.9186 11.5 14.0) (float-vector 22.0 1.809664e-14 14.0) (float-vector 18.9186 -11.5 14.0) (float-vector 10.5 -19.9186 14.0) (float-vector 0.0 -22.7321 14.0) (float-vector 0.0 -24.0 14.0) (float-vector -47.0 -24.0 14.0)))
         (instance face :init :vertices (list (float-vector -47.0 -24.0 -27.0) (float-vector 0.0 -24.0 -27.0) (float-vector 0.0 -22.7321 -27.0) (float-vector 10.5 -19.9186 -27.0) (float-vector 18.9186 -11.5 -27.0) (float-vector 22.0 3.630429e-14 -27.0) (float-vector 18.9186 11.5 -27.0) (float-vector 10.5 19.9186 -27.0) (float-vector 0.0 22.7321 -27.0) (float-vector 0.0 24.0 -27.0) (float-vector -47.0 24.0 -27.0)))
         (instance face :init :vertices (list (float-vector -47.0 24.0 -27.0) (float-vector -47.0 24.0 14.0) (float-vector -47.0 -24.0 14.0) (float-vector -47.0 -24.0 -27.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color (list))
     (setq blink14 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4rarm-nil-3 :weight 200 :centroid (float-vector -39.7988 1.838236e-16 4.33445) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4rarm-nil-4
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 12.0 9.0 -17.5) (float-vector 12.75 9.0 -17.5) (float-vector 12.75 -9.0 -17.5) (float-vector 12.0 -9.0 -17.5)))
         (instance face :init :vertices (list (float-vector -12.75 9.0 -16.134) (float-vector -12.75 9.0 0.5) (float-vector -12.1734 9.0 0.5) (float-vector -12.1734 9.0 0.0) (float-vector 12.1734 9.0 0.0) (float-vector 12.1734 9.0 0.5) (float-vector 12.75 9.0 0.5) (float-vector 12.75 9.0 -17.5) (float-vector 12.0 9.0 -17.5) (float-vector 12.0 9.0 -16.134)))
         (instance face :init :vertices (list (float-vector 12.1734 9.0 0.5) (float-vector 12.75 8.42339 0.5) (float-vector 12.75 9.0 0.5)))
         (instance face :init :vertices (list (float-vector -12.75 9.0 0.5) (float-vector -12.75 8.42339 0.5) (float-vector -12.1734 9.0 0.5)))
         (instance face :init :vertices (list (float-vector 12.75 -9.0 0.5) (float-vector 12.75 -8.42339 0.5) (float-vector 12.1734 -9.0 0.5)))
         (instance face :init :vertices (list (float-vector -12.75 -9.0 0.5) (float-vector -12.1734 -9.0 0.5) (float-vector -12.75 -8.42339 0.5)))
         (instance face :init :vertices (list (float-vector 12.75 8.42339 0.5) (float-vector 12.75 8.42339 0.0) (float-vector 12.75 -8.42339 0.0) (float-vector 12.75 -8.42339 0.5) (float-vector 12.75 -9.0 0.5) (float-vector 12.75 -9.0 -17.5) (float-vector 12.75 9.0 -17.5) (float-vector 12.75 9.0 0.5)))
         (instance face :init :vertices (list (float-vector 12.1734 -9.0 0.5) (float-vector 12.1734 -9.0 0.0) (float-vector -12.1734 -9.0 0.0) (float-vector -12.1734 -9.0 0.5) (float-vector -12.75 -9.0 0.5) (float-vector -12.75 -9.0 -16.134) (float-vector 12.0 -9.0 -16.134) (float-vector 12.0 -9.0 -17.5) (float-vector 12.75 -9.0 -17.5) (float-vector 12.75 -9.0 0.5)))
         (instance face :init :vertices (list (float-vector -12.75 -8.42339 0.5) (float-vector -12.75 -8.42339 0.0) (float-vector -12.75 8.42339 0.0) (float-vector -12.75 8.42339 0.5) (float-vector -12.75 9.0 0.5) (float-vector -12.75 9.0 -16.134) (float-vector -12.75 8.22724 -13.25) (float-vector -12.75 4.75 -9.77276) (float-vector -12.75 1.668110e-14 -8.5) (float-vector -12.75 -4.75 -9.77276) (float-vector -12.75 -8.22724 -13.25) (float-vector -12.75 -9.0 -16.134) (float-vector -12.75 -9.0 0.5)))
         (instance face :init :vertices (list (float-vector 15.5 -5.162537e-15 0.0) (float-vector 13.4234 -7.75 0.0) (float-vector 12.75 -8.42339 0.0) (float-vector 12.75 8.42339 0.0) (float-vector 13.4234 7.75 0.0)))
         (instance face :init :vertices (list (float-vector 12.1734 -9.0 0.0) (float-vector 7.75 -13.4234 0.0) (float-vector -2.842171e-14 -15.5 0.0) (float-vector -7.75 -13.4234 0.0) (float-vector -12.1734 -9.0 0.0)))
         (instance face :init :vertices (list (float-vector -12.75 -8.42339 0.0) (float-vector -13.4234 -7.75 0.0) (float-vector -15.5 2.381428e-14 0.0) (float-vector -13.4234 7.75 0.0) (float-vector -12.75 8.42339 0.0)))
         (instance face :init :vertices (list (float-vector -12.1734 9.0 0.0) (float-vector -7.75 13.4234 0.0) (float-vector 1.421085e-14 15.5 0.0) (float-vector 7.75 13.4234 0.0) (float-vector 12.1734 9.0 0.0)))
         (instance face :init :vertices (list (float-vector 15.5 -5.162537e-15 0.0) (float-vector 15.5 -5.162537e-15 151.0) (float-vector 13.4234 -7.75 151.0) (float-vector 13.4234 -7.75 0.0)))
         (instance face :init :vertices (list (float-vector 15.5 -5.162537e-15 151.0) (float-vector 13.4234 7.75 151.0) (float-vector 7.75 13.4234 151.0) (float-vector 1.421085e-14 15.5 151.0) (float-vector -7.75 13.4234 151.0) (float-vector -13.4234 7.75 151.0) (float-vector -15.5 2.381428e-14 151.0) (float-vector -13.4234 -7.75 151.0) (float-vector -7.75 -13.4234 151.0) (float-vector -2.842171e-14 -15.5 151.0) (float-vector 7.75 -13.4234 151.0) (float-vector 13.4234 -7.75 151.0)))
         (instance face :init :vertices (list (float-vector 7.75 -13.4234 151.0) (float-vector 7.75 -13.4234 0.0) (float-vector 12.1734 -9.0 0.0) (float-vector 12.1734 -9.0 0.5) (float-vector 12.75 -8.42339 0.5) (float-vector 12.75 -8.42339 0.0) (float-vector 13.4234 -7.75 0.0) (float-vector 13.4234 -7.75 151.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -15.5 151.0) (float-vector -2.842171e-14 -15.5 0.0) (float-vector 7.75 -13.4234 0.0) (float-vector 7.75 -13.4234 151.0)))
         (instance face :init :vertices (list (float-vector -7.75 -13.4234 151.0) (float-vector -7.75 -13.4234 0.0) (float-vector -2.842171e-14 -15.5 0.0) (float-vector -2.842171e-14 -15.5 151.0)))
         (instance face :init :vertices (list (float-vector -13.4234 -7.75 151.0) (float-vector -13.4234 -7.75 0.0) (float-vector -12.75 -8.42339 0.0) (float-vector -12.75 -8.42339 0.5) (float-vector -12.1734 -9.0 0.5) (float-vector -12.1734 -9.0 0.0) (float-vector -7.75 -13.4234 0.0) (float-vector -7.75 -13.4234 151.0)))
         (instance face :init :vertices (list (float-vector -15.5 2.381428e-14 151.0) (float-vector -15.5 2.381428e-14 0.0) (float-vector -13.4234 -7.75 0.0) (float-vector -13.4234 -7.75 151.0)))
         (instance face :init :vertices (list (float-vector -13.4234 7.75 151.0) (float-vector -13.4234 7.75 0.0) (float-vector -15.5 2.381428e-14 0.0) (float-vector -15.5 2.381428e-14 151.0)))
         (instance face :init :vertices (list (float-vector -7.75 13.4234 151.0) (float-vector -7.75 13.4234 0.0) (float-vector -12.1734 9.0 0.0) (float-vector -12.1734 9.0 0.5) (float-vector -12.75 8.42339 0.5) (float-vector -12.75 8.42339 0.0) (float-vector -13.4234 7.75 0.0) (float-vector -13.4234 7.75 151.0)))
         (instance face :init :vertices (list (float-vector 1.421085e-14 15.5 151.0) (float-vector 1.421085e-14 15.5 0.0) (float-vector -7.75 13.4234 0.0) (float-vector -7.75 13.4234 151.0)))
         (instance face :init :vertices (list (float-vector 7.75 13.4234 151.0) (float-vector 7.75 13.4234 0.0) (float-vector 1.421085e-14 15.5 0.0) (float-vector 1.421085e-14 15.5 151.0)))
         (instance face :init :vertices (list (float-vector 13.4234 7.75 151.0) (float-vector 13.4234 7.75 0.0) (float-vector 12.75 8.42339 0.0) (float-vector 12.75 8.42339 0.5) (float-vector 12.1734 9.0 0.5) (float-vector 12.1734 9.0 0.0) (float-vector 7.75 13.4234 0.0) (float-vector 7.75 13.4234 151.0)))
         (instance face :init :vertices (list (float-vector 13.4234 7.75 0.0) (float-vector 13.4234 7.75 151.0) (float-vector 15.5 -5.162537e-15 151.0) (float-vector 15.5 -5.162537e-15 0.0)))
         (instance face :init :vertices (list (float-vector 12.0 -3.996803e-15 -27.5) (float-vector -13.0 4.329870e-15 -27.5) (float-vector -13.0 4.75 -26.2272) (float-vector 12.0 4.75 -26.2272)))
         (instance face :init :vertices (list (float-vector -13.0 4.75 -26.2272) (float-vector -13.0 8.22724 -22.75) (float-vector 12.0 8.22724 -22.75) (float-vector 12.0 4.75 -26.2272)))
         (instance face :init :vertices (list (float-vector -13.0 8.22724 -22.75) (float-vector -13.0 9.5 -18.0) (float-vector 12.0 9.5 -18.0) (float-vector 12.0 8.22724 -22.75)))
         (instance face :init :vertices (list (float-vector -13.0 9.5 -18.0) (float-vector -13.0 8.22724 -13.25) (float-vector -12.75 8.22724 -13.25) (float-vector -12.75 9.0 -16.134) (float-vector 12.0 9.0 -16.134) (float-vector 12.0 9.5 -18.0)))
         (instance face :init :vertices (list (float-vector -13.0 8.22724 -13.25) (float-vector -13.0 4.75 -9.77276) (float-vector -12.75 4.75 -9.77276) (float-vector -12.75 8.22724 -13.25)))
         (instance face :init :vertices (list (float-vector -13.0 4.75 -9.77276) (float-vector -13.0 1.676437e-14 -8.5) (float-vector -12.75 1.668110e-14 -8.5) (float-vector -12.75 4.75 -9.77276)))
         (instance face :init :vertices (list (float-vector -13.0 1.676437e-14 -8.5) (float-vector -13.0 -4.75 -9.77276) (float-vector -12.75 -4.75 -9.77276) (float-vector -12.75 1.668110e-14 -8.5)))
         (instance face :init :vertices (list (float-vector -13.0 -4.75 -9.77276) (float-vector -13.0 -8.22724 -13.25) (float-vector -12.75 -8.22724 -13.25) (float-vector -12.75 -4.75 -9.77276)))
         (instance face :init :vertices (list (float-vector -13.0 -8.22724 -13.25) (float-vector -13.0 -9.5 -18.0) (float-vector 12.0 -9.5 -18.0) (float-vector 12.0 -9.0 -16.134) (float-vector -12.75 -9.0 -16.134) (float-vector -12.75 -8.22724 -13.25)))
         (instance face :init :vertices (list (float-vector -13.0 -9.5 -18.0) (float-vector -13.0 -8.22724 -22.75) (float-vector 12.0 -8.22724 -22.75) (float-vector 12.0 -9.5 -18.0)))
         (instance face :init :vertices (list (float-vector -13.0 -8.22724 -22.75) (float-vector -13.0 -4.75 -26.2272) (float-vector 12.0 -4.75 -26.2272) (float-vector 12.0 -8.22724 -22.75)))
         (instance face :init :vertices (list (float-vector 12.0 -4.75 -26.2272) (float-vector 12.0 -3.996803e-15 -27.5) (float-vector 12.0 4.75 -26.2272) (float-vector 12.0 8.22724 -22.75) (float-vector 12.0 9.5 -18.0) (float-vector 12.0 9.0 -16.134) (float-vector 12.0 9.0 -17.5) (float-vector 12.0 -9.0 -17.5) (float-vector 12.0 -9.0 -16.134) (float-vector 12.0 -9.5 -18.0) (float-vector 12.0 -8.22724 -22.75)))
         (instance face :init :vertices (list (float-vector -13.0 -4.75 -26.2272) (float-vector -13.0 4.329870e-15 -27.5) (float-vector 12.0 -3.996803e-15 -27.5) (float-vector 12.0 -4.75 -26.2272)))
         (instance face :init :vertices (list (float-vector -13.0 4.329870e-15 -27.5) (float-vector -13.0 -4.75 -26.2272) (float-vector -13.0 -8.22724 -22.75) (float-vector -13.0 -9.5 -18.0) (float-vector -13.0 -8.22724 -13.25) (float-vector -13.0 -4.75 -9.77276) (float-vector -13.0 1.676437e-14 -8.5) (float-vector -13.0 4.75 -9.77276) (float-vector -13.0 8.22724 -13.25) (float-vector -13.0 9.5 -18.0) (float-vector -13.0 8.22724 -22.75) (float-vector -13.0 4.75 -26.2272)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color (list))
     (setq blink15 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4rarm-nil-4 :weight 800 :centroid (float-vector -0.01842 2.053279e-15 66.9338) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4rarm-nil-5
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 81.5 -7.5 -19.25) (float-vector 81.5 -7.5 19.25) (float-vector 81.5 -12.5 19.25) (float-vector 81.5 -12.5 -19.25)))
         (instance face :init :vertices (list (float-vector 81.5 -7.5 -19.25) (float-vector -7.5 -7.5 -19.25) (float-vector -7.5 -7.5 -18.5) (float-vector 20.0 -7.5 -18.5) (float-vector 20.0 -7.5 18.5) (float-vector -7.5 -7.5 18.5) (float-vector -7.5 -7.5 19.25) (float-vector 81.5 -7.5 19.25)))
         (instance face :init :vertices (list (float-vector -7.5 -7.5 18.5) (float-vector -7.5 -11.0 18.5) (float-vector -7.5 -11.0 -18.5) (float-vector -7.5 -7.5 -18.5) (float-vector -7.5 -7.5 -19.25) (float-vector -7.5 -12.5 -19.25) (float-vector -7.5 -12.5 19.25) (float-vector -7.5 -7.5 19.25)))
         (instance face :init :vertices (list (float-vector -7.5 -12.5 19.25) (float-vector 81.5 -12.5 19.25) (float-vector 81.5 -7.5 19.25) (float-vector -7.5 -7.5 19.25)))
         (instance face :init :vertices (list (float-vector -7.5 -12.5 -19.25) (float-vector 81.5 -12.5 -19.25) (float-vector 81.5 -12.5 19.25) (float-vector -7.5 -12.5 19.25)))
         (instance face :init :vertices (list (float-vector 81.5 -12.5 -19.25) (float-vector -7.5 -12.5 -19.25) (float-vector -7.5 -7.5 -19.25) (float-vector 81.5 -7.5 -19.25)))
         (instance face :init :vertices (list (float-vector 20.0 -1.0 -18.5) (float-vector 20.0 -1.0 18.5) (float-vector 20.0 -7.5 18.5) (float-vector 20.0 -7.5 -18.5)))
         (instance face :init :vertices (list (float-vector 20.0 -1.0 -18.5) (float-vector -10.0 -1.0 -18.5) (float-vector -10.0 -1.0 18.5) (float-vector 20.0 -1.0 18.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -8.73205 -1.0 -18.0) (float-vector 8.73205 -1.0 -18.0) (float-vector 8.73205 -1.0 18.0) (float-vector -8.73205 -1.0 18.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -1.0 -18.5) (float-vector -10.0 -11.0 -18.5) (float-vector -10.0 -11.0 18.5) (float-vector -10.0 -1.0 18.5)))
