File: igoid3-robot.l

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euslisp 9.31%2Bdfsg-3
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file content (3170 lines) | stat: -rw-r--r-- 511,747 bytes
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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version 
;;
;;
(defclass igoid3-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 joint19 joint20 joint21 joint22 joint23 joint24 joint25 joint26 joint27 joint28 joint29 joint30 joint31 joint32 joint33 joint34 joint35 ))
(defmethod igoid3-robot
  (:init
   (&rest args &key (name "igoid3") (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 blink20 blink21 blink22 blink23 blink24 blink25 blink26 blink27 blink28 blink29 blink30 blink31 blink32 blink33 blink34 blink35 blink36
                 )
     (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 -3.9 -23.0 -4.85) (float-vector -3.9 -23.0 -47.15) (float-vector -3.9 -68.0 -47.15) (float-vector -3.9 -68.0 -4.85)))
         (instance face :init :vertices (list (float-vector -3.9 -68.0 -47.15) (float-vector 19.1 -68.0 -47.15) (float-vector 19.1 -68.0 -4.85) (float-vector -3.9 -68.0 -4.85)))
         (instance face :init :vertices (list (float-vector 19.1 -68.0 -47.15) (float-vector 19.1 -23.0 -47.15) (float-vector 19.1 -23.0 -4.85) (float-vector 19.1 -68.0 -4.85)))
         (instance face :init :vertices (list (float-vector 19.1 -23.0 -4.85) (float-vector -3.9 -23.0 -4.85) (float-vector -3.9 -68.0 -4.85) (float-vector 19.1 -68.0 -4.85))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -1.49327 -29.75 -4.85) (float-vector 2.35 -25.9067 -4.85) (float-vector 7.6 -24.5 -4.85) (float-vector 12.85 -25.9067 -4.85) (float-vector 16.6933 -29.75 -4.85) (float-vector 18.1 -35.0 -4.85) (float-vector 16.6933 -40.25 -4.85) (float-vector 12.85 -44.0933 -4.85) (float-vector 7.6 -45.5 -4.85) (float-vector 2.35 -44.0933 -4.85) (float-vector -1.49327 -40.25 -4.85) (float-vector -2.9 -35.0 -4.85)))
))
         (instance face :init :vertices (list (float-vector 19.1 -23.0 -47.15) (float-vector -3.9 -23.0 -47.15) (float-vector -3.9 -23.0 -4.85) (float-vector 19.1 -23.0 -4.85)))
         (instance face :init :vertices (list (float-vector -3.9 -23.0 -47.15) (float-vector 19.1 -23.0 -47.15) (float-vector 19.1 -68.0 -47.15) (float-vector -3.9 -68.0 -47.15))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 2.35 -25.9067 -47.15) (float-vector -1.49327 -29.75 -47.15) (float-vector -2.9 -35.0 -47.15) (float-vector -1.49327 -40.25 -47.15) (float-vector 2.35 -44.0933 -47.15) (float-vector 7.6 -45.5 -47.15) (float-vector 12.85 -44.0933 -47.15) (float-vector 16.6933 -40.25 -47.15) (float-vector 18.1 -35.0 -47.15) (float-vector 16.6933 -29.75 -47.15) (float-vector 12.85 -25.9067 -47.15) (float-vector 7.6 -24.5 -47.15)))
))
         (instance face :init :vertices (list (float-vector -2.9 -35.0 -2.85) (float-vector -2.9 -35.0 -4.85) (float-vector -1.49327 -40.25 -4.85) (float-vector -1.49327 -40.25 -2.85)))
         (instance face :init :vertices (list (float-vector -2.9 -35.0 -47.15) (float-vector -2.9 -35.0 -49.15) (float-vector -1.49327 -40.25 -49.15) (float-vector -1.49327 -40.25 -47.15)))
         (instance face :init :vertices (list (float-vector 2.35 -44.0933 -4.85) (float-vector 2.35 -44.0933 -2.85) (float-vector -1.49327 -40.25 -2.85) (float-vector -1.49327 -40.25 -4.85)))
         (instance face :init :vertices (list (float-vector -1.49327 -40.25 -49.15) (float-vector 2.35 -44.0933 -49.15) (float-vector 2.35 -44.0933 -47.15) (float-vector -1.49327 -40.25 -47.15)))
         (instance face :init :vertices (list (float-vector 7.6 -45.5 -4.85) (float-vector 7.6 -45.5 -2.85) (float-vector 2.35 -44.0933 -2.85) (float-vector 2.35 -44.0933 -4.85)))
         (instance face :init :vertices (list (float-vector 2.35 -44.0933 -49.15) (float-vector 7.6 -45.5 -49.15) (float-vector 7.6 -45.5 -47.15) (float-vector 2.35 -44.0933 -47.15)))
         (instance face :init :vertices (list (float-vector 12.85 -44.0933 -4.85) (float-vector 12.85 -44.0933 -2.85) (float-vector 7.6 -45.5 -2.85) (float-vector 7.6 -45.5 -4.85)))
         (instance face :init :vertices (list (float-vector 7.6 -45.5 -49.15) (float-vector 12.85 -44.0933 -49.15) (float-vector 12.85 -44.0933 -47.15) (float-vector 7.6 -45.5 -47.15)))
         (instance face :init :vertices (list (float-vector 16.6933 -40.25 -4.85) (float-vector 16.6933 -40.25 -2.85) (float-vector 12.85 -44.0933 -2.85) (float-vector 12.85 -44.0933 -4.85)))
         (instance face :init :vertices (list (float-vector 12.85 -44.0933 -49.15) (float-vector 16.6933 -40.25 -49.15) (float-vector 16.6933 -40.25 -47.15) (float-vector 12.85 -44.0933 -47.15)))
         (instance face :init :vertices (list (float-vector 18.1 -35.0 -4.85) (float-vector 18.1 -35.0 -2.85) (float-vector 16.6933 -40.25 -2.85) (float-vector 16.6933 -40.25 -4.85)))
         (instance face :init :vertices (list (float-vector 16.6933 -40.25 -49.15) (float-vector 18.1 -35.0 -49.15) (float-vector 18.1 -35.0 -47.15) (float-vector 16.6933 -40.25 -47.15)))
         (instance face :init :vertices (list (float-vector 16.6933 -29.75 -4.85) (float-vector 16.6933 -29.75 -2.85) (float-vector 18.1 -35.0 -2.85) (float-vector 18.1 -35.0 -4.85)))
         (instance face :init :vertices (list (float-vector 18.1 -35.0 -49.15) (float-vector 16.6933 -29.75 -49.15) (float-vector 16.6933 -29.75 -47.15) (float-vector 18.1 -35.0 -47.15)))
         (instance face :init :vertices (list (float-vector 12.85 -25.9067 -4.85) (float-vector 12.85 -25.9067 -2.85) (float-vector 16.6933 -29.75 -2.85) (float-vector 16.6933 -29.75 -4.85)))
         (instance face :init :vertices (list (float-vector 16.6933 -29.75 -49.15) (float-vector 12.85 -25.9067 -49.15) (float-vector 12.85 -25.9067 -47.15) (float-vector 16.6933 -29.75 -47.15)))
         (instance face :init :vertices (list (float-vector 7.6 -24.5 -4.85) (float-vector 7.6 -24.5 -2.85) (float-vector 12.85 -25.9067 -2.85) (float-vector 12.85 -25.9067 -4.85)))
         (instance face :init :vertices (list (float-vector 12.85 -25.9067 -49.15) (float-vector 7.6 -24.5 -49.15) (float-vector 7.6 -24.5 -47.15) (float-vector 12.85 -25.9067 -47.15)))
         (instance face :init :vertices (list (float-vector 2.35 -25.9067 -4.85) (float-vector 2.35 -25.9067 -2.85) (float-vector 7.6 -24.5 -2.85) (float-vector 7.6 -24.5 -4.85)))
         (instance face :init :vertices (list (float-vector 7.6 -24.5 -49.15) (float-vector 2.35 -25.9067 -49.15) (float-vector 2.35 -25.9067 -47.15) (float-vector 7.6 -24.5 -47.15)))
         (instance face :init :vertices (list (float-vector -1.49327 -29.75 -4.85) (float-vector -1.49327 -29.75 -2.85) (float-vector 2.35 -25.9067 -2.85) (float-vector 2.35 -25.9067 -4.85)))
         (instance face :init :vertices (list (float-vector 2.35 -25.9067 -49.15) (float-vector -1.49327 -29.75 -49.15) (float-vector -1.49327 -29.75 -47.15) (float-vector 2.35 -25.9067 -47.15)))
         (instance face :init :vertices (list (float-vector -1.49327 -29.75 -2.85) (float-vector -2.9 -35.0 -2.85) (float-vector -1.49327 -40.25 -2.85) (float-vector 2.35 -44.0933 -2.85) (float-vector 7.6 -45.5 -2.85) (float-vector 12.85 -44.0933 -2.85) (float-vector 16.6933 -40.25 -2.85) (float-vector 18.1 -35.0 -2.85) (float-vector 16.6933 -29.75 -2.85) (float-vector 12.85 -25.9067 -2.85) (float-vector 7.6 -24.5 -2.85) (float-vector 2.35 -25.9067 -2.85)))
         (instance face :init :vertices (list (float-vector -2.9 -35.0 -2.85) (float-vector -1.49327 -29.75 -2.85) (float-vector -1.49327 -29.75 -4.85) (float-vector -2.9 -35.0 -4.85)))
         (instance face :init :vertices (list (float-vector -1.49327 -29.75 -49.15) (float-vector -2.9 -35.0 -49.15) (float-vector -2.9 -35.0 -47.15) (float-vector -1.49327 -29.75 -47.15)))
         (instance face :init :vertices (list (float-vector -2.9 -35.0 -49.15) (float-vector -1.49327 -29.75 -49.15) (float-vector 2.35 -25.9067 -49.15) (float-vector 7.6 -24.5 -49.15) (float-vector 12.85 -25.9067 -49.15) (float-vector 16.6933 -29.75 -49.15) (float-vector 18.1 -35.0 -49.15) (float-vector 16.6933 -40.25 -49.15) (float-vector 12.85 -44.0933 -49.15) (float-vector 7.6 -45.5 -49.15) (float-vector 2.35 -44.0933 -49.15) (float-vector -1.49327 -40.25 -49.15)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -3.9 23.0 -47.15) (float-vector -3.9 23.0 -4.85) (float-vector -3.9 68.0 -4.85) (float-vector -3.9 68.0 -47.15)))
         (instance face :init :vertices (list (float-vector -3.9 68.0 -4.85) (float-vector 19.1 68.0 -4.85) (float-vector 19.1 68.0 -47.15) (float-vector -3.9 68.0 -47.15)))
         (instance face :init :vertices (list (float-vector 19.1 68.0 -4.85) (float-vector 19.1 23.0 -4.85) (float-vector 19.1 23.0 -47.15) (float-vector 19.1 68.0 -47.15)))
         (instance face :init :vertices (list (float-vector 19.1 23.0 -47.15) (float-vector -3.9 23.0 -47.15) (float-vector -3.9 68.0 -47.15) (float-vector 19.1 68.0 -47.15))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -1.49327 29.75 -47.15) (float-vector 2.35 25.9067 -47.15) (float-vector 7.6 24.5 -47.15) (float-vector 12.85 25.9067 -47.15) (float-vector 16.6933 29.75 -47.15) (float-vector 18.1 35.0 -47.15) (float-vector 16.6933 40.25 -47.15) (float-vector 12.85 44.0933 -47.15) (float-vector 7.6 45.5 -47.15) (float-vector 2.35 44.0933 -47.15) (float-vector -1.49327 40.25 -47.15) (float-vector -2.9 35.0 -47.15)))
))
         (instance face :init :vertices (list (float-vector 19.1 23.0 -4.85) (float-vector -3.9 23.0 -4.85) (float-vector -3.9 23.0 -47.15) (float-vector 19.1 23.0 -47.15)))
         (instance face :init :vertices (list (float-vector -3.9 23.0 -4.85) (float-vector 19.1 23.0 -4.85) (float-vector 19.1 68.0 -4.85) (float-vector -3.9 68.0 -4.85))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 2.35 25.9067 -4.85) (float-vector -1.49327 29.75 -4.85) (float-vector -2.9 35.0 -4.85) (float-vector -1.49327 40.25 -4.85) (float-vector 2.35 44.0933 -4.85) (float-vector 7.6 45.5 -4.85) (float-vector 12.85 44.0933 -4.85) (float-vector 16.6933 40.25 -4.85) (float-vector 18.1 35.0 -4.85) (float-vector 16.6933 29.75 -4.85) (float-vector 12.85 25.9067 -4.85) (float-vector 7.6 24.5 -4.85)))
))
         (instance face :init :vertices (list (float-vector -2.9 35.0 -49.15) (float-vector -2.9 35.0 -47.15) (float-vector -1.49327 40.25 -47.15) (float-vector -1.49327 40.25 -49.15)))
         (instance face :init :vertices (list (float-vector -2.9 35.0 -4.85) (float-vector -2.9 35.0 -2.85) (float-vector -1.49327 40.25 -2.85) (float-vector -1.49327 40.25 -4.85)))
         (instance face :init :vertices (list (float-vector 2.35 44.0933 -47.15) (float-vector 2.35 44.0933 -49.15) (float-vector -1.49327 40.25 -49.15) (float-vector -1.49327 40.25 -47.15)))
         (instance face :init :vertices (list (float-vector -1.49327 40.25 -2.85) (float-vector 2.35 44.0933 -2.85) (float-vector 2.35 44.0933 -4.85) (float-vector -1.49327 40.25 -4.85)))
         (instance face :init :vertices (list (float-vector 7.6 45.5 -47.15) (float-vector 7.6 45.5 -49.15) (float-vector 2.35 44.0933 -49.15) (float-vector 2.35 44.0933 -47.15)))
         (instance face :init :vertices (list (float-vector 2.35 44.0933 -2.85) (float-vector 7.6 45.5 -2.85) (float-vector 7.6 45.5 -4.85) (float-vector 2.35 44.0933 -4.85)))
         (instance face :init :vertices (list (float-vector 12.85 44.0933 -47.15) (float-vector 12.85 44.0933 -49.15) (float-vector 7.6 45.5 -49.15) (float-vector 7.6 45.5 -47.15)))
         (instance face :init :vertices (list (float-vector 7.6 45.5 -2.85) (float-vector 12.85 44.0933 -2.85) (float-vector 12.85 44.0933 -4.85) (float-vector 7.6 45.5 -4.85)))
         (instance face :init :vertices (list (float-vector 16.6933 40.25 -47.15) (float-vector 16.6933 40.25 -49.15) (float-vector 12.85 44.0933 -49.15) (float-vector 12.85 44.0933 -47.15)))
         (instance face :init :vertices (list (float-vector 12.85 44.0933 -2.85) (float-vector 16.6933 40.25 -2.85) (float-vector 16.6933 40.25 -4.85) (float-vector 12.85 44.0933 -4.85)))
         (instance face :init :vertices (list (float-vector 18.1 35.0 -47.15) (float-vector 18.1 35.0 -49.15) (float-vector 16.6933 40.25 -49.15) (float-vector 16.6933 40.25 -47.15)))
         (instance face :init :vertices (list (float-vector 16.6933 40.25 -2.85) (float-vector 18.1 35.0 -2.85) (float-vector 18.1 35.0 -4.85) (float-vector 16.6933 40.25 -4.85)))
         (instance face :init :vertices (list (float-vector 16.6933 29.75 -47.15) (float-vector 16.6933 29.75 -49.15) (float-vector 18.1 35.0 -49.15) (float-vector 18.1 35.0 -47.15)))
         (instance face :init :vertices (list (float-vector 18.1 35.0 -2.85) (float-vector 16.6933 29.75 -2.85) (float-vector 16.6933 29.75 -4.85) (float-vector 18.1 35.0 -4.85)))
         (instance face :init :vertices (list (float-vector 12.85 25.9067 -47.15) (float-vector 12.85 25.9067 -49.15) (float-vector 16.6933 29.75 -49.15) (float-vector 16.6933 29.75 -47.15)))
         (instance face :init :vertices (list (float-vector 16.6933 29.75 -2.85) (float-vector 12.85 25.9067 -2.85) (float-vector 12.85 25.9067 -4.85) (float-vector 16.6933 29.75 -4.85)))
         (instance face :init :vertices (list (float-vector 7.6 24.5 -47.15) (float-vector 7.6 24.5 -49.15) (float-vector 12.85 25.9067 -49.15) (float-vector 12.85 25.9067 -47.15)))
         (instance face :init :vertices (list (float-vector 12.85 25.9067 -2.85) (float-vector 7.6 24.5 -2.85) (float-vector 7.6 24.5 -4.85) (float-vector 12.85 25.9067 -4.85)))
         (instance face :init :vertices (list (float-vector 2.35 25.9067 -47.15) (float-vector 2.35 25.9067 -49.15) (float-vector 7.6 24.5 -49.15) (float-vector 7.6 24.5 -47.15)))
         (instance face :init :vertices (list (float-vector 7.6 24.5 -2.85) (float-vector 2.35 25.9067 -2.85) (float-vector 2.35 25.9067 -4.85) (float-vector 7.6 24.5 -4.85)))
         (instance face :init :vertices (list (float-vector -1.49327 29.75 -47.15) (float-vector -1.49327 29.75 -49.15) (float-vector 2.35 25.9067 -49.15) (float-vector 2.35 25.9067 -47.15)))
         (instance face :init :vertices (list (float-vector 2.35 25.9067 -2.85) (float-vector -1.49327 29.75 -2.85) (float-vector -1.49327 29.75 -4.85) (float-vector 2.35 25.9067 -4.85)))
         (instance face :init :vertices (list (float-vector -1.49327 29.75 -49.15) (float-vector -2.9 35.0 -49.15) (float-vector -1.49327 40.25 -49.15) (float-vector 2.35 44.0933 -49.15) (float-vector 7.6 45.5 -49.15) (float-vector 12.85 44.0933 -49.15) (float-vector 16.6933 40.25 -49.15) (float-vector 18.1 35.0 -49.15) (float-vector 16.6933 29.75 -49.15) (float-vector 12.85 25.9067 -49.15) (float-vector 7.6 24.5 -49.15) (float-vector 2.35 25.9067 -49.15)))
         (instance face :init :vertices (list (float-vector -2.9 35.0 -49.15) (float-vector -1.49327 29.75 -49.15) (float-vector -1.49327 29.75 -47.15) (float-vector -2.9 35.0 -47.15)))
         (instance face :init :vertices (list (float-vector -1.49327 29.75 -2.85) (float-vector -2.9 35.0 -2.85) (float-vector -2.9 35.0 -4.85) (float-vector -1.49327 29.75 -4.85)))
         (instance face :init :vertices (list (float-vector -2.9 35.0 -2.85) (float-vector -1.49327 29.75 -2.85) (float-vector 2.35 25.9067 -2.85) (float-vector 7.6 24.5 -2.85) (float-vector 12.85 25.9067 -2.85) (float-vector 16.6933 29.75 -2.85) (float-vector 18.1 35.0 -2.85) (float-vector 16.6933 40.25 -2.85) (float-vector 12.85 44.0933 -2.85) (float-vector 7.6 45.5 -2.85) (float-vector 2.35 44.0933 -2.85) (float-vector -1.49327 40.25 -2.85)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 22.0 -99.0 118.8) (float-vector 22.0 -99.0 69.0) (float-vector 22.0 -40.0 69.0) (float-vector 22.0 -40.0 118.8)))
         (instance face :init :vertices (list (float-vector 22.0 -40.0 69.0) (float-vector -6.8 -40.0 69.0) (float-vector -6.8 -40.0 118.8) (float-vector 22.0 -40.0 118.8)))
         (instance face :init :vertices (list (float-vector -6.8 -40.0 69.0) (float-vector -6.8 -99.0 69.0) (float-vector -6.8 -99.0 118.8) (float-vector -6.8 -40.0 118.8)))
         (instance face :init :vertices (list (float-vector -6.8 -99.0 118.8) (float-vector 22.0 -99.0 118.8) (float-vector 22.0 -40.0 118.8) (float-vector -6.8 -40.0 118.8))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 19.2047 -91.7 118.8) (float-vector 14.3 -96.6047 118.8) (float-vector 7.6 -98.4 118.8) (float-vector 0.9 -96.6047 118.8) (float-vector -4.00474 -91.7 118.8) (float-vector -5.8 -85.0 118.8) (float-vector -4.00474 -78.3 118.8) (float-vector 0.9 -73.3953 118.8) (float-vector 7.6 -71.6 118.8) (float-vector 14.3 -73.3953 118.8) (float-vector 19.2047 -78.3 118.8) (float-vector 21.0 -85.0 118.8)))
))
         (instance face :init :vertices (list (float-vector -6.8 -99.0 69.0) (float-vector 22.0 -99.0 69.0) (float-vector 22.0 -99.0 118.8) (float-vector -6.8 -99.0 118.8)))
         (instance face :init :vertices (list (float-vector 22.0 -99.0 69.0) (float-vector -6.8 -99.0 69.0) (float-vector -6.8 -40.0 69.0) (float-vector 22.0 -40.0 69.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 14.3 -96.6047 69.0) (float-vector 19.2047 -91.7 69.0) (float-vector 21.0 -85.0 69.0) (float-vector 19.2047 -78.3 69.0) (float-vector 14.3 -73.3953 69.0) (float-vector 7.6 -71.6 69.0) (float-vector 0.9 -73.3953 69.0) (float-vector -4.00474 -78.3 69.0) (float-vector -5.8 -85.0 69.0) (float-vector -4.00474 -91.7 69.0) (float-vector 0.9 -96.6047 69.0) (float-vector 7.6 -98.4 69.0)))
))
         (instance face :init :vertices (list (float-vector 21.0 -85.0 120.8) (float-vector 21.0 -85.0 118.8) (float-vector 19.2047 -78.3 118.8) (float-vector 19.2047 -78.3 120.8)))
         (instance face :init :vertices (list (float-vector 21.0 -85.0 69.0) (float-vector 21.0 -85.0 67.0) (float-vector 19.2047 -78.3 67.0) (float-vector 19.2047 -78.3 69.0)))
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         (instance face :init :vertices (list (float-vector -5.8 -10.5 46.1) (float-vector -11.05 -9.09327 46.1) (float-vector -14.8933 -5.25 46.1) (float-vector -16.3 1.507695e-14 46.1) (float-vector -14.8933 5.25 46.1) (float-vector -11.05 9.09327 46.1) (float-vector -5.8 10.5 46.1) (float-vector -0.55 9.09327 46.1) (float-vector 3.29327 5.25 46.1) (float-vector 4.7 -4.240928e-15 46.1) (float-vector 3.29327 -5.25 46.1) (float-vector -0.55 -9.09327 46.1)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 28.0 89.5 58.0) (float-vector 28.0 75.5 2.0) (float-vector 28.0 -75.5 2.0) (float-vector 28.0 -89.5 58.0)))
         (instance face :init :vertices (list (float-vector 28.0 89.5 58.0) (float-vector 28.0 -89.5 58.0) (float-vector -28.0 -89.5 58.0) (float-vector -28.0 -41.0 58.0) (float-vector 27.0 -41.0 58.0) (float-vector 27.0 41.0 58.0) (float-vector -28.0 41.0 58.0) (float-vector -28.0 89.5 58.0)))
         (instance face :init :vertices (list (float-vector -28.0 89.5 58.0) (float-vector -28.0 41.0 58.0) (float-vector -28.0 41.0 40.0) (float-vector -28.0 -41.0 40.0) (float-vector -28.0 -41.0 58.0) (float-vector -28.0 -89.5 58.0) (float-vector -28.0 -75.5 2.0) (float-vector -28.0 75.5 2.0)))
         (instance face :init :vertices (list (float-vector 28.0 -75.5 2.0) (float-vector 28.0 75.5 2.0) (float-vector -28.0 75.5 2.0) (float-vector -28.0 -75.5 2.0)))
         (instance face :init :vertices (list (float-vector 30.0 75.0 0.0) (float-vector -30.0 75.0 0.0) (float-vector -30.0 90.0 60.0) (float-vector 30.0 90.0 60.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 28.0 75.5 2.0) (float-vector 28.0 89.5 58.0) (float-vector -28.0 89.5 58.0) (float-vector -28.0 75.5 2.0)))
))
         (instance face :init :vertices (list (float-vector 30.0 75.0 0.0) (float-vector 30.0 90.0 60.0) (float-vector 30.0 -90.0 60.0) (float-vector 30.0 -75.0 0.0)))
         (instance face :init :vertices (list (float-vector -30.0 -41.0 60.0) (float-vector -30.0 -41.0 40.0) (float-vector -30.0 41.0 40.0) (float-vector -30.0 41.0 60.0) (float-vector -30.0 90.0 60.0) (float-vector -30.0 75.0 0.0) (float-vector -30.0 -75.0 0.0) (float-vector -30.0 -90.0 60.0)))
         (instance face :init :vertices (list (float-vector 30.0 -90.0 60.0) (float-vector 30.0 90.0 60.0) (float-vector -30.0 90.0 60.0) (float-vector -30.0 41.0 60.0) (float-vector 27.0 41.0 60.0) (float-vector 27.0 -41.0 60.0) (float-vector -30.0 -41.0 60.0) (float-vector -30.0 -90.0 60.0)))
         (instance face :init :vertices (list (float-vector -30.0 -75.0 0.0) (float-vector -30.0 75.0 0.0) (float-vector 30.0 75.0 0.0) (float-vector 30.0 -75.0 0.0)))
         (instance face :init :vertices (list (float-vector 30.0 -75.0 0.0) (float-vector 30.0 -90.0 60.0) (float-vector -30.0 -90.0 60.0) (float-vector -30.0 -75.0 0.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -28.0 -75.5 2.0) (float-vector -28.0 -89.5 58.0) (float-vector 28.0 -89.5 58.0) (float-vector 28.0 -75.5 2.0)))
))
         (instance face :init :vertices (list (float-vector 27.0 -41.0 58.0) (float-vector -28.0 -41.0 58.0) (float-vector -28.0 -41.0 40.0) (float-vector -30.0 -41.0 40.0) (float-vector -30.0 -41.0 60.0) (float-vector 27.0 -41.0 60.0)))
         (instance face :init :vertices (list (float-vector -30.0 41.0 40.0) (float-vector -30.0 -41.0 40.0) (float-vector -28.0 -41.0 40.0) (float-vector -28.0 41.0 40.0)))
         (instance face :init :vertices (list (float-vector 27.0 41.0 58.0) (float-vector 27.0 -41.0 58.0) (float-vector 27.0 -41.0 60.0) (float-vector 27.0 41.0 60.0)))
         (instance face :init :vertices (list (float-vector 27.0 41.0 60.0) (float-vector -30.0 41.0 60.0) (float-vector -30.0 41.0 40.0) (float-vector -28.0 41.0 40.0) (float-vector -28.0 41.0 58.0) (float-vector 27.0 41.0 58.0)))
       ))
       ))
     (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 :gray40)
     (send (elt bc 3) :set-color :gray40)
     (send (elt bc 4) :set-color :gray40)
     (send (elt bc 5) :set-color :gray90)
     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :weight 809 :centroid (float-vector 4.35111 5.320221e-14 39.5425) :inertia-tensor #2f((2.718974e+06 1.256669e-10 -10189.4) (1.256669e-10 1.356561e+06 3.323211e-10) (-10189.4 3.323211e-10 1.432658e+06))))

     ;; definition of :rleg-z-crotch
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -8.881784e-16 -26.0) (float-vector 10.0 25.0 -26.0) (float-vector 10.0 25.0 26.0) (float-vector 10.0 -8.881784e-16 26.0) (float-vector 10.0 -8.881784e-16 24.5) (float-vector 10.0 23.5 24.5) (float-vector 10.0 23.5 -24.5) (float-vector 10.0 -8.881784e-16 -24.5)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -26.0) (float-vector -10.0 25.0 26.0) (float-vector 10.0 25.0 26.0) (float-vector 10.0 25.0 -26.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -26.0) (float-vector -10.0 0.0 -24.5) (float-vector -10.0 23.5 -24.5) (float-vector -10.0 23.5 24.5) (float-vector -10.0 0.0 24.5) (float-vector -10.0 0.0 26.0) (float-vector -10.0 25.0 26.0) (float-vector -10.0 25.0 -26.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 26.0) (float-vector -10.0 0.0 26.0) (float-vector -10.0 0.0 24.5) (float-vector -7.07107 -7.07107 24.5)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -26.0) (float-vector -7.07107 -7.07107 -24.5) (float-vector -10.0 0.0 -24.5) (float-vector -10.0 0.0 -26.0)))
         (instance face :init :vertices (list (float-vector -7.105427e-15 -10.0 26.0) (float-vector -7.07107 -7.07107 26.0) (float-vector -7.07107 -7.07107 24.5) (float-vector -7.105427e-15 -10.0 24.5)))
         (instance face :init :vertices (list (float-vector -7.105427e-15 -10.0 -26.0) (float-vector -7.105427e-15 -10.0 -24.5) (float-vector -7.07107 -7.07107 -24.5) (float-vector -7.07107 -7.07107 -26.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 26.0) (float-vector -7.105427e-15 -10.0 26.0) (float-vector -7.105427e-15 -10.0 24.5) (float-vector 7.07107 -7.07107 24.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -26.0) (float-vector 7.07107 -7.07107 -24.5) (float-vector -7.105427e-15 -10.0 -24.5) (float-vector -7.105427e-15 -10.0 -26.0)))
         (instance face :init :vertices (list (float-vector 10.0 -8.881784e-16 26.0) (float-vector 10.0 25.0 26.0) (float-vector -10.0 25.0 26.0) (float-vector -10.0 0.0 26.0) (float-vector -7.07107 -7.07107 26.0) (float-vector -7.105427e-15 -10.0 26.0) (float-vector 7.07107 -7.07107 26.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -26.0) (float-vector -7.105427e-15 -10.0 -26.0) (float-vector -7.07107 -7.07107 -26.0) (float-vector -10.0 0.0 -26.0) (float-vector -10.0 25.0 -26.0) (float-vector 10.0 25.0 -26.0) (float-vector 10.0 -8.881784e-16 -26.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 26.0) (float-vector 7.07107 -7.07107 24.5) (float-vector 10.0 -8.881784e-16 24.5) (float-vector 10.0 -8.881784e-16 26.0)))
         (instance face :init :vertices (list (float-vector 10.0 -8.881784e-16 -26.0) (float-vector 10.0 -8.881784e-16 -24.5) (float-vector 7.07107 -7.07107 -24.5) (float-vector 7.07107 -7.07107 -26.0)))
         (instance face :init :vertices (list (float-vector 10.0 23.5 24.5) (float-vector 10.0 -8.881784e-16 24.5) (float-vector 7.07107 -7.07107 24.5) (float-vector -7.105427e-15 -10.0 24.5) (float-vector -7.07107 -7.07107 24.5) (float-vector -10.0 0.0 24.5) (float-vector -10.0 23.5 24.5)))
         (instance face :init :vertices (list (float-vector 10.0 23.5 -24.5) (float-vector 10.0 23.5 24.5) (float-vector -10.0 23.5 24.5) (float-vector -10.0 23.5 -24.5)))
         (instance face :init :vertices (list (float-vector -10.0 23.5 -24.5) (float-vector -10.0 0.0 -24.5) (float-vector -7.07107 -7.07107 -24.5) (float-vector -7.105427e-15 -10.0 -24.5) (float-vector 7.07107 -7.07107 -24.5) (float-vector 10.0 -8.881784e-16 -24.5) (float-vector 10.0 23.5 -24.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.0 -17.1 -34.8) (float-vector 14.0 32.7 -34.8) (float-vector -45.0 32.7 -34.8) (float-vector -45.0 -17.1 -34.8)))
         (instance face :init :vertices (list (float-vector -45.0 32.7 -34.8) (float-vector -45.0 32.7 -63.6) (float-vector -45.0 -17.1 -63.6) (float-vector -45.0 -17.1 -34.8)))
         (instance face :init :vertices (list (float-vector -45.0 32.7 -63.6) (float-vector 14.0 32.7 -63.6) (float-vector 14.0 -17.1 -63.6) (float-vector -45.0 -17.1 -63.6)))
         (instance face :init :vertices (list (float-vector 14.0 -17.1 -63.6) (float-vector 14.0 -17.1 -34.8) (float-vector -45.0 -17.1 -34.8) (float-vector -45.0 -17.1 -63.6))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 6.7 -17.1 -37.5953) (float-vector 11.6047 -17.1 -42.5) (float-vector 13.4 -17.1 -49.2) (float-vector 11.6047 -17.1 -55.9) (float-vector 6.7 -17.1 -60.8047) (float-vector -2.842171e-14 -17.1 -62.6) (float-vector -6.7 -17.1 -60.8047) (float-vector -11.6047 -17.1 -55.9) (float-vector -13.4 -17.1 -49.2) (float-vector -11.6047 -17.1 -42.5) (float-vector -6.7 -17.1 -37.5953) (float-vector -7.105427e-15 -17.1 -35.8)))
))
         (instance face :init :vertices (list (float-vector 14.0 32.7 -63.6) (float-vector 14.0 32.7 -34.8) (float-vector 14.0 -17.1 -34.8) (float-vector 14.0 -17.1 -63.6)))
         (instance face :init :vertices (list (float-vector 14.0 32.7 -34.8) (float-vector 14.0 32.7 -63.6) (float-vector -45.0 32.7 -63.6) (float-vector -45.0 32.7 -34.8))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 11.6047 32.7 -42.5) (float-vector 6.7 32.7 -37.5953) (float-vector 1.421085e-14 32.7 -35.8) (float-vector -6.7 32.7 -37.5953) (float-vector -11.6047 32.7 -42.5) (float-vector -13.4 32.7 -49.2) (float-vector -11.6047 32.7 -55.9) (float-vector -6.7 32.7 -60.8047) (float-vector -7.105427e-15 32.7 -62.6) (float-vector 6.7 32.7 -60.8047) (float-vector 11.6047 32.7 -55.9) (float-vector 13.4 32.7 -49.2)))
))
         (instance face :init :vertices (list (float-vector -7.105427e-15 -19.1 -35.8) (float-vector -7.105427e-15 -17.1 -35.8) (float-vector -6.7 -17.1 -37.5953) (float-vector -6.7 -19.1 -37.5953)))
         (instance face :init :vertices (list (float-vector 1.421085e-14 32.7 -35.8) (float-vector 1.421085e-14 34.7 -35.8) (float-vector -6.7 34.7 -37.5953) (float-vector -6.7 32.7 -37.5953)))
         (instance face :init :vertices (list (float-vector -11.6047 -17.1 -42.5) (float-vector -11.6047 -19.1 -42.5) (float-vector -6.7 -19.1 -37.5953) (float-vector -6.7 -17.1 -37.5953)))
         (instance face :init :vertices (list (float-vector -6.7 34.7 -37.5953) (float-vector -11.6047 34.7 -42.5) (float-vector -11.6047 32.7 -42.5) (float-vector -6.7 32.7 -37.5953)))
         (instance face :init :vertices (list (float-vector -13.4 -17.1 -49.2) (float-vector -13.4 -19.1 -49.2) (float-vector -11.6047 -19.1 -42.5) (float-vector -11.6047 -17.1 -42.5)))
         (instance face :init :vertices (list (float-vector -11.6047 34.7 -42.5) (float-vector -13.4 34.7 -49.2) (float-vector -13.4 32.7 -49.2) (float-vector -11.6047 32.7 -42.5)))
         (instance face :init :vertices (list (float-vector -11.6047 -17.1 -55.9) (float-vector -11.6047 -19.1 -55.9) (float-vector -13.4 -19.1 -49.2) (float-vector -13.4 -17.1 -49.2)))
         (instance face :init :vertices (list (float-vector -13.4 34.7 -49.2) (float-vector -11.6047 34.7 -55.9) (float-vector -11.6047 32.7 -55.9) (float-vector -13.4 32.7 -49.2)))
         (instance face :init :vertices (list (float-vector -6.7 -17.1 -60.8047) (float-vector -6.7 -19.1 -60.8047) (float-vector -11.6047 -19.1 -55.9) (float-vector -11.6047 -17.1 -55.9)))
         (instance face :init :vertices (list (float-vector -11.6047 34.7 -55.9) (float-vector -6.7 34.7 -60.8047) (float-vector -6.7 32.7 -60.8047) (float-vector -11.6047 32.7 -55.9)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -17.1 -62.6) (float-vector -2.842171e-14 -19.1 -62.6) (float-vector -6.7 -19.1 -60.8047) (float-vector -6.7 -17.1 -60.8047)))
         (instance face :init :vertices (list (float-vector -6.7 34.7 -60.8047) (float-vector -7.105427e-15 34.7 -62.6) (float-vector -7.105427e-15 32.7 -62.6) (float-vector -6.7 32.7 -60.8047)))
         (instance face :init :vertices (list (float-vector 6.7 -17.1 -60.8047) (float-vector 6.7 -19.1 -60.8047) (float-vector -2.842171e-14 -19.1 -62.6) (float-vector -2.842171e-14 -17.1 -62.6)))
         (instance face :init :vertices (list (float-vector -7.105427e-15 34.7 -62.6) (float-vector 6.7 34.7 -60.8047) (float-vector 6.7 32.7 -60.8047) (float-vector -7.105427e-15 32.7 -62.6)))
         (instance face :init :vertices (list (float-vector 11.6047 -17.1 -55.9) (float-vector 11.6047 -19.1 -55.9) (float-vector 6.7 -19.1 -60.8047) (float-vector 6.7 -17.1 -60.8047)))
         (instance face :init :vertices (list (float-vector 6.7 34.7 -60.8047) (float-vector 11.6047 34.7 -55.9) (float-vector 11.6047 32.7 -55.9) (float-vector 6.7 32.7 -60.8047)))
         (instance face :init :vertices (list (float-vector 13.4 -17.1 -49.2) (float-vector 13.4 -19.1 -49.2) (float-vector 11.6047 -19.1 -55.9) (float-vector 11.6047 -17.1 -55.9)))
         (instance face :init :vertices (list (float-vector 11.6047 34.7 -55.9) (float-vector 13.4 34.7 -49.2) (float-vector 13.4 32.7 -49.2) (float-vector 11.6047 32.7 -55.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -17.1 -42.5) (float-vector 11.6047 -19.1 -42.5) (float-vector 13.4 -19.1 -49.2) (float-vector 13.4 -17.1 -49.2)))
         (instance face :init :vertices (list (float-vector 13.4 34.7 -49.2) (float-vector 11.6047 34.7 -42.5) (float-vector 11.6047 32.7 -42.5) (float-vector 13.4 32.7 -49.2)))
         (instance face :init :vertices (list (float-vector 6.7 -17.1 -37.5953) (float-vector 6.7 -19.1 -37.5953) (float-vector 11.6047 -19.1 -42.5) (float-vector 11.6047 -17.1 -42.5)))
         (instance face :init :vertices (list (float-vector 11.6047 34.7 -42.5) (float-vector 6.7 34.7 -37.5953) (float-vector 6.7 32.7 -37.5953) (float-vector 11.6047 32.7 -42.5)))
         (instance face :init :vertices (list (float-vector 6.7 -19.1 -37.5953) (float-vector -7.105427e-15 -19.1 -35.8) (float-vector -6.7 -19.1 -37.5953) (float-vector -11.6047 -19.1 -42.5) (float-vector -13.4 -19.1 -49.2) (float-vector -11.6047 -19.1 -55.9) (float-vector -6.7 -19.1 -60.8047) (float-vector -2.842171e-14 -19.1 -62.6) (float-vector 6.7 -19.1 -60.8047) (float-vector 11.6047 -19.1 -55.9) (float-vector 13.4 -19.1 -49.2) (float-vector 11.6047 -19.1 -42.5)))
         (instance face :init :vertices (list (float-vector -7.105427e-15 -19.1 -35.8) (float-vector 6.7 -19.1 -37.5953) (float-vector 6.7 -17.1 -37.5953) (float-vector -7.105427e-15 -17.1 -35.8)))
         (instance face :init :vertices (list (float-vector 6.7 34.7 -37.5953) (float-vector 1.421085e-14 34.7 -35.8) (float-vector 1.421085e-14 32.7 -35.8) (float-vector 6.7 32.7 -37.5953)))
         (instance face :init :vertices (list (float-vector 1.421085e-14 34.7 -35.8) (float-vector 6.7 34.7 -37.5953) (float-vector 11.6047 34.7 -42.5) (float-vector 13.4 34.7 -49.2) (float-vector 11.6047 34.7 -55.9) (float-vector 6.7 34.7 -60.8047) (float-vector -7.105427e-15 34.7 -62.6) (float-vector -6.7 34.7 -60.8047) (float-vector -11.6047 34.7 -55.9) (float-vector -13.4 34.7 -49.2) (float-vector -11.6047 34.7 -42.5) (float-vector -6.7 34.7 -37.5953)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 22.0 -3.95 -28.1) (float-vector 22.0 -3.95 -63.6) (float-vector 14.0 -3.95 -63.6) (float-vector 14.0 -3.95 -34.8) (float-vector -45.0 -3.95 -34.8) (float-vector -45.0 -3.95 -63.6) (float-vector -53.0 -3.95 -63.6) (float-vector -53.0 -3.95 -28.1)))
         (instance face :init :vertices (list (float-vector 22.0 -3.95 -28.1) (float-vector -53.0 -3.95 -28.1) (float-vector -53.0 43.55 -28.1) (float-vector 22.0 43.55 -28.1)))
         (instance face :init :vertices (list (float-vector 22.0 43.55 -28.1) (float-vector -53.0 43.55 -28.1) (float-vector -53.0 43.55 -63.6) (float-vector 22.0 43.55 -63.6)))
         (instance face :init :vertices (list (float-vector -53.0 -5.45 -63.6) (float-vector -53.0 -3.95 -63.6) (float-vector -45.0 -3.95 -63.6) (float-vector -45.0 -5.45 -63.6)))
         (instance face :init :vertices (list (float-vector 14.0 -5.45 -63.6) (float-vector 14.0 -3.95 -63.6) (float-vector 22.0 -3.95 -63.6) (float-vector 22.0 -5.45 -63.6)))
         (instance face :init :vertices (list (float-vector 22.0 45.05 -63.6) (float-vector 22.0 43.55 -63.6) (float-vector -53.0 43.55 -63.6) (float-vector -53.0 45.05 -63.6)))
         (instance face :init :vertices (list (float-vector -53.0 -5.45 -63.6) (float-vector -45.0 -5.45 -63.6) (float-vector -45.0 -5.45 -34.8) (float-vector 14.0 -5.45 -34.8) (float-vector 14.0 -5.45 -63.6) (float-vector 22.0 -5.45 -63.6) (float-vector 22.0 -5.45 -26.6) (float-vector -53.0 -5.45 -26.6)))
         (instance face :init :vertices (list (float-vector 22.0 45.05 -63.6) (float-vector -53.0 45.05 -63.6) (float-vector -53.0 45.05 -26.6) (float-vector 22.0 45.05 -26.6)))
         (instance face :init :vertices (list (float-vector 22.0 -5.45 -26.6) (float-vector 22.0 -5.45 -63.6) (float-vector 22.0 -3.95 -63.6) (float-vector 22.0 -3.95 -28.1) (float-vector 22.0 43.55 -28.1) (float-vector 22.0 43.55 -63.6) (float-vector 22.0 45.05 -63.6) (float-vector 22.0 45.05 -26.6)))
         (instance face :init :vertices (list (float-vector -53.0 45.05 -26.6) (float-vector -53.0 45.05 -63.6) (float-vector -53.0 43.55 -63.6) (float-vector -53.0 43.55 -28.1) (float-vector -53.0 -3.95 -28.1) (float-vector -53.0 -3.95 -63.6) (float-vector -53.0 -5.45 -63.6) (float-vector -53.0 -5.45 -26.6)))
         (instance face :init :vertices (list (float-vector -53.0 -5.45 -26.6) (float-vector 22.0 -5.45 -26.6) (float-vector 22.0 45.05 -26.6) (float-vector -53.0 45.05 -26.6)))
         (instance face :init :vertices (list (float-vector -45.0 -5.45 -34.8) (float-vector -45.0 -5.45 -63.6) (float-vector -45.0 -3.95 -63.6) (float-vector -45.0 -3.95 -34.8)))
         (instance face :init :vertices (list (float-vector 14.0 -3.95 -34.8) (float-vector 14.0 -3.95 -63.6) (float-vector 14.0 -5.45 -63.6) (float-vector 14.0 -5.45 -34.8)))
         (instance face :init :vertices (list (float-vector 14.0 -5.45 -34.8) (float-vector -45.0 -5.45 -34.8) (float-vector -45.0 -3.95 -34.8) (float-vector 14.0 -3.95 -34.8)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray90)
     (setq blink25 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-z-crotch :weight 136.165 :centroid (float-vector -14.1543 10.9072 -43.8955) :inertia-tensor #2f((56660.4 -918.23 -6239.34) (-918.23 65451.7 -3620.59) (-6239.34 -3620.59 57767.2))))

     ;; definition of :rleg-y-crotch
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 0.0 30.0) (float-vector 13.0 0.0 28.5) (float-vector 13.0 28.0 28.5) (float-vector 13.0 28.0 -28.5) (float-vector 13.0 0.0 -28.5)))
         (instance face :init :vertices (list (float-vector -13.0 29.5 -30.0) (float-vector -13.0 29.5 30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -13.0 0.0 -30.0) (float-vector -13.0 0.0 -28.5) (float-vector -13.0 28.0 -28.5) (float-vector -13.0 28.0 28.5) (float-vector -13.0 0.0 28.5) (float-vector -13.0 0.0 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 30.0) (float-vector -13.0 0.0 30.0) (float-vector -13.0 0.0 28.5) (float-vector -9.19239 -9.19239 28.5)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 -30.0) (float-vector -9.19239 -9.19239 -28.5) (float-vector -13.0 0.0 -28.5) (float-vector -13.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector -7.105427e-15 -13.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector -9.19239 -9.19239 28.5) (float-vector -7.105427e-15 -13.0 28.5)))
         (instance face :init :vertices (list (float-vector -1.421085e-14 -13.0 -30.0) (float-vector -1.421085e-14 -13.0 -28.5) (float-vector -9.19239 -9.19239 -28.5) (float-vector -9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector -7.105427e-15 -13.0 30.0) (float-vector -7.105427e-15 -13.0 28.5) (float-vector 9.19239 -9.19239 28.5)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector 9.19239 -9.19239 -28.5) (float-vector -1.421085e-14 -13.0 -28.5) (float-vector -1.421085e-14 -13.0 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 0.0 30.0) (float-vector 13.0 29.5 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 0.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector -7.105427e-15 -13.0 30.0) (float-vector 9.19239 -9.19239 30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector -1.421085e-14 -13.0 -30.0) (float-vector -9.19239 -9.19239 -30.0) (float-vector -13.0 0.0 -30.0) (float-vector -13.0 29.5 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector 9.19239 -9.19239 28.5) (float-vector 13.0 0.0 28.5) (float-vector 13.0 0.0 30.0)))
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 0.0 -28.5) (float-vector 9.19239 -9.19239 -28.5) (float-vector 9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 28.0 28.5) (float-vector 13.0 0.0 28.5) (float-vector 9.19239 -9.19239 28.5) (float-vector -7.105427e-15 -13.0 28.5) (float-vector -9.19239 -9.19239 28.5) (float-vector -13.0 0.0 28.5) (float-vector -13.0 28.0 28.5)))
         (instance face :init :vertices (list (float-vector 13.0 28.0 -28.5) (float-vector 13.0 28.0 28.5) (float-vector -13.0 28.0 28.5) (float-vector -13.0 28.0 -28.5)))
         (instance face :init :vertices (list (float-vector -13.0 28.0 -28.5) (float-vector -13.0 0.0 -28.5) (float-vector -9.19239 -9.19239 -28.5) (float-vector -1.421085e-14 -13.0 -28.5) (float-vector 9.19239 -9.19239 -28.5) (float-vector 13.0 0.0 -28.5) (float-vector 13.0 28.0 -28.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 35.9 37.1 22.0) (float-vector -13.9 37.1 22.0) (float-vector -13.9 37.1 -37.0) (float-vector 35.9 37.1 -37.0)))
         (instance face :init :vertices (list (float-vector -13.9 37.1 -37.0) (float-vector -13.9 65.9 -37.0) (float-vector 35.9 65.9 -37.0) (float-vector 35.9 37.1 -37.0)))
         (instance face :init :vertices (list (float-vector -13.9 65.9 -37.0) (float-vector -13.9 65.9 22.0) (float-vector 35.9 65.9 22.0) (float-vector 35.9 65.9 -37.0)))
         (instance face :init :vertices (list (float-vector 35.9 65.9 22.0) (float-vector 35.9 37.1 22.0) (float-vector 35.9 37.1 -37.0) (float-vector 35.9 65.9 -37.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 35.9 39.8953 14.7) (float-vector 35.9 44.8 19.6047) (float-vector 35.9 51.5 21.4) (float-vector 35.9 58.2 19.6047) (float-vector 35.9 63.1047 14.7) (float-vector 35.9 64.9 8.0) (float-vector 35.9 63.1047 1.3) (float-vector 35.9 58.2 -3.60474) (float-vector 35.9 51.5 -5.4) (float-vector 35.9 44.8 -3.60474) (float-vector 35.9 39.8953 1.3) (float-vector 35.9 38.1 8.0)))
))
         (instance face :init :vertices (list (float-vector -13.9 65.9 22.0) (float-vector -13.9 37.1 22.0) (float-vector 35.9 37.1 22.0) (float-vector 35.9 65.9 22.0)))
         (instance face :init :vertices (list (float-vector -13.9 37.1 22.0) (float-vector -13.9 65.9 22.0) (float-vector -13.9 65.9 -37.0) (float-vector -13.9 37.1 -37.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -13.9 44.8 19.6047) (float-vector -13.9 39.8953 14.7) (float-vector -13.9 38.1 8.0) (float-vector -13.9 39.8953 1.3) (float-vector -13.9 44.8 -3.60474) (float-vector -13.9 51.5 -5.4) (float-vector -13.9 58.2 -3.60474) (float-vector -13.9 63.1047 1.3) (float-vector -13.9 64.9 8.0) (float-vector -13.9 63.1047 14.7) (float-vector -13.9 58.2 19.6047) (float-vector -13.9 51.5 21.4)))
))
         (instance face :init :vertices (list (float-vector 37.9 38.1 8.0) (float-vector 35.9 38.1 8.0) (float-vector 35.9 39.8953 1.3) (float-vector 37.9 39.8953 1.3)))
         (instance face :init :vertices (list (float-vector -13.9 38.1 8.0) (float-vector -15.9 38.1 8.0) (float-vector -15.9 39.8953 1.3) (float-vector -13.9 39.8953 1.3)))
         (instance face :init :vertices (list (float-vector 35.9 44.8 -3.60474) (float-vector 37.9 44.8 -3.60474) (float-vector 37.9 39.8953 1.3) (float-vector 35.9 39.8953 1.3)))
         (instance face :init :vertices (list (float-vector -15.9 39.8953 1.3) (float-vector -15.9 44.8 -3.60474) (float-vector -13.9 44.8 -3.60474) (float-vector -13.9 39.8953 1.3)))
         (instance face :init :vertices (list (float-vector 35.9 51.5 -5.4) (float-vector 37.9 51.5 -5.4) (float-vector 37.9 44.8 -3.60474) (float-vector 35.9 44.8 -3.60474)))
         (instance face :init :vertices (list (float-vector -15.9 44.8 -3.60474) (float-vector -15.9 51.5 -5.4) (float-vector -13.9 51.5 -5.4) (float-vector -13.9 44.8 -3.60474)))
         (instance face :init :vertices (list (float-vector 35.9 58.2 -3.60474) (float-vector 37.9 58.2 -3.60474) (float-vector 37.9 51.5 -5.4) (float-vector 35.9 51.5 -5.4)))
         (instance face :init :vertices (list (float-vector -15.9 51.5 -5.4) (float-vector -15.9 58.2 -3.60474) (float-vector -13.9 58.2 -3.60474) (float-vector -13.9 51.5 -5.4)))
         (instance face :init :vertices (list (float-vector 35.9 63.1047 1.3) (float-vector 37.9 63.1047 1.3) (float-vector 37.9 58.2 -3.60474) (float-vector 35.9 58.2 -3.60474)))
         (instance face :init :vertices (list (float-vector -15.9 58.2 -3.60474) (float-vector -15.9 63.1047 1.3) (float-vector -13.9 63.1047 1.3) (float-vector -13.9 58.2 -3.60474)))
         (instance face :init :vertices (list (float-vector 35.9 64.9 8.0) (float-vector 37.9 64.9 8.0) (float-vector 37.9 63.1047 1.3) (float-vector 35.9 63.1047 1.3)))
         (instance face :init :vertices (list (float-vector -15.9 63.1047 1.3) (float-vector -15.9 64.9 8.0) (float-vector -13.9 64.9 8.0) (float-vector -13.9 63.1047 1.3)))
         (instance face :init :vertices (list (float-vector 35.9 63.1047 14.7) (float-vector 37.9 63.1047 14.7) (float-vector 37.9 64.9 8.0) (float-vector 35.9 64.9 8.0)))
         (instance face :init :vertices (list (float-vector -15.9 64.9 8.0) (float-vector -15.9 63.1047 14.7) (float-vector -13.9 63.1047 14.7) (float-vector -13.9 64.9 8.0)))
         (instance face :init :vertices (list (float-vector 35.9 58.2 19.6047) (float-vector 37.9 58.2 19.6047) (float-vector 37.9 63.1047 14.7) (float-vector 35.9 63.1047 14.7)))
         (instance face :init :vertices (list (float-vector -15.9 63.1047 14.7) (float-vector -15.9 58.2 19.6047) (float-vector -13.9 58.2 19.6047) (float-vector -13.9 63.1047 14.7)))
         (instance face :init :vertices (list (float-vector 35.9 51.5 21.4) (float-vector 37.9 51.5 21.4) (float-vector 37.9 58.2 19.6047) (float-vector 35.9 58.2 19.6047)))
         (instance face :init :vertices (list (float-vector -15.9 58.2 19.6047) (float-vector -15.9 51.5 21.4) (float-vector -13.9 51.5 21.4) (float-vector -13.9 58.2 19.6047)))
         (instance face :init :vertices (list (float-vector 35.9 44.8 19.6047) (float-vector 37.9 44.8 19.6047) (float-vector 37.9 51.5 21.4) (float-vector 35.9 51.5 21.4)))
         (instance face :init :vertices (list (float-vector -15.9 51.5 21.4) (float-vector -15.9 44.8 19.6047) (float-vector -13.9 44.8 19.6047) (float-vector -13.9 51.5 21.4)))
         (instance face :init :vertices (list (float-vector 35.9 39.8953 14.7) (float-vector 37.9 39.8953 14.7) (float-vector 37.9 44.8 19.6047) (float-vector 35.9 44.8 19.6047)))
         (instance face :init :vertices (list (float-vector -15.9 44.8 19.6047) (float-vector -15.9 39.8953 14.7) (float-vector -13.9 39.8953 14.7) (float-vector -13.9 44.8 19.6047)))
         (instance face :init :vertices (list (float-vector 37.9 39.8953 14.7) (float-vector 37.9 38.1 8.0) (float-vector 37.9 39.8953 1.3) (float-vector 37.9 44.8 -3.60474) (float-vector 37.9 51.5 -5.4) (float-vector 37.9 58.2 -3.60474) (float-vector 37.9 63.1047 1.3) (float-vector 37.9 64.9 8.0) (float-vector 37.9 63.1047 14.7) (float-vector 37.9 58.2 19.6047) (float-vector 37.9 51.5 21.4) (float-vector 37.9 44.8 19.6047)))
         (instance face :init :vertices (list (float-vector 37.9 38.1 8.0) (float-vector 37.9 39.8953 14.7) (float-vector 35.9 39.8953 14.7) (float-vector 35.9 38.1 8.0)))
         (instance face :init :vertices (list (float-vector -15.9 39.8953 14.7) (float-vector -15.9 38.1 8.0) (float-vector -13.9 38.1 8.0) (float-vector -13.9 39.8953 14.7)))
         (instance face :init :vertices (list (float-vector -15.9 38.1 8.0) (float-vector -15.9 39.8953 14.7) (float-vector -15.9 44.8 19.6047) (float-vector -15.9 51.5 21.4) (float-vector -15.9 58.2 19.6047) (float-vector -15.9 63.1047 14.7) (float-vector -15.9 64.9 8.0) (float-vector -15.9 63.1047 1.3) (float-vector -15.9 58.2 -3.60474) (float-vector -15.9 51.5 -5.4) (float-vector -15.9 44.8 -3.60474) (float-vector -15.9 39.8953 1.3)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 22.75 30.4 30.0) (float-vector 22.75 65.9 30.0) (float-vector 22.75 65.9 22.0) (float-vector 22.75 37.1 22.0) (float-vector 22.75 37.1 -37.0) (float-vector 22.75 65.9 -37.0) (float-vector 22.75 65.9 -45.0) (float-vector 22.75 30.4 -45.0)))
         (instance face :init :vertices (list (float-vector 22.75 30.4 30.0) (float-vector 22.75 30.4 -45.0) (float-vector -24.75 30.4 -45.0) (float-vector -24.75 30.4 30.0)))
         (instance face :init :vertices (list (float-vector -24.75 30.4 30.0) (float-vector -24.75 30.4 -45.0) (float-vector -24.75 65.9 -45.0) (float-vector -24.75 65.9 30.0)))
         (instance face :init :vertices (list (float-vector 24.25 65.9 -45.0) (float-vector 22.75 65.9 -45.0) (float-vector 22.75 65.9 -37.0) (float-vector 24.25 65.9 -37.0)))
         (instance face :init :vertices (list (float-vector 24.25 65.9 22.0) (float-vector 22.75 65.9 22.0) (float-vector 22.75 65.9 30.0) (float-vector 24.25 65.9 30.0)))
         (instance face :init :vertices (list (float-vector -26.25 65.9 30.0) (float-vector -24.75 65.9 30.0) (float-vector -24.75 65.9 -45.0) (float-vector -26.25 65.9 -45.0)))
         (instance face :init :vertices (list (float-vector 24.25 65.9 -45.0) (float-vector 24.25 65.9 -37.0) (float-vector 24.25 37.1 -37.0) (float-vector 24.25 37.1 22.0) (float-vector 24.25 65.9 22.0) (float-vector 24.25 65.9 30.0) (float-vector 24.25 28.9 30.0) (float-vector 24.25 28.9 -45.0)))
         (instance face :init :vertices (list (float-vector -26.25 65.9 30.0) (float-vector -26.25 65.9 -45.0) (float-vector -26.25 28.9 -45.0) (float-vector -26.25 28.9 30.0)))
         (instance face :init :vertices (list (float-vector 24.25 28.9 30.0) (float-vector 24.25 65.9 30.0) (float-vector 22.75 65.9 30.0) (float-vector 22.75 30.4 30.0) (float-vector -24.75 30.4 30.0) (float-vector -24.75 65.9 30.0) (float-vector -26.25 65.9 30.0) (float-vector -26.25 28.9 30.0)))
         (instance face :init :vertices (list (float-vector -26.25 28.9 -45.0) (float-vector -26.25 65.9 -45.0) (float-vector -24.75 65.9 -45.0) (float-vector -24.75 30.4 -45.0) (float-vector 22.75 30.4 -45.0) (float-vector 22.75 65.9 -45.0) (float-vector 24.25 65.9 -45.0) (float-vector 24.25 28.9 -45.0)))
         (instance face :init :vertices (list (float-vector 24.25 28.9 -45.0) (float-vector 24.25 28.9 30.0) (float-vector -26.25 28.9 30.0) (float-vector -26.25 28.9 -45.0)))
         (instance face :init :vertices (list (float-vector 24.25 37.1 -37.0) (float-vector 24.25 65.9 -37.0) (float-vector 22.75 65.9 -37.0) (float-vector 22.75 37.1 -37.0)))
         (instance face :init :vertices (list (float-vector 22.75 37.1 22.0) (float-vector 22.75 65.9 22.0) (float-vector 24.25 65.9 22.0) (float-vector 24.25 37.1 22.0)))
         (instance face :init :vertices (list (float-vector 24.25 37.1 22.0) (float-vector 24.25 37.1 -37.0) (float-vector 22.75 37.1 -37.0) (float-vector 22.75 37.1 22.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray90)
     (setq blink26 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-y-crotch :weight 141.151 :centroid (float-vector 7.40122 46.2143 -6.45634) :inertia-tensor #2f((64613.8 -4995.07 929.863) (-4995.07 65345.2 2954.44) (929.863 2954.44 49412.1))))

     ;; definition of :rleg-x-crotch
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 0.0 30.0) (float-vector 13.0 0.0 28.5) (float-vector 13.0 28.0 28.5) (float-vector 13.0 28.0 -28.5) (float-vector 13.0 0.0 -28.5)))
         (instance face :init :vertices (list (float-vector -13.0 29.5 -30.0) (float-vector -13.0 29.5 30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -13.0 -2.842171e-14 -30.0) (float-vector -13.0 -2.842171e-14 -28.5) (float-vector -13.0 28.0 -28.5) (float-vector -13.0 28.0 28.5) (float-vector -13.0 -2.842171e-14 28.5) (float-vector -13.0 -2.842171e-14 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 30.0) (float-vector -13.0 -2.842171e-14 30.0) (float-vector -13.0 -2.842171e-14 28.5) (float-vector -9.19239 -9.19239 28.5)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 -30.0) (float-vector -9.19239 -9.19239 -28.5) (float-vector -13.0 -2.842171e-14 -28.5) (float-vector -13.0 -2.842171e-14 -30.0)))
         (instance face :init :vertices (list (float-vector 0.0 -13.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector -9.19239 -9.19239 28.5) (float-vector 0.0 -13.0 28.5)))
         (instance face :init :vertices (list (float-vector 0.0 -13.0 -30.0) (float-vector 0.0 -13.0 -28.5) (float-vector -9.19239 -9.19239 -28.5) (float-vector -9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector 0.0 -13.0 30.0) (float-vector 0.0 -13.0 28.5) (float-vector 9.19239 -9.19239 28.5)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector 9.19239 -9.19239 -28.5) (float-vector 0.0 -13.0 -28.5) (float-vector 0.0 -13.0 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 0.0 30.0) (float-vector 13.0 29.5 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 -2.842171e-14 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector 0.0 -13.0 30.0) (float-vector 9.19239 -9.19239 30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector 0.0 -13.0 -30.0) (float-vector -9.19239 -9.19239 -30.0) (float-vector -13.0 -2.842171e-14 -30.0) (float-vector -13.0 29.5 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector 9.19239 -9.19239 28.5) (float-vector 13.0 0.0 28.5) (float-vector 13.0 0.0 30.0)))
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 0.0 -28.5) (float-vector 9.19239 -9.19239 -28.5) (float-vector 9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 28.0 28.5) (float-vector 13.0 0.0 28.5) (float-vector 9.19239 -9.19239 28.5) (float-vector 0.0 -13.0 28.5) (float-vector -9.19239 -9.19239 28.5) (float-vector -13.0 -2.842171e-14 28.5) (float-vector -13.0 28.0 28.5)))
         (instance face :init :vertices (list (float-vector 13.0 28.0 -28.5) (float-vector 13.0 28.0 28.5) (float-vector -13.0 28.0 28.5) (float-vector -13.0 28.0 -28.5)))
         (instance face :init :vertices (list (float-vector -13.0 28.0 -28.5) (float-vector -13.0 -2.842171e-14 -28.5) (float-vector -9.19239 -9.19239 -28.5) (float-vector 0.0 -13.0 -28.5) (float-vector 9.19239 -9.19239 -28.5) (float-vector 13.0 0.0 -28.5) (float-vector 13.0 28.0 -28.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -14.4 101.0 24.9) (float-vector -14.4 101.0 -24.9) (float-vector -14.4 42.0 -24.9) (float-vector -14.4 42.0 24.9)))
         (instance face :init :vertices (list (float-vector -14.4 42.0 -24.9) (float-vector 14.4 42.0 -24.9) (float-vector 14.4 42.0 24.9) (float-vector -14.4 42.0 24.9)))
         (instance face :init :vertices (list (float-vector 14.4 42.0 -24.9) (float-vector 14.4 101.0 -24.9) (float-vector 14.4 101.0 24.9) (float-vector 14.4 42.0 24.9)))
         (instance face :init :vertices (list (float-vector 14.4 101.0 24.9) (float-vector -14.4 101.0 24.9) (float-vector -14.4 42.0 24.9) (float-vector 14.4 42.0 24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -11.6047 93.7 24.9) (float-vector -6.7 98.6047 24.9) (float-vector 2.842171e-14 100.4 24.9) (float-vector 6.7 98.6047 24.9) (float-vector 11.6047 93.7 24.9) (float-vector 13.4 87.0 24.9) (float-vector 11.6047 80.3 24.9) (float-vector 6.7 75.3953 24.9) (float-vector -2.842171e-14 73.6 24.9) (float-vector -6.7 75.3953 24.9) (float-vector -11.6047 80.3 24.9) (float-vector -13.4 87.0 24.9)))
))
         (instance face :init :vertices (list (float-vector 14.4 101.0 -24.9) (float-vector -14.4 101.0 -24.9) (float-vector -14.4 101.0 24.9) (float-vector 14.4 101.0 24.9)))
         (instance face :init :vertices (list (float-vector -14.4 101.0 -24.9) (float-vector 14.4 101.0 -24.9) (float-vector 14.4 42.0 -24.9) (float-vector -14.4 42.0 -24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -6.7 98.6047 -24.9) (float-vector -11.6047 93.7 -24.9) (float-vector -13.4 87.0 -24.9) (float-vector -11.6047 80.3 -24.9) (float-vector -6.7 75.3953 -24.9) (float-vector 0.0 73.6 -24.9) (float-vector 6.7 75.3953 -24.9) (float-vector 11.6047 80.3 -24.9) (float-vector 13.4 87.0 -24.9) (float-vector 11.6047 93.7 -24.9) (float-vector 6.7 98.6047 -24.9) (float-vector 2.842171e-14 100.4 -24.9)))
))
         (instance face :init :vertices (list (float-vector -13.4 87.0 26.9) (float-vector -13.4 87.0 24.9) (float-vector -11.6047 80.3 24.9) (float-vector -11.6047 80.3 26.9)))
         (instance face :init :vertices (list (float-vector -13.4 87.0 -24.9) (float-vector -13.4 87.0 -26.9) (float-vector -11.6047 80.3 -26.9) (float-vector -11.6047 80.3 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 75.3953 24.9) (float-vector -6.7 75.3953 26.9) (float-vector -11.6047 80.3 26.9) (float-vector -11.6047 80.3 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 80.3 -26.9) (float-vector -6.7 75.3953 -26.9) (float-vector -6.7 75.3953 -24.9) (float-vector -11.6047 80.3 -24.9)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 73.6 24.9) (float-vector -2.842171e-14 73.6 26.9) (float-vector -6.7 75.3953 26.9) (float-vector -6.7 75.3953 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 75.3953 -26.9) (float-vector 0.0 73.6 -26.9) (float-vector 0.0 73.6 -24.9) (float-vector -6.7 75.3953 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 75.3953 24.9) (float-vector 6.7 75.3953 26.9) (float-vector -2.842171e-14 73.6 26.9) (float-vector -2.842171e-14 73.6 24.9)))
         (instance face :init :vertices (list (float-vector 0.0 73.6 -26.9) (float-vector 6.7 75.3953 -26.9) (float-vector 6.7 75.3953 -24.9) (float-vector 0.0 73.6 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 80.3 24.9) (float-vector 11.6047 80.3 26.9) (float-vector 6.7 75.3953 26.9) (float-vector 6.7 75.3953 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 75.3953 -26.9) (float-vector 11.6047 80.3 -26.9) (float-vector 11.6047 80.3 -24.9) (float-vector 6.7 75.3953 -24.9)))
         (instance face :init :vertices (list (float-vector 13.4 87.0 24.9) (float-vector 13.4 87.0 26.9) (float-vector 11.6047 80.3 26.9) (float-vector 11.6047 80.3 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 80.3 -26.9) (float-vector 13.4 87.0 -26.9) (float-vector 13.4 87.0 -24.9) (float-vector 11.6047 80.3 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 93.7 24.9) (float-vector 11.6047 93.7 26.9) (float-vector 13.4 87.0 26.9) (float-vector 13.4 87.0 24.9)))
         (instance face :init :vertices (list (float-vector 13.4 87.0 -26.9) (float-vector 11.6047 93.7 -26.9) (float-vector 11.6047 93.7 -24.9) (float-vector 13.4 87.0 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 98.6047 24.9) (float-vector 6.7 98.6047 26.9) (float-vector 11.6047 93.7 26.9) (float-vector 11.6047 93.7 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 93.7 -26.9) (float-vector 6.7 98.6047 -26.9) (float-vector 6.7 98.6047 -24.9) (float-vector 11.6047 93.7 -24.9)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 100.4 24.9) (float-vector 2.842171e-14 100.4 26.9) (float-vector 6.7 98.6047 26.9) (float-vector 6.7 98.6047 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 98.6047 -26.9) (float-vector 2.842171e-14 100.4 -26.9) (float-vector 2.842171e-14 100.4 -24.9) (float-vector 6.7 98.6047 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 98.6047 24.9) (float-vector -6.7 98.6047 26.9) (float-vector 2.842171e-14 100.4 26.9) (float-vector 2.842171e-14 100.4 24.9)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 100.4 -26.9) (float-vector -6.7 98.6047 -26.9) (float-vector -6.7 98.6047 -24.9) (float-vector 2.842171e-14 100.4 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 93.7 24.9) (float-vector -11.6047 93.7 26.9) (float-vector -6.7 98.6047 26.9) (float-vector -6.7 98.6047 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 98.6047 -26.9) (float-vector -11.6047 93.7 -26.9) (float-vector -11.6047 93.7 -24.9) (float-vector -6.7 98.6047 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 93.7 26.9) (float-vector -13.4 87.0 26.9) (float-vector -11.6047 80.3 26.9) (float-vector -6.7 75.3953 26.9) (float-vector -2.842171e-14 73.6 26.9) (float-vector 6.7 75.3953 26.9) (float-vector 11.6047 80.3 26.9) (float-vector 13.4 87.0 26.9) (float-vector 11.6047 93.7 26.9) (float-vector 6.7 98.6047 26.9) (float-vector 2.842171e-14 100.4 26.9) (float-vector -6.7 98.6047 26.9)))
         (instance face :init :vertices (list (float-vector -13.4 87.0 26.9) (float-vector -11.6047 93.7 26.9) (float-vector -11.6047 93.7 24.9) (float-vector -13.4 87.0 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 93.7 -26.9) (float-vector -13.4 87.0 -26.9) (float-vector -13.4 87.0 -24.9) (float-vector -11.6047 93.7 -24.9)))
         (instance face :init :vertices (list (float-vector -13.4 87.0 -26.9) (float-vector -11.6047 93.7 -26.9) (float-vector -6.7 98.6047 -26.9) (float-vector 2.842171e-14 100.4 -26.9) (float-vector 6.7 98.6047 -26.9) (float-vector 11.6047 93.7 -26.9) (float-vector 13.4 87.0 -26.9) (float-vector 11.6047 80.3 -26.9) (float-vector 6.7 75.3953 -26.9) (float-vector 0.0 73.6 -26.9) (float-vector -6.7 75.3953 -26.9) (float-vector -11.6047 80.3 -26.9)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 12.0 28.9 13.0) (float-vector 12.0 28.9 -36.0) (float-vector 12.0 92.9 -36.0) (float-vector 12.0 92.9 -34.5) (float-vector 12.0 30.4 -34.5) (float-vector 12.0 30.4 13.0)))
         (instance face :init :vertices (list (float-vector -12.0 28.9 -36.0) (float-vector -12.0 92.9 -36.0) (float-vector 12.0 92.9 -36.0) (float-vector 12.0 28.9 -36.0)))
         (instance face :init :vertices (list (float-vector -12.0 92.9 -34.5) (float-vector 12.0 92.9 -34.5) (float-vector 12.0 92.9 -36.0) (float-vector -12.0 92.9 -36.0)))
         (instance face :init :vertices (list (float-vector -12.0 28.9 13.0) (float-vector -12.0 30.4 13.0) (float-vector -12.0 30.4 -34.5) (float-vector -12.0 92.9 -34.5) (float-vector -12.0 92.9 -36.0) (float-vector -12.0 28.9 -36.0)))
         (instance face :init :vertices (list (float-vector -12.0 28.9 13.0) (float-vector -12.0 28.9 -36.0) (float-vector 12.0 28.9 -36.0) (float-vector 12.0 28.9 13.0)))
         (instance face :init :vertices (list (float-vector 12.0 28.9 13.0) (float-vector 12.0 30.4 13.0) (float-vector -12.0 30.4 13.0) (float-vector -12.0 28.9 13.0)))
         (instance face :init :vertices (list (float-vector 12.0 30.4 -34.5) (float-vector 12.0 92.9 -34.5) (float-vector -12.0 92.9 -34.5) (float-vector -12.0 30.4 -34.5)))
         (instance face :init :vertices (list (float-vector -12.0 30.4 -34.5) (float-vector -12.0 30.4 13.0) (float-vector 12.0 30.4 13.0) (float-vector 12.0 30.4 -34.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray90)
     (setq blink27 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-x-crotch :weight 141.151 :centroid (float-vector 9.578953e-16 63.0354 -3.51579) :inertia-tensor #2f((1.030401e+05 -4.096080e-12 -8.493730e-13) (-4.096080e-12 40402.4 -1086.25) (-8.493730e-13 -1086.25 79023.7))))

     ;; definition of :rleg-x-knee
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 0.0 30.0) (float-vector 13.0 0.0 28.5) (float-vector 13.0 28.0 28.5) (float-vector 13.0 28.0 -28.5) (float-vector 13.0 0.0 -28.5)))
         (instance face :init :vertices (list (float-vector -13.0 29.5 -30.0) (float-vector -13.0 29.5 30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -13.0 0.0 -30.0) (float-vector -13.0 0.0 -28.5) (float-vector -13.0 28.0 -28.5) (float-vector -13.0 28.0 28.5) (float-vector -13.0 0.0 28.5) (float-vector -13.0 0.0 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 30.0) (float-vector -13.0 0.0 30.0) (float-vector -13.0 0.0 28.5) (float-vector -9.19239 -9.19239 28.5)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 -30.0) (float-vector -9.19239 -9.19239 -28.5) (float-vector -13.0 0.0 -28.5) (float-vector -13.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector 7.105427e-15 -13.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector -9.19239 -9.19239 28.5) (float-vector 7.105427e-15 -13.0 28.5)))
         (instance face :init :vertices (list (float-vector 7.105427e-15 -13.0 -30.0) (float-vector 7.105427e-15 -13.0 -28.5) (float-vector -9.19239 -9.19239 -28.5) (float-vector -9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector 7.105427e-15 -13.0 30.0) (float-vector 7.105427e-15 -13.0 28.5) (float-vector 9.19239 -9.19239 28.5)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector 9.19239 -9.19239 -28.5) (float-vector 7.105427e-15 -13.0 -28.5) (float-vector 7.105427e-15 -13.0 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 0.0 30.0) (float-vector 13.0 29.5 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 0.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector 7.105427e-15 -13.0 30.0) (float-vector 9.19239 -9.19239 30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector 7.105427e-15 -13.0 -30.0) (float-vector -9.19239 -9.19239 -30.0) (float-vector -13.0 0.0 -30.0) (float-vector -13.0 29.5 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector 9.19239 -9.19239 28.5) (float-vector 13.0 0.0 28.5) (float-vector 13.0 0.0 30.0)))
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 0.0 -28.5) (float-vector 9.19239 -9.19239 -28.5) (float-vector 9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 28.0 28.5) (float-vector 13.0 0.0 28.5) (float-vector 9.19239 -9.19239 28.5) (float-vector 7.105427e-15 -13.0 28.5) (float-vector -9.19239 -9.19239 28.5) (float-vector -13.0 0.0 28.5) (float-vector -13.0 28.0 28.5)))
         (instance face :init :vertices (list (float-vector 13.0 28.0 -28.5) (float-vector 13.0 28.0 28.5) (float-vector -13.0 28.0 28.5) (float-vector -13.0 28.0 -28.5)))
         (instance face :init :vertices (list (float-vector -13.0 28.0 -28.5) (float-vector -13.0 0.0 -28.5) (float-vector -9.19239 -9.19239 -28.5) (float-vector 7.105427e-15 -13.0 -28.5) (float-vector 9.19239 -9.19239 -28.5) (float-vector 13.0 0.0 -28.5) (float-vector 13.0 28.0 -28.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -14.4 101.0 24.9) (float-vector -14.4 101.0 -24.9) (float-vector -14.4 42.0 -24.9) (float-vector -14.4 42.0 24.9)))
         (instance face :init :vertices (list (float-vector -14.4 42.0 -24.9) (float-vector 14.4 42.0 -24.9) (float-vector 14.4 42.0 24.9) (float-vector -14.4 42.0 24.9)))
         (instance face :init :vertices (list (float-vector 14.4 42.0 -24.9) (float-vector 14.4 101.0 -24.9) (float-vector 14.4 101.0 24.9) (float-vector 14.4 42.0 24.9)))
         (instance face :init :vertices (list (float-vector 14.4 101.0 24.9) (float-vector -14.4 101.0 24.9) (float-vector -14.4 42.0 24.9) (float-vector 14.4 42.0 24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -11.6047 93.7 24.9) (float-vector -6.7 98.6047 24.9) (float-vector 2.842171e-14 100.4 24.9) (float-vector 6.7 98.6047 24.9) (float-vector 11.6047 93.7 24.9) (float-vector 13.4 87.0 24.9) (float-vector 11.6047 80.3 24.9) (float-vector 6.7 75.3953 24.9) (float-vector -1.421085e-14 73.6 24.9) (float-vector -6.7 75.3953 24.9) (float-vector -11.6047 80.3 24.9) (float-vector -13.4 87.0 24.9)))
))
         (instance face :init :vertices (list (float-vector 14.4 101.0 -24.9) (float-vector -14.4 101.0 -24.9) (float-vector -14.4 101.0 24.9) (float-vector 14.4 101.0 24.9)))
         (instance face :init :vertices (list (float-vector -14.4 101.0 -24.9) (float-vector 14.4 101.0 -24.9) (float-vector 14.4 42.0 -24.9) (float-vector -14.4 42.0 -24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -6.7 98.6047 -24.9) (float-vector -11.6047 93.7 -24.9) (float-vector -13.4 87.0 -24.9) (float-vector -11.6047 80.3 -24.9) (float-vector -6.7 75.3953 -24.9) (float-vector -7.105427e-15 73.6 -24.9) (float-vector 6.7 75.3953 -24.9) (float-vector 11.6047 80.3 -24.9) (float-vector 13.4 87.0 -24.9) (float-vector 11.6047 93.7 -24.9) (float-vector 6.7 98.6047 -24.9) (float-vector 2.842171e-14 100.4 -24.9)))
))
         (instance face :init :vertices (list (float-vector -13.4 87.0 26.9) (float-vector -13.4 87.0 24.9) (float-vector -11.6047 80.3 24.9) (float-vector -11.6047 80.3 26.9)))
         (instance face :init :vertices (list (float-vector -13.4 87.0 -24.9) (float-vector -13.4 87.0 -26.9) (float-vector -11.6047 80.3 -26.9) (float-vector -11.6047 80.3 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 75.3953 24.9) (float-vector -6.7 75.3953 26.9) (float-vector -11.6047 80.3 26.9) (float-vector -11.6047 80.3 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 80.3 -26.9) (float-vector -6.7 75.3953 -26.9) (float-vector -6.7 75.3953 -24.9) (float-vector -11.6047 80.3 -24.9)))
         (instance face :init :vertices (list (float-vector -1.421085e-14 73.6 24.9) (float-vector -1.421085e-14 73.6 26.9) (float-vector -6.7 75.3953 26.9) (float-vector -6.7 75.3953 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 75.3953 -26.9) (float-vector -7.105427e-15 73.6 -26.9) (float-vector -7.105427e-15 73.6 -24.9) (float-vector -6.7 75.3953 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 75.3953 24.9) (float-vector 6.7 75.3953 26.9) (float-vector -1.421085e-14 73.6 26.9) (float-vector -1.421085e-14 73.6 24.9)))
         (instance face :init :vertices (list (float-vector -7.105427e-15 73.6 -26.9) (float-vector 6.7 75.3953 -26.9) (float-vector 6.7 75.3953 -24.9) (float-vector -7.105427e-15 73.6 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 80.3 24.9) (float-vector 11.6047 80.3 26.9) (float-vector 6.7 75.3953 26.9) (float-vector 6.7 75.3953 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 75.3953 -26.9) (float-vector 11.6047 80.3 -26.9) (float-vector 11.6047 80.3 -24.9) (float-vector 6.7 75.3953 -24.9)))
         (instance face :init :vertices (list (float-vector 13.4 87.0 24.9) (float-vector 13.4 87.0 26.9) (float-vector 11.6047 80.3 26.9) (float-vector 11.6047 80.3 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 80.3 -26.9) (float-vector 13.4 87.0 -26.9) (float-vector 13.4 87.0 -24.9) (float-vector 11.6047 80.3 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 93.7 24.9) (float-vector 11.6047 93.7 26.9) (float-vector 13.4 87.0 26.9) (float-vector 13.4 87.0 24.9)))
         (instance face :init :vertices (list (float-vector 13.4 87.0 -26.9) (float-vector 11.6047 93.7 -26.9) (float-vector 11.6047 93.7 -24.9) (float-vector 13.4 87.0 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 98.6047 24.9) (float-vector 6.7 98.6047 26.9) (float-vector 11.6047 93.7 26.9) (float-vector 11.6047 93.7 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 93.7 -26.9) (float-vector 6.7 98.6047 -26.9) (float-vector 6.7 98.6047 -24.9) (float-vector 11.6047 93.7 -24.9)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 100.4 24.9) (float-vector 2.842171e-14 100.4 26.9) (float-vector 6.7 98.6047 26.9) (float-vector 6.7 98.6047 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 98.6047 -26.9) (float-vector 2.842171e-14 100.4 -26.9) (float-vector 2.842171e-14 100.4 -24.9) (float-vector 6.7 98.6047 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 98.6047 24.9) (float-vector -6.7 98.6047 26.9) (float-vector 2.842171e-14 100.4 26.9) (float-vector 2.842171e-14 100.4 24.9)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 100.4 -26.9) (float-vector -6.7 98.6047 -26.9) (float-vector -6.7 98.6047 -24.9) (float-vector 2.842171e-14 100.4 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 93.7 24.9) (float-vector -11.6047 93.7 26.9) (float-vector -6.7 98.6047 26.9) (float-vector -6.7 98.6047 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 98.6047 -26.9) (float-vector -11.6047 93.7 -26.9) (float-vector -11.6047 93.7 -24.9) (float-vector -6.7 98.6047 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 93.7 26.9) (float-vector -13.4 87.0 26.9) (float-vector -11.6047 80.3 26.9) (float-vector -6.7 75.3953 26.9) (float-vector -1.421085e-14 73.6 26.9) (float-vector 6.7 75.3953 26.9) (float-vector 11.6047 80.3 26.9) (float-vector 13.4 87.0 26.9) (float-vector 11.6047 93.7 26.9) (float-vector 6.7 98.6047 26.9) (float-vector 2.842171e-14 100.4 26.9) (float-vector -6.7 98.6047 26.9)))
         (instance face :init :vertices (list (float-vector -13.4 87.0 26.9) (float-vector -11.6047 93.7 26.9) (float-vector -11.6047 93.7 24.9) (float-vector -13.4 87.0 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 93.7 -26.9) (float-vector -13.4 87.0 -26.9) (float-vector -13.4 87.0 -24.9) (float-vector -11.6047 93.7 -24.9)))
         (instance face :init :vertices (list (float-vector -13.4 87.0 -26.9) (float-vector -11.6047 93.7 -26.9) (float-vector -6.7 98.6047 -26.9) (float-vector 2.842171e-14 100.4 -26.9) (float-vector 6.7 98.6047 -26.9) (float-vector 11.6047 93.7 -26.9) (float-vector 13.4 87.0 -26.9) (float-vector 11.6047 80.3 -26.9) (float-vector 6.7 75.3953 -26.9) (float-vector -7.105427e-15 73.6 -26.9) (float-vector -6.7 75.3953 -26.9) (float-vector -11.6047 80.3 -26.9)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 12.0 28.9 13.0) (float-vector 12.0 28.9 -36.0) (float-vector 12.0 92.9 -36.0) (float-vector 12.0 92.9 -34.5) (float-vector 12.0 30.4 -34.5) (float-vector 12.0 30.4 13.0)))
         (instance face :init :vertices (list (float-vector -12.0 28.9 -36.0) (float-vector -12.0 92.9 -36.0) (float-vector 12.0 92.9 -36.0) (float-vector 12.0 28.9 -36.0)))
         (instance face :init :vertices (list (float-vector -12.0 92.9 -34.5) (float-vector 12.0 92.9 -34.5) (float-vector 12.0 92.9 -36.0) (float-vector -12.0 92.9 -36.0)))
         (instance face :init :vertices (list (float-vector -12.0 28.9 13.0) (float-vector -12.0 30.4 13.0) (float-vector -12.0 30.4 -34.5) (float-vector -12.0 92.9 -34.5) (float-vector -12.0 92.9 -36.0) (float-vector -12.0 28.9 -36.0)))
         (instance face :init :vertices (list (float-vector -12.0 28.9 13.0) (float-vector -12.0 28.9 -36.0) (float-vector 12.0 28.9 -36.0) (float-vector 12.0 28.9 13.0)))
         (instance face :init :vertices (list (float-vector 12.0 28.9 13.0) (float-vector 12.0 30.4 13.0) (float-vector -12.0 30.4 13.0) (float-vector -12.0 28.9 13.0)))
         (instance face :init :vertices (list (float-vector 12.0 30.4 -34.5) (float-vector 12.0 92.9 -34.5) (float-vector -12.0 92.9 -34.5) (float-vector -12.0 30.4 -34.5)))
         (instance face :init :vertices (list (float-vector -12.0 30.4 -34.5) (float-vector -12.0 30.4 13.0) (float-vector 12.0 30.4 13.0) (float-vector 12.0 30.4 -34.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray90)
     (setq blink28 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-x-knee :weight 141.151 :centroid (float-vector 9.578953e-16 63.0354 -3.51579) :inertia-tensor #2f((1.030401e+05 -4.096080e-12 -8.493730e-13) (-4.096080e-12 40402.4 -1086.25) (-8.493730e-13 -1086.25 79023.7))))