         (instance face :init :vertices (list (float-vector -10.0 -11.0 18.5) (float-vector -7.5 -11.0 18.5) (float-vector -7.5 -7.5 18.5) (float-vector 20.0 -7.5 18.5) (float-vector 20.0 -1.0 18.5) (float-vector -10.0 -1.0 18.5)))
         (instance face :init :vertices (list (float-vector -10.0 -11.0 -18.5) (float-vector -7.5 -11.0 -18.5) (float-vector -7.5 -11.0 18.5) (float-vector -10.0 -11.0 18.5)))
         (instance face :init :vertices (list (float-vector -7.5 -11.0 -18.5) (float-vector -10.0 -11.0 -18.5) (float-vector -10.0 -1.0 -18.5) (float-vector 20.0 -1.0 -18.5) (float-vector 20.0 -7.5 -18.5) (float-vector -7.5 -7.5 -18.5)))
         (instance face :init :vertices (list (float-vector 9.0 -9.992007e-16 18.0) (float-vector 9.0 -9.992007e-16 -18.0) (float-vector 7.79423 4.5 -18.0) (float-vector 7.79423 4.5 18.0)))
         (instance face :init :vertices (list (float-vector 7.79423 4.5 -18.0) (float-vector 4.5 7.79423 -18.0) (float-vector 4.5 7.79423 18.0) (float-vector 7.79423 4.5 18.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 -18.0) (float-vector 7.105427e-15 9.0 -18.0) (float-vector 0.0 9.0 18.0) (float-vector 4.5 7.79423 18.0)))
         (instance face :init :vertices (list (float-vector 7.105427e-15 9.0 -18.0) (float-vector -4.5 7.79423 -18.0) (float-vector -4.5 7.79423 18.0) (float-vector 0.0 9.0 18.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 -18.0) (float-vector -7.79423 4.5 -18.0) (float-vector -7.79423 4.5 18.0) (float-vector -4.5 7.79423 18.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 -18.0) (float-vector -9.0 1.076916e-14 -18.0) (float-vector -9.0 1.076916e-14 18.0) (float-vector -7.79423 4.5 18.0)))
         (instance face :init :vertices (list (float-vector -9.0 1.076916e-14 -18.0) (float-vector -8.73205 -1.0 -18.0) (float-vector -8.73205 -1.0 18.0) (float-vector -9.0 1.076916e-14 18.0)))
         (instance face :init :vertices (list (float-vector 8.73205 -1.0 18.0) (float-vector 9.0 -9.992007e-16 18.0) (float-vector 7.79423 4.5 18.0) (float-vector 4.5 7.79423 18.0) (float-vector 0.0 9.0 18.0) (float-vector -4.5 7.79423 18.0) (float-vector -7.79423 4.5 18.0) (float-vector -9.0 1.076916e-14 18.0) (float-vector -8.73205 -1.0 18.0)))
         (instance face :init :vertices (list (float-vector 8.73205 -1.0 -18.0) (float-vector 9.0 -9.992007e-16 -18.0) (float-vector 9.0 -9.992007e-16 18.0) (float-vector 8.73205 -1.0 18.0)))
         (instance face :init :vertices (list (float-vector 9.0 -9.992007e-16 -18.0) (float-vector 8.73205 -1.0 -18.0) (float-vector -8.73205 -1.0 -18.0) (float-vector -9.0 1.076916e-14 -18.0) (float-vector -7.79423 4.5 -18.0) (float-vector -4.5 7.79423 -18.0) (float-vector 7.105427e-15 9.0 -18.0) (float-vector 4.5 7.79423 -18.0) (float-vector 7.79423 4.5 -18.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color (list))
     (setq blink16 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4rarm-nil-5 :weight 100 :centroid (float-vector 22.4752 -6.36638 4.506601e-15) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4larm-nil-0
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -74.0 -35.0 -48.0) (float-vector -74.0 -36.3 -48.0) (float-vector -74.0 -36.3 0.0) (float-vector -74.0 36.3 2.842171e-14) (float-vector -74.0 36.3 -48.0) (float-vector -74.0 35.0 -48.0) (float-vector -74.0 35.0 -2.0) (float-vector -74.0 -35.0 -2.0)))
         (instance face :init :vertices (list (float-vector -74.0 -35.0 -48.0) (float-vector -69.0 -35.0 -58.0) (float-vector -69.0 -36.3 -58.0) (float-vector -74.0 -36.3 -48.0)))
         (instance face :init :vertices (list (float-vector -74.0 36.3 -48.0) (float-vector -69.0 36.3 -58.0) (float-vector -69.0 35.0 -58.0) (float-vector -74.0 35.0 -48.0)))
         (instance face :init :vertices (list (float-vector -69.0 -35.0 -58.0) (float-vector -64.0 -35.0 -64.0) (float-vector -64.0 -36.3 -64.0) (float-vector -69.0 -36.3 -58.0)))
         (instance face :init :vertices (list (float-vector -69.0 36.3 -58.0) (float-vector -64.0 36.3 -64.0) (float-vector -64.0 35.0 -64.0) (float-vector -69.0 35.0 -58.0)))
         (instance face :init :vertices (list (float-vector -64.0 -35.0 -64.0) (float-vector -54.0 -35.0 -67.0) (float-vector -54.0 -36.3 -67.0) (float-vector -64.0 -36.3 -64.0)))
         (instance face :init :vertices (list (float-vector -64.0 36.3 -64.0) (float-vector -54.0 36.3 -67.0) (float-vector -54.0 35.0 -67.0) (float-vector -64.0 35.0 -64.0)))
         (instance face :init :vertices (list (float-vector -54.0 -35.0 -67.0) (float-vector 1.0 -35.0 -78.0) (float-vector 1.0 -36.3 -78.0) (float-vector -54.0 -36.3 -67.0)))
         (instance face :init :vertices (list (float-vector -54.0 36.3 -67.0) (float-vector 1.0 36.3 -78.0) (float-vector 1.0 35.0 -78.0) (float-vector -54.0 35.0 -67.0)))
         (instance face :init :vertices (list (float-vector 1.0 -35.0 -78.0) (float-vector 11.0 -35.0 -78.0) (float-vector 11.0 -36.3 -78.0) (float-vector 1.0 -36.3 -78.0)))
         (instance face :init :vertices (list (float-vector 1.0 36.3 -78.0) (float-vector 11.0 36.3 -78.0) (float-vector 11.0 35.0 -78.0) (float-vector 1.0 35.0 -78.0)))
         (instance face :init :vertices (list (float-vector 11.0 -35.0 -78.0) (float-vector 18.0 -35.0 -73.0) (float-vector 18.0 -36.3 -73.0) (float-vector 11.0 -36.3 -78.0)))
         (instance face :init :vertices (list (float-vector 11.0 36.3 -78.0) (float-vector 18.0 36.3 -73.0) (float-vector 18.0 35.0 -73.0) (float-vector 11.0 35.0 -78.0)))
         (instance face :init :vertices (list (float-vector 18.0 -35.0 -73.0) (float-vector 21.0 -35.0 -68.0) (float-vector 21.0 -36.3 -68.0) (float-vector 18.0 -36.3 -73.0)))
         (instance face :init :vertices (list (float-vector 18.0 36.3 -73.0) (float-vector 21.0 36.3 -68.0) (float-vector 21.0 35.0 -68.0) (float-vector 18.0 35.0 -73.0)))
         (instance face :init :vertices (list (float-vector 21.0 36.3 -68.0) (float-vector 21.0 36.3 0.0) (float-vector 21.0 -36.3 0.0) (float-vector 21.0 -36.3 -68.0) (float-vector 21.0 -35.0 -68.0) (float-vector 21.0 -35.0 -2.0) (float-vector 21.0 35.0 -2.0) (float-vector 21.0 35.0 -68.0)))
         (instance face :init :vertices (list (float-vector 21.0 -36.3 0.0) (float-vector -74.0 -36.3 0.0) (float-vector -74.0 -36.3 -48.0) (float-vector -69.0 -36.3 -58.0) (float-vector -64.0 -36.3 -64.0) (float-vector -54.0 -36.3 -67.0) (float-vector 1.0 -36.3 -78.0) (float-vector 11.0 -36.3 -78.0) (float-vector 18.0 -36.3 -73.0) (float-vector 21.0 -36.3 -68.0)))
         (instance face :init :vertices (list (float-vector 21.0 36.3 0.0) (float-vector -74.0 36.3 2.842171e-14) (float-vector -74.0 -36.3 0.0) (float-vector 21.0 -36.3 0.0)))
         (instance face :init :vertices (list (float-vector -74.0 36.3 2.842171e-14) (float-vector 21.0 36.3 0.0) (float-vector 21.0 36.3 -68.0) (float-vector 18.0 36.3 -73.0) (float-vector 11.0 36.3 -78.0) (float-vector 1.0 36.3 -78.0) (float-vector -54.0 36.3 -67.0) (float-vector -64.0 36.3 -64.0) (float-vector -69.0 36.3 -58.0) (float-vector -74.0 36.3 -48.0)))
         (instance face :init :vertices (list (float-vector -74.0 -35.0 -2.0) (float-vector -69.0 -35.0 -2.0) (float-vector -69.0 -35.0 -48.5) (float-vector -66.5981 -35.0 -48.5) (float-vector -64.9904 -35.0 -54.5) (float-vector -59.5 -35.0 -59.9904) (float-vector -52.0 -35.0 -62.0) (float-vector -44.5 -35.0 -59.9904) (float-vector -39.0096 -35.0 -54.5) (float-vector -37.4019 -35.0 -48.5) (float-vector -35.0 -35.0 -48.5) (float-vector -35.0 -35.0 -2.0) (float-vector 21.0 -35.0 -2.0) (float-vector 21.0 -35.0 -68.0) (float-vector 18.0 -35.0 -73.0) (float-vector 11.0 -35.0 -78.0) (float-vector 1.0 -35.0 -78.0) (float-vector -54.0 -35.0 -67.0) (float-vector -64.0 -35.0 -64.0) (float-vector -69.0 -35.0 -58.0) (float-vector -74.0 -35.0 -48.0)))
         (instance face :init :vertices (list (float-vector 21.0 35.0 -2.0) (float-vector -35.0 35.0 -2.0) (float-vector -35.0 35.0 -48.5) (float-vector -37.4019 35.0 -48.5) (float-vector -39.0096 35.0 -54.5) (float-vector -44.5 35.0 -59.9904) (float-vector -52.0 35.0 -62.0) (float-vector -59.5 35.0 -59.9904) (float-vector -64.9904 35.0 -54.5) (float-vector -66.5981 35.0 -48.5) (float-vector -69.0 35.0 -48.5) (float-vector -69.0 35.0 -2.0) (float-vector -74.0 35.0 -2.0) (float-vector -74.0 35.0 -48.0) (float-vector -69.0 35.0 -58.0) (float-vector -64.0 35.0 -64.0) (float-vector -54.0 35.0 -67.0) (float-vector 1.0 35.0 -78.0) (float-vector 11.0 35.0 -78.0) (float-vector 18.0 35.0 -73.0) (float-vector 21.0 35.0 -68.0)))
         (instance face :init :vertices (list (float-vector -69.0 35.0 -2.0) (float-vector -69.0 -35.0 -2.0) (float-vector -74.0 -35.0 -2.0) (float-vector -74.0 35.0 -2.0)))
         (instance face :init :vertices (list (float-vector -35.0 -35.0 -2.0) (float-vector -35.0 35.0 -2.0) (float-vector 21.0 35.0 -2.0) (float-vector 21.0 -35.0 -2.0)))
         (instance face :init :vertices (list (float-vector -35.0 -35.0 -48.5) (float-vector -35.0 35.0 -48.5) (float-vector -35.0 35.0 -2.0) (float-vector -35.0 -35.0 -2.0)))
         (instance face :init :vertices (list (float-vector -69.0 35.0 -48.5) (float-vector -69.0 -35.0 -48.5) (float-vector -69.0 -35.0 -2.0) (float-vector -69.0 35.0 -2.0)))
         (instance face :init :vertices (list (float-vector -35.0 35.0 -48.5) (float-vector -35.0 -35.0 -48.5) (float-vector -37.4019 -35.0 -48.5) (float-vector -37.4019 35.0 -48.5)))
         (instance face :init :vertices (list (float-vector -69.0 -35.0 -48.5) (float-vector -69.0 35.0 -48.5) (float-vector -66.5981 35.0 -48.5) (float-vector -66.5981 -35.0 -48.5)))
         (instance face :init :vertices (list (float-vector -64.9904 35.0 -54.5) (float-vector -64.9904 -35.0 -54.5) (float-vector -66.5981 -35.0 -48.5) (float-vector -66.5981 35.0 -48.5)))
         (instance face :init :vertices (list (float-vector -59.5 35.0 -59.9904) (float-vector -59.5 -35.0 -59.9904) (float-vector -64.9904 -35.0 -54.5) (float-vector -64.9904 35.0 -54.5)))
         (instance face :init :vertices (list (float-vector -52.0 35.0 -62.0) (float-vector -52.0 -35.0 -62.0) (float-vector -59.5 -35.0 -59.9904) (float-vector -59.5 35.0 -59.9904)))
         (instance face :init :vertices (list (float-vector -44.5 35.0 -59.9904) (float-vector -44.5 -35.0 -59.9904) (float-vector -52.0 -35.0 -62.0) (float-vector -52.0 35.0 -62.0)))
         (instance face :init :vertices (list (float-vector -39.0096 -35.0 -54.5) (float-vector -39.0096 35.0 -54.5) (float-vector -37.4019 35.0 -48.5) (float-vector -37.4019 -35.0 -48.5)))
         (instance face :init :vertices (list (float-vector -39.0096 35.0 -54.5) (float-vector -39.0096 -35.0 -54.5) (float-vector -44.5 -35.0 -59.9904) (float-vector -44.5 35.0 -59.9904)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color (list))
     (setq blink5 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4larm-nil-0 :weight 1000 :centroid (float-vector -46.9239 -1.707365e-14 -28.0377) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4larm-nil-1
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 22.4641 12.5 -14.0) (float-vector 21.6603 12.5 -17.0) (float-vector 18.0 12.5 -20.6603) (float-vector 15.0 12.5 -21.4641) (float-vector 15.0 12.5 -14.0)))
         (instance face :init :vertices (list (float-vector 22.4641 12.5 -14.0) (float-vector 22.4641 -12.5 -14.0) (float-vector 21.6603 -12.5 -17.0) (float-vector 21.6603 12.5 -17.0)))
         (instance face :init :vertices (list (float-vector 22.4641 -12.5 -14.0) (float-vector 15.0 -12.5 -14.0) (float-vector 15.0 -12.5 -21.4641) (float-vector 18.0 -12.5 -20.6603) (float-vector 21.6603 -12.5 -17.0)))
         (instance face :init :vertices (list (float-vector 18.0 -12.5 -20.6603) (float-vector 18.0 12.5 -20.6603) (float-vector 21.6603 12.5 -17.0) (float-vector 21.6603 -12.5 -17.0)))
         (instance face :init :vertices (list (float-vector 15.0 -12.5 -21.4641) (float-vector 15.0 12.5 -21.4641) (float-vector 18.0 12.5 -20.6603) (float-vector 18.0 -12.5 -20.6603)))
         (instance face :init :vertices (list (float-vector 15.0 12.5 21.4641) (float-vector 18.0 12.5 20.6603) (float-vector 21.6603 12.5 17.0) (float-vector 22.4641 12.5 14.0) (float-vector 15.0 12.5 14.0)))
         (instance face :init :vertices (list (float-vector 15.0 12.5 21.4641) (float-vector 15.0 -12.5 21.4641) (float-vector 18.0 -12.5 20.6603) (float-vector 18.0 12.5 20.6603)))
         (instance face :init :vertices (list (float-vector 15.0 -12.5 21.4641) (float-vector 15.0 -12.5 14.0) (float-vector 22.4641 -12.5 14.0) (float-vector 21.6603 -12.5 17.0) (float-vector 18.0 -12.5 20.6603)))
         (instance face :init :vertices (list (float-vector 21.6603 -12.5 17.0) (float-vector 21.6603 12.5 17.0) (float-vector 18.0 12.5 20.6603) (float-vector 18.0 -12.5 20.6603)))
         (instance face :init :vertices (list (float-vector 22.4641 -12.5 14.0) (float-vector 22.4641 12.5 14.0) (float-vector 21.6603 12.5 17.0) (float-vector 21.6603 -12.5 17.0)))
         (instance face :init :vertices (list (float-vector 15.0 12.5 -14.0) (float-vector 15.0 15.0 -14.0) (float-vector 25.0 15.0 -14.0) (float-vector 25.0 -15.0 -14.0) (float-vector 15.0 -15.0 -14.0) (float-vector 15.0 -12.5 -14.0) (float-vector 22.4641 -12.5 -14.0) (float-vector 22.4641 12.5 -14.0)))