     ;; definition of :rleg-x-ankle
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 -1.421085e-14 30.0) (float-vector 13.0 -1.421085e-14 28.5) (float-vector 13.0 28.0 28.5) (float-vector 13.0 28.0 -28.5) (float-vector 13.0 0.0 -28.5)))
         (instance face :init :vertices (list (float-vector -13.0 29.5 -30.0) (float-vector -13.0 29.5 30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -13.0 1.421085e-14 -30.0) (float-vector -13.0 1.421085e-14 -28.5) (float-vector -13.0 28.0 -28.5) (float-vector -13.0 28.0 28.5) (float-vector -13.0 0.0 28.5) (float-vector -13.0 0.0 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 30.0) (float-vector -13.0 0.0 30.0) (float-vector -13.0 0.0 28.5) (float-vector -9.19239 -9.19239 28.5)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 -30.0) (float-vector -9.19239 -9.19239 -28.5) (float-vector -13.0 1.421085e-14 -28.5) (float-vector -13.0 1.421085e-14 -30.0)))
         (instance face :init :vertices (list (float-vector 8.881784e-16 -13.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector -9.19239 -9.19239 28.5) (float-vector 8.881784e-16 -13.0 28.5)))
         (instance face :init :vertices (list (float-vector 8.881784e-16 -13.0 -30.0) (float-vector 8.881784e-16 -13.0 -28.5) (float-vector -9.19239 -9.19239 -28.5) (float-vector -9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector 8.881784e-16 -13.0 30.0) (float-vector 8.881784e-16 -13.0 28.5) (float-vector 9.19239 -9.19239 28.5)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector 9.19239 -9.19239 -28.5) (float-vector 8.881784e-16 -13.0 -28.5) (float-vector 8.881784e-16 -13.0 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 -1.421085e-14 30.0) (float-vector 13.0 29.5 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 0.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector 8.881784e-16 -13.0 30.0) (float-vector 9.19239 -9.19239 30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector 8.881784e-16 -13.0 -30.0) (float-vector -9.19239 -9.19239 -30.0) (float-vector -13.0 1.421085e-14 -30.0) (float-vector -13.0 29.5 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector 9.19239 -9.19239 28.5) (float-vector 13.0 -1.421085e-14 28.5) (float-vector 13.0 -1.421085e-14 30.0)))
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 0.0 -28.5) (float-vector 9.19239 -9.19239 -28.5) (float-vector 9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 28.0 28.5) (float-vector 13.0 -1.421085e-14 28.5) (float-vector 9.19239 -9.19239 28.5) (float-vector 8.881784e-16 -13.0 28.5) (float-vector -9.19239 -9.19239 28.5) (float-vector -13.0 0.0 28.5) (float-vector -13.0 28.0 28.5)))
         (instance face :init :vertices (list (float-vector 13.0 28.0 -28.5) (float-vector 13.0 28.0 28.5) (float-vector -13.0 28.0 28.5) (float-vector -13.0 28.0 -28.5)))
         (instance face :init :vertices (list (float-vector -13.0 28.0 -28.5) (float-vector -13.0 1.421085e-14 -28.5) (float-vector -9.19239 -9.19239 -28.5) (float-vector 8.881784e-16 -13.0 -28.5) (float-vector 9.19239 -9.19239 -28.5) (float-vector 13.0 0.0 -28.5) (float-vector 13.0 28.0 -28.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -19.0 58.0 2.9) (float-vector -19.0 28.5 2.9) (float-vector 41.0 28.5 2.9) (float-vector 41.0 58.0 2.9) (float-vector 39.5 58.0 2.9) (float-vector 39.5 30.0 2.9) (float-vector -17.5 30.0 2.9) (float-vector -17.5 58.0 2.9)))
         (instance face :init :vertices (list (float-vector -19.0 28.5 -24.1) (float-vector 41.0 28.5 -24.1) (float-vector 41.0 28.5 2.9) (float-vector -19.0 28.5 2.9)))
         (instance face :init :vertices (list (float-vector -19.0 58.0 -24.1) (float-vector -17.5 58.0 -24.1) (float-vector -17.5 30.0 -24.1) (float-vector 39.5 30.0 -24.1) (float-vector 39.5 58.0 -24.1) (float-vector 41.0 58.0 -24.1) (float-vector 41.0 28.5 -24.1) (float-vector -19.0 28.5 -24.1)))
         (instance face :init :vertices (list (float-vector 41.0 67.5459 -20.1459) (float-vector 41.0 58.0 -24.1) (float-vector 39.5 58.0 -24.1) (float-vector 39.5 67.5459 -20.1459)))
         (instance face :init :vertices (list (float-vector -19.0 67.5459 -20.1459) (float-vector -17.5 67.5459 -20.1459) (float-vector -17.5 58.0 -24.1) (float-vector -19.0 58.0 -24.1)))
         (instance face :init :vertices (list (float-vector 41.0 71.5 -10.6) (float-vector 41.0 67.5459 -20.1459) (float-vector 39.5 67.5459 -20.1459) (float-vector 39.5 71.5 -10.6)))
         (instance face :init :vertices (list (float-vector -19.0 71.5 -10.6) (float-vector -17.5 71.5 -10.6) (float-vector -17.5 67.5459 -20.1459) (float-vector -19.0 67.5459 -20.1459)))
         (instance face :init :vertices (list (float-vector 41.0 67.5459 -1.05406) (float-vector 41.0 71.5 -10.6) (float-vector 39.5 71.5 -10.6) (float-vector 39.5 67.5459 -1.05406)))
         (instance face :init :vertices (list (float-vector -19.0 67.5459 -1.05406) (float-vector -17.5 67.5459 -1.05406) (float-vector -17.5 71.5 -10.6) (float-vector -19.0 71.5 -10.6)))
         (instance face :init :vertices (list (float-vector 41.0 58.0 2.9) (float-vector 41.0 28.5 2.9) (float-vector 41.0 28.5 -24.1) (float-vector 41.0 58.0 -24.1) (float-vector 41.0 67.5459 -20.1459) (float-vector 41.0 71.5 -10.6) (float-vector 41.0 67.5459 -1.05406)))
         (instance face :init :vertices (list (float-vector -19.0 67.5459 -1.05406) (float-vector -19.0 71.5 -10.6) (float-vector -19.0 67.5459 -20.1459) (float-vector -19.0 58.0 -24.1) (float-vector -19.0 28.5 -24.1) (float-vector -19.0 28.5 2.9) (float-vector -19.0 58.0 2.9)))
         (instance face :init :vertices (list (float-vector 41.0 67.5459 -1.05406) (float-vector 39.5 67.5459 -1.05406) (float-vector 39.5 58.0 2.9) (float-vector 41.0 58.0 2.9)))
         (instance face :init :vertices (list (float-vector -19.0 58.0 2.9) (float-vector -17.5 58.0 2.9) (float-vector -17.5 67.5459 -1.05406) (float-vector -19.0 67.5459 -1.05406)))
         (instance face :init :vertices (list (float-vector 39.5 30.0 2.9) (float-vector 39.5 58.0 2.9) (float-vector 39.5 67.5459 -1.05406) (float-vector 39.5 71.5 -10.6) (float-vector 39.5 67.5459 -20.1459) (float-vector 39.5 58.0 -24.1) (float-vector 39.5 30.0 -24.1)))
         (instance face :init :vertices (list (float-vector -17.5 30.0 2.9) (float-vector 39.5 30.0 2.9) (float-vector 39.5 30.0 -24.1) (float-vector -17.5 30.0 -24.1)))
         (instance face :init :vertices (list (float-vector -17.5 30.0 -24.1) (float-vector -17.5 58.0 -24.1) (float-vector -17.5 67.5459 -20.1459) (float-vector -17.5 71.5 -10.6) (float-vector -17.5 67.5459 -1.05406) (float-vector -17.5 58.0 2.9) (float-vector -17.5 30.0 2.9)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink29 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-x-ankle :weight 28.923 :centroid (float-vector 5.6182 29.3139 -5.4139) :inertia-tensor #2f((19378.7 -1768.15 842.716) (-1768.15 20974.5 1703.86) (842.716 1703.86 19737.7))))

     ;; definition of :rleg-y-ankle
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 -14.0 24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 45.0 -24.9) (float-vector 14.4 45.0 24.9)))
         (instance face :init :vertices (list (float-vector 14.4 45.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector -14.4 45.0 24.9) (float-vector 14.4 45.0 24.9)))
         (instance face :init :vertices (list (float-vector -14.4 45.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 -14.0 24.9) (float-vector -14.4 45.0 24.9)))
         (instance face :init :vertices (list (float-vector -14.4 -14.0 24.9) (float-vector 14.4 -14.0 24.9) (float-vector 14.4 45.0 24.9) (float-vector -14.4 45.0 24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 6.7 -11.6047 24.9) (float-vector -2.131628e-14 -13.4 24.9) (float-vector -6.7 -11.6047 24.9) (float-vector -11.6047 -6.7 24.9) (float-vector -13.4 1.421085e-14 24.9) (float-vector -11.6047 6.7 24.9) (float-vector -6.7 11.6047 24.9) (float-vector 7.105427e-15 13.4 24.9) (float-vector 6.7 11.6047 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 13.4 0.0 24.9)))
))
         (instance face :init :vertices (list (float-vector -14.4 -14.0 -24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 -14.0 24.9) (float-vector -14.4 -14.0 24.9)))
         (instance face :init :vertices (list (float-vector 14.4 -14.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector 14.4 45.0 -24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 6.7 -11.6047 -24.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 13.4 0.0 -24.9) (float-vector 11.6047 6.7 -24.9) (float-vector 6.7 11.6047 -24.9) (float-vector 7.105427e-15 13.4 -24.9) (float-vector -6.7 11.6047 -24.9) (float-vector -11.6047 6.7 -24.9) (float-vector -13.4 1.421085e-14 -24.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -2.131628e-14 -13.4 -24.9)))
))
         (instance face :init :vertices (list (float-vector 13.4 0.0 26.9) (float-vector 13.4 0.0 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 11.6047 6.7 26.9)))
         (instance face :init :vertices (list (float-vector 13.4 0.0 -24.9) (float-vector 13.4 0.0 -26.9) (float-vector 11.6047 6.7 -26.9) (float-vector 11.6047 6.7 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 11.6047 24.9) (float-vector 6.7 11.6047 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 11.6047 6.7 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 6.7 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 6.7 11.6047 -24.9) (float-vector 11.6047 6.7 -24.9)))
         (instance face :init :vertices (list (float-vector 7.105427e-15 13.4 24.9) (float-vector 7.105427e-15 13.4 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 6.7 11.6047 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 11.6047 -26.9) (float-vector 7.105427e-15 13.4 -26.9) (float-vector 7.105427e-15 13.4 -24.9) (float-vector 6.7 11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 11.6047 24.9) (float-vector -6.7 11.6047 26.9) (float-vector 7.105427e-15 13.4 26.9) (float-vector 7.105427e-15 13.4 24.9)))
         (instance face :init :vertices (list (float-vector 7.105427e-15 13.4 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector -6.7 11.6047 -24.9) (float-vector 7.105427e-15 13.4 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 6.7 24.9) (float-vector -11.6047 6.7 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -6.7 11.6047 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 11.6047 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -11.6047 6.7 -24.9) (float-vector -6.7 11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector -13.4 1.421085e-14 24.9) (float-vector -13.4 1.421085e-14 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -11.6047 6.7 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 6.7 -26.9) (float-vector -13.4 1.421085e-14 -26.9) (float-vector -13.4 1.421085e-14 -24.9) (float-vector -11.6047 6.7 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 -6.7 24.9) (float-vector -11.6047 -6.7 26.9) (float-vector -13.4 1.421085e-14 26.9) (float-vector -13.4 1.421085e-14 24.9)))
         (instance face :init :vertices (list (float-vector -13.4 1.421085e-14 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -13.4 1.421085e-14 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 -11.6047 24.9) (float-vector -6.7 -11.6047 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -11.6047 -6.7 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 -6.7 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -11.6047 -6.7 -24.9)))
         (instance face :init :vertices (list (float-vector -2.131628e-14 -13.4 24.9) (float-vector -2.131628e-14 -13.4 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -6.7 -11.6047 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 -11.6047 -26.9) (float-vector -1.421085e-14 -13.4 -26.9) (float-vector -2.131628e-14 -13.4 -24.9) (float-vector -6.7 -11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 -11.6047 24.9) (float-vector 6.7 -11.6047 26.9) (float-vector -2.131628e-14 -13.4 26.9) (float-vector -2.131628e-14 -13.4 24.9)))
         (instance face :init :vertices (list (float-vector -1.421085e-14 -13.4 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector 6.7 -11.6047 -24.9) (float-vector -2.131628e-14 -13.4 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 11.6047 -6.7 26.9) (float-vector 6.7 -11.6047 26.9) (float-vector 6.7 -11.6047 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 -11.6047 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 6.7 -11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -6.7 26.9) (float-vector 13.4 0.0 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 7.105427e-15 13.4 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -13.4 1.421085e-14 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -2.131628e-14 -13.4 26.9) (float-vector 6.7 -11.6047 26.9)))
         (instance face :init :vertices (list (float-vector 13.4 0.0 26.9) (float-vector 11.6047 -6.7 26.9) (float-vector 11.6047 -6.7 24.9) (float-vector 13.4 0.0 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -6.7 -26.9) (float-vector 13.4 0.0 -26.9) (float-vector 13.4 0.0 -24.9) (float-vector 11.6047 -6.7 -24.9)))
         (instance face :init :vertices (list (float-vector 13.4 0.0 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector -1.421085e-14 -13.4 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -13.4 1.421085e-14 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector 7.105427e-15 13.4 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 11.6047 6.7 -26.9)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -21.5 52.5 11.75) (float-vector 14.0 52.5 11.75) (float-vector 14.0 44.5 11.75) (float-vector -14.8 44.5 11.75) (float-vector -14.8 -14.5 11.75) (float-vector 14.0 -14.5 11.75) (float-vector 14.0 -22.5 11.75) (float-vector -21.5 -22.5 11.75)))
         (instance face :init :vertices (list (float-vector -21.5 52.5 11.75) (float-vector -21.5 -22.5 11.75) (float-vector -21.5 -22.5 -35.75) (float-vector -21.5 52.5 -35.75)))
         (instance face :init :vertices (list (float-vector -21.5 52.5 -35.75) (float-vector -21.5 -22.5 -35.75) (float-vector 14.0 -22.5 -35.75) (float-vector 14.0 52.5 -35.75)))
         (instance face :init :vertices (list (float-vector 14.0 -22.5 13.25) (float-vector 14.0 -22.5 11.75) (float-vector 14.0 -14.5 11.75) (float-vector 14.0 -14.5 13.25)))
         (instance face :init :vertices (list (float-vector 14.0 44.5 13.25) (float-vector 14.0 44.5 11.75) (float-vector 14.0 52.5 11.75) (float-vector 14.0 52.5 13.25)))
         (instance face :init :vertices (list (float-vector 14.0 52.5 -37.25) (float-vector 14.0 52.5 -35.75) (float-vector 14.0 -22.5 -35.75) (float-vector 14.0 -22.5 -37.25)))
         (instance face :init :vertices (list (float-vector 14.0 -22.5 13.25) (float-vector 14.0 -14.5 13.25) (float-vector -14.8 -14.5 13.25) (float-vector -14.8 44.5 13.25) (float-vector 14.0 44.5 13.25) (float-vector 14.0 52.5 13.25) (float-vector -23.0 52.5 13.25) (float-vector -23.0 -22.5 13.25)))
         (instance face :init :vertices (list (float-vector 14.0 52.5 -37.25) (float-vector 14.0 -22.5 -37.25) (float-vector -23.0 -22.5 -37.25) (float-vector -23.0 52.5 -37.25)))
         (instance face :init :vertices (list (float-vector -23.0 52.5 13.25) (float-vector 14.0 52.5 13.25) (float-vector 14.0 52.5 11.75) (float-vector -21.5 52.5 11.75) (float-vector -21.5 52.5 -35.75) (float-vector 14.0 52.5 -35.75) (float-vector 14.0 52.5 -37.25) (float-vector -23.0 52.5 -37.25)))
         (instance face :init :vertices (list (float-vector -23.0 -22.5 -37.25) (float-vector 14.0 -22.5 -37.25) (float-vector 14.0 -22.5 -35.75) (float-vector -21.5 -22.5 -35.75) (float-vector -21.5 -22.5 11.75) (float-vector 14.0 -22.5 11.75) (float-vector 14.0 -22.5 13.25) (float-vector -23.0 -22.5 13.25)))
         (instance face :init :vertices (list (float-vector -23.0 -22.5 13.25) (float-vector -23.0 52.5 13.25) (float-vector -23.0 52.5 -37.25) (float-vector -23.0 -22.5 -37.25)))
         (instance face :init :vertices (list (float-vector -14.8 -14.5 13.25) (float-vector 14.0 -14.5 13.25) (float-vector 14.0 -14.5 11.75) (float-vector -14.8 -14.5 11.75)))
         (instance face :init :vertices (list (float-vector -14.8 44.5 11.75) (float-vector 14.0 44.5 11.75) (float-vector 14.0 44.5 13.25) (float-vector -14.8 44.5 13.25)))
         (instance face :init :vertices (list (float-vector -14.8 44.5 13.25) (float-vector -14.8 -14.5 13.25) (float-vector -14.8 -14.5 11.75) (float-vector -14.8 44.5 11.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -22.5 -21.2 -37.0) (float-vector -22.5 45.8 -37.0) (float-vector -22.5 45.8 79.0) (float-vector -22.5 20.8 93.0) (float-vector -22.5 3.8 93.0) (float-vector -22.5 -21.2 79.0)))
         (instance face :init :vertices (list (float-vector -25.0 45.8 -37.0) (float-vector -25.0 -21.2 -37.0) (float-vector -25.0 -21.2 79.0) (float-vector -25.0 3.8 93.0) (float-vector -25.0 20.8 93.0) (float-vector -25.0 45.8 79.0)))
         (instance face :init :vertices (list (float-vector -22.5 -21.2 -37.0) (float-vector -25.0 -21.2 -37.0) (float-vector -25.0 45.8 -37.0) (float-vector -22.5 45.8 -37.0)))
         (instance face :init :vertices (list (float-vector -22.5 -21.2 79.0) (float-vector -25.0 -21.2 79.0) (float-vector -25.0 -21.2 -37.0) (float-vector -22.5 -21.2 -37.0)))
         (instance face :init :vertices (list (float-vector -22.5 3.8 93.0) (float-vector -25.0 3.8 93.0) (float-vector -25.0 -21.2 79.0) (float-vector -22.5 -21.2 79.0)))
         (instance face :init :vertices (list (float-vector -22.5 20.8 93.0) (float-vector -25.0 20.8 93.0) (float-vector -25.0 3.8 93.0) (float-vector -22.5 3.8 93.0)))
         (instance face :init :vertices (list (float-vector -22.5 45.8 79.0) (float-vector -25.0 45.8 79.0) (float-vector -25.0 20.8 93.0) (float-vector -22.5 20.8 93.0)))
         (instance face :init :vertices (list (float-vector -22.5 45.8 -37.0) (float-vector -25.0 45.8 -37.0) (float-vector -25.0 45.8 79.0) (float-vector -22.5 45.8 79.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 22.0 14.8 88.0) (float-vector 22.0 14.8 38.0) (float-vector 22.0 44.8 48.0) (float-vector 22.0 44.8 78.0)))
         (instance face :init :vertices (list (float-vector -23.0 14.8 38.0) (float-vector -23.0 14.8 88.0) (float-vector -23.0 44.8 78.0) (float-vector -23.0 44.8 48.0)))
         (instance face :init :vertices (list (float-vector 22.0 14.8 88.0) (float-vector -23.0 14.8 88.0) (float-vector -23.0 14.8 38.0) (float-vector 22.0 14.8 38.0)))
         (instance face :init :vertices (list (float-vector 22.0 44.8 78.0) (float-vector -23.0 44.8 78.0) (float-vector -23.0 14.8 88.0) (float-vector 22.0 14.8 88.0)))
         (instance face :init :vertices (list (float-vector 22.0 44.8 48.0) (float-vector -23.0 44.8 48.0) (float-vector -23.0 44.8 78.0) (float-vector 22.0 44.8 78.0)))
         (instance face :init :vertices (list (float-vector 22.0 14.8 38.0) (float-vector -23.0 14.8 38.0) (float-vector -23.0 44.8 48.0) (float-vector 22.0 44.8 48.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 22.0 9.8 38.0) (float-vector 22.0 9.8 88.0) (float-vector 22.0 -20.2 78.0) (float-vector 22.0 -20.2 48.0)))
         (instance face :init :vertices (list (float-vector -23.0 9.8 88.0) (float-vector -23.0 9.8 38.0) (float-vector -23.0 -20.2 48.0) (float-vector -23.0 -20.2 78.0)))
         (instance face :init :vertices (list (float-vector 22.0 9.8 38.0) (float-vector -23.0 9.8 38.0) (float-vector -23.0 9.8 88.0) (float-vector 22.0 9.8 88.0)))
         (instance face :init :vertices (list (float-vector 22.0 -20.2 48.0) (float-vector -23.0 -20.2 48.0) (float-vector -23.0 9.8 38.0) (float-vector 22.0 9.8 38.0)))
         (instance face :init :vertices (list (float-vector 22.0 -20.2 78.0) (float-vector -23.0 -20.2 78.0) (float-vector -23.0 -20.2 48.0) (float-vector 22.0 -20.2 48.0)))
         (instance face :init :vertices (list (float-vector 22.0 9.8 88.0) (float-vector -23.0 9.8 88.0) (float-vector -23.0 -20.2 78.0) (float-vector 22.0 -20.2 78.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray90)
     (send (elt bc 2) :set-color :gray90)
     (send (elt bc 3) :set-color :yellow)
     (send (elt bc 4) :set-color :yellow)
     (setq blink30 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-y-ankle :weight 517.0 :centroid (float-vector -5.41469 12.9871 39.5843) :inertia-tensor #2f((5.391844e+05 -253.668 -10439.4) (-253.668 4.756710e+05 13679.0) (-10439.4 13679.0 1.964637e+05))))

     ;; definition of :lleg-z-crotch
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 8.881784e-16 -26.0) (float-vector 10.0 25.0 -26.0) (float-vector 10.0 25.0 26.0) (float-vector 10.0 0.0 26.0) (float-vector 10.0 0.0 24.5) (float-vector 10.0 23.5 24.5) (float-vector 10.0 23.5 -24.5) (float-vector 10.0 8.881784e-16 -24.5)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -26.0) (float-vector -10.0 25.0 26.0) (float-vector 10.0 25.0 26.0) (float-vector 10.0 25.0 -26.0)))
         (instance face :init :vertices (list (float-vector -10.0 8.881784e-16 -26.0) (float-vector -10.0 8.881784e-16 -24.5) (float-vector -10.0 23.5 -24.5) (float-vector -10.0 23.5 24.5) (float-vector -10.0 0.0 24.5) (float-vector -10.0 0.0 26.0) (float-vector -10.0 25.0 26.0) (float-vector -10.0 25.0 -26.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 26.0) (float-vector -10.0 0.0 26.0) (float-vector -10.0 0.0 24.5) (float-vector -7.07107 -7.07107 24.5)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -26.0) (float-vector -7.07107 -7.07107 -24.5) (float-vector -10.0 8.881784e-16 -24.5) (float-vector -10.0 8.881784e-16 -26.0)))
         (instance face :init :vertices (list (float-vector 7.105427e-15 -10.0 26.0) (float-vector -7.07107 -7.07107 26.0) (float-vector -7.07107 -7.07107 24.5) (float-vector 7.105427e-15 -10.0 24.5)))
         (instance face :init :vertices (list (float-vector 7.105427e-15 -10.0 -26.0) (float-vector 7.105427e-15 -10.0 -24.5) (float-vector -7.07107 -7.07107 -24.5) (float-vector -7.07107 -7.07107 -26.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 26.0) (float-vector 7.105427e-15 -10.0 26.0) (float-vector 7.105427e-15 -10.0 24.5) (float-vector 7.07107 -7.07107 24.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -26.0) (float-vector 7.07107 -7.07107 -24.5) (float-vector 7.105427e-15 -10.0 -24.5) (float-vector 7.105427e-15 -10.0 -26.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 26.0) (float-vector 10.0 25.0 26.0) (float-vector -10.0 25.0 26.0) (float-vector -10.0 0.0 26.0) (float-vector -7.07107 -7.07107 26.0) (float-vector 7.105427e-15 -10.0 26.0) (float-vector 7.07107 -7.07107 26.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -26.0) (float-vector 7.105427e-15 -10.0 -26.0) (float-vector -7.07107 -7.07107 -26.0) (float-vector -10.0 8.881784e-16 -26.0) (float-vector -10.0 25.0 -26.0) (float-vector 10.0 25.0 -26.0) (float-vector 10.0 8.881784e-16 -26.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 26.0) (float-vector 7.07107 -7.07107 24.5) (float-vector 10.0 0.0 24.5) (float-vector 10.0 0.0 26.0)))
         (instance face :init :vertices (list (float-vector 10.0 8.881784e-16 -26.0) (float-vector 10.0 8.881784e-16 -24.5) (float-vector 7.07107 -7.07107 -24.5) (float-vector 7.07107 -7.07107 -26.0)))
         (instance face :init :vertices (list (float-vector 10.0 23.5 24.5) (float-vector 10.0 0.0 24.5) (float-vector 7.07107 -7.07107 24.5) (float-vector 7.105427e-15 -10.0 24.5) (float-vector -7.07107 -7.07107 24.5) (float-vector -10.0 0.0 24.5) (float-vector -10.0 23.5 24.5)))
         (instance face :init :vertices (list (float-vector 10.0 23.5 -24.5) (float-vector 10.0 23.5 24.5) (float-vector -10.0 23.5 24.5) (float-vector -10.0 23.5 -24.5)))
         (instance face :init :vertices (list (float-vector -10.0 23.5 -24.5) (float-vector -10.0 8.881784e-16 -24.5) (float-vector -7.07107 -7.07107 -24.5) (float-vector 7.105427e-15 -10.0 -24.5) (float-vector 7.07107 -7.07107 -24.5) (float-vector 10.0 8.881784e-16 -24.5) (float-vector 10.0 23.5 -24.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.0 -17.1 63.6) (float-vector 14.0 32.7 63.6) (float-vector -45.0 32.7 63.6) (float-vector -45.0 -17.1 63.6)))
         (instance face :init :vertices (list (float-vector -45.0 32.7 63.6) (float-vector -45.0 32.7 34.8) (float-vector -45.0 -17.1 34.8) (float-vector -45.0 -17.1 63.6)))
         (instance face :init :vertices (list (float-vector -45.0 32.7 34.8) (float-vector 14.0 32.7 34.8) (float-vector 14.0 -17.1 34.8) (float-vector -45.0 -17.1 34.8)))
         (instance face :init :vertices (list (float-vector 14.0 -17.1 34.8) (float-vector 14.0 -17.1 63.6) (float-vector -45.0 -17.1 63.6) (float-vector -45.0 -17.1 34.8))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 6.7 -17.1 60.8047) (float-vector 11.6047 -17.1 55.9) (float-vector 13.4 -17.1 49.2) (float-vector 11.6047 -17.1 42.5) (float-vector 6.7 -17.1 37.5953) (float-vector -7.105427e-15 -17.1 35.8) (float-vector -6.7 -17.1 37.5953) (float-vector -11.6047 -17.1 42.5) (float-vector -13.4 -17.1 49.2) (float-vector -11.6047 -17.1 55.9) (float-vector -6.7 -17.1 60.8047) (float-vector 0.0 -17.1 62.6)))
))
         (instance face :init :vertices (list (float-vector 14.0 32.7 34.8) (float-vector 14.0 32.7 63.6) (float-vector 14.0 -17.1 63.6) (float-vector 14.0 -17.1 34.8)))
         (instance face :init :vertices (list (float-vector 14.0 32.7 63.6) (float-vector 14.0 32.7 34.8) (float-vector -45.0 32.7 34.8) (float-vector -45.0 32.7 63.6))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 11.6047 32.7 55.9) (float-vector 6.7 32.7 60.8047) (float-vector 0.0 32.7 62.6) (float-vector -6.7 32.7 60.8047) (float-vector -11.6047 32.7 55.9) (float-vector -13.4 32.7 49.2) (float-vector -11.6047 32.7 42.5) (float-vector -6.7 32.7 37.5953) (float-vector -7.105427e-15 32.7 35.8) (float-vector 6.7 32.7 37.5953) (float-vector 11.6047 32.7 42.5) (float-vector 13.4 32.7 49.2)))
))
         (instance face :init :vertices (list (float-vector -7.105427e-15 -19.1 62.6) (float-vector 0.0 -17.1 62.6) (float-vector -6.7 -17.1 60.8047) (float-vector -6.7 -19.1 60.8047)))
         (instance face :init :vertices (list (float-vector 0.0 32.7 62.6) (float-vector 0.0 34.7 62.6) (float-vector -6.7 34.7 60.8047) (float-vector -6.7 32.7 60.8047)))
         (instance face :init :vertices (list (float-vector -11.6047 -17.1 55.9) (float-vector -11.6047 -19.1 55.9) (float-vector -6.7 -19.1 60.8047) (float-vector -6.7 -17.1 60.8047)))
         (instance face :init :vertices (list (float-vector -6.7 34.7 60.8047) (float-vector -11.6047 34.7 55.9) (float-vector -11.6047 32.7 55.9) (float-vector -6.7 32.7 60.8047)))
         (instance face :init :vertices (list (float-vector -13.4 -17.1 49.2) (float-vector -13.4 -19.1 49.2) (float-vector -11.6047 -19.1 55.9) (float-vector -11.6047 -17.1 55.9)))
         (instance face :init :vertices (list (float-vector -11.6047 34.7 55.9) (float-vector -13.4 34.7 49.2) (float-vector -13.4 32.7 49.2) (float-vector -11.6047 32.7 55.9)))
         (instance face :init :vertices (list (float-vector -11.6047 -17.1 42.5) (float-vector -11.6047 -19.1 42.5) (float-vector -13.4 -19.1 49.2) (float-vector -13.4 -17.1 49.2)))
         (instance face :init :vertices (list (float-vector -13.4 34.7 49.2) (float-vector -11.6047 34.7 42.5) (float-vector -11.6047 32.7 42.5) (float-vector -13.4 32.7 49.2)))
         (instance face :init :vertices (list (float-vector -6.7 -17.1 37.5953) (float-vector -6.7 -19.1 37.5953) (float-vector -11.6047 -19.1 42.5) (float-vector -11.6047 -17.1 42.5)))
         (instance face :init :vertices (list (float-vector -11.6047 34.7 42.5) (float-vector -6.7 34.7 37.5953) (float-vector -6.7 32.7 37.5953) (float-vector -11.6047 32.7 42.5)))
         (instance face :init :vertices (list (float-vector -7.105427e-15 -17.1 35.8) (float-vector -1.421085e-14 -19.1 35.8) (float-vector -6.7 -19.1 37.5953) (float-vector -6.7 -17.1 37.5953)))
         (instance face :init :vertices (list (float-vector -6.7 34.7 37.5953) (float-vector -7.105427e-15 34.7 35.8) (float-vector -7.105427e-15 32.7 35.8) (float-vector -6.7 32.7 37.5953)))
         (instance face :init :vertices (list (float-vector 6.7 -17.1 37.5953) (float-vector 6.7 -19.1 37.5953) (float-vector -1.421085e-14 -19.1 35.8) (float-vector -7.105427e-15 -17.1 35.8)))
         (instance face :init :vertices (list (float-vector -7.105427e-15 34.7 35.8) (float-vector 6.7 34.7 37.5953) (float-vector 6.7 32.7 37.5953) (float-vector -7.105427e-15 32.7 35.8)))
         (instance face :init :vertices (list (float-vector 11.6047 -17.1 42.5) (float-vector 11.6047 -19.1 42.5) (float-vector 6.7 -19.1 37.5953) (float-vector 6.7 -17.1 37.5953)))
         (instance face :init :vertices (list (float-vector 6.7 34.7 37.5953) (float-vector 11.6047 34.7 42.5) (float-vector 11.6047 32.7 42.5) (float-vector 6.7 32.7 37.5953)))
         (instance face :init :vertices (list (float-vector 13.4 -17.1 49.2) (float-vector 13.4 -19.1 49.2) (float-vector 11.6047 -19.1 42.5) (float-vector 11.6047 -17.1 42.5)))
         (instance face :init :vertices (list (float-vector 11.6047 34.7 42.5) (float-vector 13.4 34.7 49.2) (float-vector 13.4 32.7 49.2) (float-vector 11.6047 32.7 42.5)))
         (instance face :init :vertices (list (float-vector 11.6047 -17.1 55.9) (float-vector 11.6047 -19.1 55.9) (float-vector 13.4 -19.1 49.2) (float-vector 13.4 -17.1 49.2)))
         (instance face :init :vertices (list (float-vector 13.4 34.7 49.2) (float-vector 11.6047 34.7 55.9) (float-vector 11.6047 32.7 55.9) (float-vector 13.4 32.7 49.2)))
         (instance face :init :vertices (list (float-vector 6.7 -17.1 60.8047) (float-vector 6.7 -19.1 60.8047) (float-vector 11.6047 -19.1 55.9) (float-vector 11.6047 -17.1 55.9)))
         (instance face :init :vertices (list (float-vector 11.6047 34.7 55.9) (float-vector 6.7 34.7 60.8047) (float-vector 6.7 32.7 60.8047) (float-vector 11.6047 32.7 55.9)))
         (instance face :init :vertices (list (float-vector 6.7 -19.1 60.8047) (float-vector -7.105427e-15 -19.1 62.6) (float-vector -6.7 -19.1 60.8047) (float-vector -11.6047 -19.1 55.9) (float-vector -13.4 -19.1 49.2) (float-vector -11.6047 -19.1 42.5) (float-vector -6.7 -19.1 37.5953) (float-vector -1.421085e-14 -19.1 35.8) (float-vector 6.7 -19.1 37.5953) (float-vector 11.6047 -19.1 42.5) (float-vector 13.4 -19.1 49.2) (float-vector 11.6047 -19.1 55.9)))
         (instance face :init :vertices (list (float-vector -7.105427e-15 -19.1 62.6) (float-vector 6.7 -19.1 60.8047) (float-vector 6.7 -17.1 60.8047) (float-vector 0.0 -17.1 62.6)))
         (instance face :init :vertices (list (float-vector 6.7 34.7 60.8047) (float-vector 0.0 34.7 62.6) (float-vector 0.0 32.7 62.6) (float-vector 6.7 32.7 60.8047)))
         (instance face :init :vertices (list (float-vector 0.0 34.7 62.6) (float-vector 6.7 34.7 60.8047) (float-vector 11.6047 34.7 55.9) (float-vector 13.4 34.7 49.2) (float-vector 11.6047 34.7 42.5) (float-vector 6.7 34.7 37.5953) (float-vector -7.105427e-15 34.7 35.8) (float-vector -6.7 34.7 37.5953) (float-vector -11.6047 34.7 42.5) (float-vector -13.4 34.7 49.2) (float-vector -11.6047 34.7 55.9) (float-vector -6.7 34.7 60.8047)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -53.0 -3.95 28.1) (float-vector -53.0 -3.95 63.6) (float-vector -45.0 -3.95 63.6) (float-vector -45.0 -3.95 34.8) (float-vector 14.0 -3.95 34.8) (float-vector 14.0 -3.95 63.6) (float-vector 22.0 -3.95 63.6) (float-vector 22.0 -3.95 28.1)))
         (instance face :init :vertices (list (float-vector -53.0 -3.95 28.1) (float-vector 22.0 -3.95 28.1) (float-vector 22.0 43.55 28.1) (float-vector -53.0 43.55 28.1)))
         (instance face :init :vertices (list (float-vector -53.0 43.55 28.1) (float-vector 22.0 43.55 28.1) (float-vector 22.0 43.55 63.6) (float-vector -53.0 43.55 63.6)))
         (instance face :init :vertices (list (float-vector 22.0 -5.45 63.6) (float-vector 22.0 -3.95 63.6) (float-vector 14.0 -3.95 63.6) (float-vector 14.0 -5.45 63.6)))
         (instance face :init :vertices (list (float-vector -45.0 -5.45 63.6) (float-vector -45.0 -3.95 63.6) (float-vector -53.0 -3.95 63.6) (float-vector -53.0 -5.45 63.6)))
         (instance face :init :vertices (list (float-vector -53.0 45.05 63.6) (float-vector -53.0 43.55 63.6) (float-vector 22.0 43.55 63.6) (float-vector 22.0 45.05 63.6)))
         (instance face :init :vertices (list (float-vector 22.0 -5.45 63.6) (float-vector 14.0 -5.45 63.6) (float-vector 14.0 -5.45 34.8) (float-vector -45.0 -5.45 34.8) (float-vector -45.0 -5.45 63.6) (float-vector -53.0 -5.45 63.6) (float-vector -53.0 -5.45 26.6) (float-vector 22.0 -5.45 26.6)))
         (instance face :init :vertices (list (float-vector -53.0 45.05 63.6) (float-vector 22.0 45.05 63.6) (float-vector 22.0 45.05 26.6) (float-vector -53.0 45.05 26.6)))
         (instance face :init :vertices (list (float-vector -53.0 -5.45 26.6) (float-vector -53.0 -5.45 63.6) (float-vector -53.0 -3.95 63.6) (float-vector -53.0 -3.95 28.1) (float-vector -53.0 43.55 28.1) (float-vector -53.0 43.55 63.6) (float-vector -53.0 45.05 63.6) (float-vector -53.0 45.05 26.6)))
         (instance face :init :vertices (list (float-vector 22.0 45.05 26.6) (float-vector 22.0 45.05 63.6) (float-vector 22.0 43.55 63.6) (float-vector 22.0 43.55 28.1) (float-vector 22.0 -3.95 28.1) (float-vector 22.0 -3.95 63.6) (float-vector 22.0 -5.45 63.6) (float-vector 22.0 -5.45 26.6)))
         (instance face :init :vertices (list (float-vector 22.0 -5.45 26.6) (float-vector -53.0 -5.45 26.6) (float-vector -53.0 45.05 26.6) (float-vector 22.0 45.05 26.6)))
         (instance face :init :vertices (list (float-vector 14.0 -5.45 34.8) (float-vector 14.0 -5.45 63.6) (float-vector 14.0 -3.95 63.6) (float-vector 14.0 -3.95 34.8)))
         (instance face :init :vertices (list (float-vector -45.0 -3.95 34.8) (float-vector -45.0 -3.95 63.6) (float-vector -45.0 -5.45 63.6) (float-vector -45.0 -5.45 34.8)))
         (instance face :init :vertices (list (float-vector -45.0 -5.45 34.8) (float-vector 14.0 -5.45 34.8) (float-vector 14.0 -3.95 34.8) (float-vector -45.0 -3.95 34.8)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray90)
     (setq blink33 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-z-crotch :weight 136.165 :centroid (float-vector -14.1543 10.9072 43.8955) :inertia-tensor #2f((56660.4 -918.23 6239.34) (-918.23 65451.7 3620.59) (6239.34 3620.59 57767.2))))

     ;; definition of :lleg-y-crotch
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 0.0 30.0) (float-vector 13.0 0.0 28.5) (float-vector 13.0 28.0 28.5) (float-vector 13.0 28.0 -28.5) (float-vector 13.0 0.0 -28.5)))
         (instance face :init :vertices (list (float-vector -13.0 29.5 -30.0) (float-vector -13.0 29.5 30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -13.0 0.0 -30.0) (float-vector -13.0 0.0 -28.5) (float-vector -13.0 28.0 -28.5) (float-vector -13.0 28.0 28.5) (float-vector -13.0 0.0 28.5) (float-vector -13.0 0.0 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 30.0) (float-vector -13.0 0.0 30.0) (float-vector -13.0 0.0 28.5) (float-vector -9.19239 -9.19239 28.5)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 -30.0) (float-vector -9.19239 -9.19239 -28.5) (float-vector -13.0 0.0 -28.5) (float-vector -13.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector 7.105427e-15 -13.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector -9.19239 -9.19239 28.5) (float-vector 7.105427e-15 -13.0 28.5)))
         (instance face :init :vertices (list (float-vector 0.0 -13.0 -30.0) (float-vector 0.0 -13.0 -28.5) (float-vector -9.19239 -9.19239 -28.5) (float-vector -9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector 7.105427e-15 -13.0 30.0) (float-vector 7.105427e-15 -13.0 28.5) (float-vector 9.19239 -9.19239 28.5)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector 9.19239 -9.19239 -28.5) (float-vector 0.0 -13.0 -28.5) (float-vector 0.0 -13.0 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 0.0 30.0) (float-vector 13.0 29.5 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 0.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector 7.105427e-15 -13.0 30.0) (float-vector 9.19239 -9.19239 30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector 0.0 -13.0 -30.0) (float-vector -9.19239 -9.19239 -30.0) (float-vector -13.0 0.0 -30.0) (float-vector -13.0 29.5 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector 9.19239 -9.19239 28.5) (float-vector 13.0 0.0 28.5) (float-vector 13.0 0.0 30.0)))
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 0.0 -28.5) (float-vector 9.19239 -9.19239 -28.5) (float-vector 9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 28.0 28.5) (float-vector 13.0 0.0 28.5) (float-vector 9.19239 -9.19239 28.5) (float-vector 7.105427e-15 -13.0 28.5) (float-vector -9.19239 -9.19239 28.5) (float-vector -13.0 0.0 28.5) (float-vector -13.0 28.0 28.5)))
         (instance face :init :vertices (list (float-vector 13.0 28.0 -28.5) (float-vector 13.0 28.0 28.5) (float-vector -13.0 28.0 28.5) (float-vector -13.0 28.0 -28.5)))
         (instance face :init :vertices (list (float-vector -13.0 28.0 -28.5) (float-vector -13.0 0.0 -28.5) (float-vector -9.19239 -9.19239 -28.5) (float-vector 0.0 -13.0 -28.5) (float-vector 9.19239 -9.19239 -28.5) (float-vector 13.0 0.0 -28.5) (float-vector 13.0 28.0 -28.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 35.9 65.9 -22.0) (float-vector -13.9 65.9 -22.0) (float-vector -13.9 65.9 37.0) (float-vector 35.9 65.9 37.0)))
         (instance face :init :vertices (list (float-vector -13.9 65.9 37.0) (float-vector -13.9 37.1 37.0) (float-vector 35.9 37.1 37.0) (float-vector 35.9 65.9 37.0)))
         (instance face :init :vertices (list (float-vector -13.9 37.1 37.0) (float-vector -13.9 37.1 -22.0) (float-vector 35.9 37.1 -22.0) (float-vector 35.9 37.1 37.0)))
         (instance face :init :vertices (list (float-vector 35.9 37.1 -22.0) (float-vector 35.9 65.9 -22.0) (float-vector 35.9 65.9 37.0) (float-vector 35.9 37.1 37.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 35.9 63.1047 -14.7) (float-vector 35.9 58.2 -19.6047) (float-vector 35.9 51.5 -21.4) (float-vector 35.9 44.8 -19.6047) (float-vector 35.9 39.8953 -14.7) (float-vector 35.9 38.1 -8.0) (float-vector 35.9 39.8953 -1.3) (float-vector 35.9 44.8 3.60474) (float-vector 35.9 51.5 5.4) (float-vector 35.9 58.2 3.60474) (float-vector 35.9 63.1047 -1.3) (float-vector 35.9 64.9 -8.0)))
))
         (instance face :init :vertices (list (float-vector -13.9 37.1 -22.0) (float-vector -13.9 65.9 -22.0) (float-vector 35.9 65.9 -22.0) (float-vector 35.9 37.1 -22.0)))
         (instance face :init :vertices (list (float-vector -13.9 65.9 -22.0) (float-vector -13.9 37.1 -22.0) (float-vector -13.9 37.1 37.0) (float-vector -13.9 65.9 37.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -13.9 58.2 -19.6047) (float-vector -13.9 63.1047 -14.7) (float-vector -13.9 64.9 -8.0) (float-vector -13.9 63.1047 -1.3) (float-vector -13.9 58.2 3.60474) (float-vector -13.9 51.5 5.4) (float-vector -13.9 44.8 3.60474) (float-vector -13.9 39.8953 -1.3) (float-vector -13.9 38.1 -8.0) (float-vector -13.9 39.8953 -14.7) (float-vector -13.9 44.8 -19.6047) (float-vector -13.9 51.5 -21.4)))
))
         (instance face :init :vertices (list (float-vector 37.9 64.9 -8.0) (float-vector 35.9 64.9 -8.0) (float-vector 35.9 63.1047 -1.3) (float-vector 37.9 63.1047 -1.3)))
         (instance face :init :vertices (list (float-vector -13.9 64.9 -8.0) (float-vector -15.9 64.9 -8.0) (float-vector -15.9 63.1047 -1.3) (float-vector -13.9 63.1047 -1.3)))
         (instance face :init :vertices (list (float-vector 35.9 58.2 3.60474) (float-vector 37.9 58.2 3.60474) (float-vector 37.9 63.1047 -1.3) (float-vector 35.9 63.1047 -1.3)))
         (instance face :init :vertices (list (float-vector -15.9 63.1047 -1.3) (float-vector -15.9 58.2 3.60474) (float-vector -13.9 58.2 3.60474) (float-vector -13.9 63.1047 -1.3)))
         (instance face :init :vertices (list (float-vector 35.9 51.5 5.4) (float-vector 37.9 51.5 5.4) (float-vector 37.9 58.2 3.60474) (float-vector 35.9 58.2 3.60474)))
         (instance face :init :vertices (list (float-vector -15.9 58.2 3.60474) (float-vector -15.9 51.5 5.4) (float-vector -13.9 51.5 5.4) (float-vector -13.9 58.2 3.60474)))
         (instance face :init :vertices (list (float-vector 35.9 44.8 3.60474) (float-vector 37.9 44.8 3.60474) (float-vector 37.9 51.5 5.4) (float-vector 35.9 51.5 5.4)))
         (instance face :init :vertices (list (float-vector -15.9 51.5 5.4) (float-vector -15.9 44.8 3.60474) (float-vector -13.9 44.8 3.60474) (float-vector -13.9 51.5 5.4)))
         (instance face :init :vertices (list (float-vector 35.9 39.8953 -1.3) (float-vector 37.9 39.8953 -1.3) (float-vector 37.9 44.8 3.60474) (float-vector 35.9 44.8 3.60474)))
         (instance face :init :vertices (list (float-vector -15.9 44.8 3.60474) (float-vector -15.9 39.8953 -1.3) (float-vector -13.9 39.8953 -1.3) (float-vector -13.9 44.8 3.60474)))
         (instance face :init :vertices (list (float-vector 35.9 38.1 -8.0) (float-vector 37.9 38.1 -8.0) (float-vector 37.9 39.8953 -1.3) (float-vector 35.9 39.8953 -1.3)))
         (instance face :init :vertices (list (float-vector -15.9 39.8953 -1.3) (float-vector -15.9 38.1 -8.0) (float-vector -13.9 38.1 -8.0) (float-vector -13.9 39.8953 -1.3)))
         (instance face :init :vertices (list (float-vector 35.9 39.8953 -14.7) (float-vector 37.9 39.8953 -14.7) (float-vector 37.9 38.1 -8.0) (float-vector 35.9 38.1 -8.0)))
         (instance face :init :vertices (list (float-vector -15.9 38.1 -8.0) (float-vector -15.9 39.8953 -14.7) (float-vector -13.9 39.8953 -14.7) (float-vector -13.9 38.1 -8.0)))
         (instance face :init :vertices (list (float-vector 35.9 44.8 -19.6047) (float-vector 37.9 44.8 -19.6047) (float-vector 37.9 39.8953 -14.7) (float-vector 35.9 39.8953 -14.7)))
         (instance face :init :vertices (list (float-vector -15.9 39.8953 -14.7) (float-vector -15.9 44.8 -19.6047) (float-vector -13.9 44.8 -19.6047) (float-vector -13.9 39.8953 -14.7)))
         (instance face :init :vertices (list (float-vector 35.9 51.5 -21.4) (float-vector 37.9 51.5 -21.4) (float-vector 37.9 44.8 -19.6047) (float-vector 35.9 44.8 -19.6047)))
         (instance face :init :vertices (list (float-vector -15.9 44.8 -19.6047) (float-vector -15.9 51.5 -21.4) (float-vector -13.9 51.5 -21.4) (float-vector -13.9 44.8 -19.6047)))
         (instance face :init :vertices (list (float-vector 35.9 58.2 -19.6047) (float-vector 37.9 58.2 -19.6047) (float-vector 37.9 51.5 -21.4) (float-vector 35.9 51.5 -21.4)))
         (instance face :init :vertices (list (float-vector -15.9 51.5 -21.4) (float-vector -15.9 58.2 -19.6047) (float-vector -13.9 58.2 -19.6047) (float-vector -13.9 51.5 -21.4)))
         (instance face :init :vertices (list (float-vector 35.9 63.1047 -14.7) (float-vector 37.9 63.1047 -14.7) (float-vector 37.9 58.2 -19.6047) (float-vector 35.9 58.2 -19.6047)))
         (instance face :init :vertices (list (float-vector -15.9 58.2 -19.6047) (float-vector -15.9 63.1047 -14.7) (float-vector -13.9 63.1047 -14.7) (float-vector -13.9 58.2 -19.6047)))
         (instance face :init :vertices (list (float-vector 37.9 63.1047 -14.7) (float-vector 37.9 64.9 -8.0) (float-vector 37.9 63.1047 -1.3) (float-vector 37.9 58.2 3.60474) (float-vector 37.9 51.5 5.4) (float-vector 37.9 44.8 3.60474) (float-vector 37.9 39.8953 -1.3) (float-vector 37.9 38.1 -8.0) (float-vector 37.9 39.8953 -14.7) (float-vector 37.9 44.8 -19.6047) (float-vector 37.9 51.5 -21.4) (float-vector 37.9 58.2 -19.6047)))
         (instance face :init :vertices (list (float-vector 37.9 64.9 -8.0) (float-vector 37.9 63.1047 -14.7) (float-vector 35.9 63.1047 -14.7) (float-vector 35.9 64.9 -8.0)))
         (instance face :init :vertices (list (float-vector -15.9 63.1047 -14.7) (float-vector -15.9 64.9 -8.0) (float-vector -13.9 64.9 -8.0) (float-vector -13.9 63.1047 -14.7)))
         (instance face :init :vertices (list (float-vector -15.9 64.9 -8.0) (float-vector -15.9 63.1047 -14.7) (float-vector -15.9 58.2 -19.6047) (float-vector -15.9 51.5 -21.4) (float-vector -15.9 44.8 -19.6047) (float-vector -15.9 39.8953 -14.7) (float-vector -15.9 38.1 -8.0) (float-vector -15.9 39.8953 -1.3) (float-vector -15.9 44.8 3.60474) (float-vector -15.9 51.5 5.4) (float-vector -15.9 58.2 3.60474) (float-vector -15.9 63.1047 -1.3)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 22.75 30.4 45.0) (float-vector 22.75 65.9 45.0) (float-vector 22.75 65.9 37.0) (float-vector 22.75 37.1 37.0) (float-vector 22.75 37.1 -22.0) (float-vector 22.75 65.9 -22.0) (float-vector 22.75 65.9 -30.0) (float-vector 22.75 30.4 -30.0)))
         (instance face :init :vertices (list (float-vector 22.75 30.4 45.0) (float-vector 22.75 30.4 -30.0) (float-vector -24.75 30.4 -30.0) (float-vector -24.75 30.4 45.0)))
         (instance face :init :vertices (list (float-vector -24.75 30.4 45.0) (float-vector -24.75 30.4 -30.0) (float-vector -24.75 65.9 -30.0) (float-vector -24.75 65.9 45.0)))
         (instance face :init :vertices (list (float-vector 24.25 65.9 -30.0) (float-vector 22.75 65.9 -30.0) (float-vector 22.75 65.9 -22.0) (float-vector 24.25 65.9 -22.0)))
         (instance face :init :vertices (list (float-vector 24.25 65.9 37.0) (float-vector 22.75 65.9 37.0) (float-vector 22.75 65.9 45.0) (float-vector 24.25 65.9 45.0)))
         (instance face :init :vertices (list (float-vector -26.25 65.9 45.0) (float-vector -24.75 65.9 45.0) (float-vector -24.75 65.9 -30.0) (float-vector -26.25 65.9 -30.0)))
         (instance face :init :vertices (list (float-vector 24.25 65.9 -30.0) (float-vector 24.25 65.9 -22.0) (float-vector 24.25 37.1 -22.0) (float-vector 24.25 37.1 37.0) (float-vector 24.25 65.9 37.0) (float-vector 24.25 65.9 45.0) (float-vector 24.25 28.9 45.0) (float-vector 24.25 28.9 -30.0)))
         (instance face :init :vertices (list (float-vector -26.25 65.9 45.0) (float-vector -26.25 65.9 -30.0) (float-vector -26.25 28.9 -30.0) (float-vector -26.25 28.9 45.0)))
         (instance face :init :vertices (list (float-vector 24.25 28.9 45.0) (float-vector 24.25 65.9 45.0) (float-vector 22.75 65.9 45.0) (float-vector 22.75 30.4 45.0) (float-vector -24.75 30.4 45.0) (float-vector -24.75 65.9 45.0) (float-vector -26.25 65.9 45.0) (float-vector -26.25 28.9 45.0)))
         (instance face :init :vertices (list (float-vector -26.25 28.9 -30.0) (float-vector -26.25 65.9 -30.0) (float-vector -24.75 65.9 -30.0) (float-vector -24.75 30.4 -30.0) (float-vector 22.75 30.4 -30.0) (float-vector 22.75 65.9 -30.0) (float-vector 24.25 65.9 -30.0) (float-vector 24.25 28.9 -30.0)))
         (instance face :init :vertices (list (float-vector 24.25 28.9 -30.0) (float-vector 24.25 28.9 45.0) (float-vector -26.25 28.9 45.0) (float-vector -26.25 28.9 -30.0)))
         (instance face :init :vertices (list (float-vector 24.25 37.1 -22.0) (float-vector 24.25 65.9 -22.0) (float-vector 22.75 65.9 -22.0) (float-vector 22.75 37.1 -22.0)))
         (instance face :init :vertices (list (float-vector 22.75 37.1 37.0) (float-vector 22.75 65.9 37.0) (float-vector 24.25 65.9 37.0) (float-vector 24.25 37.1 37.0)))
         (instance face :init :vertices (list (float-vector 24.25 37.1 37.0) (float-vector 24.25 37.1 -22.0) (float-vector 22.75 37.1 -22.0) (float-vector 22.75 37.1 37.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray90)
     (setq blink34 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-y-crotch :weight 141.151 :centroid (float-vector 7.40122 46.2143 6.45634) :inertia-tensor #2f((64613.8 -4995.07 -929.863) (-4995.07 65345.2 -2954.44) (-929.863 -2954.44 49412.1))))

     ;; definition of :lleg-x-crotch
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 13.0 -2.842171e-14 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 -2.842171e-14 30.0) (float-vector 13.0 -2.842171e-14 28.5) (float-vector 13.0 28.0 28.5) (float-vector 13.0 28.0 -28.5) (float-vector 13.0 -2.842171e-14 -28.5)))
         (instance face :init :vertices (list (float-vector -13.0 29.5 -30.0) (float-vector -13.0 29.5 30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -13.0 -2.842171e-14 -30.0) (float-vector -13.0 -2.842171e-14 -28.5) (float-vector -13.0 28.0 -28.5) (float-vector -13.0 28.0 28.5) (float-vector -13.0 -2.842171e-14 28.5) (float-vector -13.0 -2.842171e-14 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 30.0) (float-vector -13.0 -2.842171e-14 30.0) (float-vector -13.0 -2.842171e-14 28.5) (float-vector -9.19239 -9.19239 28.5)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 -30.0) (float-vector -9.19239 -9.19239 -28.5) (float-vector -13.0 -2.842171e-14 -28.5) (float-vector -13.0 -2.842171e-14 -30.0)))
         (instance face :init :vertices (list (float-vector 0.0 -13.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector -9.19239 -9.19239 28.5) (float-vector 0.0 -13.0 28.5)))
         (instance face :init :vertices (list (float-vector 0.0 -13.0 -30.0) (float-vector 0.0 -13.0 -28.5) (float-vector -9.19239 -9.19239 -28.5) (float-vector -9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector 0.0 -13.0 30.0) (float-vector 0.0 -13.0 28.5) (float-vector 9.19239 -9.19239 28.5)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector 9.19239 -9.19239 -28.5) (float-vector 0.0 -13.0 -28.5) (float-vector 0.0 -13.0 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 -2.842171e-14 30.0) (float-vector 13.0 29.5 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 -2.842171e-14 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector 0.0 -13.0 30.0) (float-vector 9.19239 -9.19239 30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector 0.0 -13.0 -30.0) (float-vector -9.19239 -9.19239 -30.0) (float-vector -13.0 -2.842171e-14 -30.0) (float-vector -13.0 29.5 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 -2.842171e-14 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector 9.19239 -9.19239 28.5) (float-vector 13.0 -2.842171e-14 28.5) (float-vector 13.0 -2.842171e-14 30.0)))
         (instance face :init :vertices (list (float-vector 13.0 -2.842171e-14 -30.0) (float-vector 13.0 -2.842171e-14 -28.5) (float-vector 9.19239 -9.19239 -28.5) (float-vector 9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 28.0 28.5) (float-vector 13.0 -2.842171e-14 28.5) (float-vector 9.19239 -9.19239 28.5) (float-vector 0.0 -13.0 28.5) (float-vector -9.19239 -9.19239 28.5) (float-vector -13.0 -2.842171e-14 28.5) (float-vector -13.0 28.0 28.5)))
         (instance face :init :vertices (list (float-vector 13.0 28.0 -28.5) (float-vector 13.0 28.0 28.5) (float-vector -13.0 28.0 28.5) (float-vector -13.0 28.0 -28.5)))
         (instance face :init :vertices (list (float-vector -13.0 28.0 -28.5) (float-vector -13.0 -2.842171e-14 -28.5) (float-vector -9.19239 -9.19239 -28.5) (float-vector 0.0 -13.0 -28.5) (float-vector 9.19239 -9.19239 -28.5) (float-vector 13.0 -2.842171e-14 -28.5) (float-vector 13.0 28.0 -28.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 101.0 -24.9) (float-vector 14.4 101.0 24.9) (float-vector 14.4 42.0 24.9) (float-vector 14.4 42.0 -24.9)))
         (instance face :init :vertices (list (float-vector 14.4 42.0 24.9) (float-vector -14.4 42.0 24.9) (float-vector -14.4 42.0 -24.9) (float-vector 14.4 42.0 -24.9)))
         (instance face :init :vertices (list (float-vector -14.4 42.0 24.9) (float-vector -14.4 101.0 24.9) (float-vector -14.4 101.0 -24.9) (float-vector -14.4 42.0 -24.9)))
         (instance face :init :vertices (list (float-vector -14.4 101.0 -24.9) (float-vector 14.4 101.0 -24.9) (float-vector 14.4 42.0 -24.9) (float-vector -14.4 42.0 -24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 11.6047 93.7 -24.9) (float-vector 6.7 98.6047 -24.9) (float-vector -2.842171e-14 100.4 -24.9) (float-vector -6.7 98.6047 -24.9) (float-vector -11.6047 93.7 -24.9) (float-vector -13.4 87.0 -24.9) (float-vector -11.6047 80.3 -24.9) (float-vector -6.7 75.3953 -24.9) (float-vector -2.842171e-14 73.6 -24.9) (float-vector 6.7 75.3953 -24.9) (float-vector 11.6047 80.3 -24.9) (float-vector 13.4 87.0 -24.9)))
))
         (instance face :init :vertices (list (float-vector -14.4 101.0 24.9) (float-vector 14.4 101.0 24.9) (float-vector 14.4 101.0 -24.9) (float-vector -14.4 101.0 -24.9)))
         (instance face :init :vertices (list (float-vector 14.4 101.0 24.9) (float-vector -14.4 101.0 24.9) (float-vector -14.4 42.0 24.9) (float-vector 14.4 42.0 24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 6.7 98.6047 24.9) (float-vector 11.6047 93.7 24.9) (float-vector 13.4 87.0 24.9) (float-vector 11.6047 80.3 24.9) (float-vector 6.7 75.3953 24.9) (float-vector 0.0 73.6 24.9) (float-vector -6.7 75.3953 24.9) (float-vector -11.6047 80.3 24.9) (float-vector -13.4 87.0 24.9) (float-vector -11.6047 93.7 24.9) (float-vector -6.7 98.6047 24.9) (float-vector 0.0 100.4 24.9)))
))
         (instance face :init :vertices (list (float-vector 13.4 87.0 -26.9) (float-vector 13.4 87.0 -24.9) (float-vector 11.6047 80.3 -24.9) (float-vector 11.6047 80.3 -26.9)))
         (instance face :init :vertices (list (float-vector 13.4 87.0 24.9) (float-vector 13.4 87.0 26.9) (float-vector 11.6047 80.3 26.9) (float-vector 11.6047 80.3 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 75.3953 -24.9) (float-vector 6.7 75.3953 -26.9) (float-vector 11.6047 80.3 -26.9) (float-vector 11.6047 80.3 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 80.3 26.9) (float-vector 6.7 75.3953 26.9) (float-vector 6.7 75.3953 24.9) (float-vector 11.6047 80.3 24.9)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 73.6 -24.9) (float-vector 0.0 73.6 -26.9) (float-vector 6.7 75.3953 -26.9) (float-vector 6.7 75.3953 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 75.3953 26.9) (float-vector 0.0 73.6 26.9) (float-vector 0.0 73.6 24.9) (float-vector 6.7 75.3953 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 75.3953 -24.9) (float-vector -6.7 75.3953 -26.9) (float-vector 0.0 73.6 -26.9) (float-vector -2.842171e-14 73.6 -24.9)))
         (instance face :init :vertices (list (float-vector 0.0 73.6 26.9) (float-vector -6.7 75.3953 26.9) (float-vector -6.7 75.3953 24.9) (float-vector 0.0 73.6 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 80.3 -24.9) (float-vector -11.6047 80.3 -26.9) (float-vector -6.7 75.3953 -26.9) (float-vector -6.7 75.3953 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 75.3953 26.9) (float-vector -11.6047 80.3 26.9) (float-vector -11.6047 80.3 24.9) (float-vector -6.7 75.3953 24.9)))
         (instance face :init :vertices (list (float-vector -13.4 87.0 -24.9) (float-vector -13.4 87.0 -26.9) (float-vector -11.6047 80.3 -26.9) (float-vector -11.6047 80.3 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 80.3 26.9) (float-vector -13.4 87.0 26.9) (float-vector -13.4 87.0 24.9) (float-vector -11.6047 80.3 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 93.7 -24.9) (float-vector -11.6047 93.7 -26.9) (float-vector -13.4 87.0 -26.9) (float-vector -13.4 87.0 -24.9)))
         (instance face :init :vertices (list (float-vector -13.4 87.0 26.9) (float-vector -11.6047 93.7 26.9) (float-vector -11.6047 93.7 24.9) (float-vector -13.4 87.0 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 98.6047 -24.9) (float-vector -6.7 98.6047 -26.9) (float-vector -11.6047 93.7 -26.9) (float-vector -11.6047 93.7 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 93.7 26.9) (float-vector -6.7 98.6047 26.9) (float-vector -6.7 98.6047 24.9) (float-vector -11.6047 93.7 24.9)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 100.4 -24.9) (float-vector -2.842171e-14 100.4 -26.9) (float-vector -6.7 98.6047 -26.9) (float-vector -6.7 98.6047 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 98.6047 26.9) (float-vector 0.0 100.4 26.9) (float-vector 0.0 100.4 24.9) (float-vector -6.7 98.6047 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 98.6047 -24.9) (float-vector 6.7 98.6047 -26.9) (float-vector -2.842171e-14 100.4 -26.9) (float-vector -2.842171e-14 100.4 -24.9)))
         (instance face :init :vertices (list (float-vector 0.0 100.4 26.9) (float-vector 6.7 98.6047 26.9) (float-vector 6.7 98.6047 24.9) (float-vector 0.0 100.4 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 93.7 -24.9) (float-vector 11.6047 93.7 -26.9) (float-vector 6.7 98.6047 -26.9) (float-vector 6.7 98.6047 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 98.6047 26.9) (float-vector 11.6047 93.7 26.9) (float-vector 11.6047 93.7 24.9) (float-vector 6.7 98.6047 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 93.7 -26.9) (float-vector 13.4 87.0 -26.9) (float-vector 11.6047 80.3 -26.9) (float-vector 6.7 75.3953 -26.9) (float-vector 0.0 73.6 -26.9) (float-vector -6.7 75.3953 -26.9) (float-vector -11.6047 80.3 -26.9) (float-vector -13.4 87.0 -26.9) (float-vector -11.6047 93.7 -26.9) (float-vector -6.7 98.6047 -26.9) (float-vector -2.842171e-14 100.4 -26.9) (float-vector 6.7 98.6047 -26.9)))
         (instance face :init :vertices (list (float-vector 13.4 87.0 -26.9) (float-vector 11.6047 93.7 -26.9) (float-vector 11.6047 93.7 -24.9) (float-vector 13.4 87.0 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 93.7 26.9) (float-vector 13.4 87.0 26.9) (float-vector 13.4 87.0 24.9) (float-vector 11.6047 93.7 24.9)))
         (instance face :init :vertices (list (float-vector 13.4 87.0 26.9) (float-vector 11.6047 93.7 26.9) (float-vector 6.7 98.6047 26.9) (float-vector 0.0 100.4 26.9) (float-vector -6.7 98.6047 26.9) (float-vector -11.6047 93.7 26.9) (float-vector -13.4 87.0 26.9) (float-vector -11.6047 80.3 26.9) (float-vector -6.7 75.3953 26.9) (float-vector 0.0 73.6 26.9) (float-vector 6.7 75.3953 26.9) (float-vector 11.6047 80.3 26.9)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -12.0 28.9 -13.0) (float-vector -12.0 28.9 36.0) (float-vector -12.0 92.9 36.0) (float-vector -12.0 92.9 34.5) (float-vector -12.0 30.4 34.5) (float-vector -12.0 30.4 -13.0)))
         (instance face :init :vertices (list (float-vector 12.0 28.9 36.0) (float-vector 12.0 92.9 36.0) (float-vector -12.0 92.9 36.0) (float-vector -12.0 28.9 36.0)))
         (instance face :init :vertices (list (float-vector 12.0 92.9 34.5) (float-vector -12.0 92.9 34.5) (float-vector -12.0 92.9 36.0) (float-vector 12.0 92.9 36.0)))
         (instance face :init :vertices (list (float-vector 12.0 28.9 -13.0) (float-vector 12.0 30.4 -13.0) (float-vector 12.0 30.4 34.5) (float-vector 12.0 92.9 34.5) (float-vector 12.0 92.9 36.0) (float-vector 12.0 28.9 36.0)))
         (instance face :init :vertices (list (float-vector 12.0 28.9 -13.0) (float-vector 12.0 28.9 36.0) (float-vector -12.0 28.9 36.0) (float-vector -12.0 28.9 -13.0)))
         (instance face :init :vertices (list (float-vector -12.0 28.9 -13.0) (float-vector -12.0 30.4 -13.0) (float-vector 12.0 30.4 -13.0) (float-vector 12.0 28.9 -13.0)))
         (instance face :init :vertices (list (float-vector -12.0 30.4 34.5) (float-vector -12.0 92.9 34.5) (float-vector 12.0 92.9 34.5) (float-vector 12.0 30.4 34.5)))
         (instance face :init :vertices (list (float-vector 12.0 30.4 34.5) (float-vector 12.0 30.4 -13.0) (float-vector -12.0 30.4 -13.0) (float-vector -12.0 30.4 34.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray90)
     (setq blink35 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-x-crotch :weight 141.151 :centroid (float-vector 4.158322e-15 63.0354 3.51579) :inertia-tensor #2f((1.030401e+05 -2.478701e-12 -4.552980e-12) (-2.478701e-12 40402.4 1086.25) (-4.552980e-12 1086.25 79023.7))))

     ;; definition of :lleg-x-knee
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 -2.842171e-14 30.0) (float-vector 13.0 -2.842171e-14 28.5) (float-vector 13.0 28.0 28.5) (float-vector 13.0 28.0 -28.5) (float-vector 13.0 0.0 -28.5)))
         (instance face :init :vertices (list (float-vector -13.0 29.5 -30.0) (float-vector -13.0 29.5 30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -13.0 0.0 -30.0) (float-vector -13.0 0.0 -28.5) (float-vector -13.0 28.0 -28.5) (float-vector -13.0 28.0 28.5) (float-vector -13.0 0.0 28.5) (float-vector -13.0 0.0 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 30.0) (float-vector -13.0 0.0 30.0) (float-vector -13.0 0.0 28.5) (float-vector -9.19239 -9.19239 28.5)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 -30.0) (float-vector -9.19239 -9.19239 -28.5) (float-vector -13.0 0.0 -28.5) (float-vector -13.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector -1.421085e-14 -13.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector -9.19239 -9.19239 28.5) (float-vector -1.421085e-14 -13.0 28.5)))
         (instance face :init :vertices (list (float-vector -1.421085e-14 -13.0 -30.0) (float-vector -2.131628e-14 -13.0 -28.5) (float-vector -9.19239 -9.19239 -28.5) (float-vector -9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector -1.421085e-14 -13.0 30.0) (float-vector -1.421085e-14 -13.0 28.5) (float-vector 9.19239 -9.19239 28.5)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector 9.19239 -9.19239 -28.5) (float-vector -2.131628e-14 -13.0 -28.5) (float-vector -1.421085e-14 -13.0 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 -2.842171e-14 30.0) (float-vector 13.0 29.5 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 0.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector -1.421085e-14 -13.0 30.0) (float-vector 9.19239 -9.19239 30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector -1.421085e-14 -13.0 -30.0) (float-vector -9.19239 -9.19239 -30.0) (float-vector -13.0 0.0 -30.0) (float-vector -13.0 29.5 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector 9.19239 -9.19239 28.5) (float-vector 13.0 -2.842171e-14 28.5) (float-vector 13.0 -2.842171e-14 30.0)))
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 0.0 -28.5) (float-vector 9.19239 -9.19239 -28.5) (float-vector 9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 28.0 28.5) (float-vector 13.0 -2.842171e-14 28.5) (float-vector 9.19239 -9.19239 28.5) (float-vector -1.421085e-14 -13.0 28.5) (float-vector -9.19239 -9.19239 28.5) (float-vector -13.0 0.0 28.5) (float-vector -13.0 28.0 28.5)))
         (instance face :init :vertices (list (float-vector 13.0 28.0 -28.5) (float-vector 13.0 28.0 28.5) (float-vector -13.0 28.0 28.5) (float-vector -13.0 28.0 -28.5)))
         (instance face :init :vertices (list (float-vector -13.0 28.0 -28.5) (float-vector -13.0 0.0 -28.5) (float-vector -9.19239 -9.19239 -28.5) (float-vector -2.131628e-14 -13.0 -28.5) (float-vector 9.19239 -9.19239 -28.5) (float-vector 13.0 0.0 -28.5) (float-vector 13.0 28.0 -28.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 101.0 -24.9) (float-vector 14.4 101.0 24.9) (float-vector 14.4 42.0 24.9) (float-vector 14.4 42.0 -24.9)))
         (instance face :init :vertices (list (float-vector 14.4 42.0 24.9) (float-vector -14.4 42.0 24.9) (float-vector -14.4 42.0 -24.9) (float-vector 14.4 42.0 -24.9)))
         (instance face :init :vertices (list (float-vector -14.4 42.0 24.9) (float-vector -14.4 101.0 24.9) (float-vector -14.4 101.0 -24.9) (float-vector -14.4 42.0 -24.9)))
         (instance face :init :vertices (list (float-vector -14.4 101.0 -24.9) (float-vector 14.4 101.0 -24.9) (float-vector 14.4 42.0 -24.9) (float-vector -14.4 42.0 -24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 11.6047 93.7 -24.9) (float-vector 6.7 98.6047 -24.9) (float-vector -2.842171e-14 100.4 -24.9) (float-vector -6.7 98.6047 -24.9) (float-vector -11.6047 93.7 -24.9) (float-vector -13.4 87.0 -24.9) (float-vector -11.6047 80.3 -24.9) (float-vector -6.7 75.3953 -24.9) (float-vector -1.421085e-14 73.6 -24.9) (float-vector 6.7 75.3953 -24.9) (float-vector 11.6047 80.3 -24.9) (float-vector 13.4 87.0 -24.9)))
))
         (instance face :init :vertices (list (float-vector -14.4 101.0 24.9) (float-vector 14.4 101.0 24.9) (float-vector 14.4 101.0 -24.9) (float-vector -14.4 101.0 -24.9)))
         (instance face :init :vertices (list (float-vector 14.4 101.0 24.9) (float-vector -14.4 101.0 24.9) (float-vector -14.4 42.0 24.9) (float-vector 14.4 42.0 24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 6.7 98.6047 24.9) (float-vector 11.6047 93.7 24.9) (float-vector 13.4 87.0 24.9) (float-vector 11.6047 80.3 24.9) (float-vector 6.7 75.3953 24.9) (float-vector 0.0 73.6 24.9) (float-vector -6.7 75.3953 24.9) (float-vector -11.6047 80.3 24.9) (float-vector -13.4 87.0 24.9) (float-vector -11.6047 93.7 24.9) (float-vector -6.7 98.6047 24.9) (float-vector -2.131628e-14 100.4 24.9)))
))
         (instance face :init :vertices (list (float-vector 13.4 87.0 -26.9) (float-vector 13.4 87.0 -24.9) (float-vector 11.6047 80.3 -24.9) (float-vector 11.6047 80.3 -26.9)))
         (instance face :init :vertices (list (float-vector 13.4 87.0 24.9) (float-vector 13.4 87.0 26.9) (float-vector 11.6047 80.3 26.9) (float-vector 11.6047 80.3 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 75.3953 -24.9) (float-vector 6.7 75.3953 -26.9) (float-vector 11.6047 80.3 -26.9) (float-vector 11.6047 80.3 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 80.3 26.9) (float-vector 6.7 75.3953 26.9) (float-vector 6.7 75.3953 24.9) (float-vector 11.6047 80.3 24.9)))
         (instance face :init :vertices (list (float-vector -1.421085e-14 73.6 -24.9) (float-vector -1.421085e-14 73.6 -26.9) (float-vector 6.7 75.3953 -26.9) (float-vector 6.7 75.3953 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 75.3953 26.9) (float-vector 0.0 73.6 26.9) (float-vector 0.0 73.6 24.9) (float-vector 6.7 75.3953 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 75.3953 -24.9) (float-vector -6.7 75.3953 -26.9) (float-vector -1.421085e-14 73.6 -26.9) (float-vector -1.421085e-14 73.6 -24.9)))
         (instance face :init :vertices (list (float-vector 0.0 73.6 26.9) (float-vector -6.7 75.3953 26.9) (float-vector -6.7 75.3953 24.9) (float-vector 0.0 73.6 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 80.3 -24.9) (float-vector -11.6047 80.3 -26.9) (float-vector -6.7 75.3953 -26.9) (float-vector -6.7 75.3953 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 75.3953 26.9) (float-vector -11.6047 80.3 26.9) (float-vector -11.6047 80.3 24.9) (float-vector -6.7 75.3953 24.9)))
         (instance face :init :vertices (list (float-vector -13.4 87.0 -24.9) (float-vector -13.4 87.0 -26.9) (float-vector -11.6047 80.3 -26.9) (float-vector -11.6047 80.3 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 80.3 26.9) (float-vector -13.4 87.0 26.9) (float-vector -13.4 87.0 24.9) (float-vector -11.6047 80.3 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 93.7 -24.9) (float-vector -11.6047 93.7 -26.9) (float-vector -13.4 87.0 -26.9) (float-vector -13.4 87.0 -24.9)))
         (instance face :init :vertices (list (float-vector -13.4 87.0 26.9) (float-vector -11.6047 93.7 26.9) (float-vector -11.6047 93.7 24.9) (float-vector -13.4 87.0 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 98.6047 -24.9) (float-vector -6.7 98.6047 -26.9) (float-vector -11.6047 93.7 -26.9) (float-vector -11.6047 93.7 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 93.7 26.9) (float-vector -6.7 98.6047 26.9) (float-vector -6.7 98.6047 24.9) (float-vector -11.6047 93.7 24.9)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 100.4 -24.9) (float-vector -2.842171e-14 100.4 -26.9) (float-vector -6.7 98.6047 -26.9) (float-vector -6.7 98.6047 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 98.6047 26.9) (float-vector -2.131628e-14 100.4 26.9) (float-vector -2.131628e-14 100.4 24.9) (float-vector -6.7 98.6047 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 98.6047 -24.9) (float-vector 6.7 98.6047 -26.9) (float-vector -2.842171e-14 100.4 -26.9) (float-vector -2.842171e-14 100.4 -24.9)))
         (instance face :init :vertices (list (float-vector -2.131628e-14 100.4 26.9) (float-vector 6.7 98.6047 26.9) (float-vector 6.7 98.6047 24.9) (float-vector -2.131628e-14 100.4 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 93.7 -24.9) (float-vector 11.6047 93.7 -26.9) (float-vector 6.7 98.6047 -26.9) (float-vector 6.7 98.6047 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 98.6047 26.9) (float-vector 11.6047 93.7 26.9) (float-vector 11.6047 93.7 24.9) (float-vector 6.7 98.6047 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 93.7 -26.9) (float-vector 13.4 87.0 -26.9) (float-vector 11.6047 80.3 -26.9) (float-vector 6.7 75.3953 -26.9) (float-vector -1.421085e-14 73.6 -26.9) (float-vector -6.7 75.3953 -26.9) (float-vector -11.6047 80.3 -26.9) (float-vector -13.4 87.0 -26.9) (float-vector -11.6047 93.7 -26.9) (float-vector -6.7 98.6047 -26.9) (float-vector -2.842171e-14 100.4 -26.9) (float-vector 6.7 98.6047 -26.9)))
         (instance face :init :vertices (list (float-vector 13.4 87.0 -26.9) (float-vector 11.6047 93.7 -26.9) (float-vector 11.6047 93.7 -24.9) (float-vector 13.4 87.0 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 93.7 26.9) (float-vector 13.4 87.0 26.9) (float-vector 13.4 87.0 24.9) (float-vector 11.6047 93.7 24.9)))
         (instance face :init :vertices (list (float-vector 13.4 87.0 26.9) (float-vector 11.6047 93.7 26.9) (float-vector 6.7 98.6047 26.9) (float-vector -2.131628e-14 100.4 26.9) (float-vector -6.7 98.6047 26.9) (float-vector -11.6047 93.7 26.9) (float-vector -13.4 87.0 26.9) (float-vector -11.6047 80.3 26.9) (float-vector -6.7 75.3953 26.9) (float-vector 0.0 73.6 26.9) (float-vector 6.7 75.3953 26.9) (float-vector 11.6047 80.3 26.9)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -12.0 28.9 -13.0) (float-vector -12.0 28.9 36.0) (float-vector -12.0 92.9 36.0) (float-vector -12.0 92.9 34.5) (float-vector -12.0 30.4 34.5) (float-vector -12.0 30.4 -13.0)))
         (instance face :init :vertices (list (float-vector 12.0 28.9 36.0) (float-vector 12.0 92.9 36.0) (float-vector -12.0 92.9 36.0) (float-vector -12.0 28.9 36.0)))
         (instance face :init :vertices (list (float-vector 12.0 92.9 34.5) (float-vector -12.0 92.9 34.5) (float-vector -12.0 92.9 36.0) (float-vector 12.0 92.9 36.0)))
         (instance face :init :vertices (list (float-vector 12.0 28.9 -13.0) (float-vector 12.0 30.4 -13.0) (float-vector 12.0 30.4 34.5) (float-vector 12.0 92.9 34.5) (float-vector 12.0 92.9 36.0) (float-vector 12.0 28.9 36.0)))
         (instance face :init :vertices (list (float-vector 12.0 28.9 -13.0) (float-vector 12.0 28.9 36.0) (float-vector -12.0 28.9 36.0) (float-vector -12.0 28.9 -13.0)))
         (instance face :init :vertices (list (float-vector -12.0 28.9 -13.0) (float-vector -12.0 30.4 -13.0) (float-vector 12.0 30.4 -13.0) (float-vector 12.0 28.9 -13.0)))
         (instance face :init :vertices (list (float-vector -12.0 30.4 34.5) (float-vector -12.0 92.9 34.5) (float-vector 12.0 92.9 34.5) (float-vector 12.0 30.4 34.5)))
         (instance face :init :vertices (list (float-vector 12.0 30.4 34.5) (float-vector 12.0 30.4 -13.0) (float-vector -12.0 30.4 -13.0) (float-vector -12.0 30.4 34.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray90)
     (setq blink8 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-x-knee :weight 141.151 :centroid (float-vector 4.158322e-15 63.0354 3.51579) :inertia-tensor #2f((1.030401e+05 -2.478701e-12 -4.552980e-12) (-2.478701e-12 40402.4 1086.25) (-4.552980e-12 1086.25 79023.7))))

     ;; definition of :lleg-x-ankle
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 0.0 30.0) (float-vector 13.0 0.0 28.5) (float-vector 13.0 28.0 28.5) (float-vector 13.0 28.0 -28.5) (float-vector 13.0 0.0 -28.5)))
         (instance face :init :vertices (list (float-vector -13.0 29.5 -30.0) (float-vector -13.0 29.5 30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -13.0 -1.421085e-14 -30.0) (float-vector -13.0 -1.421085e-14 -28.5) (float-vector -13.0 28.0 -28.5) (float-vector -13.0 28.0 28.5) (float-vector -13.0 0.0 28.5) (float-vector -13.0 0.0 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 30.0) (float-vector -13.0 0.0 30.0) (float-vector -13.0 0.0 28.5) (float-vector -9.19239 -9.19239 28.5)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 -30.0) (float-vector -9.19239 -9.19239 -28.5) (float-vector -13.0 -1.421085e-14 -28.5) (float-vector -13.0 -1.421085e-14 -30.0)))
         (instance face :init :vertices (list (float-vector -8.881784e-16 -13.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector -9.19239 -9.19239 28.5) (float-vector 0.0 -13.0 28.5)))
         (instance face :init :vertices (list (float-vector 0.0 -13.0 -30.0) (float-vector -8.881784e-16 -13.0 -28.5) (float-vector -9.19239 -9.19239 -28.5) (float-vector -9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector -8.881784e-16 -13.0 30.0) (float-vector 0.0 -13.0 28.5) (float-vector 9.19239 -9.19239 28.5)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector 9.19239 -9.19239 -28.5) (float-vector -8.881784e-16 -13.0 -28.5) (float-vector 0.0 -13.0 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 0.0 30.0) (float-vector 13.0 29.5 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 0.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector -8.881784e-16 -13.0 30.0) (float-vector 9.19239 -9.19239 30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector 0.0 -13.0 -30.0) (float-vector -9.19239 -9.19239 -30.0) (float-vector -13.0 -1.421085e-14 -30.0) (float-vector -13.0 29.5 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector 9.19239 -9.19239 28.5) (float-vector 13.0 0.0 28.5) (float-vector 13.0 0.0 30.0)))
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 0.0 -28.5) (float-vector 9.19239 -9.19239 -28.5) (float-vector 9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 28.0 28.5) (float-vector 13.0 0.0 28.5) (float-vector 9.19239 -9.19239 28.5) (float-vector 0.0 -13.0 28.5) (float-vector -9.19239 -9.19239 28.5) (float-vector -13.0 0.0 28.5) (float-vector -13.0 28.0 28.5)))
         (instance face :init :vertices (list (float-vector 13.0 28.0 -28.5) (float-vector 13.0 28.0 28.5) (float-vector -13.0 28.0 28.5) (float-vector -13.0 28.0 -28.5)))
         (instance face :init :vertices (list (float-vector -13.0 28.0 -28.5) (float-vector -13.0 -1.421085e-14 -28.5) (float-vector -9.19239 -9.19239 -28.5) (float-vector -8.881784e-16 -13.0 -28.5) (float-vector 9.19239 -9.19239 -28.5) (float-vector 13.0 0.0 -28.5) (float-vector 13.0 28.0 -28.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 41.0 58.0 -2.9) (float-vector 41.0 28.5 -2.9) (float-vector -19.0 28.5 -2.9) (float-vector -19.0 58.0 -2.9) (float-vector -17.5 58.0 -2.9) (float-vector -17.5 30.0 -2.9) (float-vector 39.5 30.0 -2.9) (float-vector 39.5 58.0 -2.9)))
         (instance face :init :vertices (list (float-vector 41.0 28.5 24.1) (float-vector -19.0 28.5 24.1) (float-vector -19.0 28.5 -2.9) (float-vector 41.0 28.5 -2.9)))
         (instance face :init :vertices (list (float-vector 41.0 58.0 24.1) (float-vector 39.5 58.0 24.1) (float-vector 39.5 30.0 24.1) (float-vector -17.5 30.0 24.1) (float-vector -17.5 58.0 24.1) (float-vector -19.0 58.0 24.1) (float-vector -19.0 28.5 24.1) (float-vector 41.0 28.5 24.1)))
         (instance face :init :vertices (list (float-vector -19.0 67.5459 20.1459) (float-vector -19.0 58.0 24.1) (float-vector -17.5 58.0 24.1) (float-vector -17.5 67.5459 20.1459)))
         (instance face :init :vertices (list (float-vector 41.0 67.5459 20.1459) (float-vector 39.5 67.5459 20.1459) (float-vector 39.5 58.0 24.1) (float-vector 41.0 58.0 24.1)))
         (instance face :init :vertices (list (float-vector -19.0 71.5 10.6) (float-vector -19.0 67.5459 20.1459) (float-vector -17.5 67.5459 20.1459) (float-vector -17.5 71.5 10.6)))
         (instance face :init :vertices (list (float-vector 41.0 71.5 10.6) (float-vector 39.5 71.5 10.6) (float-vector 39.5 67.5459 20.1459) (float-vector 41.0 67.5459 20.1459)))
         (instance face :init :vertices (list (float-vector -19.0 67.5459 1.05406) (float-vector -19.0 71.5 10.6) (float-vector -17.5 71.5 10.6) (float-vector -17.5 67.5459 1.05406)))
         (instance face :init :vertices (list (float-vector 41.0 67.5459 1.05406) (float-vector 39.5 67.5459 1.05406) (float-vector 39.5 71.5 10.6) (float-vector 41.0 71.5 10.6)))
         (instance face :init :vertices (list (float-vector -19.0 58.0 -2.9) (float-vector -19.0 28.5 -2.9) (float-vector -19.0 28.5 24.1) (float-vector -19.0 58.0 24.1) (float-vector -19.0 67.5459 20.1459) (float-vector -19.0 71.5 10.6) (float-vector -19.0 67.5459 1.05406)))
         (instance face :init :vertices (list (float-vector 41.0 67.5459 1.05406) (float-vector 41.0 71.5 10.6) (float-vector 41.0 67.5459 20.1459) (float-vector 41.0 58.0 24.1) (float-vector 41.0 28.5 24.1) (float-vector 41.0 28.5 -2.9) (float-vector 41.0 58.0 -2.9)))
         (instance face :init :vertices (list (float-vector -19.0 67.5459 1.05406) (float-vector -17.5 67.5459 1.05406) (float-vector -17.5 58.0 -2.9) (float-vector -19.0 58.0 -2.9)))
         (instance face :init :vertices (list (float-vector 41.0 58.0 -2.9) (float-vector 39.5 58.0 -2.9) (float-vector 39.5 67.5459 1.05406) (float-vector 41.0 67.5459 1.05406)))
         (instance face :init :vertices (list (float-vector -17.5 30.0 -2.9) (float-vector -17.5 58.0 -2.9) (float-vector -17.5 67.5459 1.05406) (float-vector -17.5 71.5 10.6) (float-vector -17.5 67.5459 20.1459) (float-vector -17.5 58.0 24.1) (float-vector -17.5 30.0 24.1)))
         (instance face :init :vertices (list (float-vector 39.5 30.0 -2.9) (float-vector -17.5 30.0 -2.9) (float-vector -17.5 30.0 24.1) (float-vector 39.5 30.0 24.1)))
         (instance face :init :vertices (list (float-vector 39.5 30.0 24.1) (float-vector 39.5 58.0 24.1) (float-vector 39.5 67.5459 20.1459) (float-vector 39.5 71.5 10.6) (float-vector 39.5 67.5459 1.05406) (float-vector 39.5 58.0 -2.9) (float-vector 39.5 30.0 -2.9)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink32 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-x-ankle :weight 28.923 :centroid (float-vector 5.6182 29.3139 5.4139) :inertia-tensor #2f((19378.7 -1768.15 -842.716) (-1768.15 20974.5 -1703.86) (-842.716 -1703.86 19737.7))))