         (instance face :init :vertices (list (float-vector 15.0 -15.0 -14.0) (float-vector 15.0 -15.0 -24.0) (float-vector 15.0 15.0 -24.0) (float-vector 15.0 15.0 -14.0) (float-vector 15.0 12.5 -14.0) (float-vector 15.0 12.5 -21.4641) (float-vector 15.0 -12.5 -21.4641) (float-vector 15.0 -12.5 -14.0)))
         (instance face :init :vertices (list (float-vector 15.0 -12.5 14.0) (float-vector 15.0 -15.0 14.0) (float-vector 25.0 -15.0 14.0) (float-vector 25.0 15.0 14.0) (float-vector 15.0 15.0 14.0) (float-vector 15.0 12.5 14.0) (float-vector 22.4641 12.5 14.0) (float-vector 22.4641 -12.5 14.0)))
         (instance face :init :vertices (list (float-vector 15.0 15.0 14.0) (float-vector 15.0 15.0 24.0) (float-vector 15.0 -15.0 24.0) (float-vector 15.0 -15.0 14.0) (float-vector 15.0 -12.5 14.0) (float-vector 15.0 -12.5 21.4641) (float-vector 15.0 12.5 21.4641) (float-vector 15.0 12.5 14.0)))
         (instance face :init :vertices (list (float-vector 15.0 15.0 24.0) (float-vector -15.0 15.0 24.0) (float-vector -15.0 -15.0 24.0) (float-vector 15.0 -15.0 24.0)))
         (instance face :init :vertices (list (float-vector 25.0 15.0 14.0) (float-vector 25.0 15.0 -14.0) (float-vector 15.0 15.0 -14.0) (float-vector 15.0 15.0 -24.0) (float-vector -15.0 15.0 -24.0) (float-vector -15.0 15.0 -14.0) (float-vector -25.0 15.0 -14.0) (float-vector -25.0 15.0 14.0) (float-vector -15.0 15.0 14.0) (float-vector -15.0 15.0 24.0) (float-vector 15.0 15.0 24.0) (float-vector 15.0 15.0 14.0)))
         (instance face :init :vertices (list (float-vector 15.0 -15.0 -24.0) (float-vector -15.0 -15.0 -24.0) (float-vector -15.0 15.0 -24.0) (float-vector 15.0 15.0 -24.0)))
         (instance face :init :vertices (list (float-vector 25.0 -15.0 14.0) (float-vector 25.0 -15.0 -14.0) (float-vector 25.0 15.0 -14.0) (float-vector 25.0 15.0 14.0)))
         (instance face :init :vertices (list (float-vector -15.0 -15.0 24.0) (float-vector -15.0 -15.0 14.0) (float-vector -25.0 -15.0 14.0) (float-vector -25.0 -15.0 -14.0) (float-vector -15.0 -15.0 -14.0) (float-vector -15.0 -15.0 -24.0) (float-vector 15.0 -15.0 -24.0) (float-vector 15.0 -15.0 -14.0) (float-vector 25.0 -15.0 -14.0) (float-vector 25.0 -15.0 14.0) (float-vector 15.0 -15.0 14.0) (float-vector 15.0 -15.0 24.0)))
         (instance face :init :vertices (list (float-vector -25.0 15.0 -14.0) (float-vector -25.0 -15.0 -14.0) (float-vector -25.0 -15.0 14.0) (float-vector -25.0 15.0 14.0)))
         (instance face :init :vertices (list (float-vector -15.0 -15.0 14.0) (float-vector -15.0 -12.5 14.0) (float-vector -22.4641 -12.5 14.0) (float-vector -22.4641 12.5 14.0) (float-vector -15.0 12.5 14.0) (float-vector -15.0 15.0 14.0) (float-vector -25.0 15.0 14.0) (float-vector -25.0 -15.0 14.0)))
         (instance face :init :vertices (list (float-vector -15.0 12.5 14.0) (float-vector -15.0 12.5 21.4641) (float-vector -15.0 -12.5 21.4641) (float-vector -15.0 -12.5 14.0) (float-vector -15.0 -15.0 14.0) (float-vector -15.0 -15.0 24.0) (float-vector -15.0 15.0 24.0) (float-vector -15.0 15.0 14.0)))
         (instance face :init :vertices (list (float-vector -15.0 -15.0 -14.0) (float-vector -15.0 -12.5 -14.0) (float-vector -15.0 -12.5 -21.4641) (float-vector -15.0 12.5 -21.4641) (float-vector -15.0 12.5 -14.0) (float-vector -15.0 15.0 -14.0) (float-vector -15.0 15.0 -24.0) (float-vector -15.0 -15.0 -24.0)))
         (instance face :init :vertices (list (float-vector -15.0 -12.5 -14.0) (float-vector -15.0 -15.0 -14.0) (float-vector -25.0 -15.0 -14.0) (float-vector -25.0 15.0 -14.0) (float-vector -15.0 15.0 -14.0) (float-vector -15.0 12.5 -14.0) (float-vector -22.4641 12.5 -14.0) (float-vector -22.4641 -12.5 -14.0)))
         (instance face :init :vertices (list (float-vector -15.0 12.5 21.4641) (float-vector -18.0 12.5 20.6603) (float-vector -18.0 -12.5 20.6603) (float-vector -15.0 -12.5 21.4641)))
         (instance face :init :vertices (list (float-vector -18.0 12.5 20.6603) (float-vector -21.6603 12.5 17.0) (float-vector -21.6603 -12.5 17.0) (float-vector -18.0 -12.5 20.6603)))
         (instance face :init :vertices (list (float-vector -21.6603 -12.5 17.0) (float-vector -22.4641 -12.5 14.0) (float-vector -15.0 -12.5 14.0) (float-vector -15.0 -12.5 21.4641) (float-vector -18.0 -12.5 20.6603)))
         (instance face :init :vertices (list (float-vector -21.6603 12.5 17.0) (float-vector -22.4641 12.5 14.0) (float-vector -22.4641 -12.5 14.0) (float-vector -21.6603 -12.5 17.0)))
         (instance face :init :vertices (list (float-vector -22.4641 12.5 14.0) (float-vector -21.6603 12.5 17.0) (float-vector -18.0 12.5 20.6603) (float-vector -15.0 12.5 21.4641) (float-vector -15.0 12.5 14.0)))
         (instance face :init :vertices (list (float-vector -22.4641 12.5 -14.0) (float-vector -21.6603 12.5 -17.0) (float-vector -21.6603 -12.5 -17.0) (float-vector -22.4641 -12.5 -14.0)))
         (instance face :init :vertices (list (float-vector -21.6603 12.5 -17.0) (float-vector -18.0 12.5 -20.6603) (float-vector -18.0 -12.5 -20.6603) (float-vector -21.6603 -12.5 -17.0)))
         (instance face :init :vertices (list (float-vector -18.0 -12.5 -20.6603) (float-vector -15.0 -12.5 -21.4641) (float-vector -15.0 -12.5 -14.0) (float-vector -22.4641 -12.5 -14.0) (float-vector -21.6603 -12.5 -17.0)))
         (instance face :init :vertices (list (float-vector -18.0 12.5 -20.6603) (float-vector -15.0 12.5 -21.4641) (float-vector -15.0 -12.5 -21.4641) (float-vector -18.0 -12.5 -20.6603)))
         (instance face :init :vertices (list (float-vector -15.0 12.5 -21.4641) (float-vector -18.0 12.5 -20.6603) (float-vector -21.6603 12.5 -17.0) (float-vector -22.4641 12.5 -14.0) (float-vector -15.0 12.5 -14.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color (list))
     (setq blink6 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4larm-nil-1 :weight 500 :centroid (float-vector 7.601954e-16 -2.486621e-17 -1.506182e-15) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4larm-nil-2
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -9.5 19.5 -125.5) (float-vector 23.5 19.5 -125.5) (float-vector 23.5 -19.5 -125.5) (float-vector -9.5 -19.5 -125.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -8.0 17.866 -125.5) (float-vector -8.0 -17.866 -125.5) (float-vector 22.0 -17.866 -125.5) (float-vector 22.0 17.866 -125.5)))
))
         (instance face :init :vertices (list (float-vector -9.5 19.5 -125.5) (float-vector -9.5 19.5 -76.0) (float-vector 13.0 19.5 -76.0) (float-vector 13.0 19.5 -72.5) (float-vector 23.5 19.5 -72.5) (float-vector 23.5 19.5 -125.5)))
         (instance face :init :vertices (list (float-vector 13.0 19.5 -72.5) (float-vector 13.0 17.4641 -72.5) (float-vector 17.0 16.3923 -72.5) (float-vector 21.3923 12.0 -72.5) (float-vector 22.4641 8.0 -72.5) (float-vector 23.5 8.0 -72.5) (float-vector 23.5 19.5 -72.5)))
         (instance face :init :vertices (list (float-vector 23.5 -19.5 -72.5) (float-vector 23.5 -8.0 -72.5) (float-vector 22.4641 -8.0 -72.5) (float-vector 21.3923 -12.0 -72.5) (float-vector 17.0 -16.3923 -72.5) (float-vector 13.0 -17.4641 -72.5) (float-vector 13.0 -19.5 -72.5)))
         (instance face :init :vertices (list (float-vector 23.5 8.0 -72.5) (float-vector 23.5 8.0 -76.0) (float-vector 23.5 -8.0 -76.0) (float-vector 23.5 -8.0 -72.5) (float-vector 23.5 -19.5 -72.5) (float-vector 23.5 -19.5 -125.5) (float-vector 23.5 19.5 -125.5) (float-vector 23.5 19.5 -72.5)))
         (instance face :init :vertices (list (float-vector 13.0 -19.5 -72.5) (float-vector 13.0 -19.5 -76.0) (float-vector -9.5 -19.5 -76.0) (float-vector -9.5 -19.5 -125.5) (float-vector 23.5 -19.5 -125.5) (float-vector 23.5 -19.5 -72.5)))
         (instance face :init :vertices (list (float-vector -9.5 -19.5 -76.0) (float-vector -9.5 19.5 -76.0) (float-vector -9.5 19.5 -125.5) (float-vector -9.5 -19.5 -125.5)))
         (instance face :init :vertices (list (float-vector 22.4641 -8.0 73.5) (float-vector 21.3923 -12.0 73.5) (float-vector 21.3923 -12.0 -72.5) (float-vector 22.4641 -8.0 -72.5)))
         (instance face :init :vertices (list (float-vector 22.4641 -8.0 73.5) (float-vector 13.0 -8.0 73.5) (float-vector 13.0 -17.4641 73.5) (float-vector 17.0 -16.3923 73.5) (float-vector 21.3923 -12.0 73.5)))
         (instance face :init :vertices (list (float-vector 17.0 -16.3923 73.5) (float-vector 17.0 -16.3923 -72.5) (float-vector 21.3923 -12.0 -72.5) (float-vector 21.3923 -12.0 73.5)))
         (instance face :init :vertices (list (float-vector 13.0 -17.4641 73.5) (float-vector 13.0 -17.4641 -72.5) (float-vector 17.0 -16.3923 -72.5) (float-vector 17.0 -16.3923 73.5)))
         (instance face :init :vertices (list (float-vector 13.0 17.4641 73.5) (float-vector 17.0 16.3923 73.5) (float-vector 17.0 16.3923 -72.5) (float-vector 13.0 17.4641 -72.5)))
         (instance face :init :vertices (list (float-vector 13.0 17.4641 73.5) (float-vector 13.0 8.0 73.5) (float-vector 22.4641 8.0 73.5) (float-vector 21.3923 12.0 73.5) (float-vector 17.0 16.3923 73.5)))
         (instance face :init :vertices (list (float-vector 21.3923 12.0 73.5) (float-vector 21.3923 12.0 -72.5) (float-vector 17.0 16.3923 -72.5) (float-vector 17.0 16.3923 73.5)))
         (instance face :init :vertices (list (float-vector 22.4641 8.0 73.5) (float-vector 22.4641 8.0 -72.5) (float-vector 21.3923 12.0 -72.5) (float-vector 21.3923 12.0 73.5)))
         (instance face :init :vertices (list (float-vector 23.5 -8.0 -76.0) (float-vector 25.0 -8.0 -76.0) (float-vector 25.0 -8.0 76.0) (float-vector 13.0 -8.0 76.0) (float-vector 13.0 -8.0 73.5) (float-vector 22.4641 -8.0 73.5) (float-vector 22.4641 -8.0 -72.5) (float-vector 23.5 -8.0 -72.5)))
         (instance face :init :vertices (list (float-vector 13.0 -8.0 76.0) (float-vector 13.0 -20.0 76.0) (float-vector 13.0 -20.0 -76.0) (float-vector 13.0 -19.5 -76.0) (float-vector 13.0 -19.5 -72.5) (float-vector 13.0 -17.4641 -72.5) (float-vector 13.0 -17.4641 73.5) (float-vector 13.0 -8.0 73.5)))
         (instance face :init :vertices (list (float-vector 13.0 8.0 73.5) (float-vector 13.0 8.0 76.0) (float-vector 25.0 8.0 76.0) (float-vector 25.0 8.0 -76.0) (float-vector 23.5 8.0 -76.0) (float-vector 23.5 8.0 -72.5) (float-vector 22.4641 8.0 -72.5) (float-vector 22.4641 8.0 73.5)))
         (instance face :init :vertices (list (float-vector 13.0 19.5 -76.0) (float-vector 13.0 20.0 -76.0) (float-vector 13.0 20.0 76.0) (float-vector 13.0 8.0 76.0) (float-vector 13.0 8.0 73.5) (float-vector 13.0 17.4641 73.5) (float-vector 13.0 17.4641 -72.5) (float-vector 13.0 19.5 -72.5)))
         (instance face :init :vertices (list (float-vector 13.0 20.0 -76.0) (float-vector -13.0 20.0 -76.0) (float-vector -13.0 20.0 76.0) (float-vector 13.0 20.0 76.0)))
         (instance face :init :vertices (list (float-vector 25.0 8.0 -76.0) (float-vector 25.0 -8.0 -76.0) (float-vector 23.5 -8.0 -76.0) (float-vector 23.5 8.0 -76.0)))
         (instance face :init :vertices (list (float-vector 13.0 -20.0 -76.0) (float-vector -13.0 -20.0 -76.0) (float-vector -13.0 -8.0 -76.0) (float-vector -25.0 -8.0 -76.0) (float-vector -25.0 8.0 -76.0) (float-vector -13.0 8.0 -76.0) (float-vector -13.0 20.0 -76.0) (float-vector 13.0 20.0 -76.0) (float-vector 13.0 19.5 -76.0) (float-vector -9.5 19.5 -76.0) (float-vector -9.5 -19.5 -76.0) (float-vector 13.0 -19.5 -76.0)))
         (instance face :init :vertices (list (float-vector 13.0 -20.0 76.0) (float-vector -13.0 -20.0 76.0) (float-vector -13.0 -20.0 -76.0) (float-vector 13.0 -20.0 -76.0)))
         (instance face :init :vertices (list (float-vector 25.0 8.0 76.0) (float-vector 25.0 -8.0 76.0) (float-vector 25.0 -8.0 -76.0) (float-vector 25.0 8.0 -76.0)))
         (instance face :init :vertices (list (float-vector -13.0 20.0 76.0) (float-vector -13.0 8.0 76.0) (float-vector -25.0 8.0 76.0) (float-vector -25.0 -8.0 76.0) (float-vector -13.0 -8.0 76.0) (float-vector -13.0 -20.0 76.0) (float-vector 13.0 -20.0 76.0) (float-vector 13.0 -8.0 76.0) (float-vector 25.0 -8.0 76.0) (float-vector 25.0 8.0 76.0) (float-vector 13.0 8.0 76.0) (float-vector 13.0 20.0 76.0)))
         (instance face :init :vertices (list (float-vector -25.0 8.0 76.0) (float-vector -25.0 8.0 -76.0) (float-vector -25.0 -8.0 -76.0) (float-vector -25.0 -8.0 76.0)))
         (instance face :init :vertices (list (float-vector -13.0 8.0 76.0) (float-vector -13.0 8.0 73.5) (float-vector -22.4641 8.0 73.5) (float-vector -22.4641 8.0 -73.5) (float-vector -13.0 8.0 -73.5) (float-vector -13.0 8.0 -76.0) (float-vector -25.0 8.0 -76.0) (float-vector -25.0 8.0 76.0)))
         (instance face :init :vertices (list (float-vector -13.0 8.0 -73.5) (float-vector -13.0 17.4641 -73.5) (float-vector -13.0 17.4641 73.5) (float-vector -13.0 8.0 73.5) (float-vector -13.0 8.0 76.0) (float-vector -13.0 20.0 76.0) (float-vector -13.0 20.0 -76.0) (float-vector -13.0 8.0 -76.0)))
         (instance face :init :vertices (list (float-vector -13.0 -8.0 76.0) (float-vector -13.0 -8.0 73.5) (float-vector -13.0 -17.4641 73.5) (float-vector -13.0 -17.4641 -73.5) (float-vector -13.0 -8.0 -73.5) (float-vector -13.0 -8.0 -76.0) (float-vector -13.0 -20.0 -76.0) (float-vector -13.0 -20.0 76.0)))
         (instance face :init :vertices (list (float-vector -13.0 -8.0 -73.5) (float-vector -22.4641 -8.0 -73.5) (float-vector -22.4641 -8.0 73.5) (float-vector -13.0 -8.0 73.5) (float-vector -13.0 -8.0 76.0) (float-vector -25.0 -8.0 76.0) (float-vector -25.0 -8.0 -76.0) (float-vector -13.0 -8.0 -76.0)))
         (instance face :init :vertices (list (float-vector -13.0 17.4641 -73.5) (float-vector -17.0 16.3923 -73.5) (float-vector -17.0 16.3923 73.5) (float-vector -13.0 17.4641 73.5)))
         (instance face :init :vertices (list (float-vector -17.0 16.3923 -73.5) (float-vector -21.3923 12.0 -73.5) (float-vector -21.3923 12.0 73.5) (float-vector -17.0 16.3923 73.5)))
         (instance face :init :vertices (list (float-vector -21.3923 12.0 73.5) (float-vector -22.4641 8.0 73.5) (float-vector -13.0 8.0 73.5) (float-vector -13.0 17.4641 73.5) (float-vector -17.0 16.3923 73.5)))
         (instance face :init :vertices (list (float-vector -21.3923 12.0 -73.5) (float-vector -22.4641 8.0 -73.5) (float-vector -22.4641 8.0 73.5) (float-vector -21.3923 12.0 73.5)))
         (instance face :init :vertices (list (float-vector -22.4641 8.0 -73.5) (float-vector -21.3923 12.0 -73.5) (float-vector -17.0 16.3923 -73.5) (float-vector -13.0 17.4641 -73.5) (float-vector -13.0 8.0 -73.5)))
         (instance face :init :vertices (list (float-vector -22.4641 -8.0 -73.5) (float-vector -21.3923 -12.0 -73.5) (float-vector -21.3923 -12.0 73.5) (float-vector -22.4641 -8.0 73.5)))
         (instance face :init :vertices (list (float-vector -21.3923 -12.0 -73.5) (float-vector -17.0 -16.3923 -73.5) (float-vector -17.0 -16.3923 73.5) (float-vector -21.3923 -12.0 73.5)))
         (instance face :init :vertices (list (float-vector -17.0 -16.3923 73.5) (float-vector -13.0 -17.4641 73.5) (float-vector -13.0 -8.0 73.5) (float-vector -22.4641 -8.0 73.5) (float-vector -21.3923 -12.0 73.5)))
         (instance face :init :vertices (list (float-vector -17.0 -16.3923 -73.5) (float-vector -13.0 -17.4641 -73.5) (float-vector -13.0 -17.4641 73.5) (float-vector -17.0 -16.3923 73.5)))
         (instance face :init :vertices (list (float-vector -13.0 -17.4641 -73.5) (float-vector -17.0 -16.3923 -73.5) (float-vector -21.3923 -12.0 -73.5) (float-vector -22.4641 -8.0 -73.5) (float-vector -13.0 -8.0 -73.5)))
         (instance face :init :vertices (list (float-vector 22.0 -1.099121e-14 -143.0) (float-vector -8.0 3.996803e-15 -143.0) (float-vector -8.0 9.0 -140.588) (float-vector 22.0 9.0 -140.588)))
         (instance face :init :vertices (list (float-vector -8.0 9.0 -140.588) (float-vector -8.0 15.5885 -134.0) (float-vector 22.0 15.5885 -134.0) (float-vector 22.0 9.0 -140.588)))
         (instance face :init :vertices (list (float-vector -8.0 15.5885 -134.0) (float-vector -8.0 17.866 -125.5) (float-vector 22.0 17.866 -125.5) (float-vector 22.0 15.5885 -134.0)))
         (instance face :init :vertices (list (float-vector -8.0 -17.866 -125.5) (float-vector -8.0 -15.5885 -134.0) (float-vector 22.0 -15.5885 -134.0) (float-vector 22.0 -17.866 -125.5)))
         (instance face :init :vertices (list (float-vector -8.0 -15.5885 -134.0) (float-vector -8.0 -9.0 -140.588) (float-vector 22.0 -9.0 -140.588) (float-vector 22.0 -15.5885 -134.0)))
         (instance face :init :vertices (list (float-vector 22.0 -9.0 -140.588) (float-vector 22.0 -1.099121e-14 -143.0) (float-vector 22.0 9.0 -140.588) (float-vector 22.0 15.5885 -134.0) (float-vector 22.0 17.866 -125.5) (float-vector 22.0 -17.866 -125.5) (float-vector 22.0 -15.5885 -134.0)))
         (instance face :init :vertices (list (float-vector -8.0 -9.0 -140.588) (float-vector -8.0 3.996803e-15 -143.0) (float-vector 22.0 -1.099121e-14 -143.0) (float-vector 22.0 -9.0 -140.588)))
         (instance face :init :vertices (list (float-vector -8.0 3.996803e-15 -143.0) (float-vector -8.0 -9.0 -140.588) (float-vector -8.0 -15.5885 -134.0) (float-vector -8.0 -17.866 -125.5) (float-vector -8.0 17.866 -125.5) (float-vector -8.0 15.5885 -134.0) (float-vector -8.0 9.0 -140.588)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color (list))
     (setq blink7 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4larm-nil-2 :weight 2000 :centroid (float-vector 1.67322 -2.089996e-17 -25.0189) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4larm-nil-3
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 82.0 -11.75 25.3516) (float-vector 82.0 -20.3516 16.75) (float-vector 82.0 -23.5 5.0) (float-vector 82.0 -20.3516 -6.75) (float-vector 82.0 -11.75 -15.3516) (float-vector 82.0 1.254552e-14 -18.5) (float-vector 82.0 11.75 -15.3516) (float-vector 82.0 20.3516 -6.75) (float-vector 82.0 23.5 5.0) (float-vector 82.0 20.3516 16.75) (float-vector 82.0 11.75 25.3516) (float-vector 82.0 -2.453593e-14 28.5)))
         (instance face :init :vertices (list (float-vector 50.0 -1.743050e-14 28.5) (float-vector 50.0 -11.75 25.3516) (float-vector 82.0 -11.75 25.3516) (float-vector 82.0 -2.453593e-14 28.5)))
         (instance face :init :vertices (list (float-vector 50.0 -20.3516 16.75) (float-vector 82.0 -20.3516 16.75) (float-vector 82.0 -11.75 25.3516) (float-vector 50.0 -11.75 25.3516)))
         (instance face :init :vertices (list (float-vector 50.0 -23.5 5.0) (float-vector 82.0 -23.5 5.0) (float-vector 82.0 -20.3516 16.75) (float-vector 50.0 -20.3516 16.75)))
         (instance face :init :vertices (list (float-vector 50.0 -20.3516 -6.75) (float-vector 82.0 -20.3516 -6.75) (float-vector 82.0 -23.5 5.0) (float-vector 50.0 -23.5 5.0)))
         (instance face :init :vertices (list (float-vector 50.0 -11.75 -15.3516) (float-vector 82.0 -11.75 -15.3516) (float-vector 82.0 -20.3516 -6.75) (float-vector 50.0 -20.3516 -6.75)))
         (instance face :init :vertices (list (float-vector 50.0 1.965095e-14 -18.5) (float-vector 82.0 1.254552e-14 -18.5) (float-vector 82.0 -11.75 -15.3516) (float-vector 50.0 -11.75 -15.3516)))
         (instance face :init :vertices (list (float-vector 50.0 11.75 -15.3516) (float-vector 82.0 11.75 -15.3516) (float-vector 82.0 1.254552e-14 -18.5) (float-vector 50.0 1.965095e-14 -18.5)))
         (instance face :init :vertices (list (float-vector 50.0 20.3516 -6.75) (float-vector 82.0 20.3516 -6.75) (float-vector 82.0 11.75 -15.3516) (float-vector 50.0 11.75 -15.3516)))
         (instance face :init :vertices (list (float-vector 50.0 23.5 5.0) (float-vector 82.0 23.5 5.0) (float-vector 82.0 20.3516 -6.75) (float-vector 50.0 20.3516 -6.75)))
         (instance face :init :vertices (list (float-vector 50.0 20.3516 16.75) (float-vector 82.0 20.3516 16.75) (float-vector 82.0 23.5 5.0) (float-vector 50.0 23.5 5.0)))
         (instance face :init :vertices (list (float-vector 50.0 11.75 25.3516) (float-vector 82.0 11.75 25.3516) (float-vector 82.0 20.3516 16.75) (float-vector 50.0 20.3516 16.75)))
         (instance face :init :vertices (list (float-vector 50.0 -1.743050e-14 28.5) (float-vector 82.0 -2.453593e-14 28.5) (float-vector 82.0 11.75 25.3516) (float-vector 50.0 11.75 25.3516)))
         (instance face :init :vertices (list (float-vector 0.0 -24.0 -31.0) (float-vector 0.0 24.0 -31.0) (float-vector 50.0 24.0 -31.0) (float-vector 50.0 -24.0 -31.0)))
         (instance face :init :vertices (list (float-vector 50.0 -24.0 31.0) (float-vector 0.0 -24.0 31.0) (float-vector 0.0 -24.0 27.0) (float-vector 47.0 -24.0 27.0) (float-vector 47.0 -24.0 -14.0) (float-vector 0.0 -24.0 -14.0) (float-vector 0.0 -24.0 -31.0) (float-vector 50.0 -24.0 -31.0)))
         (instance face :init :vertices (list (float-vector 50.0 24.0 31.0) (float-vector 0.0 24.0 31.0) (float-vector 0.0 -24.0 31.0) (float-vector 50.0 -24.0 31.0)))
         (instance face :init :vertices (list (float-vector 0.0 24.0 -31.0) (float-vector 0.0 -24.0 -31.0) (float-vector 0.0 -24.0 -14.0) (float-vector 0.0 -22.7321 -14.0) (float-vector 0.0 -22.7321 -30.0) (float-vector 0.0 22.7321 -30.0) (float-vector 0.0 22.7321 -14.0) (float-vector 0.0 24.0 -14.0)))
         (instance face :init :vertices (list (float-vector 0.0 24.0 27.0) (float-vector 0.0 22.7321 27.0) (float-vector 0.0 22.7321 30.0) (float-vector 0.0 -22.7321 30.0) (float-vector 0.0 -22.7321 27.0) (float-vector 0.0 -24.0 27.0) (float-vector 0.0 -24.0 31.0) (float-vector 0.0 24.0 31.0)))
         (instance face :init :vertices (list (float-vector 50.0 24.0 31.0) (float-vector 50.0 -24.0 31.0) (float-vector 50.0 -24.0 -31.0) (float-vector 50.0 24.0 -31.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 50.0 11.75 25.3516) (float-vector 50.0 20.3516 16.75) (float-vector 50.0 23.5 5.0) (float-vector 50.0 20.3516 -6.75) (float-vector 50.0 11.75 -15.3516) (float-vector 50.0 1.965095e-14 -18.5) (float-vector 50.0 -11.75 -15.3516) (float-vector 50.0 -20.3516 -6.75) (float-vector 50.0 -23.5 5.0) (float-vector 50.0 -20.3516 16.75) (float-vector 50.0 -11.75 25.3516) (float-vector 50.0 -1.743050e-14 28.5)))
))
         (instance face :init :vertices (list (float-vector 50.0 24.0 -31.0) (float-vector 0.0 24.0 -31.0) (float-vector 0.0 24.0 -14.0) (float-vector 47.0 24.0 -14.0) (float-vector 47.0 24.0 27.0) (float-vector 0.0 24.0 27.0) (float-vector 0.0 24.0 31.0) (float-vector 50.0 24.0 31.0)))
         (instance face :init :vertices (list (float-vector -10.5 19.9186 30.0) (float-vector 0.0 22.7321 30.0) (float-vector 0.0 22.7321 27.0) (float-vector -10.5 19.9186 27.0)))
         (instance face :init :vertices (list (float-vector -10.5 19.9186 -30.0) (float-vector -10.5 19.9186 -14.0) (float-vector 0.0 22.7321 -14.0) (float-vector 0.0 22.7321 -30.0)))
         (instance face :init :vertices (list (float-vector -18.9186 11.5 30.0) (float-vector -10.5 19.9186 30.0) (float-vector -10.5 19.9186 27.0) (float-vector -18.9186 11.5 27.0)))
         (instance face :init :vertices (list (float-vector -18.9186 11.5 -30.0) (float-vector -18.9186 11.5 -14.0) (float-vector -10.5 19.9186 -14.0) (float-vector -10.5 19.9186 -30.0)))
         (instance face :init :vertices (list (float-vector -22.0 2.131628e-14 30.0) (float-vector -18.9186 11.5 30.0) (float-vector -18.9186 11.5 27.0) (float-vector -22.0 2.198242e-14 27.0)))
         (instance face :init :vertices (list (float-vector -22.0 3.463896e-14 -30.0) (float-vector -22.0 3.108624e-14 -14.0) (float-vector -18.9186 11.5 -14.0) (float-vector -18.9186 11.5 -30.0)))
         (instance face :init :vertices (list (float-vector -18.9186 -11.5 30.0) (float-vector -22.0 2.131628e-14 30.0) (float-vector -22.0 2.198242e-14 27.0) (float-vector -18.9186 -11.5 27.0)))
         (instance face :init :vertices (list (float-vector -18.9186 -11.5 -30.0) (float-vector -18.9186 -11.5 -14.0) (float-vector -22.0 3.108624e-14 -14.0) (float-vector -22.0 3.463896e-14 -30.0)))
         (instance face :init :vertices (list (float-vector -10.5 -19.9186 30.0) (float-vector -18.9186 -11.5 30.0) (float-vector -18.9186 -11.5 27.0) (float-vector -10.5 -19.9186 27.0)))
         (instance face :init :vertices (list (float-vector -10.5 -19.9186 -30.0) (float-vector -10.5 -19.9186 -14.0) (float-vector -18.9186 -11.5 -14.0) (float-vector -18.9186 -11.5 -30.0)))
         (instance face :init :vertices (list (float-vector 0.0 -22.7321 30.0) (float-vector 0.0 22.7321 30.0) (float-vector -10.5 19.9186 30.0) (float-vector -18.9186 11.5 30.0) (float-vector -22.0 2.131628e-14 30.0) (float-vector -18.9186 -11.5 30.0) (float-vector -10.5 -19.9186 30.0)))
         (instance face :init :vertices (list (float-vector -10.5 -19.9186 -30.0) (float-vector -18.9186 -11.5 -30.0) (float-vector -22.0 3.463896e-14 -30.0) (float-vector -18.9186 11.5 -30.0) (float-vector -10.5 19.9186 -30.0) (float-vector 0.0 22.7321 -30.0) (float-vector 0.0 -22.7321 -30.0)))
         (instance face :init :vertices (list (float-vector -10.5 -19.9186 30.0) (float-vector -10.5 -19.9186 27.0) (float-vector 0.0 -22.7321 27.0) (float-vector 0.0 -22.7321 30.0)))
         (instance face :init :vertices (list (float-vector 0.0 -22.7321 -30.0) (float-vector 0.0 -22.7321 -14.0) (float-vector -10.5 -19.9186 -14.0) (float-vector -10.5 -19.9186 -30.0)))
         (instance face :init :vertices (list (float-vector 47.0 24.0 -14.0) (float-vector 0.0 24.0 -14.0) (float-vector 0.0 22.7321 -14.0) (float-vector -10.5 19.9186 -14.0) (float-vector -18.9186 11.5 -14.0) (float-vector -22.0 3.108624e-14 -14.0) (float-vector -18.9186 -11.5 -14.0) (float-vector -10.5 -19.9186 -14.0) (float-vector 0.0 -22.7321 -14.0) (float-vector 0.0 -24.0 -14.0) (float-vector 47.0 -24.0 -14.0)))
         (instance face :init :vertices (list (float-vector 47.0 -24.0 27.0) (float-vector 0.0 -24.0 27.0) (float-vector 0.0 -22.7321 27.0) (float-vector -10.5 -19.9186 27.0) (float-vector -18.9186 -11.5 27.0) (float-vector -22.0 2.198242e-14 27.0) (float-vector -18.9186 11.5 27.0) (float-vector -10.5 19.9186 27.0) (float-vector 0.0 22.7321 27.0) (float-vector 0.0 24.0 27.0) (float-vector 47.0 24.0 27.0)))
         (instance face :init :vertices (list (float-vector 47.0 24.0 27.0) (float-vector 47.0 24.0 -14.0) (float-vector 47.0 -24.0 -14.0) (float-vector 47.0 -24.0 27.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color (list))
     (setq blink8 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4larm-nil-3 :weight 200 :centroid (float-vector 39.7988 -1.390167e-15 -4.33445) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4larm-nil-4