     ;; definition of :lleg-y-ankle
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 -14.0 24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 45.0 -24.9) (float-vector 14.4 45.0 24.9)))
         (instance face :init :vertices (list (float-vector 14.4 45.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector -14.4 45.0 24.9) (float-vector 14.4 45.0 24.9)))
         (instance face :init :vertices (list (float-vector -14.4 45.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 -14.0 24.9) (float-vector -14.4 45.0 24.9)))
         (instance face :init :vertices (list (float-vector -14.4 -14.0 24.9) (float-vector 14.4 -14.0 24.9) (float-vector 14.4 45.0 24.9) (float-vector -14.4 45.0 24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 6.7 -11.6047 24.9) (float-vector -3.552714e-14 -13.4 24.9) (float-vector -6.7 -11.6047 24.9) (float-vector -11.6047 -6.7 24.9) (float-vector -13.4 1.421085e-14 24.9) (float-vector -11.6047 6.7 24.9) (float-vector -6.7 11.6047 24.9) (float-vector 0.0 13.4 24.9) (float-vector 6.7 11.6047 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 13.4 7.105427e-15 24.9)))
))
         (instance face :init :vertices (list (float-vector -14.4 -14.0 -24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 -14.0 24.9) (float-vector -14.4 -14.0 24.9)))
         (instance face :init :vertices (list (float-vector 14.4 -14.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector 14.4 45.0 -24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 6.7 -11.6047 -24.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 13.4 7.105427e-15 -24.9) (float-vector 11.6047 6.7 -24.9) (float-vector 6.7 11.6047 -24.9) (float-vector 1.421085e-14 13.4 -24.9) (float-vector -6.7 11.6047 -24.9) (float-vector -11.6047 6.7 -24.9) (float-vector -13.4 1.421085e-14 -24.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -2.131628e-14 -13.4 -24.9)))
))
         (instance face :init :vertices (list (float-vector 13.4 7.105427e-15 26.9) (float-vector 13.4 7.105427e-15 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 11.6047 6.7 26.9)))
         (instance face :init :vertices (list (float-vector 13.4 7.105427e-15 -24.9) (float-vector 13.4 0.0 -26.9) (float-vector 11.6047 6.7 -26.9) (float-vector 11.6047 6.7 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 11.6047 24.9) (float-vector 6.7 11.6047 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 11.6047 6.7 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 6.7 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 6.7 11.6047 -24.9) (float-vector 11.6047 6.7 -24.9)))
         (instance face :init :vertices (list (float-vector 0.0 13.4 24.9) (float-vector 0.0 13.4 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 6.7 11.6047 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 11.6047 -26.9) (float-vector 1.421085e-14 13.4 -26.9) (float-vector 1.421085e-14 13.4 -24.9) (float-vector 6.7 11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 11.6047 24.9) (float-vector -6.7 11.6047 26.9) (float-vector 0.0 13.4 26.9) (float-vector 0.0 13.4 24.9)))
         (instance face :init :vertices (list (float-vector 1.421085e-14 13.4 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector -6.7 11.6047 -24.9) (float-vector 1.421085e-14 13.4 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 6.7 24.9) (float-vector -11.6047 6.7 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -6.7 11.6047 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 11.6047 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -11.6047 6.7 -24.9) (float-vector -6.7 11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector -13.4 1.421085e-14 24.9) (float-vector -13.4 1.421085e-14 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -11.6047 6.7 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 6.7 -26.9) (float-vector -13.4 1.421085e-14 -26.9) (float-vector -13.4 1.421085e-14 -24.9) (float-vector -11.6047 6.7 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 -6.7 24.9) (float-vector -11.6047 -6.7 26.9) (float-vector -13.4 1.421085e-14 26.9) (float-vector -13.4 1.421085e-14 24.9)))
         (instance face :init :vertices (list (float-vector -13.4 1.421085e-14 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -13.4 1.421085e-14 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 -11.6047 24.9) (float-vector -6.7 -11.6047 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -11.6047 -6.7 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 -6.7 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -11.6047 -6.7 -24.9)))
         (instance face :init :vertices (list (float-vector -3.552714e-14 -13.4 24.9) (float-vector -3.552714e-14 -13.4 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -6.7 -11.6047 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 -11.6047 -26.9) (float-vector -2.131628e-14 -13.4 -26.9) (float-vector -2.131628e-14 -13.4 -24.9) (float-vector -6.7 -11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 -11.6047 24.9) (float-vector 6.7 -11.6047 26.9) (float-vector -3.552714e-14 -13.4 26.9) (float-vector -3.552714e-14 -13.4 24.9)))
         (instance face :init :vertices (list (float-vector -2.131628e-14 -13.4 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector 6.7 -11.6047 -24.9) (float-vector -2.131628e-14 -13.4 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 11.6047 -6.7 26.9) (float-vector 6.7 -11.6047 26.9) (float-vector 6.7 -11.6047 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 -11.6047 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 6.7 -11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -6.7 26.9) (float-vector 13.4 7.105427e-15 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 0.0 13.4 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -13.4 1.421085e-14 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -3.552714e-14 -13.4 26.9) (float-vector 6.7 -11.6047 26.9)))
         (instance face :init :vertices (list (float-vector 13.4 7.105427e-15 26.9) (float-vector 11.6047 -6.7 26.9) (float-vector 11.6047 -6.7 24.9) (float-vector 13.4 7.105427e-15 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -6.7 -26.9) (float-vector 13.4 0.0 -26.9) (float-vector 13.4 7.105427e-15 -24.9) (float-vector 11.6047 -6.7 -24.9)))
         (instance face :init :vertices (list (float-vector 13.4 0.0 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector -2.131628e-14 -13.4 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -13.4 1.421085e-14 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector 1.421085e-14 13.4 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 11.6047 6.7 -26.9)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -21.5 -22.5 -11.75) (float-vector 14.0 -22.5 -11.75) (float-vector 14.0 -14.5 -11.75) (float-vector -14.8 -14.5 -11.75) (float-vector -14.8 44.5 -11.75) (float-vector 14.0 44.5 -11.75) (float-vector 14.0 52.5 -11.75) (float-vector -21.5 52.5 -11.75)))
         (instance face :init :vertices (list (float-vector -21.5 -22.5 -11.75) (float-vector -21.5 52.5 -11.75) (float-vector -21.5 52.5 35.75) (float-vector -21.5 -22.5 35.75)))
         (instance face :init :vertices (list (float-vector -21.5 -22.5 35.75) (float-vector -21.5 52.5 35.75) (float-vector 14.0 52.5 35.75) (float-vector 14.0 -22.5 35.75)))
         (instance face :init :vertices (list (float-vector 14.0 52.5 -13.25) (float-vector 14.0 52.5 -11.75) (float-vector 14.0 44.5 -11.75) (float-vector 14.0 44.5 -13.25)))
         (instance face :init :vertices (list (float-vector 14.0 -14.5 -13.25) (float-vector 14.0 -14.5 -11.75) (float-vector 14.0 -22.5 -11.75) (float-vector 14.0 -22.5 -13.25)))
         (instance face :init :vertices (list (float-vector 14.0 -22.5 37.25) (float-vector 14.0 -22.5 35.75) (float-vector 14.0 52.5 35.75) (float-vector 14.0 52.5 37.25)))
         (instance face :init :vertices (list (float-vector 14.0 52.5 -13.25) (float-vector 14.0 44.5 -13.25) (float-vector -14.8 44.5 -13.25) (float-vector -14.8 -14.5 -13.25) (float-vector 14.0 -14.5 -13.25) (float-vector 14.0 -22.5 -13.25) (float-vector -23.0 -22.5 -13.25) (float-vector -23.0 52.5 -13.25)))
         (instance face :init :vertices (list (float-vector 14.0 -22.5 37.25) (float-vector 14.0 52.5 37.25) (float-vector -23.0 52.5 37.25) (float-vector -23.0 -22.5 37.25)))
         (instance face :init :vertices (list (float-vector -23.0 -22.5 -13.25) (float-vector 14.0 -22.5 -13.25) (float-vector 14.0 -22.5 -11.75) (float-vector -21.5 -22.5 -11.75) (float-vector -21.5 -22.5 35.75) (float-vector 14.0 -22.5 35.75) (float-vector 14.0 -22.5 37.25) (float-vector -23.0 -22.5 37.25)))
         (instance face :init :vertices (list (float-vector -23.0 52.5 37.25) (float-vector 14.0 52.5 37.25) (float-vector 14.0 52.5 35.75) (float-vector -21.5 52.5 35.75) (float-vector -21.5 52.5 -11.75) (float-vector 14.0 52.5 -11.75) (float-vector 14.0 52.5 -13.25) (float-vector -23.0 52.5 -13.25)))
         (instance face :init :vertices (list (float-vector -23.0 52.5 -13.25) (float-vector -23.0 -22.5 -13.25) (float-vector -23.0 -22.5 37.25) (float-vector -23.0 52.5 37.25)))
         (instance face :init :vertices (list (float-vector -14.8 44.5 -13.25) (float-vector 14.0 44.5 -13.25) (float-vector 14.0 44.5 -11.75) (float-vector -14.8 44.5 -11.75)))
         (instance face :init :vertices (list (float-vector -14.8 -14.5 -11.75) (float-vector 14.0 -14.5 -11.75) (float-vector 14.0 -14.5 -13.25) (float-vector -14.8 -14.5 -13.25)))
         (instance face :init :vertices (list (float-vector -14.8 -14.5 -13.25) (float-vector -14.8 44.5 -13.25) (float-vector -14.8 44.5 -11.75) (float-vector -14.8 -14.5 -11.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -22.5 44.2 37.0) (float-vector -22.5 -22.8 37.0) (float-vector -22.5 -22.8 -79.0) (float-vector -22.5 2.2 -93.0) (float-vector -22.5 19.2 -93.0) (float-vector -22.5 44.2 -79.0)))
         (instance face :init :vertices (list (float-vector -25.0 -22.8 37.0) (float-vector -25.0 44.2 37.0) (float-vector -25.0 44.2 -79.0) (float-vector -25.0 19.2 -93.0) (float-vector -25.0 2.2 -93.0) (float-vector -25.0 -22.8 -79.0)))
         (instance face :init :vertices (list (float-vector -22.5 44.2 37.0) (float-vector -25.0 44.2 37.0) (float-vector -25.0 -22.8 37.0) (float-vector -22.5 -22.8 37.0)))
         (instance face :init :vertices (list (float-vector -22.5 44.2 -79.0) (float-vector -25.0 44.2 -79.0) (float-vector -25.0 44.2 37.0) (float-vector -22.5 44.2 37.0)))
         (instance face :init :vertices (list (float-vector -22.5 19.2 -93.0) (float-vector -25.0 19.2 -93.0) (float-vector -25.0 44.2 -79.0) (float-vector -22.5 44.2 -79.0)))
         (instance face :init :vertices (list (float-vector -22.5 2.2 -93.0) (float-vector -25.0 2.2 -93.0) (float-vector -25.0 19.2 -93.0) (float-vector -22.5 19.2 -93.0)))
         (instance face :init :vertices (list (float-vector -22.5 -22.8 -79.0) (float-vector -25.0 -22.8 -79.0) (float-vector -25.0 2.2 -93.0) (float-vector -22.5 2.2 -93.0)))
         (instance face :init :vertices (list (float-vector -22.5 -22.8 37.0) (float-vector -25.0 -22.8 37.0) (float-vector -25.0 -22.8 -79.0) (float-vector -22.5 -22.8 -79.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 22.0 8.2 -88.0) (float-vector 22.0 8.2 -38.0) (float-vector 22.0 -21.8 -48.0) (float-vector 22.0 -21.8 -78.0)))
         (instance face :init :vertices (list (float-vector -23.0 8.2 -38.0) (float-vector -23.0 8.2 -88.0) (float-vector -23.0 -21.8 -78.0) (float-vector -23.0 -21.8 -48.0)))
         (instance face :init :vertices (list (float-vector 22.0 8.2 -88.0) (float-vector -23.0 8.2 -88.0) (float-vector -23.0 8.2 -38.0) (float-vector 22.0 8.2 -38.0)))
         (instance face :init :vertices (list (float-vector 22.0 -21.8 -78.0) (float-vector -23.0 -21.8 -78.0) (float-vector -23.0 8.2 -88.0) (float-vector 22.0 8.2 -88.0)))
         (instance face :init :vertices (list (float-vector 22.0 -21.8 -48.0) (float-vector -23.0 -21.8 -48.0) (float-vector -23.0 -21.8 -78.0) (float-vector 22.0 -21.8 -78.0)))
         (instance face :init :vertices (list (float-vector 22.0 8.2 -38.0) (float-vector -23.0 8.2 -38.0) (float-vector -23.0 -21.8 -48.0) (float-vector 22.0 -21.8 -48.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 22.0 15.2 -38.0) (float-vector 22.0 15.2 -88.0) (float-vector 22.0 45.2 -78.0) (float-vector 22.0 45.2 -48.0)))
         (instance face :init :vertices (list (float-vector -23.0 15.2 -88.0) (float-vector -23.0 15.2 -38.0) (float-vector -23.0 45.2 -48.0) (float-vector -23.0 45.2 -78.0)))
         (instance face :init :vertices (list (float-vector 22.0 15.2 -38.0) (float-vector -23.0 15.2 -38.0) (float-vector -23.0 15.2 -88.0) (float-vector 22.0 15.2 -88.0)))
         (instance face :init :vertices (list (float-vector 22.0 45.2 -48.0) (float-vector -23.0 45.2 -48.0) (float-vector -23.0 15.2 -38.0) (float-vector 22.0 15.2 -38.0)))
         (instance face :init :vertices (list (float-vector 22.0 45.2 -78.0) (float-vector -23.0 45.2 -78.0) (float-vector -23.0 45.2 -48.0) (float-vector 22.0 45.2 -48.0)))
         (instance face :init :vertices (list (float-vector 22.0 15.2 -88.0) (float-vector -23.0 15.2 -88.0) (float-vector -23.0 45.2 -78.0) (float-vector 22.0 45.2 -78.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray90)
     (send (elt bc 2) :set-color :gray90)
     (send (elt bc 3) :set-color :yellow)
     (send (elt bc 4) :set-color :yellow)
     (setq blink31 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-y-ankle :weight 517.0 :centroid (float-vector -5.41469 12.341 -39.5843) :inertia-tensor #2f((5.492205e+05 -693.573 10439.4) (-693.573 4.756710e+05 -16102.7) (10439.4 -16102.7 2.064998e+05))))

     ;; definition of :rarm-z-collar
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.0 0.0 -30.0) (float-vector 14.0 29.5 -30.0) (float-vector 14.0 29.5 30.0) (float-vector 14.0 0.0 30.0) (float-vector 14.0 0.0 28.0) (float-vector 14.0 27.5 28.0) (float-vector 14.0 27.5 -28.0) (float-vector 14.0 0.0 -28.0)))
         (instance face :init :vertices (list (float-vector -14.0 29.5 -30.0) (float-vector -14.0 29.5 30.0) (float-vector 14.0 29.5 30.0) (float-vector 14.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -14.0 1.421085e-14 -30.0) (float-vector -14.0 1.421085e-14 -28.0) (float-vector -14.0 27.5 -28.0) (float-vector -14.0 27.5 28.0) (float-vector -14.0 1.421085e-14 28.0) (float-vector -14.0 1.421085e-14 30.0) (float-vector -14.0 29.5 30.0) (float-vector -14.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -9.89949 -9.89949 30.0) (float-vector -14.0 1.421085e-14 30.0) (float-vector -14.0 1.421085e-14 28.0) (float-vector -9.89949 -9.89949 28.0)))
         (instance face :init :vertices (list (float-vector -9.89949 -9.89949 -30.0) (float-vector -9.89949 -9.89949 -28.0) (float-vector -14.0 1.421085e-14 -28.0) (float-vector -14.0 1.421085e-14 -30.0)))
         (instance face :init :vertices (list (float-vector 0.0 -14.0 30.0) (float-vector -9.89949 -9.89949 30.0) (float-vector -9.89949 -9.89949 28.0) (float-vector 0.0 -14.0 28.0)))
         (instance face :init :vertices (list (float-vector 0.0 -14.0 -30.0) (float-vector 0.0 -14.0 -28.0) (float-vector -9.89949 -9.89949 -28.0) (float-vector -9.89949 -9.89949 -30.0)))
         (instance face :init :vertices (list (float-vector 9.89949 -9.89949 30.0) (float-vector 0.0 -14.0 30.0) (float-vector 0.0 -14.0 28.0) (float-vector 9.89949 -9.89949 28.0)))
         (instance face :init :vertices (list (float-vector 9.89949 -9.89949 -30.0) (float-vector 9.89949 -9.89949 -28.0) (float-vector 0.0 -14.0 -28.0) (float-vector 0.0 -14.0 -30.0)))
         (instance face :init :vertices (list (float-vector 14.0 0.0 30.0) (float-vector 14.0 29.5 30.0) (float-vector -14.0 29.5 30.0) (float-vector -14.0 1.421085e-14 30.0) (float-vector -9.89949 -9.89949 30.0) (float-vector 0.0 -14.0 30.0) (float-vector 9.89949 -9.89949 30.0)))
         (instance face :init :vertices (list (float-vector 9.89949 -9.89949 -30.0) (float-vector 0.0 -14.0 -30.0) (float-vector -9.89949 -9.89949 -30.0) (float-vector -14.0 1.421085e-14 -30.0) (float-vector -14.0 29.5 -30.0) (float-vector 14.0 29.5 -30.0) (float-vector 14.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector 9.89949 -9.89949 30.0) (float-vector 9.89949 -9.89949 28.0) (float-vector 14.0 0.0 28.0) (float-vector 14.0 0.0 30.0)))
         (instance face :init :vertices (list (float-vector 14.0 0.0 -30.0) (float-vector 14.0 0.0 -28.0) (float-vector 9.89949 -9.89949 -28.0) (float-vector 9.89949 -9.89949 -30.0)))
         (instance face :init :vertices (list (float-vector 14.0 27.5 28.0) (float-vector 14.0 0.0 28.0) (float-vector 9.89949 -9.89949 28.0) (float-vector 0.0 -14.0 28.0) (float-vector -9.89949 -9.89949 28.0) (float-vector -14.0 1.421085e-14 28.0) (float-vector -14.0 27.5 28.0)))
         (instance face :init :vertices (list (float-vector 14.0 27.5 -28.0) (float-vector 14.0 27.5 28.0) (float-vector -14.0 27.5 28.0) (float-vector -14.0 27.5 -28.0)))
         (instance face :init :vertices (list (float-vector -14.0 27.5 -28.0) (float-vector -14.0 1.421085e-14 -28.0) (float-vector -9.89949 -9.89949 -28.0) (float-vector 0.0 -14.0 -28.0) (float-vector 9.89949 -9.89949 -28.0) (float-vector 14.0 0.0 -28.0) (float-vector 14.0 27.5 -28.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -14.0 88.9 30.4) (float-vector -14.0 39.1 30.4) (float-vector 45.0 39.1 30.4) (float-vector 45.0 88.9 30.4)))
         (instance face :init :vertices (list (float-vector 45.0 39.1 30.4) (float-vector 45.0 39.1 1.6) (float-vector 45.0 88.9 1.6) (float-vector 45.0 88.9 30.4)))
         (instance face :init :vertices (list (float-vector 45.0 39.1 1.6) (float-vector -14.0 39.1 1.6) (float-vector -14.0 88.9 1.6) (float-vector 45.0 88.9 1.6)))
         (instance face :init :vertices (list (float-vector -14.0 88.9 1.6) (float-vector -14.0 88.9 30.4) (float-vector 45.0 88.9 30.4) (float-vector 45.0 88.9 1.6))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -6.7 88.9 27.6047) (float-vector -11.6047 88.9 22.7) (float-vector -13.4 88.9 16.0) (float-vector -11.6047 88.9 9.3) (float-vector -6.7 88.9 4.39526) (float-vector 1.598721e-14 88.9 2.6) (float-vector 6.7 88.9 4.39526) (float-vector 11.6047 88.9 9.3) (float-vector 13.4 88.9 16.0) (float-vector 11.6047 88.9 22.7) (float-vector 6.7 88.9 27.6047) (float-vector 8.881784e-16 88.9 29.4)))
))
         (instance face :init :vertices (list (float-vector -14.0 39.1 1.6) (float-vector -14.0 39.1 30.4) (float-vector -14.0 88.9 30.4) (float-vector -14.0 88.9 1.6)))
         (instance face :init :vertices (list (float-vector -14.0 39.1 30.4) (float-vector -14.0 39.1 1.6) (float-vector 45.0 39.1 1.6) (float-vector 45.0 39.1 30.4))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -11.6047 39.1 22.7) (float-vector -6.7 39.1 27.6047) (float-vector 0.0 39.1 29.4) (float-vector 6.7 39.1 27.6047) (float-vector 11.6047 39.1 22.7) (float-vector 13.4 39.1 16.0) (float-vector 11.6047 39.1 9.3) (float-vector 6.7 39.1 4.39526) (float-vector 1.509903e-14 39.1 2.6) (float-vector -6.7 39.1 4.39526) (float-vector -11.6047 39.1 9.3) (float-vector -13.4 39.1 16.0)))
))
         (instance face :init :vertices (list (float-vector 8.881784e-16 90.9 29.4) (float-vector 8.881784e-16 88.9 29.4) (float-vector 6.7 88.9 27.6047) (float-vector 6.7 90.9 27.6047)))
         (instance face :init :vertices (list (float-vector 0.0 39.1 29.4) (float-vector 0.0 37.1 29.4) (float-vector 6.7 37.1 27.6047) (float-vector 6.7 39.1 27.6047)))
         (instance face :init :vertices (list (float-vector 11.6047 88.9 22.7) (float-vector 11.6047 90.9 22.7) (float-vector 6.7 90.9 27.6047) (float-vector 6.7 88.9 27.6047)))
         (instance face :init :vertices (list (float-vector 6.7 37.1 27.6047) (float-vector 11.6047 37.1 22.7) (float-vector 11.6047 39.1 22.7) (float-vector 6.7 39.1 27.6047)))
         (instance face :init :vertices (list (float-vector 13.4 88.9 16.0) (float-vector 13.4 90.9 16.0) (float-vector 11.6047 90.9 22.7) (float-vector 11.6047 88.9 22.7)))
         (instance face :init :vertices (list (float-vector 11.6047 37.1 22.7) (float-vector 13.4 37.1 16.0) (float-vector 13.4 39.1 16.0) (float-vector 11.6047 39.1 22.7)))
         (instance face :init :vertices (list (float-vector 11.6047 88.9 9.3) (float-vector 11.6047 90.9 9.3) (float-vector 13.4 90.9 16.0) (float-vector 13.4 88.9 16.0)))
         (instance face :init :vertices (list (float-vector 13.4 37.1 16.0) (float-vector 11.6047 37.1 9.3) (float-vector 11.6047 39.1 9.3) (float-vector 13.4 39.1 16.0)))
         (instance face :init :vertices (list (float-vector 6.7 88.9 4.39526) (float-vector 6.7 90.9 4.39526) (float-vector 11.6047 90.9 9.3) (float-vector 11.6047 88.9 9.3)))
         (instance face :init :vertices (list (float-vector 11.6047 37.1 9.3) (float-vector 6.7 37.1 4.39526) (float-vector 6.7 39.1 4.39526) (float-vector 11.6047 39.1 9.3)))
         (instance face :init :vertices (list (float-vector 1.598721e-14 88.9 2.6) (float-vector 1.598721e-14 90.9 2.6) (float-vector 6.7 90.9 4.39526) (float-vector 6.7 88.9 4.39526)))
         (instance face :init :vertices (list (float-vector 6.7 37.1 4.39526) (float-vector 1.509903e-14 37.1 2.6) (float-vector 1.509903e-14 39.1 2.6) (float-vector 6.7 39.1 4.39526)))
         (instance face :init :vertices (list (float-vector -6.7 88.9 4.39526) (float-vector -6.7 90.9 4.39526) (float-vector 1.598721e-14 90.9 2.6) (float-vector 1.598721e-14 88.9 2.6)))
         (instance face :init :vertices (list (float-vector 1.509903e-14 37.1 2.6) (float-vector -6.7 37.1 4.39526) (float-vector -6.7 39.1 4.39526) (float-vector 1.509903e-14 39.1 2.6)))
         (instance face :init :vertices (list (float-vector -11.6047 88.9 9.3) (float-vector -11.6047 90.9 9.3) (float-vector -6.7 90.9 4.39526) (float-vector -6.7 88.9 4.39526)))
         (instance face :init :vertices (list (float-vector -6.7 37.1 4.39526) (float-vector -11.6047 37.1 9.3) (float-vector -11.6047 39.1 9.3) (float-vector -6.7 39.1 4.39526)))
         (instance face :init :vertices (list (float-vector -13.4 88.9 16.0) (float-vector -13.4 90.9 16.0) (float-vector -11.6047 90.9 9.3) (float-vector -11.6047 88.9 9.3)))
         (instance face :init :vertices (list (float-vector -11.6047 37.1 9.3) (float-vector -13.4 37.1 16.0) (float-vector -13.4 39.1 16.0) (float-vector -11.6047 39.1 9.3)))
         (instance face :init :vertices (list (float-vector -11.6047 88.9 22.7) (float-vector -11.6047 90.9 22.7) (float-vector -13.4 90.9 16.0) (float-vector -13.4 88.9 16.0)))
         (instance face :init :vertices (list (float-vector -13.4 37.1 16.0) (float-vector -11.6047 37.1 22.7) (float-vector -11.6047 39.1 22.7) (float-vector -13.4 39.1 16.0)))
         (instance face :init :vertices (list (float-vector -6.7 88.9 27.6047) (float-vector -6.7 90.9 27.6047) (float-vector -11.6047 90.9 22.7) (float-vector -11.6047 88.9 22.7)))
         (instance face :init :vertices (list (float-vector -11.6047 37.1 22.7) (float-vector -6.7 37.1 27.6047) (float-vector -6.7 39.1 27.6047) (float-vector -11.6047 39.1 22.7)))
         (instance face :init :vertices (list (float-vector -6.7 90.9 27.6047) (float-vector 8.881784e-16 90.9 29.4) (float-vector 6.7 90.9 27.6047) (float-vector 11.6047 90.9 22.7) (float-vector 13.4 90.9 16.0) (float-vector 11.6047 90.9 9.3) (float-vector 6.7 90.9 4.39526) (float-vector 1.598721e-14 90.9 2.6) (float-vector -6.7 90.9 4.39526) (float-vector -11.6047 90.9 9.3) (float-vector -13.4 90.9 16.0) (float-vector -11.6047 90.9 22.7)))
         (instance face :init :vertices (list (float-vector 8.881784e-16 90.9 29.4) (float-vector -6.7 90.9 27.6047) (float-vector -6.7 88.9 27.6047) (float-vector 8.881784e-16 88.9 29.4)))
         (instance face :init :vertices (list (float-vector -6.7 37.1 27.6047) (float-vector 0.0 37.1 29.4) (float-vector 0.0 39.1 29.4) (float-vector -6.7 39.1 27.6047)))
         (instance face :init :vertices (list (float-vector 0.0 37.1 29.4) (float-vector -6.7 37.1 27.6047) (float-vector -11.6047 37.1 22.7) (float-vector -13.4 37.1 16.0) (float-vector -11.6047 37.1 9.3) (float-vector -6.7 37.1 4.39526) (float-vector 1.509903e-14 37.1 2.6) (float-vector 6.7 37.1 4.39526) (float-vector 11.6047 37.1 9.3) (float-vector 13.4 37.1 16.0) (float-vector 11.6047 37.1 22.7) (float-vector 6.7 37.1 27.6047)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink9 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-z-collar :weight 127.382 :centroid (float-vector 12.6966 56.5547 13.4399) :inertia-tensor #2f((87156.8 -12041.4 -4140.44) (-12041.4 60297.4 -12746.3) (-4140.44 -12746.3 99423.4))))

     ;; definition of :rarm-x-shoulder
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 0.0 30.0) (float-vector 13.0 0.0 28.0) (float-vector 13.0 27.5 28.0) (float-vector 13.0 27.5 -28.0) (float-vector 13.0 0.0 -28.0)))
         (instance face :init :vertices (list (float-vector -13.0 29.5 -30.0) (float-vector -13.0 29.5 30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -13.0 0.0 -30.0) (float-vector -13.0 0.0 -28.0) (float-vector -13.0 27.5 -28.0) (float-vector -13.0 27.5 28.0) (float-vector -13.0 0.0 28.0) (float-vector -13.0 0.0 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 30.0) (float-vector -13.0 0.0 30.0) (float-vector -13.0 0.0 28.0) (float-vector -9.19239 -9.19239 28.0)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 -30.0) (float-vector -9.19239 -9.19239 -28.0) (float-vector -13.0 0.0 -28.0) (float-vector -13.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -13.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector -9.19239 -9.19239 28.0) (float-vector -2.842171e-14 -13.0 28.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -13.0 -30.0) (float-vector -2.842171e-14 -13.0 -28.0) (float-vector -9.19239 -9.19239 -28.0) (float-vector -9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector -2.842171e-14 -13.0 30.0) (float-vector -2.842171e-14 -13.0 28.0) (float-vector 9.19239 -9.19239 28.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector 9.19239 -9.19239 -28.0) (float-vector -2.842171e-14 -13.0 -28.0) (float-vector -2.842171e-14 -13.0 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 0.0 30.0) (float-vector 13.0 29.5 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 0.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector -2.842171e-14 -13.0 30.0) (float-vector 9.19239 -9.19239 30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector -2.842171e-14 -13.0 -30.0) (float-vector -9.19239 -9.19239 -30.0) (float-vector -13.0 0.0 -30.0) (float-vector -13.0 29.5 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector 9.19239 -9.19239 28.0) (float-vector 13.0 0.0 28.0) (float-vector 13.0 0.0 30.0)))
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 0.0 -28.0) (float-vector 9.19239 -9.19239 -28.0) (float-vector 9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 27.5 28.0) (float-vector 13.0 0.0 28.0) (float-vector 9.19239 -9.19239 28.0) (float-vector -2.842171e-14 -13.0 28.0) (float-vector -9.19239 -9.19239 28.0) (float-vector -13.0 0.0 28.0) (float-vector -13.0 27.5 28.0)))
         (instance face :init :vertices (list (float-vector 13.0 27.5 -28.0) (float-vector 13.0 27.5 28.0) (float-vector -13.0 27.5 28.0) (float-vector -13.0 27.5 -28.0)))
         (instance face :init :vertices (list (float-vector -13.0 27.5 -28.0) (float-vector -13.0 0.0 -28.0) (float-vector -9.19239 -9.19239 -28.0) (float-vector -2.842171e-14 -13.0 -28.0) (float-vector 9.19239 -9.19239 -28.0) (float-vector 13.0 0.0 -28.0) (float-vector 13.0 27.5 -28.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -11.5 82.8 -12.0) (float-vector -11.5 40.5 -12.0) (float-vector -11.5 40.5 33.0) (float-vector -11.5 82.8 33.0)))
         (instance face :init :vertices (list (float-vector -11.5 40.5 33.0) (float-vector 11.5 40.5 33.0) (float-vector 11.5 82.8 33.0) (float-vector -11.5 82.8 33.0)))
         (instance face :init :vertices (list (float-vector 11.5 40.5 33.0) (float-vector 11.5 40.5 -12.0) (float-vector 11.5 82.8 -12.0) (float-vector 11.5 82.8 33.0)))
         (instance face :init :vertices (list (float-vector 11.5 82.8 -12.0) (float-vector -11.5 82.8 -12.0) (float-vector -11.5 82.8 33.0) (float-vector 11.5 82.8 33.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -9.09327 82.8 -5.25) (float-vector -5.25 82.8 -9.09327) (float-vector 0.0 82.8 -10.5) (float-vector 5.25 82.8 -9.09327) (float-vector 9.09327 82.8 -5.25) (float-vector 10.5 82.8 2.842171e-14) (float-vector 9.09327 82.8 5.25) (float-vector 5.25 82.8 9.09327) (float-vector -2.842171e-14 82.8 10.5) (float-vector -5.25 82.8 9.09327) (float-vector -9.09327 82.8 5.25) (float-vector -10.5 82.8 2.842171e-14)))
))
         (instance face :init :vertices (list (float-vector 11.5 40.5 -12.0) (float-vector -11.5 40.5 -12.0) (float-vector -11.5 82.8 -12.0) (float-vector 11.5 82.8 -12.0)))
         (instance face :init :vertices (list (float-vector -11.5 40.5 -12.0) (float-vector 11.5 40.5 -12.0) (float-vector 11.5 40.5 33.0) (float-vector -11.5 40.5 33.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -5.25 40.5 -9.09327) (float-vector -9.09327 40.5 -5.25) (float-vector -10.5 40.5 0.0) (float-vector -9.09327 40.5 5.25) (float-vector -5.25 40.5 9.09327) (float-vector -2.842171e-14 40.5 10.5) (float-vector 5.25 40.5 9.09327) (float-vector 9.09327 40.5 5.25) (float-vector 10.5 40.5 2.842171e-14) (float-vector 9.09327 40.5 -5.25) (float-vector 5.25 40.5 -9.09327) (float-vector 0.0 40.5 -10.5)))
))
         (instance face :init :vertices (list (float-vector -10.5 84.8 2.842171e-14) (float-vector -10.5 82.8 2.842171e-14) (float-vector -9.09327 82.8 5.25) (float-vector -9.09327 84.8 5.25)))
         (instance face :init :vertices (list (float-vector -10.5 40.5 0.0) (float-vector -10.5 38.5 0.0) (float-vector -9.09327 38.5 5.25) (float-vector -9.09327 40.5 5.25)))
         (instance face :init :vertices (list (float-vector -5.25 82.8 9.09327) (float-vector -5.25 84.8 9.09327) (float-vector -9.09327 84.8 5.25) (float-vector -9.09327 82.8 5.25)))
         (instance face :init :vertices (list (float-vector -9.09327 38.5 5.25) (float-vector -5.25 38.5 9.09327) (float-vector -5.25 40.5 9.09327) (float-vector -9.09327 40.5 5.25)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 82.8 10.5) (float-vector -2.842171e-14 84.8 10.5) (float-vector -5.25 84.8 9.09327) (float-vector -5.25 82.8 9.09327)))
         (instance face :init :vertices (list (float-vector -5.25 38.5 9.09327) (float-vector -2.842171e-14 38.5 10.5) (float-vector -2.842171e-14 40.5 10.5) (float-vector -5.25 40.5 9.09327)))
         (instance face :init :vertices (list (float-vector 5.25 82.8 9.09327) (float-vector 5.25 84.8 9.09327) (float-vector -2.842171e-14 84.8 10.5) (float-vector -2.842171e-14 82.8 10.5)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 38.5 10.5) (float-vector 5.25 38.5 9.09327) (float-vector 5.25 40.5 9.09327) (float-vector -2.842171e-14 40.5 10.5)))
         (instance face :init :vertices (list (float-vector 9.09327 82.8 5.25) (float-vector 9.09327 84.8 5.25) (float-vector 5.25 84.8 9.09327) (float-vector 5.25 82.8 9.09327)))
         (instance face :init :vertices (list (float-vector 5.25 38.5 9.09327) (float-vector 9.09327 38.5 5.25) (float-vector 9.09327 40.5 5.25) (float-vector 5.25 40.5 9.09327)))
         (instance face :init :vertices (list (float-vector 10.5 82.8 2.842171e-14) (float-vector 10.5 84.8 2.842171e-14) (float-vector 9.09327 84.8 5.25) (float-vector 9.09327 82.8 5.25)))
         (instance face :init :vertices (list (float-vector 9.09327 38.5 5.25) (float-vector 10.5 38.5 2.842171e-14) (float-vector 10.5 40.5 2.842171e-14) (float-vector 9.09327 40.5 5.25)))
         (instance face :init :vertices (list (float-vector 9.09327 82.8 -5.25) (float-vector 9.09327 84.8 -5.25) (float-vector 10.5 84.8 2.842171e-14) (float-vector 10.5 82.8 2.842171e-14)))
         (instance face :init :vertices (list (float-vector 10.5 38.5 2.842171e-14) (float-vector 9.09327 38.5 -5.25) (float-vector 9.09327 40.5 -5.25) (float-vector 10.5 40.5 2.842171e-14)))
         (instance face :init :vertices (list (float-vector 5.25 82.8 -9.09327) (float-vector 5.25 84.8 -9.09327) (float-vector 9.09327 84.8 -5.25) (float-vector 9.09327 82.8 -5.25)))
         (instance face :init :vertices (list (float-vector 9.09327 38.5 -5.25) (float-vector 5.25 38.5 -9.09327) (float-vector 5.25 40.5 -9.09327) (float-vector 9.09327 40.5 -5.25)))
         (instance face :init :vertices (list (float-vector 0.0 82.8 -10.5) (float-vector 0.0 84.8 -10.5) (float-vector 5.25 84.8 -9.09327) (float-vector 5.25 82.8 -9.09327)))
         (instance face :init :vertices (list (float-vector 5.25 38.5 -9.09327) (float-vector 0.0 38.5 -10.5) (float-vector 0.0 40.5 -10.5) (float-vector 5.25 40.5 -9.09327)))
         (instance face :init :vertices (list (float-vector -5.25 82.8 -9.09327) (float-vector -5.25 84.8 -9.09327) (float-vector 0.0 84.8 -10.5) (float-vector 0.0 82.8 -10.5)))
         (instance face :init :vertices (list (float-vector 0.0 38.5 -10.5) (float-vector -5.25 38.5 -9.09327) (float-vector -5.25 40.5 -9.09327) (float-vector 0.0 40.5 -10.5)))
         (instance face :init :vertices (list (float-vector -9.09327 82.8 -5.25) (float-vector -9.09327 84.8 -5.25) (float-vector -5.25 84.8 -9.09327) (float-vector -5.25 82.8 -9.09327)))
         (instance face :init :vertices (list (float-vector -5.25 38.5 -9.09327) (float-vector -9.09327 38.5 -5.25) (float-vector -9.09327 40.5 -5.25) (float-vector -5.25 40.5 -9.09327)))
         (instance face :init :vertices (list (float-vector -9.09327 84.8 -5.25) (float-vector -10.5 84.8 2.842171e-14) (float-vector -9.09327 84.8 5.25) (float-vector -5.25 84.8 9.09327) (float-vector -2.842171e-14 84.8 10.5) (float-vector 5.25 84.8 9.09327) (float-vector 9.09327 84.8 5.25) (float-vector 10.5 84.8 2.842171e-14) (float-vector 9.09327 84.8 -5.25) (float-vector 5.25 84.8 -9.09327) (float-vector 0.0 84.8 -10.5) (float-vector -5.25 84.8 -9.09327)))
         (instance face :init :vertices (list (float-vector -10.5 84.8 2.842171e-14) (float-vector -9.09327 84.8 -5.25) (float-vector -9.09327 82.8 -5.25) (float-vector -10.5 82.8 2.842171e-14)))
         (instance face :init :vertices (list (float-vector -9.09327 38.5 -5.25) (float-vector -10.5 38.5 0.0) (float-vector -10.5 40.5 0.0) (float-vector -9.09327 40.5 -5.25)))
         (instance face :init :vertices (list (float-vector -10.5 38.5 0.0) (float-vector -9.09327 38.5 -5.25) (float-vector -5.25 38.5 -9.09327) (float-vector 0.0 38.5 -10.5) (float-vector 5.25 38.5 -9.09327) (float-vector 9.09327 38.5 -5.25) (float-vector 10.5 38.5 2.842171e-14) (float-vector 9.09327 38.5 5.25) (float-vector 5.25 38.5 9.09327) (float-vector -2.842171e-14 38.5 10.5) (float-vector -5.25 38.5 9.09327) (float-vector -9.09327 38.5 5.25)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink10 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-x-shoulder :weight 83.7272 :centroid (float-vector 2.023132e-15 51.8351 7.91237) :inertia-tensor #2f((64818.7 -4.350229e-12 -1.259119e-13) (-4.350229e-12 27595.0 -6502.17) (-1.259119e-13 -6502.17 45064.5))))

     ;; definition of :rarm-z-elbow
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 11.5 29.0 25.0) (float-vector 11.5 0.0 25.0) (float-vector 8.13173 -8.13173 25.0) (float-vector 0.0 -11.5 25.0) (float-vector -8.13173 -8.13173 25.0) (float-vector -11.5 0.0 25.0) (float-vector -11.5 29.0 25.0)))
         (instance face :init :vertices (list (float-vector 11.5 29.0 25.0) (float-vector -11.5 29.0 25.0) (float-vector -11.5 29.0 -25.0) (float-vector 11.5 29.0 -25.0)))
         (instance face :init :vertices (list (float-vector 11.5 29.0 -25.0) (float-vector -11.5 29.0 -25.0) (float-vector -11.5 0.0 -25.0) (float-vector -8.13173 -8.13173 -25.0) (float-vector 0.0 -11.5 -25.0) (float-vector 8.13173 -8.13173 -25.0) (float-vector 11.5 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 8.13173 -8.13173 26.5) (float-vector 8.13173 -8.13173 25.0) (float-vector 11.5 0.0 25.0) (float-vector 11.5 0.0 26.5)))
         (instance face :init :vertices (list (float-vector 8.13173 -8.13173 -26.5) (float-vector 11.5 0.0 -26.5) (float-vector 11.5 0.0 -25.0) (float-vector 8.13173 -8.13173 -25.0)))
         (instance face :init :vertices (list (float-vector 8.13173 -8.13173 26.5) (float-vector 11.5 0.0 26.5) (float-vector 11.5 30.5 26.5) (float-vector -11.5 30.5 26.5) (float-vector -11.5 0.0 26.5) (float-vector -8.13173 -8.13173 26.5) (float-vector -2.842171e-14 -11.5 26.5)))
         (instance face :init :vertices (list (float-vector 11.5 29.0 -79.5) (float-vector -11.5 29.0 -79.5) (float-vector -11.5 30.5 -79.5) (float-vector 11.5 30.5 -79.5)))
         (instance face :init :vertices (list (float-vector 11.5 30.5 26.5) (float-vector 11.5 0.0 26.5) (float-vector 11.5 0.0 25.0) (float-vector 11.5 29.0 25.0) (float-vector 11.5 29.0 -25.0) (float-vector 11.5 0.0 -25.0) (float-vector 11.5 0.0 -26.5) (float-vector 11.5 29.0 -26.5) (float-vector 11.5 29.0 -79.5) (float-vector 11.5 30.5 -79.5)))
         (instance face :init :vertices (list (float-vector -11.5 30.5 26.5) (float-vector 11.5 30.5 26.5) (float-vector 11.5 30.5 -79.5) (float-vector -11.5 30.5 -79.5)))
         (instance face :init :vertices (list (float-vector -11.5 0.0 26.5) (float-vector -11.5 30.5 26.5) (float-vector -11.5 30.5 -79.5) (float-vector -11.5 29.0 -79.5) (float-vector -11.5 29.0 -26.5) (float-vector -11.5 0.0 -26.5) (float-vector -11.5 0.0 -25.0) (float-vector -11.5 29.0 -25.0) (float-vector -11.5 29.0 25.0) (float-vector -11.5 0.0 25.0)))
         (instance face :init :vertices (list (float-vector -8.13173 -8.13173 26.5) (float-vector -11.5 0.0 26.5) (float-vector -11.5 0.0 25.0) (float-vector -8.13173 -8.13173 25.0)))
         (instance face :init :vertices (list (float-vector -8.13173 -8.13173 -25.0) (float-vector -11.5 0.0 -25.0) (float-vector -11.5 0.0 -26.5) (float-vector -8.13173 -8.13173 -26.5)))
         (instance face :init :vertices (list (float-vector 0.0 -11.5 25.0) (float-vector 8.13173 -8.13173 25.0) (float-vector 8.13173 -8.13173 26.5) (float-vector -2.842171e-14 -11.5 26.5)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -11.5 26.5) (float-vector -8.13173 -8.13173 26.5) (float-vector -8.13173 -8.13173 25.0) (float-vector 0.0 -11.5 25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -11.5 -26.5) (float-vector 8.13173 -8.13173 -26.5) (float-vector 8.13173 -8.13173 -25.0) (float-vector 0.0 -11.5 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -11.5 -25.0) (float-vector -8.13173 -8.13173 -25.0) (float-vector -8.13173 -8.13173 -26.5) (float-vector 0.0 -11.5 -26.5)))
         (instance face :init :vertices (list (float-vector -11.5 29.0 -26.5) (float-vector -11.5 29.0 -79.5) (float-vector 11.5 29.0 -79.5) (float-vector 11.5 29.0 -26.5)))
         (instance face :init :vertices (list (float-vector 11.5 29.0 -26.5) (float-vector 11.5 0.0 -26.5) (float-vector 8.13173 -8.13173 -26.5) (float-vector 0.0 -11.5 -26.5) (float-vector -8.13173 -8.13173 -26.5) (float-vector -11.5 0.0 -26.5) (float-vector -11.5 29.0 -26.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -11.5 21.15 -85.35) (float-vector -11.5 -21.15 -85.35) (float-vector -11.5 -21.15 -40.35) (float-vector -11.5 21.15 -40.35)))
         (instance face :init :vertices (list (float-vector -11.5 -21.15 -40.35) (float-vector 11.5 -21.15 -40.35) (float-vector 11.5 21.15 -40.35) (float-vector -11.5 21.15 -40.35)))
         (instance face :init :vertices (list (float-vector 11.5 -21.15 -40.35) (float-vector 11.5 -21.15 -85.35) (float-vector 11.5 21.15 -85.35) (float-vector 11.5 21.15 -40.35)))
         (instance face :init :vertices (list (float-vector 11.5 21.15 -85.35) (float-vector -11.5 21.15 -85.35) (float-vector -11.5 21.15 -40.35) (float-vector 11.5 21.15 -40.35))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -9.09327 21.15 -78.6) (float-vector -5.25 21.15 -82.4433) (float-vector 2.842171e-14 21.15 -83.85) (float-vector 5.25 21.15 -82.4433) (float-vector 9.09327 21.15 -78.6) (float-vector 10.5 21.15 -73.35) (float-vector 9.09327 21.15 -68.1) (float-vector 5.25 21.15 -64.2567) (float-vector 0.0 21.15 -62.85) (float-vector -5.25 21.15 -64.2567) (float-vector -9.09327 21.15 -68.1) (float-vector -10.5 21.15 -73.35)))
))
         (instance face :init :vertices (list (float-vector 11.5 -21.15 -85.35) (float-vector -11.5 -21.15 -85.35) (float-vector -11.5 21.15 -85.35) (float-vector 11.5 21.15 -85.35)))
         (instance face :init :vertices (list (float-vector -11.5 -21.15 -85.35) (float-vector 11.5 -21.15 -85.35) (float-vector 11.5 -21.15 -40.35) (float-vector -11.5 -21.15 -40.35))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -5.25 -21.15 -82.4433) (float-vector -9.09327 -21.15 -78.6) (float-vector -10.5 -21.15 -73.35) (float-vector -9.09327 -21.15 -68.1) (float-vector -5.25 -21.15 -64.2567) (float-vector -2.842171e-14 -21.15 -62.85) (float-vector 5.25 -21.15 -64.2567) (float-vector 9.09327 -21.15 -68.1) (float-vector 10.5 -21.15 -73.35) (float-vector 9.09327 -21.15 -78.6) (float-vector 5.25 -21.15 -82.4433) (float-vector 2.842171e-14 -21.15 -83.85)))
))
         (instance face :init :vertices (list (float-vector -10.5 23.15 -73.35) (float-vector -10.5 21.15 -73.35) (float-vector -9.09327 21.15 -68.1) (float-vector -9.09327 23.15 -68.1)))
         (instance face :init :vertices (list (float-vector -10.5 -21.15 -73.35) (float-vector -10.5 -23.15 -73.35) (float-vector -9.09327 -23.15 -68.1) (float-vector -9.09327 -21.15 -68.1)))
         (instance face :init :vertices (list (float-vector -5.25 21.15 -64.2567) (float-vector -5.25 23.15 -64.2567) (float-vector -9.09327 23.15 -68.1) (float-vector -9.09327 21.15 -68.1)))
         (instance face :init :vertices (list (float-vector -9.09327 -23.15 -68.1) (float-vector -5.25 -23.15 -64.2567) (float-vector -5.25 -21.15 -64.2567) (float-vector -9.09327 -21.15 -68.1)))
         (instance face :init :vertices (list (float-vector 0.0 21.15 -62.85) (float-vector 0.0 23.15 -62.85) (float-vector -5.25 23.15 -64.2567) (float-vector -5.25 21.15 -64.2567)))
         (instance face :init :vertices (list (float-vector -5.25 -23.15 -64.2567) (float-vector -2.842171e-14 -23.15 -62.85) (float-vector -2.842171e-14 -21.15 -62.85) (float-vector -5.25 -21.15 -64.2567)))
         (instance face :init :vertices (list (float-vector 5.25 21.15 -64.2567) (float-vector 5.25 23.15 -64.2567) (float-vector 0.0 23.15 -62.85) (float-vector 0.0 21.15 -62.85)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -23.15 -62.85) (float-vector 5.25 -23.15 -64.2567) (float-vector 5.25 -21.15 -64.2567) (float-vector -2.842171e-14 -21.15 -62.85)))
         (instance face :init :vertices (list (float-vector 9.09327 21.15 -68.1) (float-vector 9.09327 23.15 -68.1) (float-vector 5.25 23.15 -64.2567) (float-vector 5.25 21.15 -64.2567)))
         (instance face :init :vertices (list (float-vector 5.25 -23.15 -64.2567) (float-vector 9.09327 -23.15 -68.1) (float-vector 9.09327 -21.15 -68.1) (float-vector 5.25 -21.15 -64.2567)))
         (instance face :init :vertices (list (float-vector 10.5 21.15 -73.35) (float-vector 10.5 23.15 -73.35) (float-vector 9.09327 23.15 -68.1) (float-vector 9.09327 21.15 -68.1)))
         (instance face :init :vertices (list (float-vector 9.09327 -23.15 -68.1) (float-vector 10.5 -23.15 -73.35) (float-vector 10.5 -21.15 -73.35) (float-vector 9.09327 -21.15 -68.1)))
         (instance face :init :vertices (list (float-vector 9.09327 21.15 -78.6) (float-vector 9.09327 23.15 -78.6) (float-vector 10.5 23.15 -73.35) (float-vector 10.5 21.15 -73.35)))
         (instance face :init :vertices (list (float-vector 10.5 -23.15 -73.35) (float-vector 9.09327 -23.15 -78.6) (float-vector 9.09327 -21.15 -78.6) (float-vector 10.5 -21.15 -73.35)))
         (instance face :init :vertices (list (float-vector 5.25 21.15 -82.4433) (float-vector 5.25 23.15 -82.4433) (float-vector 9.09327 23.15 -78.6) (float-vector 9.09327 21.15 -78.6)))
         (instance face :init :vertices (list (float-vector 9.09327 -23.15 -78.6) (float-vector 5.25 -23.15 -82.4433) (float-vector 5.25 -21.15 -82.4433) (float-vector 9.09327 -21.15 -78.6)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 21.15 -83.85) (float-vector 2.842171e-14 23.15 -83.85) (float-vector 5.25 23.15 -82.4433) (float-vector 5.25 21.15 -82.4433)))
         (instance face :init :vertices (list (float-vector 5.25 -23.15 -82.4433) (float-vector 2.842171e-14 -23.15 -83.85) (float-vector 2.842171e-14 -21.15 -83.85) (float-vector 5.25 -21.15 -82.4433)))
         (instance face :init :vertices (list (float-vector -5.25 21.15 -82.4433) (float-vector -5.25 23.15 -82.4433) (float-vector 2.842171e-14 23.15 -83.85) (float-vector 2.842171e-14 21.15 -83.85)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 -23.15 -83.85) (float-vector -5.25 -23.15 -82.4433) (float-vector -5.25 -21.15 -82.4433) (float-vector 2.842171e-14 -21.15 -83.85)))
         (instance face :init :vertices (list (float-vector -9.09327 21.15 -78.6) (float-vector -9.09327 23.15 -78.6) (float-vector -5.25 23.15 -82.4433) (float-vector -5.25 21.15 -82.4433)))
         (instance face :init :vertices (list (float-vector -5.25 -23.15 -82.4433) (float-vector -9.09327 -23.15 -78.6) (float-vector -9.09327 -21.15 -78.6) (float-vector -5.25 -21.15 -82.4433)))
         (instance face :init :vertices (list (float-vector -9.09327 23.15 -78.6) (float-vector -10.5 23.15 -73.35) (float-vector -9.09327 23.15 -68.1) (float-vector -5.25 23.15 -64.2567) (float-vector 0.0 23.15 -62.85) (float-vector 5.25 23.15 -64.2567) (float-vector 9.09327 23.15 -68.1) (float-vector 10.5 23.15 -73.35) (float-vector 9.09327 23.15 -78.6) (float-vector 5.25 23.15 -82.4433) (float-vector 2.842171e-14 23.15 -83.85) (float-vector -5.25 23.15 -82.4433)))
         (instance face :init :vertices (list (float-vector -10.5 23.15 -73.35) (float-vector -9.09327 23.15 -78.6) (float-vector -9.09327 21.15 -78.6) (float-vector -10.5 21.15 -73.35)))
         (instance face :init :vertices (list (float-vector -9.09327 -23.15 -78.6) (float-vector -10.5 -23.15 -73.35) (float-vector -10.5 -21.15 -73.35) (float-vector -9.09327 -21.15 -78.6)))
         (instance face :init :vertices (list (float-vector -10.5 -23.15 -73.35) (float-vector -9.09327 -23.15 -78.6) (float-vector -5.25 -23.15 -82.4433) (float-vector 2.842171e-14 -23.15 -83.85) (float-vector 5.25 -23.15 -82.4433) (float-vector 9.09327 -23.15 -78.6) (float-vector 10.5 -23.15 -73.35) (float-vector 9.09327 -23.15 -68.1) (float-vector 5.25 -23.15 -64.2567) (float-vector -2.842171e-14 -23.15 -62.85) (float-vector -5.25 -23.15 -64.2567) (float-vector -9.09327 -23.15 -68.1)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink11 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-z-elbow :weight 85 :centroid (float-vector -8.929858e-16 5.11571 -51.9638) :inertia-tensor #2f((30506.9 -1.801948e-12 2.755806e-12) (-1.801948e-12 21979.3 -3722.3) (2.755806e-12 -3722.3 14258.5))))