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 12.0 9.0 -17.5) (float-vector 12.75 9.0 -17.5) (float-vector 12.75 -9.0 -17.5) (float-vector 12.0 -9.0 -17.5)))
         (instance face :init :vertices (list (float-vector -12.75 9.0 -16.134) (float-vector -12.75 9.0 0.5) (float-vector -12.1734 9.0 0.5) (float-vector -12.1734 9.0 0.0) (float-vector 12.1734 9.0 1.421085e-14) (float-vector 12.1734 9.0 0.5) (float-vector 12.75 9.0 0.5) (float-vector 12.75 9.0 -17.5) (float-vector 12.0 9.0 -17.5) (float-vector 12.0 9.0 -16.134)))
         (instance face :init :vertices (list (float-vector 12.1734 9.0 0.5) (float-vector 12.75 8.42339 0.5) (float-vector 12.75 9.0 0.5)))
         (instance face :init :vertices (list (float-vector -12.75 9.0 0.5) (float-vector -12.75 8.42339 0.5) (float-vector -12.1734 9.0 0.5)))
         (instance face :init :vertices (list (float-vector 12.75 -9.0 0.5) (float-vector 12.75 -8.42339 0.5) (float-vector 12.1734 -9.0 0.5)))
         (instance face :init :vertices (list (float-vector -12.75 -9.0 0.5) (float-vector -12.1734 -9.0 0.5) (float-vector -12.75 -8.42339 0.5)))
         (instance face :init :vertices (list (float-vector 12.75 8.42339 0.5) (float-vector 12.75 8.42339 1.421085e-14) (float-vector 12.75 -8.42339 1.421085e-14) (float-vector 12.75 -8.42339 0.5) (float-vector 12.75 -9.0 0.5) (float-vector 12.75 -9.0 -17.5) (float-vector 12.75 9.0 -17.5) (float-vector 12.75 9.0 0.5)))
         (instance face :init :vertices (list (float-vector 12.1734 -9.0 0.5) (float-vector 12.1734 -9.0 1.421085e-14) (float-vector -12.1734 -9.0 0.0) (float-vector -12.1734 -9.0 0.5) (float-vector -12.75 -9.0 0.5) (float-vector -12.75 -9.0 -16.134) (float-vector 12.0 -9.0 -16.134) (float-vector 12.0 -9.0 -17.5) (float-vector 12.75 -9.0 -17.5) (float-vector 12.75 -9.0 0.5)))
         (instance face :init :vertices (list (float-vector -12.75 -8.42339 0.5) (float-vector -12.75 -8.42339 0.0) (float-vector -12.75 8.42339 0.0) (float-vector -12.75 8.42339 0.5) (float-vector -12.75 9.0 0.5) (float-vector -12.75 9.0 -16.134) (float-vector -12.75 8.22724 -13.25) (float-vector -12.75 4.75 -9.77276) (float-vector -12.75 1.455780e-14 -8.5) (float-vector -12.75 -4.75 -9.77276) (float-vector -12.75 -8.22724 -13.25) (float-vector -12.75 -9.0 -16.134) (float-vector -12.75 -9.0 0.5)))
         (instance face :init :vertices (list (float-vector 15.5 -2.581269e-15 0.0) (float-vector 13.4234 -7.75 1.421085e-14) (float-vector 12.75 -8.42339 1.421085e-14) (float-vector 12.75 8.42339 1.421085e-14) (float-vector 13.4234 7.75 1.421085e-14)))
         (instance face :init :vertices (list (float-vector 12.1734 -9.0 1.421085e-14) (float-vector 7.75 -13.4234 1.421085e-14) (float-vector 0.0 -15.5 0.0) (float-vector -7.75 -13.4234 0.0) (float-vector -12.1734 -9.0 0.0)))
         (instance face :init :vertices (list (float-vector -12.75 -8.42339 0.0) (float-vector -13.4234 -7.75 0.0) (float-vector -15.5 2.123302e-14 1.421085e-14) (float-vector -13.4234 7.75 0.0) (float-vector -12.75 8.42339 0.0)))
         (instance face :init :vertices (list (float-vector -12.1734 9.0 0.0) (float-vector -7.75 13.4234 0.0) (float-vector 0.0 15.5 0.0) (float-vector 7.75 13.4234 1.421085e-14) (float-vector 12.1734 9.0 1.421085e-14)))
         (instance face :init :vertices (list (float-vector 15.5 -2.581269e-15 0.0) (float-vector 15.5 -2.581269e-15 151.0) (float-vector 13.4234 -7.75 151.0) (float-vector 13.4234 -7.75 1.421085e-14)))
         (instance face :init :vertices (list (float-vector 15.5 -2.581269e-15 151.0) (float-vector 13.4234 7.75 151.0) (float-vector 7.75 13.4234 151.0) (float-vector 0.0 15.5 151.0) (float-vector -7.75 13.4234 151.0) (float-vector -13.4234 7.75 151.0) (float-vector -15.5 2.123302e-14 151.0) (float-vector -13.4234 -7.75 151.0) (float-vector -7.75 -13.4234 151.0) (float-vector 0.0 -15.5 151.0) (float-vector 7.75 -13.4234 151.0) (float-vector 13.4234 -7.75 151.0)))
         (instance face :init :vertices (list (float-vector 7.75 -13.4234 151.0) (float-vector 7.75 -13.4234 1.421085e-14) (float-vector 12.1734 -9.0 1.421085e-14) (float-vector 12.1734 -9.0 0.5) (float-vector 12.75 -8.42339 0.5) (float-vector 12.75 -8.42339 1.421085e-14) (float-vector 13.4234 -7.75 1.421085e-14) (float-vector 13.4234 -7.75 151.0)))
         (instance face :init :vertices (list (float-vector 0.0 -15.5 151.0) (float-vector 0.0 -15.5 0.0) (float-vector 7.75 -13.4234 1.421085e-14) (float-vector 7.75 -13.4234 151.0)))
         (instance face :init :vertices (list (float-vector -7.75 -13.4234 151.0) (float-vector -7.75 -13.4234 0.0) (float-vector 0.0 -15.5 0.0) (float-vector 0.0 -15.5 151.0)))
         (instance face :init :vertices (list (float-vector -13.4234 -7.75 151.0) (float-vector -13.4234 -7.75 0.0) (float-vector -12.75 -8.42339 0.0) (float-vector -12.75 -8.42339 0.5) (float-vector -12.1734 -9.0 0.5) (float-vector -12.1734 -9.0 0.0) (float-vector -7.75 -13.4234 0.0) (float-vector -7.75 -13.4234 151.0)))
         (instance face :init :vertices (list (float-vector -15.5 2.123302e-14 151.0) (float-vector -15.5 2.123302e-14 1.421085e-14) (float-vector -13.4234 -7.75 0.0) (float-vector -13.4234 -7.75 151.0)))
         (instance face :init :vertices (list (float-vector -13.4234 7.75 151.0) (float-vector -13.4234 7.75 0.0) (float-vector -15.5 2.123302e-14 1.421085e-14) (float-vector -15.5 2.123302e-14 151.0)))
         (instance face :init :vertices (list (float-vector -7.75 13.4234 151.0) (float-vector -7.75 13.4234 0.0) (float-vector -12.1734 9.0 0.0) (float-vector -12.1734 9.0 0.5) (float-vector -12.75 8.42339 0.5) (float-vector -12.75 8.42339 0.0) (float-vector -13.4234 7.75 0.0) (float-vector -13.4234 7.75 151.0)))
         (instance face :init :vertices (list (float-vector 0.0 15.5 151.0) (float-vector 0.0 15.5 0.0) (float-vector -7.75 13.4234 0.0) (float-vector -7.75 13.4234 151.0)))
         (instance face :init :vertices (list (float-vector 7.75 13.4234 151.0) (float-vector 7.75 13.4234 1.421085e-14) (float-vector 0.0 15.5 0.0) (float-vector 0.0 15.5 151.0)))
         (instance face :init :vertices (list (float-vector 13.4234 7.75 151.0) (float-vector 13.4234 7.75 1.421085e-14) (float-vector 12.75 8.42339 1.421085e-14) (float-vector 12.75 8.42339 0.5) (float-vector 12.1734 9.0 0.5) (float-vector 12.1734 9.0 1.421085e-14) (float-vector 7.75 13.4234 1.421085e-14) (float-vector 7.75 13.4234 151.0)))
         (instance face :init :vertices (list (float-vector 13.4234 7.75 1.421085e-14) (float-vector 13.4234 7.75 151.0) (float-vector 15.5 -2.581269e-15 151.0) (float-vector 15.5 -2.581269e-15 0.0)))
         (instance face :init :vertices (list (float-vector 12.0 -1.998401e-15 -27.5) (float-vector -13.0 2.164935e-15 -27.5) (float-vector -13.0 4.75 -26.2272) (float-vector 12.0 4.75 -26.2272)))
         (instance face :init :vertices (list (float-vector -13.0 4.75 -26.2272) (float-vector -13.0 8.22724 -22.75) (float-vector 12.0 8.22724 -22.75) (float-vector 12.0 4.75 -26.2272)))
         (instance face :init :vertices (list (float-vector -13.0 8.22724 -22.75) (float-vector -13.0 9.5 -18.0) (float-vector 12.0 9.5 -18.0) (float-vector 12.0 8.22724 -22.75)))
         (instance face :init :vertices (list (float-vector -13.0 9.5 -18.0) (float-vector -13.0 8.22724 -13.25) (float-vector -12.75 8.22724 -13.25) (float-vector -12.75 9.0 -16.134) (float-vector 12.0 9.0 -16.134) (float-vector 12.0 9.5 -18.0)))
         (instance face :init :vertices (list (float-vector -13.0 8.22724 -13.25) (float-vector -13.0 4.75 -9.77276) (float-vector -12.75 4.75 -9.77276) (float-vector -12.75 8.22724 -13.25)))
         (instance face :init :vertices (list (float-vector -13.0 4.75 -9.77276) (float-vector -13.0 1.459943e-14 -8.5) (float-vector -12.75 1.455780e-14 -8.5) (float-vector -12.75 4.75 -9.77276)))
         (instance face :init :vertices (list (float-vector -13.0 1.459943e-14 -8.5) (float-vector -13.0 -4.75 -9.77276) (float-vector -12.75 -4.75 -9.77276) (float-vector -12.75 1.455780e-14 -8.5)))
         (instance face :init :vertices (list (float-vector -13.0 -4.75 -9.77276) (float-vector -13.0 -8.22724 -13.25) (float-vector -12.75 -8.22724 -13.25) (float-vector -12.75 -4.75 -9.77276)))
         (instance face :init :vertices (list (float-vector -13.0 -8.22724 -13.25) (float-vector -13.0 -9.5 -18.0) (float-vector 12.0 -9.5 -18.0) (float-vector 12.0 -9.0 -16.134) (float-vector -12.75 -9.0 -16.134) (float-vector -12.75 -8.22724 -13.25)))
         (instance face :init :vertices (list (float-vector -13.0 -9.5 -18.0) (float-vector -13.0 -8.22724 -22.75) (float-vector 12.0 -8.22724 -22.75) (float-vector 12.0 -9.5 -18.0)))
         (instance face :init :vertices (list (float-vector -13.0 -8.22724 -22.75) (float-vector -13.0 -4.75 -26.2272) (float-vector 12.0 -4.75 -26.2272) (float-vector 12.0 -8.22724 -22.75)))
         (instance face :init :vertices (list (float-vector 12.0 -4.75 -26.2272) (float-vector 12.0 -1.998401e-15 -27.5) (float-vector 12.0 4.75 -26.2272) (float-vector 12.0 8.22724 -22.75) (float-vector 12.0 9.5 -18.0) (float-vector 12.0 9.0 -16.134) (float-vector 12.0 9.0 -17.5) (float-vector 12.0 -9.0 -17.5) (float-vector 12.0 -9.0 -16.134) (float-vector 12.0 -9.5 -18.0) (float-vector 12.0 -8.22724 -22.75)))
         (instance face :init :vertices (list (float-vector -13.0 -4.75 -26.2272) (float-vector -13.0 2.164935e-15 -27.5) (float-vector 12.0 -1.998401e-15 -27.5) (float-vector 12.0 -4.75 -26.2272)))
         (instance face :init :vertices (list (float-vector -13.0 2.164935e-15 -27.5) (float-vector -13.0 -4.75 -26.2272) (float-vector -13.0 -8.22724 -22.75) (float-vector -13.0 -9.5 -18.0) (float-vector -13.0 -8.22724 -13.25) (float-vector -13.0 -4.75 -9.77276) (float-vector -13.0 1.459943e-14 -8.5) (float-vector -13.0 4.75 -9.77276) (float-vector -13.0 8.22724 -13.25) (float-vector -13.0 9.5 -18.0) (float-vector -13.0 8.22724 -22.75) (float-vector -13.0 4.75 -26.2272)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color (list))
     (setq blink9 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4larm-nil-4 :weight 800 :centroid (float-vector -0.01842 2.053279e-15 66.9338) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4larm-nil-5
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 81.5 -7.5 -19.25) (float-vector 81.5 -7.5 19.25) (float-vector 81.5 -12.5 19.25) (float-vector 81.5 -12.5 -19.25)))
         (instance face :init :vertices (list (float-vector 81.5 -7.5 -19.25) (float-vector -7.5 -7.5 -19.25) (float-vector -7.5 -7.5 -18.5) (float-vector 20.0 -7.5 -18.5) (float-vector 20.0 -7.5 18.5) (float-vector -7.5 -7.5 18.5) (float-vector -7.5 -7.5 19.25) (float-vector 81.5 -7.5 19.25)))
         (instance face :init :vertices (list (float-vector -7.5 -7.5 18.5) (float-vector -7.5 -11.0 18.5) (float-vector -7.5 -11.0 -18.5) (float-vector -7.5 -7.5 -18.5) (float-vector -7.5 -7.5 -19.25) (float-vector -7.5 -12.5 -19.25) (float-vector -7.5 -12.5 19.25) (float-vector -7.5 -7.5 19.25)))
         (instance face :init :vertices (list (float-vector -7.5 -12.5 19.25) (float-vector 81.5 -12.5 19.25) (float-vector 81.5 -7.5 19.25) (float-vector -7.5 -7.5 19.25)))
         (instance face :init :vertices (list (float-vector -7.5 -12.5 -19.25) (float-vector 81.5 -12.5 -19.25) (float-vector 81.5 -12.5 19.25) (float-vector -7.5 -12.5 19.25)))
         (instance face :init :vertices (list (float-vector 81.5 -12.5 -19.25) (float-vector -7.5 -12.5 -19.25) (float-vector -7.5 -7.5 -19.25) (float-vector 81.5 -7.5 -19.25)))
         (instance face :init :vertices (list (float-vector 20.0 -1.0 -18.5) (float-vector 20.0 -1.0 18.5) (float-vector 20.0 -7.5 18.5) (float-vector 20.0 -7.5 -18.5)))
         (instance face :init :vertices (list (float-vector 20.0 -1.0 -18.5) (float-vector -10.0 -1.0 -18.5) (float-vector -10.0 -1.0 18.5) (float-vector 20.0 -1.0 18.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -8.73205 -1.0 -18.0) (float-vector 8.73205 -1.0 -18.0) (float-vector 8.73205 -1.0 18.0) (float-vector -8.73205 -1.0 18.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -1.0 -18.5) (float-vector -10.0 -11.0 -18.5) (float-vector -10.0 -11.0 18.5) (float-vector -10.0 -1.0 18.5)))
         (instance face :init :vertices (list (float-vector -10.0 -11.0 18.5) (float-vector -7.5 -11.0 18.5) (float-vector -7.5 -7.5 18.5) (float-vector 20.0 -7.5 18.5) (float-vector 20.0 -1.0 18.5) (float-vector -10.0 -1.0 18.5)))
         (instance face :init :vertices (list (float-vector -10.0 -11.0 -18.5) (float-vector -7.5 -11.0 -18.5) (float-vector -7.5 -11.0 18.5) (float-vector -10.0 -11.0 18.5)))
         (instance face :init :vertices (list (float-vector -7.5 -11.0 -18.5) (float-vector -10.0 -11.0 -18.5) (float-vector -10.0 -1.0 -18.5) (float-vector 20.0 -1.0 -18.5) (float-vector 20.0 -7.5 -18.5) (float-vector -7.5 -7.5 -18.5)))
         (instance face :init :vertices (list (float-vector 9.0 -9.992007e-16 18.0) (float-vector 9.0 4.996004e-15 -18.0) (float-vector 7.79423 4.5 -18.0) (float-vector 7.79423 4.5 18.0)))
         (instance face :init :vertices (list (float-vector 7.79423 4.5 -18.0) (float-vector 4.5 7.79423 -18.0) (float-vector 4.5 7.79423 18.0) (float-vector 7.79423 4.5 18.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 -18.0) (float-vector 7.105427e-15 9.0 -18.0) (float-vector 0.0 9.0 18.0) (float-vector 4.5 7.79423 18.0)))
         (instance face :init :vertices (list (float-vector 7.105427e-15 9.0 -18.0) (float-vector -4.5 7.79423 -18.0) (float-vector -4.5 7.79423 18.0) (float-vector 0.0 9.0 18.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 -18.0) (float-vector -7.79423 4.5 -18.0) (float-vector -7.79423 4.5 18.0) (float-vector -4.5 7.79423 18.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 -18.0) (float-vector -9.0 1.076916e-14 -18.0) (float-vector -9.0 4.773959e-15 18.0) (float-vector -7.79423 4.5 18.0)))
         (instance face :init :vertices (list (float-vector -9.0 1.076916e-14 -18.0) (float-vector -8.73205 -1.0 -18.0) (float-vector -8.73205 -1.0 18.0) (float-vector -9.0 4.773959e-15 18.0)))
         (instance face :init :vertices (list (float-vector 8.73205 -1.0 18.0) (float-vector 9.0 -9.992007e-16 18.0) (float-vector 7.79423 4.5 18.0) (float-vector 4.5 7.79423 18.0) (float-vector 0.0 9.0 18.0) (float-vector -4.5 7.79423 18.0) (float-vector -7.79423 4.5 18.0) (float-vector -9.0 4.773959e-15 18.0) (float-vector -8.73205 -1.0 18.0)))
         (instance face :init :vertices (list (float-vector 8.73205 -1.0 -18.0) (float-vector 9.0 4.996004e-15 -18.0) (float-vector 9.0 -9.992007e-16 18.0) (float-vector 8.73205 -1.0 18.0)))
         (instance face :init :vertices (list (float-vector 9.0 4.996004e-15 -18.0) (float-vector 8.73205 -1.0 -18.0) (float-vector -8.73205 -1.0 -18.0) (float-vector -9.0 1.076916e-14 -18.0) (float-vector -7.79423 4.5 -18.0) (float-vector -4.5 7.79423 -18.0) (float-vector 7.105427e-15 9.0 -18.0) (float-vector 4.5 7.79423 -18.0) (float-vector 7.79423 4.5 -18.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color (list))
     (setq blink10 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4larm-nil-5 :weight 100 :centroid (float-vector 22.4752 -6.36638 4.506601e-15) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4head-nil-0
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 39.0 -10.0 -18.0) (float-vector 39.0 10.0 -18.0) (float-vector -39.0 10.0 -18.0) (float-vector -39.0 -10.0 -18.0)))
         (instance face :init :vertices (list (float-vector 39.0 10.0 1.0) (float-vector 39.0 10.0 -18.0) (float-vector 39.0 -10.0 -18.0) (float-vector 39.0 -10.0 1.0) (float-vector 39.0 -9.23205 1.0) (float-vector 39.0 -9.5 0.0) (float-vector 39.0 -8.22724 -4.75) (float-vector 39.0 -4.75 -8.22724) (float-vector 39.0 0.0 -9.5) (float-vector 39.0 4.75 -8.22724) (float-vector 39.0 8.22724 -4.75) (float-vector 39.0 9.5 0.0) (float-vector 39.0 9.23205 1.0)))
         (instance face :init :vertices (list (float-vector -39.0 -10.0 1.0) (float-vector -39.0 -10.0 -18.0) (float-vector -39.0 10.0 -18.0) (float-vector -39.0 10.0 1.0) (float-vector -39.0 9.23205 1.0) (float-vector -39.0 9.5 0.0) (float-vector -39.0 8.22724 -4.75) (float-vector -39.0 4.75 -8.22724) (float-vector -39.0 0.0 -9.5) (float-vector -39.0 -4.75 -8.22724) (float-vector -39.0 -8.22724 -4.75) (float-vector -39.0 -9.5 0.0) (float-vector -39.0 -9.23205 1.0)))
         (instance face :init :vertices (list (float-vector 42.0 10.0 -21.0) (float-vector -42.0 10.0 -21.0) (float-vector -42.0 10.0 1.0) (float-vector -39.0 10.0 1.0) (float-vector -39.0 10.0 -18.0) (float-vector 39.0 10.0 -18.0) (float-vector 39.0 10.0 1.0) (float-vector 42.0 10.0 1.0)))
         (instance face :init :vertices (list (float-vector -42.0 -10.0 -21.0) (float-vector -42.0 10.0 -21.0) (float-vector 42.0 10.0 -21.0) (float-vector 42.0 -10.0 -21.0)))
         (instance face :init :vertices (list (float-vector 42.0 -10.0 1.0) (float-vector 42.0 10.0 1.0) (float-vector 39.0 10.0 1.0) (float-vector 39.0 9.23205 1.0) (float-vector 41.0 9.23205 1.0) (float-vector 41.0 -9.23205 1.0) (float-vector 39.0 -9.23205 1.0) (float-vector 39.0 -10.0 1.0)))
         (instance face :init :vertices (list (float-vector -42.0 -10.0 1.0) (float-vector -39.0 -10.0 1.0) (float-vector -39.0 -9.23205 1.0) (float-vector -41.0 -9.23205 1.0) (float-vector -41.0 9.23205 1.0) (float-vector -39.0 9.23205 1.0) (float-vector -39.0 10.0 1.0) (float-vector -42.0 10.0 1.0)))
         (instance face :init :vertices (list (float-vector 42.0 -10.0 1.0) (float-vector 42.0 -10.0 -21.0) (float-vector 42.0 10.0 -21.0) (float-vector 42.0 10.0 1.0)))
         (instance face :init :vertices (list (float-vector -42.0 -10.0 1.0) (float-vector -42.0 -10.0 -21.0) (float-vector 42.0 -10.0 -21.0) (float-vector 42.0 -10.0 1.0) (float-vector 39.0 -10.0 1.0) (float-vector 39.0 -10.0 -18.0) (float-vector -39.0 -10.0 -18.0) (float-vector -39.0 -10.0 1.0)))
         (instance face :init :vertices (list (float-vector -42.0 -10.0 -21.0) (float-vector -42.0 -10.0 1.0) (float-vector -42.0 10.0 1.0) (float-vector -42.0 10.0 -21.0)))
         (instance face :init :vertices (list (float-vector 39.0 0.0 -9.5) (float-vector -39.0 0.0 -9.5) (float-vector -39.0 4.75 -8.22724) (float-vector 39.0 4.75 -8.22724)))
         (instance face :init :vertices (list (float-vector -39.0 8.22724 -4.75) (float-vector 39.0 8.22724 -4.75) (float-vector 39.0 4.75 -8.22724) (float-vector -39.0 4.75 -8.22724)))
         (instance face :init :vertices (list (float-vector -39.0 9.5 0.0) (float-vector 39.0 9.5 0.0) (float-vector 39.0 8.22724 -4.75) (float-vector -39.0 8.22724 -4.75)))
         (instance face :init :vertices (list (float-vector -41.0 9.23205 1.0) (float-vector -41.0 8.22724 4.75) (float-vector 41.0 8.22724 4.75) (float-vector 41.0 9.23205 1.0) (float-vector 39.0 9.23205 1.0) (float-vector 39.0 9.5 0.0) (float-vector -39.0 9.5 0.0) (float-vector -39.0 9.23205 1.0)))
         (instance face :init :vertices (list (float-vector -41.0 8.22724 4.75) (float-vector -41.0 4.75 8.22724) (float-vector 41.0 4.75 8.22724) (float-vector 41.0 8.22724 4.75)))
         (instance face :init :vertices (list (float-vector -41.0 4.75 8.22724) (float-vector -41.0 1.421085e-14 9.5) (float-vector 41.0 1.421085e-14 9.5) (float-vector 41.0 4.75 8.22724)))
         (instance face :init :vertices (list (float-vector -41.0 1.421085e-14 9.5) (float-vector -41.0 -4.75 8.22724) (float-vector 41.0 -4.75 8.22724) (float-vector 41.0 1.421085e-14 9.5)))
         (instance face :init :vertices (list (float-vector -41.0 -4.75 8.22724) (float-vector -41.0 -8.22724 4.75) (float-vector 41.0 -8.22724 4.75) (float-vector 41.0 -4.75 8.22724)))
         (instance face :init :vertices (list (float-vector 41.0 -8.22724 4.75) (float-vector 41.0 -9.23205 1.0) (float-vector 41.0 9.23205 1.0) (float-vector 41.0 8.22724 4.75) (float-vector 41.0 4.75 8.22724) (float-vector 41.0 1.421085e-14 9.5) (float-vector 41.0 -4.75 8.22724)))
         (instance face :init :vertices (list (float-vector -41.0 -8.22724 4.75) (float-vector -41.0 -9.23205 1.0) (float-vector -39.0 -9.23205 1.0) (float-vector -39.0 -9.5 0.0) (float-vector 39.0 -9.5 0.0) (float-vector 39.0 -9.23205 1.0) (float-vector 41.0 -9.23205 1.0) (float-vector 41.0 -8.22724 4.75)))
         (instance face :init :vertices (list (float-vector -41.0 -9.23205 1.0) (float-vector -41.0 -8.22724 4.75) (float-vector -41.0 -4.75 8.22724) (float-vector -41.0 1.421085e-14 9.5) (float-vector -41.0 4.75 8.22724) (float-vector -41.0 8.22724 4.75) (float-vector -41.0 9.23205 1.0)))
         (instance face :init :vertices (list (float-vector -39.0 -8.22724 -4.75) (float-vector 39.0 -8.22724 -4.75) (float-vector 39.0 -9.5 0.0) (float-vector -39.0 -9.5 0.0)))
         (instance face :init :vertices (list (float-vector 39.0 -4.75 -8.22724) (float-vector -39.0 -4.75 -8.22724) (float-vector -39.0 0.0 -9.5) (float-vector 39.0 0.0 -9.5)))
         (instance face :init :vertices (list (float-vector -39.0 -4.75 -8.22724) (float-vector 39.0 -4.75 -8.22724) (float-vector 39.0 -8.22724 -4.75) (float-vector -39.0 -8.22724 -4.75)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :white)
     (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4head-nil-0 :weight 100 :centroid (float-vector 6.872280e-15 1.510314e-15 -3.99806) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4head-nil-1
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -80.0 -7.105427e-15 -70.0) (float-vector -80.0 -5.0 -68.6603) (float-vector -80.0 -8.66025 -65.0) (float-vector -80.0 -10.0 -60.0) (float-vector -80.0 -8.66025 -55.0) (float-vector -80.0 -5.0 -51.3397) (float-vector -80.0 3.552714e-15 -50.0) (float-vector -80.0 5.0 -51.3397) (float-vector -80.0 8.66025 -55.0) (float-vector -80.0 10.0 -60.0) (float-vector -80.0 8.66025 -65.0) (float-vector -80.0 5.0 -68.6603)))
         (instance face :init :vertices (list (float-vector -80.0 -7.105427e-15 -70.0) (float-vector -1.5 -3.552714e-15 -70.0) (float-vector -1.5 -5.0 -68.6603) (float-vector -80.0 -5.0 -68.6603)))
         (instance face :init :vertices (list (float-vector -1.5 -5.0 -68.6603) (float-vector -1.5 -8.66025 -65.0) (float-vector -80.0 -8.66025 -65.0) (float-vector -80.0 -5.0 -68.6603)))
         (instance face :init :vertices (list (float-vector -1.5 -8.66025 -65.0) (float-vector -1.5 -10.0 -60.0) (float-vector -80.0 -10.0 -60.0) (float-vector -80.0 -8.66025 -65.0)))
         (instance face :init :vertices (list (float-vector -1.5 -10.0 -60.0) (float-vector -1.5 -8.66025 -55.0) (float-vector -80.0 -8.66025 -55.0) (float-vector -80.0 -10.0 -60.0)))
         (instance face :init :vertices (list (float-vector -1.5 -8.66025 -55.0) (float-vector -1.5 -5.0 -51.3397) (float-vector -80.0 -5.0 -51.3397) (float-vector -80.0 -8.66025 -55.0)))
         (instance face :init :vertices (list (float-vector -1.5 -5.0 -51.3397) (float-vector -1.5 7.105427e-15 -50.0) (float-vector -80.0 3.552714e-15 -50.0) (float-vector -80.0 -5.0 -51.3397)))
         (instance face :init :vertices (list (float-vector -1.5 7.105427e-15 -50.0) (float-vector -1.5 5.0 -51.3397) (float-vector -80.0 5.0 -51.3397) (float-vector -80.0 3.552714e-15 -50.0)))
         (instance face :init :vertices (list (float-vector -1.5 5.0 -51.3397) (float-vector -1.5 8.66025 -55.0) (float-vector -80.0 8.66025 -55.0) (float-vector -80.0 5.0 -51.3397)))
         (instance face :init :vertices (list (float-vector -1.5 8.66025 -55.0) (float-vector -1.5 10.0 -60.0) (float-vector -80.0 10.0 -60.0) (float-vector -80.0 8.66025 -55.0)))
         (instance face :init :vertices (list (float-vector -1.5 10.0 -60.0) (float-vector -1.5 8.66025 -65.0) (float-vector -80.0 8.66025 -65.0) (float-vector -80.0 10.0 -60.0)))
         (instance face :init :vertices (list (float-vector -1.5 8.66025 -65.0) (float-vector -1.5 5.0 -68.6603) (float-vector -80.0 5.0 -68.6603) (float-vector -80.0 8.66025 -65.0)))
         (instance face :init :vertices (list (float-vector -1.5 5.0 -68.6603) (float-vector -1.5 -3.552714e-15 -70.0) (float-vector -80.0 -7.105427e-15 -70.0) (float-vector -80.0 5.0 -68.6603)))
         (instance face :init :vertices (list (float-vector -1.5 -42.5 71.0) (float-vector 1.5 -42.5 71.0) (float-vector 1.5 42.5 71.0) (float-vector -1.5 42.5 71.0)))
         (instance face :init :vertices (list (float-vector -1.5 -42.5 71.0) (float-vector -1.5 -42.5 -71.0) (float-vector 1.5 -42.5 -71.0) (float-vector 1.5 -42.5 71.0)))
         (instance face :init :vertices (list (float-vector -1.5 -42.5 -71.0) (float-vector -1.5 42.5 -71.0) (float-vector 1.5 42.5 -71.0) (float-vector 1.5 -42.5 -71.0)))
         (instance face :init :vertices (list (float-vector 1.5 42.5 -71.0) (float-vector 1.5 42.5 71.0) (float-vector 1.5 -42.5 71.0) (float-vector 1.5 -42.5 -71.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 1.5 -37.5 49.0) (float-vector 1.5 37.5 49.0) (float-vector 1.5 37.5 -49.0) (float-vector 1.5 -37.5 -49.0)))
))
         (instance face :init :vertices (list (float-vector -1.5 42.5 -71.0) (float-vector -1.5 42.5 71.0) (float-vector 1.5 42.5 71.0) (float-vector 1.5 42.5 -71.0)))
         (instance face :init :vertices (list (float-vector -1.5 42.5 71.0) (float-vector -1.5 42.5 -71.0) (float-vector -1.5 -42.5 -71.0) (float-vector -1.5 -42.5 71.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -1.5 37.5 49.0) (float-vector -1.5 -37.5 49.0) (float-vector -1.5 -37.5 -49.0) (float-vector -1.5 37.5 -49.0)))
         (instance hole :init :vertices (list (float-vector -1.5 -3.552714e-15 -70.0) (float-vector -1.5 5.0 -68.6603) (float-vector -1.5 8.66025 -65.0) (float-vector -1.5 10.0 -60.0) (float-vector -1.5 8.66025 -55.0) (float-vector -1.5 5.0 -51.3397) (float-vector -1.5 7.105427e-15 -50.0) (float-vector -1.5 -5.0 -51.3397) (float-vector -1.5 -8.66025 -55.0) (float-vector -1.5 -10.0 -60.0) (float-vector -1.5 -8.66025 -65.0) (float-vector -1.5 -5.0 -68.6603)))
         (instance hole :init :vertices (list (float-vector -1.5 -8.66025 55.0) (float-vector -1.5 -5.0 51.3397) (float-vector -1.5 3.552714e-15 50.0) (float-vector -1.5 5.0 51.3397) (float-vector -1.5 8.66025 55.0) (float-vector -1.5 10.0 60.0) (float-vector -1.5 8.66025 65.0) (float-vector -1.5 5.0 68.6603) (float-vector -1.5 1.776357e-14 70.0) (float-vector -1.5 -5.0 68.6603) (float-vector -1.5 -8.66025 65.0) (float-vector -1.5 -10.0 60.0)))