     ;; definition of :rarm-x-elbow
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 2.842171e-14 -26.0) (float-vector 10.0 25.0 -26.0) (float-vector 10.0 25.0 26.0) (float-vector 10.0 0.0 26.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 23.0 24.0) (float-vector 10.0 23.0 -24.0) (float-vector 10.0 2.842171e-14 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -26.0) (float-vector -10.0 25.0 26.0) (float-vector 10.0 25.0 26.0) (float-vector 10.0 25.0 -26.0)))
         (instance face :init :vertices (list (float-vector -10.0 2.842171e-14 -26.0) (float-vector -10.0 2.842171e-14 -24.0) (float-vector -10.0 23.0 -24.0) (float-vector -10.0 23.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 26.0) (float-vector -10.0 25.0 26.0) (float-vector -10.0 25.0 -26.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 26.0) (float-vector -10.0 0.0 26.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -26.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 2.842171e-14 -24.0) (float-vector -10.0 2.842171e-14 -26.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 26.0) (float-vector -7.07107 -7.07107 26.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -26.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -26.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 26.0) (float-vector 0.0 -10.0 26.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -26.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -26.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 26.0) (float-vector 10.0 25.0 26.0) (float-vector -10.0 25.0 26.0) (float-vector -10.0 0.0 26.0) (float-vector -7.07107 -7.07107 26.0) (float-vector 0.0 -10.0 26.0) (float-vector 7.07107 -7.07107 26.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -26.0) (float-vector 0.0 -10.0 -26.0) (float-vector -7.07107 -7.07107 -26.0) (float-vector -10.0 2.842171e-14 -26.0) (float-vector -10.0 25.0 -26.0) (float-vector 10.0 25.0 -26.0) (float-vector 10.0 2.842171e-14 -26.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 26.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 26.0)))
         (instance face :init :vertices (list (float-vector 10.0 2.842171e-14 -26.0) (float-vector 10.0 2.842171e-14 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -26.0)))
         (instance face :init :vertices (list (float-vector 10.0 23.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 23.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 23.0 -24.0) (float-vector 10.0 23.0 24.0) (float-vector -10.0 23.0 24.0) (float-vector -10.0 23.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 23.0 -24.0) (float-vector -10.0 2.842171e-14 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 2.842171e-14 -24.0) (float-vector 10.0 23.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 73.5 -10.0) (float-vector -10.0 33.5 -10.0) (float-vector -10.0 33.5 30.0) (float-vector -10.0 73.5 30.0)))
         (instance face :init :vertices (list (float-vector -10.0 33.5 30.0) (float-vector 10.0 33.5 30.0) (float-vector 10.0 73.5 30.0) (float-vector -10.0 73.5 30.0)))
         (instance face :init :vertices (list (float-vector 10.0 33.5 30.0) (float-vector 10.0 33.5 -10.0) (float-vector 10.0 73.5 -10.0) (float-vector 10.0 73.5 30.0)))
         (instance face :init :vertices (list (float-vector 10.0 73.5 -10.0) (float-vector -10.0 73.5 -10.0) (float-vector -10.0 73.5 30.0) (float-vector 10.0 73.5 30.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 73.5 -4.5) (float-vector -4.5 73.5 -7.79423) (float-vector -5.684342e-14 73.5 -9.0) (float-vector 4.5 73.5 -7.79423) (float-vector 7.79423 73.5 -4.5) (float-vector 9.0 73.5 0.0) (float-vector 7.79423 73.5 4.5) (float-vector 4.5 73.5 7.79423) (float-vector -5.684342e-14 73.5 9.0) (float-vector -4.5 73.5 7.79423) (float-vector -7.79423 73.5 4.5) (float-vector -9.0 73.5 0.0)))
))
         (instance face :init :vertices (list (float-vector 10.0 33.5 -10.0) (float-vector -10.0 33.5 -10.0) (float-vector -10.0 73.5 -10.0) (float-vector 10.0 73.5 -10.0)))
         (instance face :init :vertices (list (float-vector -10.0 33.5 -10.0) (float-vector 10.0 33.5 -10.0) (float-vector 10.0 33.5 30.0) (float-vector -10.0 33.5 30.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 33.5 -7.79423) (float-vector -7.79423 33.5 -4.5) (float-vector -9.0 33.5 0.0) (float-vector -7.79423 33.5 4.5) (float-vector -4.5 33.5 7.79423) (float-vector 0.0 33.5 9.0) (float-vector 4.5 33.5 7.79423) (float-vector 7.79423 33.5 4.5) (float-vector 9.0 33.5 2.842171e-14) (float-vector 7.79423 33.5 -4.5) (float-vector 4.5 33.5 -7.79423) (float-vector 0.0 33.5 -9.0)))
))
         (instance face :init :vertices (list (float-vector -9.0 75.5 0.0) (float-vector -9.0 73.5 0.0) (float-vector -7.79423 73.5 4.5) (float-vector -7.79423 75.5 4.5)))
         (instance face :init :vertices (list (float-vector -9.0 33.5 0.0) (float-vector -9.0 31.5 0.0) (float-vector -7.79423 31.5 4.5) (float-vector -7.79423 33.5 4.5)))
         (instance face :init :vertices (list (float-vector -4.5 73.5 7.79423) (float-vector -4.5 75.5 7.79423) (float-vector -7.79423 75.5 4.5) (float-vector -7.79423 73.5 4.5)))
         (instance face :init :vertices (list (float-vector -7.79423 31.5 4.5) (float-vector -4.5 31.5 7.79423) (float-vector -4.5 33.5 7.79423) (float-vector -7.79423 33.5 4.5)))
         (instance face :init :vertices (list (float-vector -5.684342e-14 73.5 9.0) (float-vector -5.684342e-14 75.5 9.0) (float-vector -4.5 75.5 7.79423) (float-vector -4.5 73.5 7.79423)))
         (instance face :init :vertices (list (float-vector -4.5 31.5 7.79423) (float-vector 0.0 31.5 9.0) (float-vector 0.0 33.5 9.0) (float-vector -4.5 33.5 7.79423)))
         (instance face :init :vertices (list (float-vector 4.5 73.5 7.79423) (float-vector 4.5 75.5 7.79423) (float-vector -5.684342e-14 75.5 9.0) (float-vector -5.684342e-14 73.5 9.0)))
         (instance face :init :vertices (list (float-vector 0.0 31.5 9.0) (float-vector 4.5 31.5 7.79423) (float-vector 4.5 33.5 7.79423) (float-vector 0.0 33.5 9.0)))
         (instance face :init :vertices (list (float-vector 7.79423 73.5 4.5) (float-vector 7.79423 75.5 4.5) (float-vector 4.5 75.5 7.79423) (float-vector 4.5 73.5 7.79423)))
         (instance face :init :vertices (list (float-vector 4.5 31.5 7.79423) (float-vector 7.79423 31.5 4.5) (float-vector 7.79423 33.5 4.5) (float-vector 4.5 33.5 7.79423)))
         (instance face :init :vertices (list (float-vector 9.0 73.5 0.0) (float-vector 9.0 75.5 0.0) (float-vector 7.79423 75.5 4.5) (float-vector 7.79423 73.5 4.5)))
         (instance face :init :vertices (list (float-vector 7.79423 31.5 4.5) (float-vector 9.0 31.5 2.842171e-14) (float-vector 9.0 33.5 2.842171e-14) (float-vector 7.79423 33.5 4.5)))
         (instance face :init :vertices (list (float-vector 7.79423 73.5 -4.5) (float-vector 7.79423 75.5 -4.5) (float-vector 9.0 75.5 0.0) (float-vector 9.0 73.5 0.0)))
         (instance face :init :vertices (list (float-vector 9.0 31.5 2.842171e-14) (float-vector 7.79423 31.5 -4.5) (float-vector 7.79423 33.5 -4.5) (float-vector 9.0 33.5 2.842171e-14)))
         (instance face :init :vertices (list (float-vector 4.5 73.5 -7.79423) (float-vector 4.5 75.5 -7.79423) (float-vector 7.79423 75.5 -4.5) (float-vector 7.79423 73.5 -4.5)))
         (instance face :init :vertices (list (float-vector 7.79423 31.5 -4.5) (float-vector 4.5 31.5 -7.79423) (float-vector 4.5 33.5 -7.79423) (float-vector 7.79423 33.5 -4.5)))
         (instance face :init :vertices (list (float-vector -5.684342e-14 73.5 -9.0) (float-vector -5.684342e-14 75.5 -9.0) (float-vector 4.5 75.5 -7.79423) (float-vector 4.5 73.5 -7.79423)))
         (instance face :init :vertices (list (float-vector 4.5 31.5 -7.79423) (float-vector 0.0 31.5 -9.0) (float-vector 0.0 33.5 -9.0) (float-vector 4.5 33.5 -7.79423)))
         (instance face :init :vertices (list (float-vector -4.5 73.5 -7.79423) (float-vector -4.5 75.5 -7.79423) (float-vector -5.684342e-14 75.5 -9.0) (float-vector -5.684342e-14 73.5 -9.0)))
         (instance face :init :vertices (list (float-vector 0.0 31.5 -9.0) (float-vector -4.5 31.5 -7.79423) (float-vector -4.5 33.5 -7.79423) (float-vector 0.0 33.5 -9.0)))
         (instance face :init :vertices (list (float-vector -7.79423 73.5 -4.5) (float-vector -7.79423 75.5 -4.5) (float-vector -4.5 75.5 -7.79423) (float-vector -4.5 73.5 -7.79423)))
         (instance face :init :vertices (list (float-vector -4.5 31.5 -7.79423) (float-vector -7.79423 31.5 -4.5) (float-vector -7.79423 33.5 -4.5) (float-vector -4.5 33.5 -7.79423)))
         (instance face :init :vertices (list (float-vector -7.79423 75.5 -4.5) (float-vector -9.0 75.5 0.0) (float-vector -7.79423 75.5 4.5) (float-vector -4.5 75.5 7.79423) (float-vector -5.684342e-14 75.5 9.0) (float-vector 4.5 75.5 7.79423) (float-vector 7.79423 75.5 4.5) (float-vector 9.0 75.5 0.0) (float-vector 7.79423 75.5 -4.5) (float-vector 4.5 75.5 -7.79423) (float-vector -5.684342e-14 75.5 -9.0) (float-vector -4.5 75.5 -7.79423)))
         (instance face :init :vertices (list (float-vector -9.0 75.5 0.0) (float-vector -7.79423 75.5 -4.5) (float-vector -7.79423 73.5 -4.5) (float-vector -9.0 73.5 0.0)))
         (instance face :init :vertices (list (float-vector -7.79423 31.5 -4.5) (float-vector -9.0 31.5 0.0) (float-vector -9.0 33.5 0.0) (float-vector -7.79423 33.5 -4.5)))
         (instance face :init :vertices (list (float-vector -9.0 31.5 0.0) (float-vector -7.79423 31.5 -4.5) (float-vector -4.5 31.5 -7.79423) (float-vector 0.0 31.5 -9.0) (float-vector 4.5 31.5 -7.79423) (float-vector 7.79423 31.5 -4.5) (float-vector 9.0 31.5 2.842171e-14) (float-vector 7.79423 31.5 4.5) (float-vector 4.5 31.5 7.79423) (float-vector 0.0 31.5 9.0) (float-vector -4.5 31.5 7.79423) (float-vector -7.79423 31.5 4.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink12 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-x-elbow :weight 76.6114 :centroid (float-vector 3.284889e-15 47.4671 8.17093) :inertia-tensor #2f((39822.4 -6.529651e-13 5.294183e-13) (-6.529651e-13 17441.4 -3776.49) (5.294183e-13 -3776.49 27488.5))))

     ;; definition of :rarm-z-wrist
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 29.0 23.0) (float-vector 10.0 0.0 23.0) (float-vector 7.07107 -7.07107 23.0) (float-vector 0.0 -10.0 23.0) (float-vector -7.07107 -7.07107 23.0) (float-vector -10.0 0.0 23.0) (float-vector -10.0 29.0 23.0)))
         (instance face :init :vertices (list (float-vector 10.0 29.0 23.0) (float-vector -10.0 29.0 23.0) (float-vector -10.0 29.0 -23.0) (float-vector 10.0 29.0 -23.0)))
         (instance face :init :vertices (list (float-vector 10.0 29.0 -23.0) (float-vector -10.0 29.0 -23.0) (float-vector -10.0 0.0 -23.0) (float-vector -7.07107 -7.07107 -23.0) (float-vector 5.684342e-14 -10.0 -23.0) (float-vector 7.07107 -7.07107 -23.0) (float-vector 10.0 -2.842171e-14 -23.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 24.5) (float-vector 7.07107 -7.07107 23.0) (float-vector 10.0 0.0 23.0) (float-vector 10.0 0.0 24.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -24.5) (float-vector 10.0 -2.842171e-14 -24.5) (float-vector 10.0 -2.842171e-14 -23.0) (float-vector 7.07107 -7.07107 -23.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 24.5) (float-vector 10.0 0.0 24.5) (float-vector 10.0 30.5 24.5) (float-vector -10.0 30.5 24.5) (float-vector -10.0 0.0 24.5) (float-vector -7.07107 -7.07107 24.5) (float-vector 5.684342e-14 -10.0 24.5)))
         (instance face :init :vertices (list (float-vector 10.0 29.0 -75.4) (float-vector -10.0 29.0 -75.4) (float-vector -10.0 30.5 -75.4) (float-vector 10.0 30.5 -75.4)))
         (instance face :init :vertices (list (float-vector 10.0 30.5 24.5) (float-vector 10.0 0.0 24.5) (float-vector 10.0 0.0 23.0) (float-vector 10.0 29.0 23.0) (float-vector 10.0 29.0 -23.0) (float-vector 10.0 -2.842171e-14 -23.0) (float-vector 10.0 -2.842171e-14 -24.5) (float-vector 10.0 29.0 -24.5) (float-vector 10.0 29.0 -75.4) (float-vector 10.0 30.5 -75.4)))
         (instance face :init :vertices (list (float-vector -10.0 30.5 24.5) (float-vector 10.0 30.5 24.5) (float-vector 10.0 30.5 -75.4) (float-vector -10.0 30.5 -75.4)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 24.5) (float-vector -10.0 30.5 24.5) (float-vector -10.0 30.5 -75.4) (float-vector -10.0 29.0 -75.4) (float-vector -10.0 29.0 -24.5) (float-vector -10.0 0.0 -24.5) (float-vector -10.0 0.0 -23.0) (float-vector -10.0 29.0 -23.0) (float-vector -10.0 29.0 23.0) (float-vector -10.0 0.0 23.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 24.5) (float-vector -10.0 0.0 24.5) (float-vector -10.0 0.0 23.0) (float-vector -7.07107 -7.07107 23.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -23.0) (float-vector -10.0 0.0 -23.0) (float-vector -10.0 0.0 -24.5) (float-vector -7.07107 -7.07107 -24.5)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 23.0) (float-vector 7.07107 -7.07107 23.0) (float-vector 7.07107 -7.07107 24.5) (float-vector 5.684342e-14 -10.0 24.5)))
         (instance face :init :vertices (list (float-vector 5.684342e-14 -10.0 24.5) (float-vector -7.07107 -7.07107 24.5) (float-vector -7.07107 -7.07107 23.0) (float-vector 0.0 -10.0 23.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -24.5) (float-vector 7.07107 -7.07107 -24.5) (float-vector 7.07107 -7.07107 -23.0) (float-vector 5.684342e-14 -10.0 -23.0)))
         (instance face :init :vertices (list (float-vector 5.684342e-14 -10.0 -23.0) (float-vector -7.07107 -7.07107 -23.0) (float-vector -7.07107 -7.07107 -24.5) (float-vector 0.0 -10.0 -24.5)))
         (instance face :init :vertices (list (float-vector -10.0 29.0 -24.5) (float-vector -10.0 29.0 -75.4) (float-vector 10.0 29.0 -75.4) (float-vector 10.0 29.0 -24.5)))
         (instance face :init :vertices (list (float-vector 10.0 29.0 -24.5) (float-vector 10.0 -2.842171e-14 -24.5) (float-vector 7.07107 -7.07107 -24.5) (float-vector 0.0 -10.0 -24.5) (float-vector -7.07107 -7.07107 -24.5) (float-vector -10.0 0.0 -24.5) (float-vector -10.0 29.0 -24.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 20.7 -76.5) (float-vector -10.0 -19.3 -76.5) (float-vector -10.0 -19.3 -36.5) (float-vector -10.0 20.7 -36.5)))
         (instance face :init :vertices (list (float-vector -10.0 -19.3 -36.5) (float-vector 10.0 -19.3 -36.5) (float-vector 10.0 20.7 -36.5) (float-vector -10.0 20.7 -36.5)))
         (instance face :init :vertices (list (float-vector 10.0 -19.3 -36.5) (float-vector 10.0 -19.3 -76.5) (float-vector 10.0 20.7 -76.5) (float-vector 10.0 20.7 -36.5)))
         (instance face :init :vertices (list (float-vector 10.0 20.7 -76.5) (float-vector -10.0 20.7 -76.5) (float-vector -10.0 20.7 -36.5) (float-vector 10.0 20.7 -36.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 20.7 -71.0) (float-vector -4.5 20.7 -74.2942) (float-vector 5.684342e-14 20.7 -75.5) (float-vector 4.5 20.7 -74.2942) (float-vector 7.79423 20.7 -71.0) (float-vector 9.0 20.7 -66.5) (float-vector 7.79423 20.7 -62.0) (float-vector 4.5 20.7 -58.7058) (float-vector 0.0 20.7 -57.5) (float-vector -4.5 20.7 -58.7058) (float-vector -7.79423 20.7 -62.0) (float-vector -9.0 20.7 -66.5)))
))
         (instance face :init :vertices (list (float-vector 10.0 -19.3 -76.5) (float-vector -10.0 -19.3 -76.5) (float-vector -10.0 20.7 -76.5) (float-vector 10.0 20.7 -76.5)))
         (instance face :init :vertices (list (float-vector -10.0 -19.3 -76.5) (float-vector 10.0 -19.3 -76.5) (float-vector 10.0 -19.3 -36.5) (float-vector -10.0 -19.3 -36.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 -19.3 -74.2942) (float-vector -7.79423 -19.3 -71.0) (float-vector -9.0 -19.3 -66.5) (float-vector -7.79423 -19.3 -62.0) (float-vector -4.5 -19.3 -58.7058) (float-vector 0.0 -19.3 -57.5) (float-vector 4.5 -19.3 -58.7058) (float-vector 7.79423 -19.3 -62.0) (float-vector 9.0 -19.3 -66.5) (float-vector 7.79423 -19.3 -71.0) (float-vector 4.5 -19.3 -74.2942) (float-vector 5.684342e-14 -19.3 -75.5)))
))
         (instance face :init :vertices (list (float-vector -9.0 22.7 -66.5) (float-vector -9.0 20.7 -66.5) (float-vector -7.79423 20.7 -62.0) (float-vector -7.79423 22.7 -62.0)))
         (instance face :init :vertices (list (float-vector -9.0 -19.3 -66.5) (float-vector -9.0 -21.3 -66.5) (float-vector -7.79423 -21.3 -62.0) (float-vector -7.79423 -19.3 -62.0)))
         (instance face :init :vertices (list (float-vector -4.5 20.7 -58.7058) (float-vector -4.5 22.7 -58.7058) (float-vector -7.79423 22.7 -62.0) (float-vector -7.79423 20.7 -62.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -21.3 -62.0) (float-vector -4.5 -21.3 -58.7058) (float-vector -4.5 -19.3 -58.7058) (float-vector -7.79423 -19.3 -62.0)))
         (instance face :init :vertices (list (float-vector 0.0 20.7 -57.5) (float-vector 0.0 22.7 -57.5) (float-vector -4.5 22.7 -58.7058) (float-vector -4.5 20.7 -58.7058)))
         (instance face :init :vertices (list (float-vector -4.5 -21.3 -58.7058) (float-vector 0.0 -21.3 -57.5) (float-vector 0.0 -19.3 -57.5) (float-vector -4.5 -19.3 -58.7058)))
         (instance face :init :vertices (list (float-vector 4.5 20.7 -58.7058) (float-vector 4.5 22.7 -58.7058) (float-vector 0.0 22.7 -57.5) (float-vector 0.0 20.7 -57.5)))
         (instance face :init :vertices (list (float-vector 0.0 -21.3 -57.5) (float-vector 4.5 -21.3 -58.7058) (float-vector 4.5 -19.3 -58.7058) (float-vector 0.0 -19.3 -57.5)))
         (instance face :init :vertices (list (float-vector 7.79423 20.7 -62.0) (float-vector 7.79423 22.7 -62.0) (float-vector 4.5 22.7 -58.7058) (float-vector 4.5 20.7 -58.7058)))
         (instance face :init :vertices (list (float-vector 4.5 -21.3 -58.7058) (float-vector 7.79423 -21.3 -62.0) (float-vector 7.79423 -19.3 -62.0) (float-vector 4.5 -19.3 -58.7058)))
         (instance face :init :vertices (list (float-vector 9.0 20.7 -66.5) (float-vector 9.0 22.7 -66.5) (float-vector 7.79423 22.7 -62.0) (float-vector 7.79423 20.7 -62.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -21.3 -62.0) (float-vector 9.0 -21.3 -66.5) (float-vector 9.0 -19.3 -66.5) (float-vector 7.79423 -19.3 -62.0)))
         (instance face :init :vertices (list (float-vector 7.79423 20.7 -71.0) (float-vector 7.79423 22.7 -71.0) (float-vector 9.0 22.7 -66.5) (float-vector 9.0 20.7 -66.5)))
         (instance face :init :vertices (list (float-vector 9.0 -21.3 -66.5) (float-vector 7.79423 -21.3 -71.0) (float-vector 7.79423 -19.3 -71.0) (float-vector 9.0 -19.3 -66.5)))
         (instance face :init :vertices (list (float-vector 4.5 20.7 -74.2942) (float-vector 4.5 22.7 -74.2942) (float-vector 7.79423 22.7 -71.0) (float-vector 7.79423 20.7 -71.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -21.3 -71.0) (float-vector 4.5 -21.3 -74.2942) (float-vector 4.5 -19.3 -74.2942) (float-vector 7.79423 -19.3 -71.0)))
         (instance face :init :vertices (list (float-vector 5.684342e-14 20.7 -75.5) (float-vector 5.684342e-14 22.7 -75.5) (float-vector 4.5 22.7 -74.2942) (float-vector 4.5 20.7 -74.2942)))
         (instance face :init :vertices (list (float-vector 4.5 -21.3 -74.2942) (float-vector 5.684342e-14 -21.3 -75.5) (float-vector 5.684342e-14 -19.3 -75.5) (float-vector 4.5 -19.3 -74.2942)))
         (instance face :init :vertices (list (float-vector -4.5 20.7 -74.2942) (float-vector -4.5 22.7 -74.2942) (float-vector 5.684342e-14 22.7 -75.5) (float-vector 5.684342e-14 20.7 -75.5)))
         (instance face :init :vertices (list (float-vector 5.684342e-14 -21.3 -75.5) (float-vector -4.5 -21.3 -74.2942) (float-vector -4.5 -19.3 -74.2942) (float-vector 5.684342e-14 -19.3 -75.5)))
         (instance face :init :vertices (list (float-vector -7.79423 20.7 -71.0) (float-vector -7.79423 22.7 -71.0) (float-vector -4.5 22.7 -74.2942) (float-vector -4.5 20.7 -74.2942)))
         (instance face :init :vertices (list (float-vector -4.5 -21.3 -74.2942) (float-vector -7.79423 -21.3 -71.0) (float-vector -7.79423 -19.3 -71.0) (float-vector -4.5 -19.3 -74.2942)))
         (instance face :init :vertices (list (float-vector -7.79423 22.7 -71.0) (float-vector -9.0 22.7 -66.5) (float-vector -7.79423 22.7 -62.0) (float-vector -4.5 22.7 -58.7058) (float-vector 0.0 22.7 -57.5) (float-vector 4.5 22.7 -58.7058) (float-vector 7.79423 22.7 -62.0) (float-vector 9.0 22.7 -66.5) (float-vector 7.79423 22.7 -71.0) (float-vector 4.5 22.7 -74.2942) (float-vector 5.684342e-14 22.7 -75.5) (float-vector -4.5 22.7 -74.2942)))
         (instance face :init :vertices (list (float-vector -9.0 22.7 -66.5) (float-vector -7.79423 22.7 -71.0) (float-vector -7.79423 20.7 -71.0) (float-vector -9.0 20.7 -66.5)))
         (instance face :init :vertices (list (float-vector -7.79423 -21.3 -71.0) (float-vector -9.0 -21.3 -66.5) (float-vector -9.0 -19.3 -66.5) (float-vector -7.79423 -19.3 -71.0)))
         (instance face :init :vertices (list (float-vector -9.0 -21.3 -66.5) (float-vector -7.79423 -21.3 -71.0) (float-vector -4.5 -21.3 -74.2942) (float-vector 5.684342e-14 -21.3 -75.5) (float-vector 4.5 -21.3 -74.2942) (float-vector 7.79423 -21.3 -71.0) (float-vector 9.0 -21.3 -66.5) (float-vector 7.79423 -21.3 -62.0) (float-vector 4.5 -21.3 -58.7058) (float-vector 0.0 -21.3 -57.5) (float-vector -4.5 -21.3 -58.7058) (float-vector -7.79423 -21.3 -62.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink13 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-z-wrist :weight 84.5 :centroid (float-vector 9.303847e-17 5.70179 -46.85) :inertia-tensor #2f((25192.6 1.005995e-13 1.212726e-12) (1.005995e-13 17129.0 -3208.34) (1.212726e-12 -3208.34 12363.7))))

     ;; definition of :rarm-x-wrist
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 22.0 -25.0) (float-vector 10.0 22.0 25.0) (float-vector 10.0 1.421085e-14 25.0) (float-vector 10.0 1.421085e-14 23.0) (float-vector 10.0 20.0 23.0) (float-vector 10.0 20.0 -23.0) (float-vector 10.0 0.0 -23.0)))
         (instance face :init :vertices (list (float-vector -10.0 22.0 -25.0) (float-vector -10.0 22.0 25.0) (float-vector 10.0 22.0 25.0) (float-vector 10.0 22.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -23.0) (float-vector -10.0 20.0 -23.0) (float-vector -10.0 20.0 23.0) (float-vector -10.0 1.421085e-14 23.0) (float-vector -10.0 1.421085e-14 25.0) (float-vector -10.0 22.0 25.0) (float-vector -10.0 22.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 1.421085e-14 25.0) (float-vector -10.0 1.421085e-14 23.0) (float-vector -7.07107 -7.07107 23.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -23.0) (float-vector -10.0 0.0 -23.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 5.684342e-14 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 23.0) (float-vector 5.684342e-14 -10.0 23.0)))
         (instance face :init :vertices (list (float-vector 5.684342e-14 -10.0 -25.0) (float-vector 5.684342e-14 -10.0 -23.0) (float-vector -7.07107 -7.07107 -23.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 5.684342e-14 -10.0 25.0) (float-vector 5.684342e-14 -10.0 23.0) (float-vector 7.07107 -7.07107 23.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -23.0) (float-vector 5.684342e-14 -10.0 -23.0) (float-vector 5.684342e-14 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 1.421085e-14 25.0) (float-vector 10.0 22.0 25.0) (float-vector -10.0 22.0 25.0) (float-vector -10.0 1.421085e-14 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 5.684342e-14 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 5.684342e-14 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 22.0 -25.0) (float-vector 10.0 22.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 23.0) (float-vector 10.0 1.421085e-14 23.0) (float-vector 10.0 1.421085e-14 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -23.0) (float-vector 7.07107 -7.07107 -23.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 20.0 23.0) (float-vector 10.0 1.421085e-14 23.0) (float-vector 7.07107 -7.07107 23.0) (float-vector 5.684342e-14 -10.0 23.0) (float-vector -7.07107 -7.07107 23.0) (float-vector -10.0 1.421085e-14 23.0) (float-vector -10.0 20.0 23.0)))
         (instance face :init :vertices (list (float-vector 10.0 20.0 -23.0) (float-vector 10.0 20.0 23.0) (float-vector -10.0 20.0 23.0) (float-vector -10.0 20.0 -23.0)))
         (instance face :init :vertices (list (float-vector -10.0 20.0 -23.0) (float-vector -10.0 0.0 -23.0) (float-vector -7.07107 -7.07107 -23.0) (float-vector 5.684342e-14 -10.0 -23.0) (float-vector 7.07107 -7.07107 -23.0) (float-vector 10.0 0.0 -23.0) (float-vector 10.0 20.0 -23.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.5 38.5 -18.5) (float-vector -18.5 38.5 -18.5) (float-vector -18.5 38.5 9.5) (float-vector 10.5 38.5 9.5)))
         (instance face :init :vertices (list (float-vector -18.5 38.5 9.5) (float-vector -18.5 25.5 9.5) (float-vector 10.5 25.5 9.5) (float-vector 10.5 38.5 9.5)))
         (instance face :init :vertices (list (float-vector -18.5 25.5 9.5) (float-vector -18.5 25.5 -18.5) (float-vector 10.5 25.5 -18.5) (float-vector 10.5 25.5 9.5)))
         (instance face :init :vertices (list (float-vector 10.5 25.5 -18.5) (float-vector 10.5 38.5 -18.5) (float-vector 10.5 38.5 9.5) (float-vector 10.5 25.5 9.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 10.5 36.7631 -14.25) (float-vector 10.5 34.75 -16.2631) (float-vector 10.5 32.0 -17.0) (float-vector 10.5 29.25 -16.2631) (float-vector 10.5 27.2369 -14.25) (float-vector 10.5 26.5 -11.5) (float-vector 10.5 27.2369 -8.75) (float-vector 10.5 29.25 -6.73686) (float-vector 10.5 32.0 -6.0) (float-vector 10.5 34.75 -6.73686) (float-vector 10.5 36.7631 -8.75) (float-vector 10.5 37.5 -11.5)))
))
         (instance face :init :vertices (list (float-vector -18.5 25.5 -18.5) (float-vector -18.5 38.5 -18.5) (float-vector 10.5 38.5 -18.5) (float-vector 10.5 25.5 -18.5)))
         (instance face :init :vertices (list (float-vector -18.5 38.5 -18.5) (float-vector -18.5 25.5 -18.5) (float-vector -18.5 25.5 9.5) (float-vector -18.5 38.5 9.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -18.5 34.75 -16.2631) (float-vector -18.5 36.7631 -14.25) (float-vector -18.5 37.5 -11.5) (float-vector -18.5 36.7631 -8.75) (float-vector -18.5 34.75 -6.73686) (float-vector -18.5 32.0 -6.0) (float-vector -18.5 29.25 -6.73686) (float-vector -18.5 27.2369 -8.75) (float-vector -18.5 26.5 -11.5) (float-vector -18.5 27.2369 -14.25) (float-vector -18.5 29.25 -16.2631) (float-vector -18.5 32.0 -17.0)))
))
         (instance face :init :vertices (list (float-vector 12.5 37.5 -11.5) (float-vector 10.5 37.5 -11.5) (float-vector 10.5 36.7631 -8.75) (float-vector 12.5 36.7631 -8.75)))
         (instance face :init :vertices (list (float-vector -18.5 37.5 -11.5) (float-vector -20.5 37.5 -11.5) (float-vector -20.5 36.7631 -8.75) (float-vector -18.5 36.7631 -8.75)))
         (instance face :init :vertices (list (float-vector 10.5 34.75 -6.73686) (float-vector 12.5 34.75 -6.73686) (float-vector 12.5 36.7631 -8.75) (float-vector 10.5 36.7631 -8.75)))
         (instance face :init :vertices (list (float-vector -20.5 36.7631 -8.75) (float-vector -20.5 34.75 -6.73686) (float-vector -18.5 34.75 -6.73686) (float-vector -18.5 36.7631 -8.75)))
         (instance face :init :vertices (list (float-vector 10.5 32.0 -6.0) (float-vector 12.5 32.0 -6.0) (float-vector 12.5 34.75 -6.73686) (float-vector 10.5 34.75 -6.73686)))
         (instance face :init :vertices (list (float-vector -20.5 34.75 -6.73686) (float-vector -20.5 32.0 -6.0) (float-vector -18.5 32.0 -6.0) (float-vector -18.5 34.75 -6.73686)))
         (instance face :init :vertices (list (float-vector 10.5 29.25 -6.73686) (float-vector 12.5 29.25 -6.73686) (float-vector 12.5 32.0 -6.0) (float-vector 10.5 32.0 -6.0)))
         (instance face :init :vertices (list (float-vector -20.5 32.0 -6.0) (float-vector -20.5 29.25 -6.73686) (float-vector -18.5 29.25 -6.73686) (float-vector -18.5 32.0 -6.0)))
         (instance face :init :vertices (list (float-vector 10.5 27.2369 -8.75) (float-vector 12.5 27.2369 -8.75) (float-vector 12.5 29.25 -6.73686) (float-vector 10.5 29.25 -6.73686)))
         (instance face :init :vertices (list (float-vector -20.5 29.25 -6.73686) (float-vector -20.5 27.2369 -8.75) (float-vector -18.5 27.2369 -8.75) (float-vector -18.5 29.25 -6.73686)))
         (instance face :init :vertices (list (float-vector 10.5 26.5 -11.5) (float-vector 12.5 26.5 -11.5) (float-vector 12.5 27.2369 -8.75) (float-vector 10.5 27.2369 -8.75)))
         (instance face :init :vertices (list (float-vector -20.5 27.2369 -8.75) (float-vector -20.5 26.5 -11.5) (float-vector -18.5 26.5 -11.5) (float-vector -18.5 27.2369 -8.75)))
         (instance face :init :vertices (list (float-vector 10.5 27.2369 -14.25) (float-vector 12.5 27.2369 -14.25) (float-vector 12.5 26.5 -11.5) (float-vector 10.5 26.5 -11.5)))
         (instance face :init :vertices (list (float-vector -20.5 26.5 -11.5) (float-vector -20.5 27.2369 -14.25) (float-vector -18.5 27.2369 -14.25) (float-vector -18.5 26.5 -11.5)))
         (instance face :init :vertices (list (float-vector 10.5 29.25 -16.2631) (float-vector 12.5 29.25 -16.2631) (float-vector 12.5 27.2369 -14.25) (float-vector 10.5 27.2369 -14.25)))
         (instance face :init :vertices (list (float-vector -20.5 27.2369 -14.25) (float-vector -20.5 29.25 -16.2631) (float-vector -18.5 29.25 -16.2631) (float-vector -18.5 27.2369 -14.25)))
         (instance face :init :vertices (list (float-vector 10.5 32.0 -17.0) (float-vector 12.5 32.0 -17.0) (float-vector 12.5 29.25 -16.2631) (float-vector 10.5 29.25 -16.2631)))
         (instance face :init :vertices (list (float-vector -20.5 29.25 -16.2631) (float-vector -20.5 32.0 -17.0) (float-vector -18.5 32.0 -17.0) (float-vector -18.5 29.25 -16.2631)))
         (instance face :init :vertices (list (float-vector 10.5 34.75 -16.2631) (float-vector 12.5 34.75 -16.2631) (float-vector 12.5 32.0 -17.0) (float-vector 10.5 32.0 -17.0)))
         (instance face :init :vertices (list (float-vector -20.5 32.0 -17.0) (float-vector -20.5 34.75 -16.2631) (float-vector -18.5 34.75 -16.2631) (float-vector -18.5 32.0 -17.0)))
         (instance face :init :vertices (list (float-vector 10.5 36.7631 -14.25) (float-vector 12.5 36.7631 -14.25) (float-vector 12.5 34.75 -16.2631) (float-vector 10.5 34.75 -16.2631)))
         (instance face :init :vertices (list (float-vector -20.5 34.75 -16.2631) (float-vector -20.5 36.7631 -14.25) (float-vector -18.5 36.7631 -14.25) (float-vector -18.5 34.75 -16.2631)))
         (instance face :init :vertices (list (float-vector 12.5 36.7631 -14.25) (float-vector 12.5 37.5 -11.5) (float-vector 12.5 36.7631 -8.75) (float-vector 12.5 34.75 -6.73686) (float-vector 12.5 32.0 -6.0) (float-vector 12.5 29.25 -6.73686) (float-vector 12.5 27.2369 -8.75) (float-vector 12.5 26.5 -11.5) (float-vector 12.5 27.2369 -14.25) (float-vector 12.5 29.25 -16.2631) (float-vector 12.5 32.0 -17.0) (float-vector 12.5 34.75 -16.2631)))
         (instance face :init :vertices (list (float-vector 12.5 37.5 -11.5) (float-vector 12.5 36.7631 -14.25) (float-vector 10.5 36.7631 -14.25) (float-vector 10.5 37.5 -11.5)))
         (instance face :init :vertices (list (float-vector -20.5 36.7631 -14.25) (float-vector -20.5 37.5 -11.5) (float-vector -18.5 37.5 -11.5) (float-vector -18.5 36.7631 -14.25)))
         (instance face :init :vertices (list (float-vector -20.5 37.5 -11.5) (float-vector -20.5 36.7631 -14.25) (float-vector -20.5 34.75 -16.2631) (float-vector -20.5 32.0 -17.0) (float-vector -20.5 29.25 -16.2631) (float-vector -20.5 27.2369 -14.25) (float-vector -20.5 26.5 -11.5) (float-vector -20.5 27.2369 -8.75) (float-vector -20.5 29.25 -6.73686) (float-vector -20.5 32.0 -6.0) (float-vector -20.5 34.75 -6.73686) (float-vector -20.5 36.7631 -8.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 9.0 26.5 -9.0) (float-vector 9.0 26.5 9.0) (float-vector 9.0 22.0 9.0) (float-vector 9.0 22.0 -9.0)))
         (instance face :init :vertices (list (float-vector -9.0 26.5 9.0) (float-vector -9.0 26.5 -9.0) (float-vector -9.0 22.0 -9.0) (float-vector -9.0 22.0 9.0)))
         (instance face :init :vertices (list (float-vector 9.0 26.5 -9.0) (float-vector -9.0 26.5 -9.0) (float-vector -9.0 26.5 9.0) (float-vector 9.0 26.5 9.0)))
         (instance face :init :vertices (list (float-vector 9.0 22.0 -9.0) (float-vector -9.0 22.0 -9.0) (float-vector -9.0 26.5 -9.0) (float-vector 9.0 26.5 -9.0)))
         (instance face :init :vertices (list (float-vector 9.0 22.0 9.0) (float-vector -9.0 22.0 9.0) (float-vector -9.0 22.0 -9.0) (float-vector 9.0 22.0 -9.0)))
         (instance face :init :vertices (list (float-vector 9.0 26.5 9.0) (float-vector -9.0 26.5 9.0) (float-vector -9.0 22.0 9.0) (float-vector 9.0 22.0 9.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.5 74.8 10.8) (float-vector -18.5 74.8 10.8) (float-vector -18.5 46.8 10.8) (float-vector 10.5 46.8 10.8)))
         (instance face :init :vertices (list (float-vector -18.5 46.8 10.8) (float-vector -18.5 46.8 -2.2) (float-vector 10.5 46.8 -2.2) (float-vector 10.5 46.8 10.8)))
         (instance face :init :vertices (list (float-vector -18.5 46.8 -2.2) (float-vector -18.5 74.8 -2.2) (float-vector 10.5 74.8 -2.2) (float-vector 10.5 46.8 -2.2)))
         (instance face :init :vertices (list (float-vector 10.5 74.8 -2.2) (float-vector 10.5 74.8 10.8) (float-vector 10.5 46.8 10.8) (float-vector 10.5 46.8 -2.2))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 10.5 70.55 9.06314) (float-vector 10.5 72.5631 7.05) (float-vector 10.5 73.3 4.3) (float-vector 10.5 72.5631 1.55) (float-vector 10.5 70.55 -0.46314) (float-vector 10.5 67.8 -1.2) (float-vector 10.5 65.05 -0.46314) (float-vector 10.5 63.0369 1.55) (float-vector 10.5 62.3 4.3) (float-vector 10.5 63.0369 7.05) (float-vector 10.5 65.05 9.06314) (float-vector 10.5 67.8 9.8)))
))
         (instance face :init :vertices (list (float-vector -18.5 74.8 -2.2) (float-vector -18.5 74.8 10.8) (float-vector 10.5 74.8 10.8) (float-vector 10.5 74.8 -2.2)))
         (instance face :init :vertices (list (float-vector -18.5 74.8 10.8) (float-vector -18.5 74.8 -2.2) (float-vector -18.5 46.8 -2.2) (float-vector -18.5 46.8 10.8))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -18.5 72.5631 7.05) (float-vector -18.5 70.55 9.06314) (float-vector -18.5 67.8 9.8) (float-vector -18.5 65.05 9.06314) (float-vector -18.5 63.0369 7.05) (float-vector -18.5 62.3 4.3) (float-vector -18.5 63.0369 1.55) (float-vector -18.5 65.05 -0.46314) (float-vector -18.5 67.8 -1.2) (float-vector -18.5 70.55 -0.46314) (float-vector -18.5 72.5631 1.55) (float-vector -18.5 73.3 4.3)))
))
         (instance face :init :vertices (list (float-vector 12.5 67.8 9.8) (float-vector 10.5 67.8 9.8) (float-vector 10.5 65.05 9.06314) (float-vector 12.5 65.05 9.06314)))
         (instance face :init :vertices (list (float-vector -18.5 67.8 9.8) (float-vector -20.5 67.8 9.8) (float-vector -20.5 65.05 9.06314) (float-vector -18.5 65.05 9.06314)))
         (instance face :init :vertices (list (float-vector 10.5 63.0369 7.05) (float-vector 12.5 63.0369 7.05) (float-vector 12.5 65.05 9.06314) (float-vector 10.5 65.05 9.06314)))
         (instance face :init :vertices (list (float-vector -20.5 65.05 9.06314) (float-vector -20.5 63.0369 7.05) (float-vector -18.5 63.0369 7.05) (float-vector -18.5 65.05 9.06314)))
         (instance face :init :vertices (list (float-vector 10.5 62.3 4.3) (float-vector 12.5 62.3 4.3) (float-vector 12.5 63.0369 7.05) (float-vector 10.5 63.0369 7.05)))
         (instance face :init :vertices (list (float-vector -20.5 63.0369 7.05) (float-vector -20.5 62.3 4.3) (float-vector -18.5 62.3 4.3) (float-vector -18.5 63.0369 7.05)))
         (instance face :init :vertices (list (float-vector 10.5 63.0369 1.55) (float-vector 12.5 63.0369 1.55) (float-vector 12.5 62.3 4.3) (float-vector 10.5 62.3 4.3)))
         (instance face :init :vertices (list (float-vector -20.5 62.3 4.3) (float-vector -20.5 63.0369 1.55) (float-vector -18.5 63.0369 1.55) (float-vector -18.5 62.3 4.3)))
         (instance face :init :vertices (list (float-vector 10.5 65.05 -0.46314) (float-vector 12.5 65.05 -0.46314) (float-vector 12.5 63.0369 1.55) (float-vector 10.5 63.0369 1.55)))
         (instance face :init :vertices (list (float-vector -20.5 63.0369 1.55) (float-vector -20.5 65.05 -0.46314) (float-vector -18.5 65.05 -0.46314) (float-vector -18.5 63.0369 1.55)))
         (instance face :init :vertices (list (float-vector 10.5 67.8 -1.2) (float-vector 12.5 67.8 -1.2) (float-vector 12.5 65.05 -0.46314) (float-vector 10.5 65.05 -0.46314)))
         (instance face :init :vertices (list (float-vector -20.5 65.05 -0.46314) (float-vector -20.5 67.8 -1.2) (float-vector -18.5 67.8 -1.2) (float-vector -18.5 65.05 -0.46314)))
         (instance face :init :vertices (list (float-vector 10.5 70.55 -0.46314) (float-vector 12.5 70.55 -0.46314) (float-vector 12.5 67.8 -1.2) (float-vector 10.5 67.8 -1.2)))
         (instance face :init :vertices (list (float-vector -20.5 67.8 -1.2) (float-vector -20.5 70.55 -0.46314) (float-vector -18.5 70.55 -0.46314) (float-vector -18.5 67.8 -1.2)))
         (instance face :init :vertices (list (float-vector 10.5 72.5631 1.55) (float-vector 12.5 72.5631 1.55) (float-vector 12.5 70.55 -0.46314) (float-vector 10.5 70.55 -0.46314)))
         (instance face :init :vertices (list (float-vector -20.5 70.55 -0.46314) (float-vector -20.5 72.5631 1.55) (float-vector -18.5 72.5631 1.55) (float-vector -18.5 70.55 -0.46314)))
         (instance face :init :vertices (list (float-vector 10.5 73.3 4.3) (float-vector 12.5 73.3 4.3) (float-vector 12.5 72.5631 1.55) (float-vector 10.5 72.5631 1.55)))
         (instance face :init :vertices (list (float-vector -20.5 72.5631 1.55) (float-vector -20.5 73.3 4.3) (float-vector -18.5 73.3 4.3) (float-vector -18.5 72.5631 1.55)))
         (instance face :init :vertices (list (float-vector 10.5 72.5631 7.05) (float-vector 12.5 72.5631 7.05) (float-vector 12.5 73.3 4.3) (float-vector 10.5 73.3 4.3)))
         (instance face :init :vertices (list (float-vector -20.5 73.3 4.3) (float-vector -20.5 72.5631 7.05) (float-vector -18.5 72.5631 7.05) (float-vector -18.5 73.3 4.3)))
         (instance face :init :vertices (list (float-vector 10.5 70.55 9.06314) (float-vector 12.5 70.55 9.06314) (float-vector 12.5 72.5631 7.05) (float-vector 10.5 72.5631 7.05)))
         (instance face :init :vertices (list (float-vector -20.5 72.5631 7.05) (float-vector -20.5 70.55 9.06314) (float-vector -18.5 70.55 9.06314) (float-vector -18.5 72.5631 7.05)))
         (instance face :init :vertices (list (float-vector 12.5 70.55 9.06314) (float-vector 12.5 67.8 9.8) (float-vector 12.5 65.05 9.06314) (float-vector 12.5 63.0369 7.05) (float-vector 12.5 62.3 4.3) (float-vector 12.5 63.0369 1.55) (float-vector 12.5 65.05 -0.46314) (float-vector 12.5 67.8 -1.2) (float-vector 12.5 70.55 -0.46314) (float-vector 12.5 72.5631 1.55) (float-vector 12.5 73.3 4.3) (float-vector 12.5 72.5631 7.05)))
         (instance face :init :vertices (list (float-vector 12.5 67.8 9.8) (float-vector 12.5 70.55 9.06314) (float-vector 10.5 70.55 9.06314) (float-vector 10.5 67.8 9.8)))
         (instance face :init :vertices (list (float-vector -20.5 70.55 9.06314) (float-vector -20.5 67.8 9.8) (float-vector -18.5 67.8 9.8) (float-vector -18.5 70.55 9.06314)))
         (instance face :init :vertices (list (float-vector -20.5 67.8 9.8) (float-vector -20.5 70.55 9.06314) (float-vector -20.5 72.5631 7.05) (float-vector -20.5 73.3 4.3) (float-vector -20.5 72.5631 1.55) (float-vector -20.5 70.55 -0.46314) (float-vector -20.5 67.8 -1.2) (float-vector -20.5 65.05 -0.46314) (float-vector -20.5 63.0369 1.55) (float-vector -20.5 62.3 4.3) (float-vector -20.5 63.0369 7.05) (float-vector -20.5 65.05 9.06314)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray40)
     (send (elt bc 3) :set-color :gray40)
     (setq blink14 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-x-wrist :weight 65.2474 :centroid (float-vector -2.69743 37.3912 -0.145902) :inertia-tensor #2f((29442.0 1251.56 -8.46451) (1251.56 10755.2 -2816.99) (-8.46451 -2816.99 25916.9))))

     ;; definition of :rarm-3-finger
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 6.5 0.0 -20.5) (float-vector 6.5 16.5 -20.5) (float-vector 6.5 16.5 20.5) (float-vector 6.5 0.0 20.5) (float-vector 6.5 0.0 19.0) (float-vector 6.5 15.0 19.0) (float-vector 6.5 15.0 -19.0) (float-vector 6.5 0.0 -19.0)))
         (instance face :init :vertices (list (float-vector -6.5 16.5 -20.5) (float-vector -6.5 16.5 20.5) (float-vector 6.5 16.5 20.5) (float-vector 6.5 16.5 -20.5)))
         (instance face :init :vertices (list (float-vector -6.5 0.0 -20.5) (float-vector -6.5 0.0 -19.0) (float-vector -6.5 15.0 -19.0) (float-vector -6.5 15.0 19.0) (float-vector -6.5 0.0 19.0) (float-vector -6.5 0.0 20.5) (float-vector -6.5 16.5 20.5) (float-vector -6.5 16.5 -20.5)))
         (instance face :init :vertices (list (float-vector -4.59619 -4.59619 20.5) (float-vector -6.5 0.0 20.5) (float-vector -6.5 0.0 19.0) (float-vector -4.59619 -4.59619 19.0)))
         (instance face :init :vertices (list (float-vector -4.59619 -4.59619 -20.5) (float-vector -4.59619 -4.59619 -19.0) (float-vector -6.5 0.0 -19.0) (float-vector -6.5 0.0 -20.5)))
         (instance face :init :vertices (list (float-vector 0.0 -6.5 20.5) (float-vector -4.59619 -4.59619 20.5) (float-vector -4.59619 -4.59619 19.0) (float-vector 0.0 -6.5 19.0)))
         (instance face :init :vertices (list (float-vector 0.0 -6.5 -20.5) (float-vector 0.0 -6.5 -19.0) (float-vector -4.59619 -4.59619 -19.0) (float-vector -4.59619 -4.59619 -20.5)))
         (instance face :init :vertices (list (float-vector 4.59619 -4.59619 20.5) (float-vector 0.0 -6.5 20.5) (float-vector 0.0 -6.5 19.0) (float-vector 4.59619 -4.59619 19.0)))
         (instance face :init :vertices (list (float-vector 4.59619 -4.59619 -20.5) (float-vector 4.59619 -4.59619 -19.0) (float-vector 0.0 -6.5 -19.0) (float-vector 0.0 -6.5 -20.5)))
         (instance face :init :vertices (list (float-vector 6.5 0.0 20.5) (float-vector 6.5 16.5 20.5) (float-vector -6.5 16.5 20.5) (float-vector -6.5 0.0 20.5) (float-vector -4.59619 -4.59619 20.5) (float-vector 0.0 -6.5 20.5) (float-vector 4.59619 -4.59619 20.5)))
         (instance face :init :vertices (list (float-vector 4.59619 -4.59619 -20.5) (float-vector 0.0 -6.5 -20.5) (float-vector -4.59619 -4.59619 -20.5) (float-vector -6.5 0.0 -20.5) (float-vector -6.5 16.5 -20.5) (float-vector 6.5 16.5 -20.5) (float-vector 6.5 0.0 -20.5)))
         (instance face :init :vertices (list (float-vector 4.59619 -4.59619 20.5) (float-vector 4.59619 -4.59619 19.0) (float-vector 6.5 0.0 19.0) (float-vector 6.5 0.0 20.5)))
         (instance face :init :vertices (list (float-vector 6.5 0.0 -20.5) (float-vector 6.5 0.0 -19.0) (float-vector 4.59619 -4.59619 -19.0) (float-vector 4.59619 -4.59619 -20.5)))
         (instance face :init :vertices (list (float-vector 6.5 15.0 19.0) (float-vector 6.5 0.0 19.0) (float-vector 4.59619 -4.59619 19.0) (float-vector 0.0 -6.5 19.0) (float-vector -4.59619 -4.59619 19.0) (float-vector -6.5 0.0 19.0) (float-vector -6.5 15.0 19.0)))
         (instance face :init :vertices (list (float-vector 6.5 15.0 -19.0) (float-vector 6.5 15.0 19.0) (float-vector -6.5 15.0 19.0) (float-vector -6.5 15.0 -19.0)))
         (instance face :init :vertices (list (float-vector -6.5 15.0 -19.0) (float-vector -6.5 0.0 -19.0) (float-vector -4.59619 -4.59619 -19.0) (float-vector 0.0 -6.5 -19.0) (float-vector 4.59619 -4.59619 -19.0) (float-vector 6.5 0.0 -19.0) (float-vector 6.5 15.0 -19.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -7.0 33.0 -21.0) (float-vector -7.0 16.0 -21.0) (float-vector -7.0 16.0 21.0) (float-vector -7.0 33.0 21.0) (float-vector -7.0 33.0 19.5) (float-vector -7.0 17.5 19.5) (float-vector -7.0 17.5 -19.5) (float-vector -7.0 33.0 -19.5)))
         (instance face :init :vertices (list (float-vector 7.0 16.0 -21.0) (float-vector 7.0 16.0 21.0) (float-vector -7.0 16.0 21.0) (float-vector -7.0 16.0 -21.0)))
         (instance face :init :vertices (list (float-vector 7.0 33.0 -21.0) (float-vector 7.0 33.0 -19.5) (float-vector 7.0 17.5 -19.5) (float-vector 7.0 17.5 19.5) (float-vector 7.0 33.0 19.5) (float-vector 7.0 33.0 21.0) (float-vector 7.0 16.0 21.0) (float-vector 7.0 16.0 -21.0)))
         (instance face :init :vertices (list (float-vector 4.94975 37.9497 21.0) (float-vector 7.0 33.0 21.0) (float-vector 7.0 33.0 19.5) (float-vector 4.94975 37.9497 19.5)))
         (instance face :init :vertices (list (float-vector 4.94975 37.9497 -21.0) (float-vector 4.94975 37.9497 -19.5) (float-vector 7.0 33.0 -19.5) (float-vector 7.0 33.0 -21.0)))
         (instance face :init :vertices (list (float-vector 0.0 40.0 21.0) (float-vector 4.94975 37.9497 21.0) (float-vector 4.94975 37.9497 19.5) (float-vector 0.0 40.0 19.5)))
         (instance face :init :vertices (list (float-vector 0.0 40.0 -21.0) (float-vector 0.0 40.0 -19.5) (float-vector 4.94975 37.9497 -19.5) (float-vector 4.94975 37.9497 -21.0)))
         (instance face :init :vertices (list (float-vector -4.94975 37.9497 21.0) (float-vector 0.0 40.0 21.0) (float-vector 0.0 40.0 19.5) (float-vector -4.94975 37.9497 19.5)))
         (instance face :init :vertices (list (float-vector -4.94975 37.9497 -21.0) (float-vector -4.94975 37.9497 -19.5) (float-vector 0.0 40.0 -19.5) (float-vector 0.0 40.0 -21.0)))
         (instance face :init :vertices (list (float-vector -7.0 33.0 21.0) (float-vector -7.0 16.0 21.0) (float-vector 7.0 16.0 21.0) (float-vector 7.0 33.0 21.0) (float-vector 4.94975 37.9497 21.0) (float-vector 0.0 40.0 21.0) (float-vector -4.94975 37.9497 21.0)))
         (instance face :init :vertices (list (float-vector -4.94975 37.9497 -21.0) (float-vector 0.0 40.0 -21.0) (float-vector 4.94975 37.9497 -21.0) (float-vector 7.0 33.0 -21.0) (float-vector 7.0 16.0 -21.0) (float-vector -7.0 16.0 -21.0) (float-vector -7.0 33.0 -21.0)))
         (instance face :init :vertices (list (float-vector -4.94975 37.9497 21.0) (float-vector -4.94975 37.9497 19.5) (float-vector -7.0 33.0 19.5) (float-vector -7.0 33.0 21.0)))
         (instance face :init :vertices (list (float-vector -7.0 33.0 -21.0) (float-vector -7.0 33.0 -19.5) (float-vector -4.94975 37.9497 -19.5) (float-vector -4.94975 37.9497 -21.0)))
         (instance face :init :vertices (list (float-vector -7.0 17.5 19.5) (float-vector -7.0 33.0 19.5) (float-vector -4.94975 37.9497 19.5) (float-vector 0.0 40.0 19.5) (float-vector 4.94975 37.9497 19.5) (float-vector 7.0 33.0 19.5) (float-vector 7.0 17.5 19.5)))
         (instance face :init :vertices (list (float-vector -7.0 17.5 -19.5) (float-vector -7.0 17.5 19.5) (float-vector 7.0 17.5 19.5) (float-vector 7.0 17.5 -19.5)))
         (instance face :init :vertices (list (float-vector 7.0 17.5 -19.5) (float-vector 7.0 33.0 -19.5) (float-vector 4.94975 37.9497 -19.5) (float-vector 0.0 40.0 -19.5) (float-vector -4.94975 37.9497 -19.5) (float-vector -7.0 33.0 -19.5) (float-vector -7.0 17.5 -19.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink23 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-3-finger :weight 8.92253 :centroid (float-vector 2.264362e-15 16.6941 3.381261e-15) :inertia-tensor #2f((3184.62 -1.000392e-13 -1.446181e-28) (-1.000392e-13 2545.33 -1.129276e-12) (-1.446181e-28 -1.129276e-12 911.756))))

     ;; definition of :rarm-4-finger
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 6.5 -7.0 14.5) (float-vector 6.5 -7.0 -14.5) (float-vector 6.5 21.0 -14.5) (float-vector 6.5 21.0 14.5)))
         (instance face :init :vertices (list (float-vector 6.5 21.0 -14.5) (float-vector -6.5 21.0 -14.5) (float-vector -6.5 21.0 14.5) (float-vector 6.5 21.0 14.5)))
         (instance face :init :vertices (list (float-vector -6.5 21.0 -14.5) (float-vector -6.5 -7.0 -14.5) (float-vector -6.5 -7.0 14.5) (float-vector -6.5 21.0 14.5)))
         (instance face :init :vertices (list (float-vector -6.5 -7.0 14.5) (float-vector 6.5 -7.0 14.5) (float-vector 6.5 21.0 14.5) (float-vector -6.5 21.0 14.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.76314 -2.75 14.5) (float-vector 2.75 -4.76314 14.5) (float-vector 0.0 -5.5 14.5) (float-vector -2.75 -4.76314 14.5) (float-vector -4.76314 -2.75 14.5) (float-vector -5.5 2.842171e-14 14.5) (float-vector -4.76314 2.75 14.5) (float-vector -2.75 4.76314 14.5) (float-vector 0.0 5.5 14.5) (float-vector 2.75 4.76314 14.5) (float-vector 4.76314 2.75 14.5) (float-vector 5.5 2.842171e-14 14.5)))
))
         (instance face :init :vertices (list (float-vector -6.5 -7.0 -14.5) (float-vector 6.5 -7.0 -14.5) (float-vector 6.5 -7.0 14.5) (float-vector -6.5 -7.0 14.5)))
         (instance face :init :vertices (list (float-vector 6.5 -7.0 -14.5) (float-vector -6.5 -7.0 -14.5) (float-vector -6.5 21.0 -14.5) (float-vector 6.5 21.0 -14.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 2.75 -4.76314 -14.5) (float-vector 4.76314 -2.75 -14.5) (float-vector 5.5 2.842171e-14 -14.5) (float-vector 4.76314 2.75 -14.5) (float-vector 2.75 4.76314 -14.5) (float-vector 0.0 5.5 -14.5) (float-vector -2.75 4.76314 -14.5) (float-vector -4.76314 2.75 -14.5) (float-vector -5.5 2.842171e-14 -14.5) (float-vector -4.76314 -2.75 -14.5) (float-vector -2.75 -4.76314 -14.5) (float-vector 0.0 -5.5 -14.5)))
))
         (instance face :init :vertices (list (float-vector 5.5 2.842171e-14 16.5) (float-vector 5.5 2.842171e-14 14.5) (float-vector 4.76314 2.75 14.5) (float-vector 4.76314 2.75 16.5)))
         (instance face :init :vertices (list (float-vector 5.5 2.842171e-14 -14.5) (float-vector 5.5 0.0 -16.5) (float-vector 4.76314 2.75 -16.5) (float-vector 4.76314 2.75 -14.5)))
         (instance face :init :vertices (list (float-vector 2.75 4.76314 14.5) (float-vector 2.75 4.76314 16.5) (float-vector 4.76314 2.75 16.5) (float-vector 4.76314 2.75 14.5)))
         (instance face :init :vertices (list (float-vector 4.76314 2.75 -16.5) (float-vector 2.75 4.76314 -16.5) (float-vector 2.75 4.76314 -14.5) (float-vector 4.76314 2.75 -14.5)))
         (instance face :init :vertices (list (float-vector 0.0 5.5 14.5) (float-vector 0.0 5.5 16.5) (float-vector 2.75 4.76314 16.5) (float-vector 2.75 4.76314 14.5)))
         (instance face :init :vertices (list (float-vector 2.75 4.76314 -16.5) (float-vector 0.0 5.5 -16.5) (float-vector 0.0 5.5 -14.5) (float-vector 2.75 4.76314 -14.5)))
         (instance face :init :vertices (list (float-vector -2.75 4.76314 14.5) (float-vector -2.75 4.76314 16.5) (float-vector 0.0 5.5 16.5) (float-vector 0.0 5.5 14.5)))
         (instance face :init :vertices (list (float-vector 0.0 5.5 -16.5) (float-vector -2.75 4.76314 -16.5) (float-vector -2.75 4.76314 -14.5) (float-vector 0.0 5.5 -14.5)))
         (instance face :init :vertices (list (float-vector -4.76314 2.75 14.5) (float-vector -4.76314 2.75 16.5) (float-vector -2.75 4.76314 16.5) (float-vector -2.75 4.76314 14.5)))
         (instance face :init :vertices (list (float-vector -2.75 4.76314 -16.5) (float-vector -4.76314 2.75 -16.5) (float-vector -4.76314 2.75 -14.5) (float-vector -2.75 4.76314 -14.5)))
         (instance face :init :vertices (list (float-vector -5.5 2.842171e-14 14.5) (float-vector -5.5 2.842171e-14 16.5) (float-vector -4.76314 2.75 16.5) (float-vector -4.76314 2.75 14.5)))
         (instance face :init :vertices (list (float-vector -4.76314 2.75 -16.5) (float-vector -5.5 2.842171e-14 -16.5) (float-vector -5.5 2.842171e-14 -14.5) (float-vector -4.76314 2.75 -14.5)))
         (instance face :init :vertices (list (float-vector -4.76314 -2.75 14.5) (float-vector -4.76314 -2.75 16.5) (float-vector -5.5 2.842171e-14 16.5) (float-vector -5.5 2.842171e-14 14.5)))
         (instance face :init :vertices (list (float-vector -5.5 2.842171e-14 -16.5) (float-vector -4.76314 -2.75 -16.5) (float-vector -4.76314 -2.75 -14.5) (float-vector -5.5 2.842171e-14 -14.5)))
         (instance face :init :vertices (list (float-vector -2.75 -4.76314 14.5) (float-vector -2.75 -4.76314 16.5) (float-vector -4.76314 -2.75 16.5) (float-vector -4.76314 -2.75 14.5)))
         (instance face :init :vertices (list (float-vector -4.76314 -2.75 -16.5) (float-vector -2.75 -4.76314 -16.5) (float-vector -2.75 -4.76314 -14.5) (float-vector -4.76314 -2.75 -14.5)))
         (instance face :init :vertices (list (float-vector 0.0 -5.5 14.5) (float-vector 0.0 -5.5 16.5) (float-vector -2.75 -4.76314 16.5) (float-vector -2.75 -4.76314 14.5)))
         (instance face :init :vertices (list (float-vector -2.75 -4.76314 -16.5) (float-vector 0.0 -5.5 -16.5) (float-vector 0.0 -5.5 -14.5) (float-vector -2.75 -4.76314 -14.5)))
         (instance face :init :vertices (list (float-vector 2.75 -4.76314 14.5) (float-vector 2.75 -4.76314 16.5) (float-vector 0.0 -5.5 16.5) (float-vector 0.0 -5.5 14.5)))
         (instance face :init :vertices (list (float-vector 0.0 -5.5 -16.5) (float-vector 2.75 -4.76314 -16.5) (float-vector 2.75 -4.76314 -14.5) (float-vector 0.0 -5.5 -14.5)))
         (instance face :init :vertices (list (float-vector 4.76314 -2.75 14.5) (float-vector 4.76314 -2.75 16.5) (float-vector 2.75 -4.76314 16.5) (float-vector 2.75 -4.76314 14.5)))
         (instance face :init :vertices (list (float-vector 2.75 -4.76314 -16.5) (float-vector 4.76314 -2.75 -16.5) (float-vector 4.76314 -2.75 -14.5) (float-vector 2.75 -4.76314 -14.5)))
         (instance face :init :vertices (list (float-vector 4.76314 -2.75 16.5) (float-vector 5.5 2.842171e-14 16.5) (float-vector 4.76314 2.75 16.5) (float-vector 2.75 4.76314 16.5) (float-vector 0.0 5.5 16.5) (float-vector -2.75 4.76314 16.5) (float-vector -4.76314 2.75 16.5) (float-vector -5.5 2.842171e-14 16.5) (float-vector -4.76314 -2.75 16.5) (float-vector -2.75 -4.76314 16.5) (float-vector 0.0 -5.5 16.5) (float-vector 2.75 -4.76314 16.5)))
         (instance face :init :vertices (list (float-vector 5.5 2.842171e-14 16.5) (float-vector 4.76314 -2.75 16.5) (float-vector 4.76314 -2.75 14.5) (float-vector 5.5 2.842171e-14 14.5)))
         (instance face :init :vertices (list (float-vector 4.76314 -2.75 -16.5) (float-vector 5.5 0.0 -16.5) (float-vector 5.5 2.842171e-14 -14.5) (float-vector 4.76314 -2.75 -14.5)))
         (instance face :init :vertices (list (float-vector 5.5 0.0 -16.5) (float-vector 4.76314 -2.75 -16.5) (float-vector 2.75 -4.76314 -16.5) (float-vector 0.0 -5.5 -16.5) (float-vector -2.75 -4.76314 -16.5) (float-vector -4.76314 -2.75 -16.5) (float-vector -5.5 2.842171e-14 -16.5) (float-vector -4.76314 2.75 -16.5) (float-vector -2.75 4.76314 -16.5) (float-vector 0.0 5.5 -16.5) (float-vector 2.75 4.76314 -16.5) (float-vector 4.76314 2.75 -16.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (setq blink24 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-4-finger :weight 22 :centroid (float-vector 2.391469e-17 6.76729 1.084928e-15) :inertia-tensor #2f((2979.17 3.051697e-31 -4.264243e-32) (3.051697e-31 1851.67 3.880106e-29) (-4.264243e-32 3.880106e-29 1747.17))))

     ;; definition of :rarm-1-finger
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 6.5 1.421085e-14 -20.5) (float-vector 6.5 16.5 -20.5) (float-vector 6.5 16.5 20.5) (float-vector 6.5 1.421085e-14 20.5) (float-vector 6.5 0.0 19.0) (float-vector 6.5 15.0 19.0) (float-vector 6.5 15.0 -19.0) (float-vector 6.5 1.421085e-14 -19.0)))
         (instance face :init :vertices (list (float-vector -6.5 16.5 -20.5) (float-vector -6.5 16.5 20.5) (float-vector 6.5 16.5 20.5) (float-vector 6.5 16.5 -20.5)))
         (instance face :init :vertices (list (float-vector -6.5 0.0 -20.5) (float-vector -6.5 1.421085e-14 -19.0) (float-vector -6.5 15.0 -19.0) (float-vector -6.5 15.0 19.0) (float-vector -6.5 0.0 19.0) (float-vector -6.5 0.0 20.5) (float-vector -6.5 16.5 20.5) (float-vector -6.5 16.5 -20.5)))
         (instance face :init :vertices (list (float-vector -4.59619 -4.59619 20.5) (float-vector -6.5 0.0 20.5) (float-vector -6.5 0.0 19.0) (float-vector -4.59619 -4.59619 19.0)))
         (instance face :init :vertices (list (float-vector -4.59619 -4.59619 -20.5) (float-vector -4.59619 -4.59619 -19.0) (float-vector -6.5 1.421085e-14 -19.0) (float-vector -6.5 0.0 -20.5)))
         (instance face :init :vertices (list (float-vector 0.0 -6.5 20.5) (float-vector -4.59619 -4.59619 20.5) (float-vector -4.59619 -4.59619 19.0) (float-vector 0.0 -6.5 19.0)))
         (instance face :init :vertices (list (float-vector 0.0 -6.5 -20.5) (float-vector 0.0 -6.5 -19.0) (float-vector -4.59619 -4.59619 -19.0) (float-vector -4.59619 -4.59619 -20.5)))
         (instance face :init :vertices (list (float-vector 4.59619 -4.59619 20.5) (float-vector 0.0 -6.5 20.5) (float-vector 0.0 -6.5 19.0) (float-vector 4.59619 -4.59619 19.0)))
         (instance face :init :vertices (list (float-vector 4.59619 -4.59619 -20.5) (float-vector 4.59619 -4.59619 -19.0) (float-vector 0.0 -6.5 -19.0) (float-vector 0.0 -6.5 -20.5)))
         (instance face :init :vertices (list (float-vector 6.5 1.421085e-14 20.5) (float-vector 6.5 16.5 20.5) (float-vector -6.5 16.5 20.5) (float-vector -6.5 0.0 20.5) (float-vector -4.59619 -4.59619 20.5) (float-vector 0.0 -6.5 20.5) (float-vector 4.59619 -4.59619 20.5)))
         (instance face :init :vertices (list (float-vector 4.59619 -4.59619 -20.5) (float-vector 0.0 -6.5 -20.5) (float-vector -4.59619 -4.59619 -20.5) (float-vector -6.5 0.0 -20.5) (float-vector -6.5 16.5 -20.5) (float-vector 6.5 16.5 -20.5) (float-vector 6.5 1.421085e-14 -20.5)))
         (instance face :init :vertices (list (float-vector 4.59619 -4.59619 20.5) (float-vector 4.59619 -4.59619 19.0) (float-vector 6.5 0.0 19.0) (float-vector 6.5 1.421085e-14 20.5)))
         (instance face :init :vertices (list (float-vector 6.5 1.421085e-14 -20.5) (float-vector 6.5 1.421085e-14 -19.0) (float-vector 4.59619 -4.59619 -19.0) (float-vector 4.59619 -4.59619 -20.5)))
         (instance face :init :vertices (list (float-vector 6.5 15.0 19.0) (float-vector 6.5 0.0 19.0) (float-vector 4.59619 -4.59619 19.0) (float-vector 0.0 -6.5 19.0) (float-vector -4.59619 -4.59619 19.0) (float-vector -6.5 0.0 19.0) (float-vector -6.5 15.0 19.0)))
         (instance face :init :vertices (list (float-vector 6.5 15.0 -19.0) (float-vector 6.5 15.0 19.0) (float-vector -6.5 15.0 19.0) (float-vector -6.5 15.0 -19.0)))
         (instance face :init :vertices (list (float-vector -6.5 15.0 -19.0) (float-vector -6.5 1.421085e-14 -19.0) (float-vector -4.59619 -4.59619 -19.0) (float-vector 0.0 -6.5 -19.0) (float-vector 4.59619 -4.59619 -19.0) (float-vector 6.5 1.421085e-14 -19.0) (float-vector 6.5 15.0 -19.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -7.0 33.0 -21.0) (float-vector -7.0 16.0 -21.0) (float-vector -7.0 16.0 21.0) (float-vector -7.0 33.0 21.0) (float-vector -7.0 33.0 19.5) (float-vector -7.0 17.5 19.5) (float-vector -7.0 17.5 -19.5) (float-vector -7.0 33.0 -19.5)))
         (instance face :init :vertices (list (float-vector 7.0 16.0 -21.0) (float-vector 7.0 16.0 21.0) (float-vector -7.0 16.0 21.0) (float-vector -7.0 16.0 -21.0)))
         (instance face :init :vertices (list (float-vector 7.0 33.0 -21.0) (float-vector 7.0 33.0 -19.5) (float-vector 7.0 17.5 -19.5) (float-vector 7.0 17.5 19.5) (float-vector 7.0 33.0 19.5) (float-vector 7.0 33.0 21.0) (float-vector 7.0 16.0 21.0) (float-vector 7.0 16.0 -21.0)))
         (instance face :init :vertices (list (float-vector 4.94975 37.9497 21.0) (float-vector 7.0 33.0 21.0) (float-vector 7.0 33.0 19.5) (float-vector 4.94975 37.9497 19.5)))
         (instance face :init :vertices (list (float-vector 4.94975 37.9497 -21.0) (float-vector 4.94975 37.9497 -19.5) (float-vector 7.0 33.0 -19.5) (float-vector 7.0 33.0 -21.0)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 40.0 21.0) (float-vector 4.94975 37.9497 21.0) (float-vector 4.94975 37.9497 19.5) (float-vector 2.842171e-14 40.0 19.5)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 40.0 -21.0) (float-vector 2.842171e-14 40.0 -19.5) (float-vector 4.94975 37.9497 -19.5) (float-vector 4.94975 37.9497 -21.0)))
         (instance face :init :vertices (list (float-vector -4.94975 37.9497 21.0) (float-vector 2.842171e-14 40.0 21.0) (float-vector 2.842171e-14 40.0 19.5) (float-vector -4.94975 37.9497 19.5)))
         (instance face :init :vertices (list (float-vector -4.94975 37.9497 -21.0) (float-vector -4.94975 37.9497 -19.5) (float-vector 2.842171e-14 40.0 -19.5) (float-vector 2.842171e-14 40.0 -21.0)))
         (instance face :init :vertices (list (float-vector -7.0 33.0 21.0) (float-vector -7.0 16.0 21.0) (float-vector 7.0 16.0 21.0) (float-vector 7.0 33.0 21.0) (float-vector 4.94975 37.9497 21.0) (float-vector 2.842171e-14 40.0 21.0) (float-vector -4.94975 37.9497 21.0)))
         (instance face :init :vertices (list (float-vector -4.94975 37.9497 -21.0) (float-vector 2.842171e-14 40.0 -21.0) (float-vector 4.94975 37.9497 -21.0) (float-vector 7.0 33.0 -21.0) (float-vector 7.0 16.0 -21.0) (float-vector -7.0 16.0 -21.0) (float-vector -7.0 33.0 -21.0)))
         (instance face :init :vertices (list (float-vector -4.94975 37.9497 21.0) (float-vector -4.94975 37.9497 19.5) (float-vector -7.0 33.0 19.5) (float-vector -7.0 33.0 21.0)))
         (instance face :init :vertices (list (float-vector -7.0 33.0 -21.0) (float-vector -7.0 33.0 -19.5) (float-vector -4.94975 37.9497 -19.5) (float-vector -4.94975 37.9497 -21.0)))
         (instance face :init :vertices (list (float-vector -7.0 17.5 19.5) (float-vector -7.0 33.0 19.5) (float-vector -4.94975 37.9497 19.5) (float-vector 2.842171e-14 40.0 19.5) (float-vector 4.94975 37.9497 19.5) (float-vector 7.0 33.0 19.5) (float-vector 7.0 17.5 19.5)))
         (instance face :init :vertices (list (float-vector -7.0 17.5 -19.5) (float-vector -7.0 17.5 19.5) (float-vector 7.0 17.5 19.5) (float-vector 7.0 17.5 -19.5)))
         (instance face :init :vertices (list (float-vector 7.0 17.5 -19.5) (float-vector 7.0 33.0 -19.5) (float-vector 4.94975 37.9497 -19.5) (float-vector 2.842171e-14 40.0 -19.5) (float-vector -4.94975 37.9497 -19.5) (float-vector -7.0 33.0 -19.5) (float-vector -7.0 17.5 -19.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink15 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-1-finger :weight 8.92253 :centroid (float-vector 2.264362e-15 16.6941 3.381261e-15) :inertia-tensor #2f((3184.62 -1.000392e-13 -1.446181e-28) (-1.000392e-13 2545.33 -1.129276e-12) (-1.446181e-28 -1.129276e-12 911.756))))

     ;; definition of :rarm-2-finger
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 6.5 -7.0 14.5) (float-vector 6.5 -7.0 -14.5) (float-vector 6.5 21.0 -14.5) (float-vector 6.5 21.0 14.5)))
         (instance face :init :vertices (list (float-vector 6.5 21.0 -14.5) (float-vector -6.5 21.0 -14.5) (float-vector -6.5 21.0 14.5) (float-vector 6.5 21.0 14.5)))
         (instance face :init :vertices (list (float-vector -6.5 21.0 -14.5) (float-vector -6.5 -7.0 -14.5) (float-vector -6.5 -7.0 14.5) (float-vector -6.5 21.0 14.5)))
         (instance face :init :vertices (list (float-vector -6.5 -7.0 14.5) (float-vector 6.5 -7.0 14.5) (float-vector 6.5 21.0 14.5) (float-vector -6.5 21.0 14.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.76314 -2.75 14.5) (float-vector 2.75 -4.76314 14.5) (float-vector 0.0 -5.5 14.5) (float-vector -2.75 -4.76314 14.5) (float-vector -4.76314 -2.75 14.5) (float-vector -5.5 2.842171e-14 14.5) (float-vector -4.76314 2.75 14.5) (float-vector -2.75 4.76314 14.5) (float-vector 0.0 5.5 14.5) (float-vector 2.75 4.76314 14.5) (float-vector 4.76314 2.75 14.5) (float-vector 5.5 2.842171e-14 14.5)))
))
         (instance face :init :vertices (list (float-vector -6.5 -7.0 -14.5) (float-vector 6.5 -7.0 -14.5) (float-vector 6.5 -7.0 14.5) (float-vector -6.5 -7.0 14.5)))
         (instance face :init :vertices (list (float-vector 6.5 -7.0 -14.5) (float-vector -6.5 -7.0 -14.5) (float-vector -6.5 21.0 -14.5) (float-vector 6.5 21.0 -14.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 2.75 -4.76314 -14.5) (float-vector 4.76314 -2.75 -14.5) (float-vector 5.5 2.842171e-14 -14.5) (float-vector 4.76314 2.75 -14.5) (float-vector 2.75 4.76314 -14.5) (float-vector 0.0 5.5 -14.5) (float-vector -2.75 4.76314 -14.5) (float-vector -4.76314 2.75 -14.5) (float-vector -5.5 2.842171e-14 -14.5) (float-vector -4.76314 -2.75 -14.5) (float-vector -2.75 -4.76314 -14.5) (float-vector 0.0 -5.5 -14.5)))
))
         (instance face :init :vertices (list (float-vector 5.5 2.842171e-14 16.5) (float-vector 5.5 2.842171e-14 14.5) (float-vector 4.76314 2.75 14.5) (float-vector 4.76314 2.75 16.5)))
         (instance face :init :vertices (list (float-vector 5.5 2.842171e-14 -14.5) (float-vector 5.5 0.0 -16.5) (float-vector 4.76314 2.75 -16.5) (float-vector 4.76314 2.75 -14.5)))
         (instance face :init :vertices (list (float-vector 2.75 4.76314 14.5) (float-vector 2.75 4.76314 16.5) (float-vector 4.76314 2.75 16.5) (float-vector 4.76314 2.75 14.5)))
         (instance face :init :vertices (list (float-vector 4.76314 2.75 -16.5) (float-vector 2.75 4.76314 -16.5) (float-vector 2.75 4.76314 -14.5) (float-vector 4.76314 2.75 -14.5)))
         (instance face :init :vertices (list (float-vector 0.0 5.5 14.5) (float-vector 0.0 5.5 16.5) (float-vector 2.75 4.76314 16.5) (float-vector 2.75 4.76314 14.5)))
         (instance face :init :vertices (list (float-vector 2.75 4.76314 -16.5) (float-vector 0.0 5.5 -16.5) (float-vector 0.0 5.5 -14.5) (float-vector 2.75 4.76314 -14.5)))
         (instance face :init :vertices (list (float-vector -2.75 4.76314 14.5) (float-vector -2.75 4.76314 16.5) (float-vector 0.0 5.5 16.5) (float-vector 0.0 5.5 14.5)))
         (instance face :init :vertices (list (float-vector 0.0 5.5 -16.5) (float-vector -2.75 4.76314 -16.5) (float-vector -2.75 4.76314 -14.5) (float-vector 0.0 5.5 -14.5)))
         (instance face :init :vertices (list (float-vector -4.76314 2.75 14.5) (float-vector -4.76314 2.75 16.5) (float-vector -2.75 4.76314 16.5) (float-vector -2.75 4.76314 14.5)))
         (instance face :init :vertices (list (float-vector -2.75 4.76314 -16.5) (float-vector -4.76314 2.75 -16.5) (float-vector -4.76314 2.75 -14.5) (float-vector -2.75 4.76314 -14.5)))
         (instance face :init :vertices (list (float-vector -5.5 2.842171e-14 14.5) (float-vector -5.5 2.842171e-14 16.5) (float-vector -4.76314 2.75 16.5) (float-vector -4.76314 2.75 14.5)))
         (instance face :init :vertices (list (float-vector -4.76314 2.75 -16.5) (float-vector -5.5 2.842171e-14 -16.5) (float-vector -5.5 2.842171e-14 -14.5) (float-vector -4.76314 2.75 -14.5)))
         (instance face :init :vertices (list (float-vector -4.76314 -2.75 14.5) (float-vector -4.76314 -2.75 16.5) (float-vector -5.5 2.842171e-14 16.5) (float-vector -5.5 2.842171e-14 14.5)))
         (instance face :init :vertices (list (float-vector -5.5 2.842171e-14 -16.5) (float-vector -4.76314 -2.75 -16.5) (float-vector -4.76314 -2.75 -14.5) (float-vector -5.5 2.842171e-14 -14.5)))
         (instance face :init :vertices (list (float-vector -2.75 -4.76314 14.5) (float-vector -2.75 -4.76314 16.5) (float-vector -4.76314 -2.75 16.5) (float-vector -4.76314 -2.75 14.5)))
         (instance face :init :vertices (list (float-vector -4.76314 -2.75 -16.5) (float-vector -2.75 -4.76314 -16.5) (float-vector -2.75 -4.76314 -14.5) (float-vector -4.76314 -2.75 -14.5)))
         (instance face :init :vertices (list (float-vector 0.0 -5.5 14.5) (float-vector 0.0 -5.5 16.5) (float-vector -2.75 -4.76314 16.5) (float-vector -2.75 -4.76314 14.5)))
         (instance face :init :vertices (list (float-vector -2.75 -4.76314 -16.5) (float-vector 0.0 -5.5 -16.5) (float-vector 0.0 -5.5 -14.5) (float-vector -2.75 -4.76314 -14.5)))
         (instance face :init :vertices (list (float-vector 2.75 -4.76314 14.5) (float-vector 2.75 -4.76314 16.5) (float-vector 0.0 -5.5 16.5) (float-vector 0.0 -5.5 14.5)))
         (instance face :init :vertices (list (float-vector 0.0 -5.5 -16.5) (float-vector 2.75 -4.76314 -16.5) (float-vector 2.75 -4.76314 -14.5) (float-vector 0.0 -5.5 -14.5)))
         (instance face :init :vertices (list (float-vector 4.76314 -2.75 14.5) (float-vector 4.76314 -2.75 16.5) (float-vector 2.75 -4.76314 16.5) (float-vector 2.75 -4.76314 14.5)))
         (instance face :init :vertices (list (float-vector 2.75 -4.76314 -16.5) (float-vector 4.76314 -2.75 -16.5) (float-vector 4.76314 -2.75 -14.5) (float-vector 2.75 -4.76314 -14.5)))
         (instance face :init :vertices (list (float-vector 4.76314 -2.75 16.5) (float-vector 5.5 2.842171e-14 16.5) (float-vector 4.76314 2.75 16.5) (float-vector 2.75 4.76314 16.5) (float-vector 0.0 5.5 16.5) (float-vector -2.75 4.76314 16.5) (float-vector -4.76314 2.75 16.5) (float-vector -5.5 2.842171e-14 16.5) (float-vector -4.76314 -2.75 16.5) (float-vector -2.75 -4.76314 16.5) (float-vector 0.0 -5.5 16.5) (float-vector 2.75 -4.76314 16.5)))
         (instance face :init :vertices (list (float-vector 5.5 2.842171e-14 16.5) (float-vector 4.76314 -2.75 16.5) (float-vector 4.76314 -2.75 14.5) (float-vector 5.5 2.842171e-14 14.5)))
         (instance face :init :vertices (list (float-vector 4.76314 -2.75 -16.5) (float-vector 5.5 0.0 -16.5) (float-vector 5.5 2.842171e-14 -14.5) (float-vector 4.76314 -2.75 -14.5)))
         (instance face :init :vertices (list (float-vector 5.5 0.0 -16.5) (float-vector 4.76314 -2.75 -16.5) (float-vector 2.75 -4.76314 -16.5) (float-vector 0.0 -5.5 -16.5) (float-vector -2.75 -4.76314 -16.5) (float-vector -4.76314 -2.75 -16.5) (float-vector -5.5 2.842171e-14 -16.5) (float-vector -4.76314 2.75 -16.5) (float-vector -2.75 4.76314 -16.5) (float-vector 0.0 5.5 -16.5) (float-vector 2.75 4.76314 -16.5) (float-vector 4.76314 2.75 -16.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (setq blink16 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-2-finger :weight 22 :centroid (float-vector 2.391469e-17 6.76729 1.084928e-15) :inertia-tensor #2f((2979.17 3.051697e-31 -4.264243e-32) (3.051697e-31 1851.67 3.880106e-29) (-4.264243e-32 3.880106e-29 1747.17))))