))
         (instance face :init :vertices (list (float-vector -1.5 37.5 49.0) (float-vector 1.5 37.5 49.0) (float-vector 1.5 -37.5 49.0) (float-vector -1.5 -37.5 49.0)))
         (instance face :init :vertices (list (float-vector 1.5 -37.5 -49.0) (float-vector -1.5 -37.5 -49.0) (float-vector -1.5 -37.5 49.0) (float-vector 1.5 -37.5 49.0)))
         (instance face :init :vertices (list (float-vector 1.5 37.5 -49.0) (float-vector -1.5 37.5 -49.0) (float-vector -1.5 -37.5 -49.0) (float-vector 1.5 -37.5 -49.0)))
         (instance face :init :vertices (list (float-vector -1.5 37.5 -49.0) (float-vector 1.5 37.5 -49.0) (float-vector 1.5 37.5 49.0) (float-vector -1.5 37.5 49.0)))
         (instance face :init :vertices (list (float-vector -1.5 3.552714e-15 50.0) (float-vector -80.0 0.0 50.0) (float-vector -80.0 5.0 51.3397) (float-vector -1.5 5.0 51.3397)))
         (instance face :init :vertices (list (float-vector -80.0 5.0 51.3397) (float-vector -80.0 8.66025 55.0) (float-vector -1.5 8.66025 55.0) (float-vector -1.5 5.0 51.3397)))
         (instance face :init :vertices (list (float-vector -80.0 8.66025 55.0) (float-vector -80.0 10.0 60.0) (float-vector -1.5 10.0 60.0) (float-vector -1.5 8.66025 55.0)))
         (instance face :init :vertices (list (float-vector -80.0 10.0 60.0) (float-vector -80.0 8.66025 65.0) (float-vector -1.5 8.66025 65.0) (float-vector -1.5 10.0 60.0)))
         (instance face :init :vertices (list (float-vector -80.0 8.66025 65.0) (float-vector -80.0 5.0 68.6603) (float-vector -1.5 5.0 68.6603) (float-vector -1.5 8.66025 65.0)))
         (instance face :init :vertices (list (float-vector -80.0 5.0 68.6603) (float-vector -80.0 1.421085e-14 70.0) (float-vector -1.5 1.776357e-14 70.0) (float-vector -1.5 5.0 68.6603)))
         (instance face :init :vertices (list (float-vector -80.0 1.421085e-14 70.0) (float-vector -80.0 -5.0 68.6603) (float-vector -1.5 -5.0 68.6603) (float-vector -1.5 1.776357e-14 70.0)))
         (instance face :init :vertices (list (float-vector -80.0 -5.0 68.6603) (float-vector -80.0 -8.66025 65.0) (float-vector -1.5 -8.66025 65.0) (float-vector -1.5 -5.0 68.6603)))
         (instance face :init :vertices (list (float-vector -80.0 -8.66025 65.0) (float-vector -80.0 -10.0 60.0) (float-vector -1.5 -10.0 60.0) (float-vector -1.5 -8.66025 65.0)))
         (instance face :init :vertices (list (float-vector -80.0 -10.0 60.0) (float-vector -80.0 -8.66025 55.0) (float-vector -1.5 -8.66025 55.0) (float-vector -1.5 -10.0 60.0)))
         (instance face :init :vertices (list (float-vector -80.0 -8.66025 55.0) (float-vector -80.0 -5.0 51.3397) (float-vector -1.5 -5.0 51.3397) (float-vector -1.5 -8.66025 55.0)))
         (instance face :init :vertices (list (float-vector -80.0 -5.0 51.3397) (float-vector -80.0 0.0 50.0) (float-vector -1.5 3.552714e-15 50.0) (float-vector -1.5 -5.0 51.3397)))
         (instance face :init :vertices (list (float-vector -80.0 0.0 50.0) (float-vector -80.0 -5.0 51.3397) (float-vector -80.0 -8.66025 55.0) (float-vector -80.0 -10.0 60.0) (float-vector -80.0 -8.66025 65.0) (float-vector -80.0 -5.0 68.6603) (float-vector -80.0 1.421085e-14 70.0) (float-vector -80.0 5.0 68.6603) (float-vector -80.0 8.66025 65.0) (float-vector -80.0 10.0 60.0) (float-vector -80.0 8.66025 55.0) (float-vector -80.0 5.0 51.3397)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4head-nil-1 :weight 100 :centroid (float-vector -31.3308 1.167304e-15 1.233415e-14) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of :h4head-camera2
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -1.0 31.0 -1.0) (float-vector -1.0 30.0 -1.0) (float-vector 1.0 30.0 -1.0) (float-vector 1.0 31.0 -1.0)))
         (instance face :init :vertices (list (float-vector -1.0 31.0 1.0) (float-vector -1.0 30.0 1.0) (float-vector -1.0 30.0 -1.0) (float-vector -1.0 31.0 -1.0)))
         (instance face :init :vertices (list (float-vector 1.0 31.0 1.0) (float-vector 1.0 30.0 1.0) (float-vector -1.0 30.0 1.0) (float-vector -1.0 31.0 1.0)))
         (instance face :init :vertices (list (float-vector 1.0 30.0 1.0) (float-vector 1.0 30.0 -1.0) (float-vector -1.0 30.0 -1.0) (float-vector -1.0 30.0 1.0)))
         (instance face :init :vertices (list (float-vector 1.0 30.0 -1.0) (float-vector 1.0 30.0 1.0) (float-vector 1.0 31.0 1.0) (float-vector 1.0 31.0 -1.0)))
         (instance face :init :vertices (list (float-vector 30.0 30.0 -30.0) (float-vector -30.0 30.0 -30.0) (float-vector -30.0 30.0 30.0) (float-vector 30.0 30.0 30.0)))
         (instance face :init :vertices (list (float-vector 30.0 30.0 -30.0) (float-vector 30.0 -65.0 -30.0) (float-vector -30.0 -65.0 -30.0) (float-vector -30.0 30.0 -30.0)))
         (instance face :init :vertices (list (float-vector 30.0 -65.0 -30.0) (float-vector 30.0 -65.0 30.0) (float-vector -30.0 -65.0 30.0) (float-vector -30.0 -65.0 -30.0)))
         (instance face :init :vertices (list (float-vector -30.0 -65.0 30.0) (float-vector -30.0 30.0 30.0) (float-vector -30.0 30.0 -30.0) (float-vector -30.0 -65.0 -30.0)))
         (instance face :init :vertices (list (float-vector 30.0 -65.0 30.0) (float-vector 30.0 30.0 30.0) (float-vector -30.0 30.0 30.0) (float-vector -30.0 -65.0 30.0)))
         (instance face :init :vertices (list (float-vector 30.0 30.0 30.0) (float-vector 30.0 -65.0 30.0) (float-vector 30.0 -65.0 -30.0) (float-vector 30.0 30.0 -30.0)))
         (instance face :init :vertices (list (float-vector 29.0 72.0 0.0) (float-vector 29.0 31.0 0.0) (float-vector 25.1147 31.0 -14.5) (float-vector 25.1147 72.0 -14.5)))
         (instance face :init :vertices (list (float-vector 25.1147 31.0 -14.5) (float-vector 14.5 31.0 -25.1147) (float-vector 14.5 72.0 -25.1147) (float-vector 25.1147 72.0 -14.5)))
         (instance face :init :vertices (list (float-vector 14.5 31.0 -25.1147) (float-vector 2.842171e-14 31.0 -29.0) (float-vector 2.842171e-14 72.0 -29.0) (float-vector 14.5 72.0 -25.1147)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 31.0 -29.0) (float-vector -14.5 31.0 -25.1147) (float-vector -14.5 72.0 -25.1147) (float-vector 2.842171e-14 72.0 -29.0)))
         (instance face :init :vertices (list (float-vector -14.5 31.0 -25.1147) (float-vector -25.1147 31.0 -14.5) (float-vector -25.1147 72.0 -14.5) (float-vector -14.5 72.0 -25.1147)))
         (instance face :init :vertices (list (float-vector -25.1147 31.0 -14.5) (float-vector -29.0 31.0 0.0) (float-vector -29.0 72.0 0.0) (float-vector -25.1147 72.0 -14.5)))
         (instance face :init :vertices (list (float-vector -29.0 31.0 0.0) (float-vector -25.1147 31.0 14.5) (float-vector -25.1147 72.0 14.5) (float-vector -29.0 72.0 0.0)))
         (instance face :init :vertices (list (float-vector -25.1147 31.0 14.5) (float-vector -14.5 31.0 25.1147) (float-vector -14.5 72.0 25.1147) (float-vector -25.1147 72.0 14.5)))
         (instance face :init :vertices (list (float-vector -14.5 31.0 25.1147) (float-vector -2.842171e-14 31.0 29.0) (float-vector -2.842171e-14 72.0 29.0) (float-vector -14.5 72.0 25.1147)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 31.0 29.0) (float-vector 14.5 31.0 25.1147) (float-vector 14.5 72.0 25.1147) (float-vector -2.842171e-14 72.0 29.0)))
         (instance face :init :vertices (list (float-vector 14.5 31.0 25.1147) (float-vector 25.1147 31.0 14.5) (float-vector 25.1147 72.0 14.5) (float-vector 14.5 72.0 25.1147)))
         (instance face :init :vertices (list (float-vector 25.1147 72.0 14.5) (float-vector 29.0 72.0 0.0) (float-vector 25.1147 72.0 -14.5) (float-vector 14.5 72.0 -25.1147) (float-vector 2.842171e-14 72.0 -29.0) (float-vector -14.5 72.0 -25.1147) (float-vector -25.1147 72.0 -14.5) (float-vector -29.0 72.0 0.0) (float-vector -25.1147 72.0 14.5) (float-vector -14.5 72.0 25.1147) (float-vector -2.842171e-14 72.0 29.0) (float-vector 14.5 72.0 25.1147)))
         (instance face :init :vertices (list (float-vector 25.1147 31.0 14.5) (float-vector 29.0 31.0 0.0) (float-vector 29.0 72.0 0.0) (float-vector 25.1147 72.0 14.5)))
         (instance face :init :vertices (list (float-vector 1.0 31.0 -1.0) (float-vector 1.0 31.0 1.0) (float-vector -1.0 31.0 1.0) (float-vector -1.0 31.0 -1.0)))
         (instance face :init :vertices (list (float-vector 29.0 31.0 0.0) (float-vector 25.1147 31.0 14.5) (float-vector 14.5 31.0 25.1147) (float-vector -2.842171e-14 31.0 29.0) (float-vector -14.5 31.0 25.1147) (float-vector -25.1147 31.0 14.5) (float-vector -29.0 31.0 0.0) (float-vector -25.1147 31.0 -14.5) (float-vector -14.5 31.0 -25.1147) (float-vector 2.842171e-14 31.0 -29.0) (float-vector 14.5 31.0 -25.1147) (float-vector 25.1147 31.0 -14.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (setq blink4 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4head-camera2 :weight 170 :centroid (float-vector -4.263256e-14 -1.47676 1.421085e-14) :inertia-tensor #2f((4.833698e+05 -1.070289e-11 2.263270e-10) (-1.070289e-11 4.829990e+05 7902.23) (2.263270e-10 7902.23 93395.7))))

     ;; definition of :h4head-camera1
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -1.0 31.0 -1.0) (float-vector -1.0 30.0 -1.0) (float-vector 1.0 30.0 -1.0) (float-vector 1.0 31.0 -1.0)))
         (instance face :init :vertices (list (float-vector -1.0 31.0 1.0) (float-vector -1.0 30.0 1.0) (float-vector -1.0 30.0 -1.0) (float-vector -1.0 31.0 -1.0)))
         (instance face :init :vertices (list (float-vector 1.0 31.0 1.0) (float-vector 1.0 30.0 1.0) (float-vector -1.0 30.0 1.0) (float-vector -1.0 31.0 1.0)))
         (instance face :init :vertices (list (float-vector 1.0 30.0 1.0) (float-vector 1.0 30.0 -1.0) (float-vector -1.0 30.0 -1.0) (float-vector -1.0 30.0 1.0)))
         (instance face :init :vertices (list (float-vector 1.0 30.0 -1.0) (float-vector 1.0 30.0 1.0) (float-vector 1.0 31.0 1.0) (float-vector 1.0 31.0 -1.0)))
         (instance face :init :vertices (list (float-vector 30.0 30.0 -30.0) (float-vector -30.0 30.0 -30.0) (float-vector -30.0 30.0 30.0) (float-vector 30.0 30.0 30.0)))
         (instance face :init :vertices (list (float-vector 30.0 30.0 -30.0) (float-vector 30.0 -65.0 -30.0) (float-vector -30.0 -65.0 -30.0) (float-vector -30.0 30.0 -30.0)))
         (instance face :init :vertices (list (float-vector 30.0 -65.0 -30.0) (float-vector 30.0 -65.0 30.0) (float-vector -30.0 -65.0 30.0) (float-vector -30.0 -65.0 -30.0)))
         (instance face :init :vertices (list (float-vector -30.0 -65.0 30.0) (float-vector -30.0 30.0 30.0) (float-vector -30.0 30.0 -30.0) (float-vector -30.0 -65.0 -30.0)))
         (instance face :init :vertices (list (float-vector 30.0 -65.0 30.0) (float-vector 30.0 30.0 30.0) (float-vector -30.0 30.0 30.0) (float-vector -30.0 -65.0 30.0)))
         (instance face :init :vertices (list (float-vector 30.0 30.0 30.0) (float-vector 30.0 -65.0 30.0) (float-vector 30.0 -65.0 -30.0) (float-vector 30.0 30.0 -30.0)))
         (instance face :init :vertices (list (float-vector 29.0 72.0 0.0) (float-vector 29.0 31.0 0.0) (float-vector 25.1147 31.0 -14.5) (float-vector 25.1147 72.0 -14.5)))
         (instance face :init :vertices (list (float-vector 25.1147 31.0 -14.5) (float-vector 14.5 31.0 -25.1147) (float-vector 14.5 72.0 -25.1147) (float-vector 25.1147 72.0 -14.5)))
         (instance face :init :vertices (list (float-vector 14.5 31.0 -25.1147) (float-vector 1.421085e-14 31.0 -29.0) (float-vector 2.842171e-14 72.0 -29.0) (float-vector 14.5 72.0 -25.1147)))
         (instance face :init :vertices (list (float-vector 1.421085e-14 31.0 -29.0) (float-vector -14.5 31.0 -25.1147) (float-vector -14.5 72.0 -25.1147) (float-vector 2.842171e-14 72.0 -29.0)))
         (instance face :init :vertices (list (float-vector -14.5 31.0 -25.1147) (float-vector -25.1147 31.0 -14.5) (float-vector -25.1147 72.0 -14.5) (float-vector -14.5 72.0 -25.1147)))
         (instance face :init :vertices (list (float-vector -25.1147 31.0 -14.5) (float-vector -29.0 31.0 0.0) (float-vector -29.0 72.0 0.0) (float-vector -25.1147 72.0 -14.5)))
         (instance face :init :vertices (list (float-vector -29.0 31.0 0.0) (float-vector -25.1147 31.0 14.5) (float-vector -25.1147 72.0 14.5) (float-vector -29.0 72.0 0.0)))
         (instance face :init :vertices (list (float-vector -25.1147 31.0 14.5) (float-vector -14.5 31.0 25.1147) (float-vector -14.5 72.0 25.1147) (float-vector -25.1147 72.0 14.5)))
         (instance face :init :vertices (list (float-vector -14.5 31.0 25.1147) (float-vector -2.842171e-14 31.0 29.0) (float-vector -2.842171e-14 72.0 29.0) (float-vector -14.5 72.0 25.1147)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 31.0 29.0) (float-vector 14.5 31.0 25.1147) (float-vector 14.5 72.0 25.1147) (float-vector -2.842171e-14 72.0 29.0)))
         (instance face :init :vertices (list (float-vector 14.5 31.0 25.1147) (float-vector 25.1147 31.0 14.5) (float-vector 25.1147 72.0 14.5) (float-vector 14.5 72.0 25.1147)))
         (instance face :init :vertices (list (float-vector 25.1147 72.0 14.5) (float-vector 29.0 72.0 0.0) (float-vector 25.1147 72.0 -14.5) (float-vector 14.5 72.0 -25.1147) (float-vector 2.842171e-14 72.0 -29.0) (float-vector -14.5 72.0 -25.1147) (float-vector -25.1147 72.0 -14.5) (float-vector -29.0 72.0 0.0) (float-vector -25.1147 72.0 14.5) (float-vector -14.5 72.0 25.1147) (float-vector -2.842171e-14 72.0 29.0) (float-vector 14.5 72.0 25.1147)))
         (instance face :init :vertices (list (float-vector 25.1147 31.0 14.5) (float-vector 29.0 31.0 0.0) (float-vector 29.0 72.0 0.0) (float-vector 25.1147 72.0 14.5)))
         (instance face :init :vertices (list (float-vector 1.0 31.0 -1.0) (float-vector 1.0 31.0 1.0) (float-vector -1.0 31.0 1.0) (float-vector -1.0 31.0 -1.0)))
         (instance face :init :vertices (list (float-vector 29.0 31.0 0.0) (float-vector 25.1147 31.0 14.5) (float-vector 14.5 31.0 25.1147) (float-vector -2.842171e-14 31.0 29.0) (float-vector -14.5 31.0 25.1147) (float-vector -25.1147 31.0 14.5) (float-vector -29.0 31.0 0.0) (float-vector -25.1147 31.0 -14.5) (float-vector -14.5 31.0 -25.1147) (float-vector 1.421085e-14 31.0 -29.0) (float-vector 14.5 31.0 -25.1147) (float-vector 25.1147 31.0 -14.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :h4head-camera1 :weight 170 :centroid (float-vector 4.973799e-14 -1.47676 2.131628e-14) :inertia-tensor #2f((4.833698e+05 1.248670e-11 -2.679525e-10) (1.248670e-11 4.829990e+05 7902.23) (-2.679525e-10 7902.23 93395.7))))

     ;; definition of assoc
     (send blink17 :newcoords (make-coords :pos (float-vector -298.25 0.0 0.0) :rot #2f((2.220446e-16 -7.850462e-17 1.0) (-5.495324e-16 1.0 7.850462e-17) (-1.0 -5.495324e-16 2.220446e-16))))
     (send blink18 :assoc blink17)
     (send blink18 :newcoords (make-coords :pos (float-vector 2.842171e-14 0.0 0.0) :rot #2f((0.0 7.850462e-17 -1.0) (7.850462e-17 1.0 7.850462e-17) (1.0 -7.850462e-17 0.0))))
     (send blink19 :assoc blink18)
     (send blink16 :newcoords (make-coords :pos (float-vector 0.0 5.048710e-29 -20.0) :rot #2f((-2.773339e-32 1.570092e-16 1.0) (-3.140185e-16 1.0 -1.570092e-16) (-1.0 -3.140185e-16 2.773339e-32))))
     (send blink15 :assoc blink16)
     (send blink15 :newcoords (make-coords :pos (float-vector -230.0 -1.215524e-14 -5.0) :rot #2f((3.330669e-16 2.394423e-17 1.0) (1.809535e-16 -1.0 2.394423e-17) (1.0 1.809535e-16 -3.330669e-16))))
     (send blink14 :assoc blink15)
     (send blink14 :newcoords (make-coords :pos (float-vector -2.0 2.524355e-29 -127.0) :rot #2f((1.110223e-16 1.570092e-16 -1.0) (3.140185e-16 1.0 1.570092e-16) (1.0 -3.140185e-16 1.110223e-16))))
     (send blink13 :assoc blink14)
     (send blink13 :newcoords (make-coords :pos (float-vector 0.0 75.0 -4.592425e-15) :rot #2f((1.0 2.355139e-16 -7.850462e-17) (-7.850462e-17 -9.244464e-33 -1.0) (-2.355139e-16 1.0 9.244464e-33))))
     (send blink12 :assoc blink13)
     (send blink12 :newcoords (make-coords :pos (float-vector 0.0 0.0 48.0) :rot #2f((-2.220446e-16 -1.0 -3.330669e-16) (1.665335e-16 -3.330669e-16 1.0) (-1.0 1.665335e-16 2.220446e-16))))
     (send blink11 :assoc blink12)
     (send blink10 :newcoords (make-coords :pos (float-vector 5.684342e-14 0.0 -20.0) :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 blink9 :newcoords (make-coords :pos (float-vector 230.0 0.0 5.0) :rot #2f((2.220446e-16 -8.715764e-32 -1.0) (-8.715764e-32 1.0 -8.715764e-32) (1.0 8.715764e-32 2.220446e-16))))
     (send blink8 :assoc blink9)
     (send blink8 :newcoords (make-coords :pos (float-vector 2.0 1.009742e-28 -127.0) :rot #2f((2.220446e-16 -1.232595e-32 1.0) (1.570092e-16 1.0 -1.232595e-32) (-1.0 1.570092e-16 2.220446e-16))))
     (send blink7 :assoc blink8)
     (send blink7 :newcoords (make-coords :pos (float-vector 0.0 75.0 -4.592425e-15) :rot #2f((1.0 -1.177569e-16 3.925231e-17) (3.925231e-17 2.220446e-16 -1.0) (1.177569e-16 1.0 2.220446e-16))))
     (send blink6 :assoc blink7)
     (send blink6 :newcoords (make-coords :pos (float-vector 0.0 0.0 -48.0) :rot #2f((3.330669e-16 1.0 -1.110223e-16) (-1.110223e-16 1.110223e-16 1.0) (1.0 -3.330669e-16 1.110223e-16))))
     (send blink5 :assoc blink6)
     (send blink3 :newcoords (make-coords :pos (float-vector 47.0 -3.552714e-15 -60.0) :rot #2f((2.220446e-16 -7.850462e-17 1.0) (-5.495324e-16 1.0 7.850462e-17) (-1.0 -5.495324e-16 2.220446e-16))))
     (send blink2 :assoc blink3)
     (send blink4 :newcoords (make-coords :pos (float-vector 47.0 3.552714e-15 60.0) :rot #2f((2.220446e-16 -7.850462e-17 1.0) (-5.495324e-16 1.0 7.850462e-17) (-1.0 -5.495324e-16 2.220446e-16))))
     (send blink2 :assoc blink4)
     (send blink2 :newcoords (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((0.0 7.850462e-17 -1.0) (7.850462e-17 1.0 7.850462e-17) (1.0 -7.850462e-17 0.0))))
     (send blink1 :assoc blink2)
     (send blink1 :newcoords (make-coords :pos (float-vector 20.0 130.0 677.0) :rot #2f((7.216450e-16 1.0 3.486306e-32) (-1.0 7.216450e-16 3.486306e-32) (3.486306e-32 -3.486306e-32 1.0))))
     (send blink0 :assoc blink1)
     (send blink5 :newcoords (make-coords :pos (float-vector -9.231504e-14 252.0 500.0) :rot #2f((3.885781e-16 1.0 2.442491e-15) (-2.775558e-16 2.442491e-15 -1.0) (-1.0 2.775558e-16 3.330669e-16))))
     (send blink0 :assoc blink5)
     (send blink11 :newcoords (make-coords :pos (float-vector 9.145779e-14 8.0 500.0) :rot #2f((0.0 -1.0 1.554312e-15) (0.0 -1.554312e-15 -1.0) (1.0 0.0 0.0))))
     (send blink0 :assoc blink11)
     (send blink19 :newcoords (make-coords :pos (float-vector 20.0 130.0 178.25) :rot #2f((7.216450e-16 1.0 3.486306e-32) (-1.0 7.216450e-16 3.486306e-32) (3.486306e-32 -3.486306e-32 1.0))))
     (send blink0 :assoc blink19)
     (send self :assoc blink0)

     ;; definition of end-coords

     ;; definition of h4head-end-coords
     (setq h4head-end-coords
       (make-cascoords
	:coords (send (send blink2 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((-3.081488e-33 3.925231e-17 1.0) (-1.177569e-16 1.0 -3.925231e-17) (-1.0 -1.177569e-16 3.081488e-33))))))
     (send blink2 :assoc h4head-end-coords)

     ;; definition of h4larm-end-coords
     (setq h4larm-end-coords
       (make-cascoords
	:coords (send (send blink10 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((2.220446e-16 -3.925231e-17 -1.0) (-3.925231e-17 1.0 -3.925231e-17) (1.0 3.925231e-17 2.220446e-16))))))
     (send blink10 :assoc h4larm-end-coords)

     ;; definition of h4rarm-end-coords
     (setq h4rarm-end-coords
       (make-cascoords
	:coords (send (send blink16 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((-3.081488e-33 3.925231e-17 -1.0) (-1.177569e-16 1.0 3.925231e-17) (1.0 1.177569e-16 3.081488e-33))))))
     (send blink16 :assoc h4rarm-end-coords)

     ;; definition of h4waist-end-coords
     (setq h4waist-end-coords
       (make-cascoords
	:coords (send (send blink17 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 0.0 -150.0 -130.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))))
     (send blink17 :assoc h4waist-end-coords)

     ;; definition of joint

     ;; definition of :h4head-neck-z
     (setq joint0 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink1 :name :h4head-neck-z :axis :-z
			     :min -120.0 :max  120.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4head-neck-x
     (setq joint1 (instance rotational-joint :init
			     :parent-link blink1 :child-link blink2 :name :h4head-neck-x :axis :-z
			     :min  -60.0 :max   60.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4head-camera1-z
     (setq joint2 (instance rotational-joint :init
			     :parent-link blink2 :child-link blink3 :name :h4head-camera1-z :axis :-z
			     :min  -60.0 :max   60.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4head-camera2-z
     (setq joint3 (instance rotational-joint :init
			     :parent-link blink2 :child-link blink4 :name :h4head-camera2-z :axis :-z
			     :min  -60.0 :max   60.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4larm-shoulder-p
     (setq joint4 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink5 :name :h4larm-shoulder-p :axis :-z
			     :min  -10.0 :max  170.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4larm-shoulder-r
     (setq joint5 (instance rotational-joint :init
			     :parent-link blink5 :child-link blink6 :name :h4larm-shoulder-r :axis :-z
			     :min -120.0 :max   45.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4larm-shoulder-y
     (setq joint6 (instance rotational-joint :init
			     :parent-link blink6 :child-link blink7 :name :h4larm-shoulder-y :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4larm-elbow-p
     (setq joint7 (instance rotational-joint :init
			     :parent-link blink7 :child-link blink8 :name :h4larm-elbow-p :axis :-z
			     :min   -5.0 :max  135.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4larm-wrist-y
     (setq joint8 (instance rotational-joint :init
			     :parent-link blink8 :child-link blink9 :name :h4larm-wrist-y :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4larm-wrist-p
     (setq joint9 (instance rotational-joint :init
			     :parent-link blink9 :child-link blink10 :name :h4larm-wrist-p :axis :-z
			     :min   -5.0 :max  135.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4rarm-shoulder-p
     (setq joint10 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink11 :name :h4rarm-shoulder-p :axis :-z
			     :min  -10.0 :max  170.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4rarm-shoulder-r
     (setq joint11 (instance rotational-joint :init
			     :parent-link blink11 :child-link blink12 :name :h4rarm-shoulder-r :axis :-z
			     :min -120.0 :max   45.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4rarm-shoulder-y
     (setq joint12 (instance rotational-joint :init
			     :parent-link blink12 :child-link blink13 :name :h4rarm-shoulder-y :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4rarm-elbow-p
     (setq joint13 (instance rotational-joint :init
			     :parent-link blink13 :child-link blink14 :name :h4rarm-elbow-p :axis :-z
			     :min   -5.0 :max  135.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4rarm-wrist-y
     (setq joint14 (instance rotational-joint :init
			     :parent-link blink14 :child-link blink15 :name :h4rarm-wrist-y :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4rarm-wrist-p
     (setq joint15 (instance rotational-joint :init
			     :parent-link blink15 :child-link blink16 :name :h4rarm-wrist-p :axis :-z
			     :min   -5.0 :max  135.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4waist-waist2-z
     (setq joint18 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink19 :name :h4waist-waist2-z :axis :-z
			     :min -180.0 :max  180.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4waist-waist-x
     (setq joint17 (instance rotational-joint :init
			     :parent-link blink19 :child-link blink18 :name :h4waist-waist-x :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :h4waist-waist1-z
     (setq joint16 (instance rotational-joint :init
			     :parent-link blink18 :child-link blink17 :name :h4waist-waist1-z :axis :-z
			     :min -180.0 :max  180.0 :max-joint-velocity 5 :max-joint-torque 100))

     (setq h4head-root-link blink1)
     (setq h4head (list blink1 blink2 blink3 blink4))
     (setq h4larm-root-link blink5)
     (setq h4larm (list blink5 blink6 blink7 blink8 blink9 blink10))
     (setq h4rarm-root-link blink11)
     (setq h4rarm (list blink11 blink12 blink13 blink14 blink15 blink16))
     (setq h4waist-root-link blink19)
     (setq h4waist (list blink19 blink18 blink17))

     ;; init-ending 
     (setq links (list blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 blink8 blink9 blink10 blink11 blink12 blink13 blink14 blink15 blink16 blink17 blink18 blink19))
     (setq joint-list (list joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12 joint13 joint14 joint15 joint16 joint17 joint18))
     ;; 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))

  (:h4head-neck-z (&rest args) (forward-message-to joint0 args))
  (:h4head-neck-x (&rest args) (forward-message-to joint1 args))
  (:h4head-camera1-z (&rest args) (forward-message-to joint2 args))
  (:h4head-camera2-z (&rest args) (forward-message-to joint3 args))
  (:h4larm-shoulder-p (&rest args) (forward-message-to joint4 args))
  (:h4larm-shoulder-r (&rest args) (forward-message-to joint5 args))
  (:h4larm-shoulder-y (&rest args) (forward-message-to joint6 args))
  (:h4larm-elbow-p (&rest args) (forward-message-to joint7 args))
  (:h4larm-wrist-y (&rest args) (forward-message-to joint8 args))
  (:h4larm-wrist-p (&rest args) (forward-message-to joint9 args))
  (:h4rarm-shoulder-p (&rest args) (forward-message-to joint10 args))
  (:h4rarm-shoulder-r (&rest args) (forward-message-to joint11 args))
  (:h4rarm-shoulder-y (&rest args) (forward-message-to joint12 args))
  (:h4rarm-elbow-p (&rest args) (forward-message-to joint13 args))
  (:h4rarm-wrist-y (&rest args) (forward-message-to joint14 args))
  (:h4rarm-wrist-p (&rest args) (forward-message-to joint15 args))
  (:h4waist-waist2-z (&rest args) (forward-message-to joint18 args))
  (:h4waist-waist-x (&rest args) (forward-message-to joint17 args))
  (:h4waist-waist1-z (&rest args) (forward-message-to joint16 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 h4 (&rest args) (instance* h4-robot :init args))
;; (format *error-output* "(instance h4-robot :init) for generating model~%")