     ;; definition of :larm-z-collar
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.0 0.0 -30.0) (float-vector 14.0 29.5 -30.0) (float-vector 14.0 29.5 30.0) (float-vector 14.0 0.0 30.0) (float-vector 14.0 0.0 28.0) (float-vector 14.0 27.5 28.0) (float-vector 14.0 27.5 -28.0) (float-vector 14.0 0.0 -28.0)))
         (instance face :init :vertices (list (float-vector -14.0 29.5 -30.0) (float-vector -14.0 29.5 30.0) (float-vector 14.0 29.5 30.0) (float-vector 14.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -14.0 0.0 -30.0) (float-vector -14.0 0.0 -28.0) (float-vector -14.0 27.5 -28.0) (float-vector -14.0 27.5 28.0) (float-vector -14.0 0.0 28.0) (float-vector -14.0 0.0 30.0) (float-vector -14.0 29.5 30.0) (float-vector -14.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -9.89949 -9.89949 30.0) (float-vector -14.0 0.0 30.0) (float-vector -14.0 0.0 28.0) (float-vector -9.89949 -9.89949 28.0)))
         (instance face :init :vertices (list (float-vector -9.89949 -9.89949 -30.0) (float-vector -9.89949 -9.89949 -28.0) (float-vector -14.0 0.0 -28.0) (float-vector -14.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector 0.0 -14.0 30.0) (float-vector -9.89949 -9.89949 30.0) (float-vector -9.89949 -9.89949 28.0) (float-vector 0.0 -14.0 28.0)))
         (instance face :init :vertices (list (float-vector 0.0 -14.0 -30.0) (float-vector 0.0 -14.0 -28.0) (float-vector -9.89949 -9.89949 -28.0) (float-vector -9.89949 -9.89949 -30.0)))
         (instance face :init :vertices (list (float-vector 9.89949 -9.89949 30.0) (float-vector 0.0 -14.0 30.0) (float-vector 0.0 -14.0 28.0) (float-vector 9.89949 -9.89949 28.0)))
         (instance face :init :vertices (list (float-vector 9.89949 -9.89949 -30.0) (float-vector 9.89949 -9.89949 -28.0) (float-vector 0.0 -14.0 -28.0) (float-vector 0.0 -14.0 -30.0)))
         (instance face :init :vertices (list (float-vector 14.0 0.0 30.0) (float-vector 14.0 29.5 30.0) (float-vector -14.0 29.5 30.0) (float-vector -14.0 0.0 30.0) (float-vector -9.89949 -9.89949 30.0) (float-vector 0.0 -14.0 30.0) (float-vector 9.89949 -9.89949 30.0)))
         (instance face :init :vertices (list (float-vector 9.89949 -9.89949 -30.0) (float-vector 0.0 -14.0 -30.0) (float-vector -9.89949 -9.89949 -30.0) (float-vector -14.0 0.0 -30.0) (float-vector -14.0 29.5 -30.0) (float-vector 14.0 29.5 -30.0) (float-vector 14.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector 9.89949 -9.89949 30.0) (float-vector 9.89949 -9.89949 28.0) (float-vector 14.0 0.0 28.0) (float-vector 14.0 0.0 30.0)))
         (instance face :init :vertices (list (float-vector 14.0 0.0 -30.0) (float-vector 14.0 0.0 -28.0) (float-vector 9.89949 -9.89949 -28.0) (float-vector 9.89949 -9.89949 -30.0)))
         (instance face :init :vertices (list (float-vector 14.0 27.5 28.0) (float-vector 14.0 0.0 28.0) (float-vector 9.89949 -9.89949 28.0) (float-vector 0.0 -14.0 28.0) (float-vector -9.89949 -9.89949 28.0) (float-vector -14.0 0.0 28.0) (float-vector -14.0 27.5 28.0)))
         (instance face :init :vertices (list (float-vector 14.0 27.5 -28.0) (float-vector 14.0 27.5 28.0) (float-vector -14.0 27.5 28.0) (float-vector -14.0 27.5 -28.0)))
         (instance face :init :vertices (list (float-vector -14.0 27.5 -28.0) (float-vector -14.0 0.0 -28.0) (float-vector -9.89949 -9.89949 -28.0) (float-vector 0.0 -14.0 -28.0) (float-vector 9.89949 -9.89949 -28.0) (float-vector 14.0 0.0 -28.0) (float-vector 14.0 27.5 -28.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -14.0 88.9 -1.6) (float-vector -14.0 39.1 -1.6) (float-vector 45.0 39.1 -1.6) (float-vector 45.0 88.9 -1.6)))
         (instance face :init :vertices (list (float-vector 45.0 39.1 -1.6) (float-vector 45.0 39.1 -30.4) (float-vector 45.0 88.9 -30.4) (float-vector 45.0 88.9 -1.6)))
         (instance face :init :vertices (list (float-vector 45.0 39.1 -30.4) (float-vector -14.0 39.1 -30.4) (float-vector -14.0 88.9 -30.4) (float-vector 45.0 88.9 -30.4)))
         (instance face :init :vertices (list (float-vector -14.0 88.9 -30.4) (float-vector -14.0 88.9 -1.6) (float-vector 45.0 88.9 -1.6) (float-vector 45.0 88.9 -30.4))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -6.7 88.9 -4.39526) (float-vector -11.6047 88.9 -9.3) (float-vector -13.4 88.9 -16.0) (float-vector -11.6047 88.9 -22.7) (float-vector -6.7 88.9 -27.6047) (float-vector 1.421085e-14 88.9 -29.4) (float-vector 6.7 88.9 -27.6047) (float-vector 11.6047 88.9 -22.7) (float-vector 13.4 88.9 -16.0) (float-vector 11.6047 88.9 -9.3) (float-vector 6.7 88.9 -4.39526) (float-vector 2.664535e-15 88.9 -2.6)))
))
         (instance face :init :vertices (list (float-vector -14.0 39.1 -30.4) (float-vector -14.0 39.1 -1.6) (float-vector -14.0 88.9 -1.6) (float-vector -14.0 88.9 -30.4)))
         (instance face :init :vertices (list (float-vector -14.0 39.1 -1.6) (float-vector -14.0 39.1 -30.4) (float-vector 45.0 39.1 -30.4) (float-vector 45.0 39.1 -1.6))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -11.6047 39.1 -9.3) (float-vector -6.7 39.1 -4.39526) (float-vector -2.664535e-15 39.1 -2.6) (float-vector 6.7 39.1 -4.39526) (float-vector 11.6047 39.1 -9.3) (float-vector 13.4 39.1 -16.0) (float-vector 11.6047 39.1 -22.7) (float-vector 6.7 39.1 -27.6047) (float-vector 8.881784e-15 39.1 -29.4) (float-vector -6.7 39.1 -27.6047) (float-vector -11.6047 39.1 -22.7) (float-vector -13.4 39.1 -16.0)))
))
         (instance face :init :vertices (list (float-vector 2.664535e-15 90.9 -2.6) (float-vector 2.664535e-15 88.9 -2.6) (float-vector 6.7 88.9 -4.39526) (float-vector 6.7 90.9 -4.39526)))
         (instance face :init :vertices (list (float-vector -2.664535e-15 39.1 -2.6) (float-vector -3.552714e-15 37.1 -2.6) (float-vector 6.7 37.1 -4.39526) (float-vector 6.7 39.1 -4.39526)))
         (instance face :init :vertices (list (float-vector 11.6047 88.9 -9.3) (float-vector 11.6047 90.9 -9.3) (float-vector 6.7 90.9 -4.39526) (float-vector 6.7 88.9 -4.39526)))
         (instance face :init :vertices (list (float-vector 6.7 37.1 -4.39526) (float-vector 11.6047 37.1 -9.3) (float-vector 11.6047 39.1 -9.3) (float-vector 6.7 39.1 -4.39526)))
         (instance face :init :vertices (list (float-vector 13.4 88.9 -16.0) (float-vector 13.4 90.9 -16.0) (float-vector 11.6047 90.9 -9.3) (float-vector 11.6047 88.9 -9.3)))
         (instance face :init :vertices (list (float-vector 11.6047 37.1 -9.3) (float-vector 13.4 37.1 -16.0) (float-vector 13.4 39.1 -16.0) (float-vector 11.6047 39.1 -9.3)))
         (instance face :init :vertices (list (float-vector 11.6047 88.9 -22.7) (float-vector 11.6047 90.9 -22.7) (float-vector 13.4 90.9 -16.0) (float-vector 13.4 88.9 -16.0)))
         (instance face :init :vertices (list (float-vector 13.4 37.1 -16.0) (float-vector 11.6047 37.1 -22.7) (float-vector 11.6047 39.1 -22.7) (float-vector 13.4 39.1 -16.0)))
         (instance face :init :vertices (list (float-vector 6.7 88.9 -27.6047) (float-vector 6.7 90.9 -27.6047) (float-vector 11.6047 90.9 -22.7) (float-vector 11.6047 88.9 -22.7)))
         (instance face :init :vertices (list (float-vector 11.6047 37.1 -22.7) (float-vector 6.7 37.1 -27.6047) (float-vector 6.7 39.1 -27.6047) (float-vector 11.6047 39.1 -22.7)))
         (instance face :init :vertices (list (float-vector 1.421085e-14 88.9 -29.4) (float-vector 1.509903e-14 90.9 -29.4) (float-vector 6.7 90.9 -27.6047) (float-vector 6.7 88.9 -27.6047)))
         (instance face :init :vertices (list (float-vector 6.7 37.1 -27.6047) (float-vector 8.881784e-15 37.1 -29.4) (float-vector 8.881784e-15 39.1 -29.4) (float-vector 6.7 39.1 -27.6047)))
         (instance face :init :vertices (list (float-vector -6.7 88.9 -27.6047) (float-vector -6.7 90.9 -27.6047) (float-vector 1.509903e-14 90.9 -29.4) (float-vector 1.421085e-14 88.9 -29.4)))
         (instance face :init :vertices (list (float-vector 8.881784e-15 37.1 -29.4) (float-vector -6.7 37.1 -27.6047) (float-vector -6.7 39.1 -27.6047) (float-vector 8.881784e-15 39.1 -29.4)))
         (instance face :init :vertices (list (float-vector -11.6047 88.9 -22.7) (float-vector -11.6047 90.9 -22.7) (float-vector -6.7 90.9 -27.6047) (float-vector -6.7 88.9 -27.6047)))
         (instance face :init :vertices (list (float-vector -6.7 37.1 -27.6047) (float-vector -11.6047 37.1 -22.7) (float-vector -11.6047 39.1 -22.7) (float-vector -6.7 39.1 -27.6047)))
         (instance face :init :vertices (list (float-vector -13.4 88.9 -16.0) (float-vector -13.4 90.9 -16.0) (float-vector -11.6047 90.9 -22.7) (float-vector -11.6047 88.9 -22.7)))
         (instance face :init :vertices (list (float-vector -11.6047 37.1 -22.7) (float-vector -13.4 37.1 -16.0) (float-vector -13.4 39.1 -16.0) (float-vector -11.6047 39.1 -22.7)))
         (instance face :init :vertices (list (float-vector -11.6047 88.9 -9.3) (float-vector -11.6047 90.9 -9.3) (float-vector -13.4 90.9 -16.0) (float-vector -13.4 88.9 -16.0)))
         (instance face :init :vertices (list (float-vector -13.4 37.1 -16.0) (float-vector -11.6047 37.1 -9.3) (float-vector -11.6047 39.1 -9.3) (float-vector -13.4 39.1 -16.0)))
         (instance face :init :vertices (list (float-vector -6.7 88.9 -4.39526) (float-vector -6.7 90.9 -4.39526) (float-vector -11.6047 90.9 -9.3) (float-vector -11.6047 88.9 -9.3)))
         (instance face :init :vertices (list (float-vector -11.6047 37.1 -9.3) (float-vector -6.7 37.1 -4.39526) (float-vector -6.7 39.1 -4.39526) (float-vector -11.6047 39.1 -9.3)))
         (instance face :init :vertices (list (float-vector -6.7 90.9 -4.39526) (float-vector 2.664535e-15 90.9 -2.6) (float-vector 6.7 90.9 -4.39526) (float-vector 11.6047 90.9 -9.3) (float-vector 13.4 90.9 -16.0) (float-vector 11.6047 90.9 -22.7) (float-vector 6.7 90.9 -27.6047) (float-vector 1.509903e-14 90.9 -29.4) (float-vector -6.7 90.9 -27.6047) (float-vector -11.6047 90.9 -22.7) (float-vector -13.4 90.9 -16.0) (float-vector -11.6047 90.9 -9.3)))
         (instance face :init :vertices (list (float-vector 2.664535e-15 90.9 -2.6) (float-vector -6.7 90.9 -4.39526) (float-vector -6.7 88.9 -4.39526) (float-vector 2.664535e-15 88.9 -2.6)))
         (instance face :init :vertices (list (float-vector -6.7 37.1 -4.39526) (float-vector -3.552714e-15 37.1 -2.6) (float-vector -2.664535e-15 39.1 -2.6) (float-vector -6.7 39.1 -4.39526)))
         (instance face :init :vertices (list (float-vector -3.552714e-15 37.1 -2.6) (float-vector -6.7 37.1 -4.39526) (float-vector -11.6047 37.1 -9.3) (float-vector -13.4 37.1 -16.0) (float-vector -11.6047 37.1 -22.7) (float-vector -6.7 37.1 -27.6047) (float-vector 8.881784e-15 37.1 -29.4) (float-vector 6.7 37.1 -27.6047) (float-vector 11.6047 37.1 -22.7) (float-vector 13.4 37.1 -16.0) (float-vector 11.6047 37.1 -9.3) (float-vector 6.7 37.1 -4.39526)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink17 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-z-collar :weight 127.382 :centroid (float-vector 12.6966 56.5547 -13.4399) :inertia-tensor #2f((87156.8 -12041.4 4140.44) (-12041.4 60297.4 12746.3) (4140.44 12746.3 99423.4))))

     ;; definition of :larm-x-shoulder
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 0.0 30.0) (float-vector 13.0 0.0 28.0) (float-vector 13.0 27.5 28.0) (float-vector 13.0 27.5 -28.0) (float-vector 13.0 0.0 -28.0)))
         (instance face :init :vertices (list (float-vector -13.0 29.5 -30.0) (float-vector -13.0 29.5 30.0) (float-vector 13.0 29.5 30.0) (float-vector 13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -13.0 0.0 -30.0) (float-vector -13.0 0.0 -28.0) (float-vector -13.0 27.5 -28.0) (float-vector -13.0 27.5 28.0) (float-vector -13.0 0.0 28.0) (float-vector -13.0 0.0 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 29.5 -30.0)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 30.0) (float-vector -13.0 0.0 30.0) (float-vector -13.0 0.0 28.0) (float-vector -9.19239 -9.19239 28.0)))
         (instance face :init :vertices (list (float-vector -9.19239 -9.19239 -30.0) (float-vector -9.19239 -9.19239 -28.0) (float-vector -13.0 0.0 -28.0) (float-vector -13.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -13.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector -9.19239 -9.19239 28.0) (float-vector -2.842171e-14 -13.0 28.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -13.0 -30.0) (float-vector -2.842171e-14 -13.0 -28.0) (float-vector -9.19239 -9.19239 -28.0) (float-vector -9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector -2.842171e-14 -13.0 30.0) (float-vector -2.842171e-14 -13.0 28.0) (float-vector 9.19239 -9.19239 28.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector 9.19239 -9.19239 -28.0) (float-vector -2.842171e-14 -13.0 -28.0) (float-vector -2.842171e-14 -13.0 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 0.0 30.0) (float-vector 13.0 29.5 30.0) (float-vector -13.0 29.5 30.0) (float-vector -13.0 0.0 30.0) (float-vector -9.19239 -9.19239 30.0) (float-vector -2.842171e-14 -13.0 30.0) (float-vector 9.19239 -9.19239 30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 -30.0) (float-vector -2.842171e-14 -13.0 -30.0) (float-vector -9.19239 -9.19239 -30.0) (float-vector -13.0 0.0 -30.0) (float-vector -13.0 29.5 -30.0) (float-vector 13.0 29.5 -30.0) (float-vector 13.0 0.0 -30.0)))
         (instance face :init :vertices (list (float-vector 9.19239 -9.19239 30.0) (float-vector 9.19239 -9.19239 28.0) (float-vector 13.0 0.0 28.0) (float-vector 13.0 0.0 30.0)))
         (instance face :init :vertices (list (float-vector 13.0 0.0 -30.0) (float-vector 13.0 0.0 -28.0) (float-vector 9.19239 -9.19239 -28.0) (float-vector 9.19239 -9.19239 -30.0)))
         (instance face :init :vertices (list (float-vector 13.0 27.5 28.0) (float-vector 13.0 0.0 28.0) (float-vector 9.19239 -9.19239 28.0) (float-vector -2.842171e-14 -13.0 28.0) (float-vector -9.19239 -9.19239 28.0) (float-vector -13.0 0.0 28.0) (float-vector -13.0 27.5 28.0)))
         (instance face :init :vertices (list (float-vector 13.0 27.5 -28.0) (float-vector 13.0 27.5 28.0) (float-vector -13.0 27.5 28.0) (float-vector -13.0 27.5 -28.0)))
         (instance face :init :vertices (list (float-vector -13.0 27.5 -28.0) (float-vector -13.0 0.0 -28.0) (float-vector -9.19239 -9.19239 -28.0) (float-vector -2.842171e-14 -13.0 -28.0) (float-vector 9.19239 -9.19239 -28.0) (float-vector 13.0 0.0 -28.0) (float-vector 13.0 27.5 -28.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 11.5 82.8 12.0) (float-vector 11.5 40.5 12.0) (float-vector 11.5 40.5 -33.0) (float-vector 11.5 82.8 -33.0)))
         (instance face :init :vertices (list (float-vector 11.5 40.5 -33.0) (float-vector -11.5 40.5 -33.0) (float-vector -11.5 82.8 -33.0) (float-vector 11.5 82.8 -33.0)))
         (instance face :init :vertices (list (float-vector -11.5 40.5 -33.0) (float-vector -11.5 40.5 12.0) (float-vector -11.5 82.8 12.0) (float-vector -11.5 82.8 -33.0)))
         (instance face :init :vertices (list (float-vector -11.5 82.8 12.0) (float-vector 11.5 82.8 12.0) (float-vector 11.5 82.8 -33.0) (float-vector -11.5 82.8 -33.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 9.09327 82.8 5.25) (float-vector 5.25 82.8 9.09327) (float-vector -2.842171e-14 82.8 10.5) (float-vector -5.25 82.8 9.09327) (float-vector -9.09327 82.8 5.25) (float-vector -10.5 82.8 -2.842171e-14) (float-vector -9.09327 82.8 -5.25) (float-vector -5.25 82.8 -9.09327) (float-vector 0.0 82.8 -10.5) (float-vector 5.25 82.8 -9.09327) (float-vector 9.09327 82.8 -5.25) (float-vector 10.5 82.8 -2.842171e-14)))
))
         (instance face :init :vertices (list (float-vector -11.5 40.5 12.0) (float-vector 11.5 40.5 12.0) (float-vector 11.5 82.8 12.0) (float-vector -11.5 82.8 12.0)))
         (instance face :init :vertices (list (float-vector 11.5 40.5 12.0) (float-vector -11.5 40.5 12.0) (float-vector -11.5 40.5 -33.0) (float-vector 11.5 40.5 -33.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 5.25 40.5 9.09327) (float-vector 9.09327 40.5 5.25) (float-vector 10.5 40.5 0.0) (float-vector 9.09327 40.5 -5.25) (float-vector 5.25 40.5 -9.09327) (float-vector 2.842171e-14 40.5 -10.5) (float-vector -5.25 40.5 -9.09327) (float-vector -9.09327 40.5 -5.25) (float-vector -10.5 40.5 -2.842171e-14) (float-vector -9.09327 40.5 5.25) (float-vector -5.25 40.5 9.09327) (float-vector 0.0 40.5 10.5)))
))
         (instance face :init :vertices (list (float-vector 10.5 84.8 -2.842171e-14) (float-vector 10.5 82.8 -2.842171e-14) (float-vector 9.09327 82.8 -5.25) (float-vector 9.09327 84.8 -5.25)))
         (instance face :init :vertices (list (float-vector 10.5 40.5 0.0) (float-vector 10.5 38.5 0.0) (float-vector 9.09327 38.5 -5.25) (float-vector 9.09327 40.5 -5.25)))
         (instance face :init :vertices (list (float-vector 5.25 82.8 -9.09327) (float-vector 5.25 84.8 -9.09327) (float-vector 9.09327 84.8 -5.25) (float-vector 9.09327 82.8 -5.25)))
         (instance face :init :vertices (list (float-vector 9.09327 38.5 -5.25) (float-vector 5.25 38.5 -9.09327) (float-vector 5.25 40.5 -9.09327) (float-vector 9.09327 40.5 -5.25)))
         (instance face :init :vertices (list (float-vector 0.0 82.8 -10.5) (float-vector 0.0 84.8 -10.5) (float-vector 5.25 84.8 -9.09327) (float-vector 5.25 82.8 -9.09327)))
         (instance face :init :vertices (list (float-vector 5.25 38.5 -9.09327) (float-vector 2.842171e-14 38.5 -10.5) (float-vector 2.842171e-14 40.5 -10.5) (float-vector 5.25 40.5 -9.09327)))
         (instance face :init :vertices (list (float-vector -5.25 82.8 -9.09327) (float-vector -5.25 84.8 -9.09327) (float-vector 0.0 84.8 -10.5) (float-vector 0.0 82.8 -10.5)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 38.5 -10.5) (float-vector -5.25 38.5 -9.09327) (float-vector -5.25 40.5 -9.09327) (float-vector 2.842171e-14 40.5 -10.5)))
         (instance face :init :vertices (list (float-vector -9.09327 82.8 -5.25) (float-vector -9.09327 84.8 -5.25) (float-vector -5.25 84.8 -9.09327) (float-vector -5.25 82.8 -9.09327)))
         (instance face :init :vertices (list (float-vector -5.25 38.5 -9.09327) (float-vector -9.09327 38.5 -5.25) (float-vector -9.09327 40.5 -5.25) (float-vector -5.25 40.5 -9.09327)))
         (instance face :init :vertices (list (float-vector -10.5 82.8 -2.842171e-14) (float-vector -10.5 84.8 -2.842171e-14) (float-vector -9.09327 84.8 -5.25) (float-vector -9.09327 82.8 -5.25)))
         (instance face :init :vertices (list (float-vector -9.09327 38.5 -5.25) (float-vector -10.5 38.5 -2.842171e-14) (float-vector -10.5 40.5 -2.842171e-14) (float-vector -9.09327 40.5 -5.25)))
         (instance face :init :vertices (list (float-vector -9.09327 82.8 5.25) (float-vector -9.09327 84.8 5.25) (float-vector -10.5 84.8 -2.842171e-14) (float-vector -10.5 82.8 -2.842171e-14)))
         (instance face :init :vertices (list (float-vector -10.5 38.5 -2.842171e-14) (float-vector -9.09327 38.5 5.25) (float-vector -9.09327 40.5 5.25) (float-vector -10.5 40.5 -2.842171e-14)))
         (instance face :init :vertices (list (float-vector -5.25 82.8 9.09327) (float-vector -5.25 84.8 9.09327) (float-vector -9.09327 84.8 5.25) (float-vector -9.09327 82.8 5.25)))
         (instance face :init :vertices (list (float-vector -9.09327 38.5 5.25) (float-vector -5.25 38.5 9.09327) (float-vector -5.25 40.5 9.09327) (float-vector -9.09327 40.5 5.25)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 82.8 10.5) (float-vector -2.842171e-14 84.8 10.5) (float-vector -5.25 84.8 9.09327) (float-vector -5.25 82.8 9.09327)))
         (instance face :init :vertices (list (float-vector -5.25 38.5 9.09327) (float-vector 0.0 38.5 10.5) (float-vector 0.0 40.5 10.5) (float-vector -5.25 40.5 9.09327)))
         (instance face :init :vertices (list (float-vector 5.25 82.8 9.09327) (float-vector 5.25 84.8 9.09327) (float-vector -2.842171e-14 84.8 10.5) (float-vector -2.842171e-14 82.8 10.5)))
         (instance face :init :vertices (list (float-vector 0.0 38.5 10.5) (float-vector 5.25 38.5 9.09327) (float-vector 5.25 40.5 9.09327) (float-vector 0.0 40.5 10.5)))
         (instance face :init :vertices (list (float-vector 9.09327 82.8 5.25) (float-vector 9.09327 84.8 5.25) (float-vector 5.25 84.8 9.09327) (float-vector 5.25 82.8 9.09327)))
         (instance face :init :vertices (list (float-vector 5.25 38.5 9.09327) (float-vector 9.09327 38.5 5.25) (float-vector 9.09327 40.5 5.25) (float-vector 5.25 40.5 9.09327)))
         (instance face :init :vertices (list (float-vector 9.09327 84.8 5.25) (float-vector 10.5 84.8 -2.842171e-14) (float-vector 9.09327 84.8 -5.25) (float-vector 5.25 84.8 -9.09327) (float-vector 0.0 84.8 -10.5) (float-vector -5.25 84.8 -9.09327) (float-vector -9.09327 84.8 -5.25) (float-vector -10.5 84.8 -2.842171e-14) (float-vector -9.09327 84.8 5.25) (float-vector -5.25 84.8 9.09327) (float-vector -2.842171e-14 84.8 10.5) (float-vector 5.25 84.8 9.09327)))
         (instance face :init :vertices (list (float-vector 10.5 84.8 -2.842171e-14) (float-vector 9.09327 84.8 5.25) (float-vector 9.09327 82.8 5.25) (float-vector 10.5 82.8 -2.842171e-14)))
         (instance face :init :vertices (list (float-vector 9.09327 38.5 5.25) (float-vector 10.5 38.5 0.0) (float-vector 10.5 40.5 0.0) (float-vector 9.09327 40.5 5.25)))
         (instance face :init :vertices (list (float-vector 10.5 38.5 0.0) (float-vector 9.09327 38.5 5.25) (float-vector 5.25 38.5 9.09327) (float-vector 0.0 38.5 10.5) (float-vector -5.25 38.5 9.09327) (float-vector -9.09327 38.5 5.25) (float-vector -10.5 38.5 -2.842171e-14) (float-vector -9.09327 38.5 -5.25) (float-vector -5.25 38.5 -9.09327) (float-vector 2.842171e-14 38.5 -10.5) (float-vector 5.25 38.5 -9.09327) (float-vector 9.09327 38.5 -5.25)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink18 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-x-shoulder :weight 83.7272 :centroid (float-vector 4.727567e-15 51.8351 -7.91237) :inertia-tensor #2f((64818.7 -4.753708e-12 1.173560e-12) (-4.753708e-12 27595.0 6502.17) (1.173560e-12 6502.17 45064.5))))

     ;; definition of :larm-z-elbow
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 11.5 29.0 25.0) (float-vector 11.5 0.0 25.0) (float-vector 8.13173 -8.13173 25.0) (float-vector 0.0 -11.5 25.0) (float-vector -8.13173 -8.13173 25.0) (float-vector -11.5 0.0 25.0) (float-vector -11.5 29.0 25.0)))
         (instance face :init :vertices (list (float-vector 11.5 29.0 25.0) (float-vector -11.5 29.0 25.0) (float-vector -11.5 29.0 -25.0) (float-vector 11.5 29.0 -25.0)))
         (instance face :init :vertices (list (float-vector 11.5 29.0 -25.0) (float-vector -11.5 29.0 -25.0) (float-vector -11.5 0.0 -25.0) (float-vector -8.13173 -8.13173 -25.0) (float-vector 0.0 -11.5 -25.0) (float-vector 8.13173 -8.13173 -25.0) (float-vector 11.5 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 11.5 0.0 26.5) (float-vector 8.13173 -8.13173 26.5) (float-vector 8.13173 -8.13173 25.0) (float-vector 11.5 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 11.5 0.0 -26.5) (float-vector 11.5 0.0 -25.0) (float-vector 8.13173 -8.13173 -25.0) (float-vector 8.13173 -8.13173 -26.5)))
         (instance face :init :vertices (list (float-vector -11.5 29.0 79.5) (float-vector 11.5 29.0 79.5) (float-vector 11.5 30.5 79.5) (float-vector -11.5 30.5 79.5)))
         (instance face :init :vertices (list (float-vector 11.5 0.0 -26.5) (float-vector 8.13173 -8.13173 -26.5) (float-vector 0.0 -11.5 -26.5) (float-vector -8.13173 -8.13173 -26.5) (float-vector -11.5 0.0 -26.5) (float-vector -11.5 30.5 -26.5) (float-vector 11.5 30.5 -26.5)))
         (instance face :init :vertices (list (float-vector 11.5 30.5 79.5) (float-vector 11.5 29.0 79.5) (float-vector 11.5 29.0 26.5) (float-vector 11.5 0.0 26.5) (float-vector 11.5 0.0 25.0) (float-vector 11.5 29.0 25.0) (float-vector 11.5 29.0 -25.0) (float-vector 11.5 0.0 -25.0) (float-vector 11.5 0.0 -26.5) (float-vector 11.5 30.5 -26.5)))
         (instance face :init :vertices (list (float-vector -11.5 30.5 79.5) (float-vector 11.5 30.5 79.5) (float-vector 11.5 30.5 -26.5) (float-vector -11.5 30.5 -26.5)))
         (instance face :init :vertices (list (float-vector -11.5 0.0 26.5) (float-vector -11.5 29.0 26.5) (float-vector -11.5 29.0 79.5) (float-vector -11.5 30.5 79.5) (float-vector -11.5 30.5 -26.5) (float-vector -11.5 0.0 -26.5) (float-vector -11.5 0.0 -25.0) (float-vector -11.5 29.0 -25.0) (float-vector -11.5 29.0 25.0) (float-vector -11.5 0.0 25.0)))
         (instance face :init :vertices (list (float-vector -8.13173 -8.13173 26.5) (float-vector -11.5 0.0 26.5) (float-vector -11.5 0.0 25.0) (float-vector -8.13173 -8.13173 25.0)))
         (instance face :init :vertices (list (float-vector -8.13173 -8.13173 -25.0) (float-vector -11.5 0.0 -25.0) (float-vector -11.5 0.0 -26.5) (float-vector -8.13173 -8.13173 -26.5)))
         (instance face :init :vertices (list (float-vector 0.0 -11.5 25.0) (float-vector 8.13173 -8.13173 25.0) (float-vector 8.13173 -8.13173 26.5) (float-vector 0.0 -11.5 26.5)))
         (instance face :init :vertices (list (float-vector 0.0 -11.5 26.5) (float-vector -8.13173 -8.13173 26.5) (float-vector -8.13173 -8.13173 25.0) (float-vector 0.0 -11.5 25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -11.5 -26.5) (float-vector 8.13173 -8.13173 -26.5) (float-vector 8.13173 -8.13173 -25.0) (float-vector 0.0 -11.5 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -11.5 -25.0) (float-vector -8.13173 -8.13173 -25.0) (float-vector -8.13173 -8.13173 -26.5) (float-vector 0.0 -11.5 -26.5)))
         (instance face :init :vertices (list (float-vector -11.5 29.0 26.5) (float-vector -11.5 0.0 26.5) (float-vector -8.13173 -8.13173 26.5) (float-vector 0.0 -11.5 26.5) (float-vector 8.13173 -8.13173 26.5) (float-vector 11.5 0.0 26.5) (float-vector 11.5 29.0 26.5)))
         (instance face :init :vertices (list (float-vector 11.5 29.0 26.5) (float-vector 11.5 29.0 79.5) (float-vector -11.5 29.0 79.5) (float-vector -11.5 29.0 26.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 11.5 21.15 85.35) (float-vector 11.5 -21.15 85.35) (float-vector 11.5 -21.15 40.35) (float-vector 11.5 21.15 40.35)))
         (instance face :init :vertices (list (float-vector 11.5 -21.15 40.35) (float-vector -11.5 -21.15 40.35) (float-vector -11.5 21.15 40.35) (float-vector 11.5 21.15 40.35)))
         (instance face :init :vertices (list (float-vector -11.5 -21.15 40.35) (float-vector -11.5 -21.15 85.35) (float-vector -11.5 21.15 85.35) (float-vector -11.5 21.15 40.35)))
         (instance face :init :vertices (list (float-vector -11.5 21.15 85.35) (float-vector 11.5 21.15 85.35) (float-vector 11.5 21.15 40.35) (float-vector -11.5 21.15 40.35))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 9.09327 21.15 78.6) (float-vector 5.25 21.15 82.4433) (float-vector 0.0 21.15 83.85) (float-vector -5.25 21.15 82.4433) (float-vector -9.09327 21.15 78.6) (float-vector -10.5 21.15 73.35) (float-vector -9.09327 21.15 68.1) (float-vector -5.25 21.15 64.2567) (float-vector 0.0 21.15 62.85) (float-vector 5.25 21.15 64.2567) (float-vector 9.09327 21.15 68.1) (float-vector 10.5 21.15 73.35)))
))
         (instance face :init :vertices (list (float-vector -11.5 -21.15 85.35) (float-vector 11.5 -21.15 85.35) (float-vector 11.5 21.15 85.35) (float-vector -11.5 21.15 85.35)))
         (instance face :init :vertices (list (float-vector 11.5 -21.15 85.35) (float-vector -11.5 -21.15 85.35) (float-vector -11.5 -21.15 40.35) (float-vector 11.5 -21.15 40.35))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 5.25 -21.15 82.4433) (float-vector 9.09327 -21.15 78.6) (float-vector 10.5 -21.15 73.35) (float-vector 9.09327 -21.15 68.1) (float-vector 5.25 -21.15 64.2567) (float-vector 0.0 -21.15 62.85) (float-vector -5.25 -21.15 64.2567) (float-vector -9.09327 -21.15 68.1) (float-vector -10.5 -21.15 73.35) (float-vector -9.09327 -21.15 78.6) (float-vector -5.25 -21.15 82.4433) (float-vector 0.0 -21.15 83.85)))
))
         (instance face :init :vertices (list (float-vector 10.5 23.15 73.35) (float-vector 10.5 21.15 73.35) (float-vector 9.09327 21.15 68.1) (float-vector 9.09327 23.15 68.1)))
         (instance face :init :vertices (list (float-vector 10.5 -21.15 73.35) (float-vector 10.5 -23.15 73.35) (float-vector 9.09327 -23.15 68.1) (float-vector 9.09327 -21.15 68.1)))
         (instance face :init :vertices (list (float-vector 5.25 21.15 64.2567) (float-vector 5.25 23.15 64.2567) (float-vector 9.09327 23.15 68.1) (float-vector 9.09327 21.15 68.1)))
         (instance face :init :vertices (list (float-vector 9.09327 -23.15 68.1) (float-vector 5.25 -23.15 64.2567) (float-vector 5.25 -21.15 64.2567) (float-vector 9.09327 -21.15 68.1)))
         (instance face :init :vertices (list (float-vector 0.0 21.15 62.85) (float-vector 0.0 23.15 62.85) (float-vector 5.25 23.15 64.2567) (float-vector 5.25 21.15 64.2567)))
         (instance face :init :vertices (list (float-vector 5.25 -23.15 64.2567) (float-vector 0.0 -23.15 62.85) (float-vector 0.0 -21.15 62.85) (float-vector 5.25 -21.15 64.2567)))
         (instance face :init :vertices (list (float-vector -5.25 21.15 64.2567) (float-vector -5.25 23.15 64.2567) (float-vector 0.0 23.15 62.85) (float-vector 0.0 21.15 62.85)))
         (instance face :init :vertices (list (float-vector 0.0 -23.15 62.85) (float-vector -5.25 -23.15 64.2567) (float-vector -5.25 -21.15 64.2567) (float-vector 0.0 -21.15 62.85)))
         (instance face :init :vertices (list (float-vector -9.09327 21.15 68.1) (float-vector -9.09327 23.15 68.1) (float-vector -5.25 23.15 64.2567) (float-vector -5.25 21.15 64.2567)))
         (instance face :init :vertices (list (float-vector -5.25 -23.15 64.2567) (float-vector -9.09327 -23.15 68.1) (float-vector -9.09327 -21.15 68.1) (float-vector -5.25 -21.15 64.2567)))
         (instance face :init :vertices (list (float-vector -10.5 21.15 73.35) (float-vector -10.5 23.15 73.35) (float-vector -9.09327 23.15 68.1) (float-vector -9.09327 21.15 68.1)))
         (instance face :init :vertices (list (float-vector -9.09327 -23.15 68.1) (float-vector -10.5 -23.15 73.35) (float-vector -10.5 -21.15 73.35) (float-vector -9.09327 -21.15 68.1)))
         (instance face :init :vertices (list (float-vector -9.09327 21.15 78.6) (float-vector -9.09327 23.15 78.6) (float-vector -10.5 23.15 73.35) (float-vector -10.5 21.15 73.35)))
         (instance face :init :vertices (list (float-vector -10.5 -23.15 73.35) (float-vector -9.09327 -23.15 78.6) (float-vector -9.09327 -21.15 78.6) (float-vector -10.5 -21.15 73.35)))
         (instance face :init :vertices (list (float-vector -5.25 21.15 82.4433) (float-vector -5.25 23.15 82.4433) (float-vector -9.09327 23.15 78.6) (float-vector -9.09327 21.15 78.6)))
         (instance face :init :vertices (list (float-vector -9.09327 -23.15 78.6) (float-vector -5.25 -23.15 82.4433) (float-vector -5.25 -21.15 82.4433) (float-vector -9.09327 -21.15 78.6)))
         (instance face :init :vertices (list (float-vector 0.0 21.15 83.85) (float-vector 0.0 23.15 83.85) (float-vector -5.25 23.15 82.4433) (float-vector -5.25 21.15 82.4433)))
         (instance face :init :vertices (list (float-vector -5.25 -23.15 82.4433) (float-vector 0.0 -23.15 83.85) (float-vector 0.0 -21.15 83.85) (float-vector -5.25 -21.15 82.4433)))
         (instance face :init :vertices (list (float-vector 5.25 21.15 82.4433) (float-vector 5.25 23.15 82.4433) (float-vector 0.0 23.15 83.85) (float-vector 0.0 21.15 83.85)))
         (instance face :init :vertices (list (float-vector 0.0 -23.15 83.85) (float-vector 5.25 -23.15 82.4433) (float-vector 5.25 -21.15 82.4433) (float-vector 0.0 -21.15 83.85)))
         (instance face :init :vertices (list (float-vector 9.09327 21.15 78.6) (float-vector 9.09327 23.15 78.6) (float-vector 5.25 23.15 82.4433) (float-vector 5.25 21.15 82.4433)))
         (instance face :init :vertices (list (float-vector 5.25 -23.15 82.4433) (float-vector 9.09327 -23.15 78.6) (float-vector 9.09327 -21.15 78.6) (float-vector 5.25 -21.15 82.4433)))
         (instance face :init :vertices (list (float-vector 9.09327 23.15 78.6) (float-vector 10.5 23.15 73.35) (float-vector 9.09327 23.15 68.1) (float-vector 5.25 23.15 64.2567) (float-vector 0.0 23.15 62.85) (float-vector -5.25 23.15 64.2567) (float-vector -9.09327 23.15 68.1) (float-vector -10.5 23.15 73.35) (float-vector -9.09327 23.15 78.6) (float-vector -5.25 23.15 82.4433) (float-vector 0.0 23.15 83.85) (float-vector 5.25 23.15 82.4433)))
         (instance face :init :vertices (list (float-vector 10.5 23.15 73.35) (float-vector 9.09327 23.15 78.6) (float-vector 9.09327 21.15 78.6) (float-vector 10.5 21.15 73.35)))
         (instance face :init :vertices (list (float-vector 9.09327 -23.15 78.6) (float-vector 10.5 -23.15 73.35) (float-vector 10.5 -21.15 73.35) (float-vector 9.09327 -21.15 78.6)))
         (instance face :init :vertices (list (float-vector 10.5 -23.15 73.35) (float-vector 9.09327 -23.15 78.6) (float-vector 5.25 -23.15 82.4433) (float-vector 0.0 -23.15 83.85) (float-vector -5.25 -23.15 82.4433) (float-vector -9.09327 -23.15 78.6) (float-vector -10.5 -23.15 73.35) (float-vector -9.09327 -23.15 68.1) (float-vector -5.25 -23.15 64.2567) (float-vector 0.0 -23.15 62.85) (float-vector 5.25 -23.15 64.2567) (float-vector 9.09327 -23.15 68.1)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink19 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-z-elbow :weight 85 :centroid (float-vector -2.420197e-15 5.11571 51.9638) :inertia-tensor #2f((30506.9 -4.075798e-13 -4.207908e-13) (-4.075798e-13 21979.3 3722.3) (-4.207908e-13 3722.3 14258.5))))

     ;; definition of :larm-x-elbow
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 2.842171e-14 -26.0) (float-vector 10.0 25.0 -26.0) (float-vector 10.0 25.0 26.0) (float-vector 10.0 -2.842171e-14 26.0) (float-vector 10.0 -2.842171e-14 24.0) (float-vector 10.0 23.0 24.0) (float-vector 10.0 23.0 -24.0) (float-vector 10.0 2.842171e-14 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -26.0) (float-vector -10.0 25.0 26.0) (float-vector 10.0 25.0 26.0) (float-vector 10.0 25.0 -26.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -26.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 23.0 -24.0) (float-vector -10.0 23.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 26.0) (float-vector -10.0 25.0 26.0) (float-vector -10.0 25.0 -26.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 26.0) (float-vector -10.0 0.0 26.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -26.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -26.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 26.0) (float-vector -7.07107 -7.07107 26.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 5.684342e-14 -10.0 -26.0) (float-vector 5.684342e-14 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -26.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 26.0) (float-vector 0.0 -10.0 26.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -26.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 5.684342e-14 -10.0 -24.0) (float-vector 5.684342e-14 -10.0 -26.0)))
         (instance face :init :vertices (list (float-vector 10.0 -2.842171e-14 26.0) (float-vector 10.0 25.0 26.0) (float-vector -10.0 25.0 26.0) (float-vector -10.0 0.0 26.0) (float-vector -7.07107 -7.07107 26.0) (float-vector 0.0 -10.0 26.0) (float-vector 7.07107 -7.07107 26.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -26.0) (float-vector 5.684342e-14 -10.0 -26.0) (float-vector -7.07107 -7.07107 -26.0) (float-vector -10.0 0.0 -26.0) (float-vector -10.0 25.0 -26.0) (float-vector 10.0 25.0 -26.0) (float-vector 10.0 2.842171e-14 -26.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 26.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 -2.842171e-14 24.0) (float-vector 10.0 -2.842171e-14 26.0)))
         (instance face :init :vertices (list (float-vector 10.0 2.842171e-14 -26.0) (float-vector 10.0 2.842171e-14 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -26.0)))
         (instance face :init :vertices (list (float-vector 10.0 23.0 24.0) (float-vector 10.0 -2.842171e-14 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 23.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 23.0 -24.0) (float-vector 10.0 23.0 24.0) (float-vector -10.0 23.0 24.0) (float-vector -10.0 23.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 23.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 5.684342e-14 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 2.842171e-14 -24.0) (float-vector 10.0 23.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 73.5 10.0) (float-vector 10.0 33.5 10.0) (float-vector 10.0 33.5 -30.0) (float-vector 10.0 73.5 -30.0)))
         (instance face :init :vertices (list (float-vector 10.0 33.5 -30.0) (float-vector -10.0 33.5 -30.0) (float-vector -10.0 73.5 -30.0) (float-vector 10.0 73.5 -30.0)))
         (instance face :init :vertices (list (float-vector -10.0 33.5 -30.0) (float-vector -10.0 33.5 10.0) (float-vector -10.0 73.5 10.0) (float-vector -10.0 73.5 -30.0)))
         (instance face :init :vertices (list (float-vector -10.0 73.5 10.0) (float-vector 10.0 73.5 10.0) (float-vector 10.0 73.5 -30.0) (float-vector -10.0 73.5 -30.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 7.79423 73.5 4.5) (float-vector 4.5 73.5 7.79423) (float-vector 0.0 73.5 9.0) (float-vector -4.5 73.5 7.79423) (float-vector -7.79423 73.5 4.5) (float-vector -9.0 73.5 0.0) (float-vector -7.79423 73.5 -4.5) (float-vector -4.5 73.5 -7.79423) (float-vector 0.0 73.5 -9.0) (float-vector 4.5 73.5 -7.79423) (float-vector 7.79423 73.5 -4.5) (float-vector 9.0 73.5 0.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 33.5 10.0) (float-vector 10.0 33.5 10.0) (float-vector 10.0 73.5 10.0) (float-vector -10.0 73.5 10.0)))
         (instance face :init :vertices (list (float-vector 10.0 33.5 10.0) (float-vector -10.0 33.5 10.0) (float-vector -10.0 33.5 -30.0) (float-vector 10.0 33.5 -30.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.5 33.5 7.79423) (float-vector 7.79423 33.5 4.5) (float-vector 9.0 33.5 0.0) (float-vector 7.79423 33.5 -4.5) (float-vector 4.5 33.5 -7.79423) (float-vector 0.0 33.5 -9.0) (float-vector -4.5 33.5 -7.79423) (float-vector -7.79423 33.5 -4.5) (float-vector -9.0 33.5 -2.842171e-14) (float-vector -7.79423 33.5 4.5) (float-vector -4.5 33.5 7.79423) (float-vector 0.0 33.5 9.0)))
))
         (instance face :init :vertices (list (float-vector 9.0 75.5 0.0) (float-vector 9.0 73.5 0.0) (float-vector 7.79423 73.5 -4.5) (float-vector 7.79423 75.5 -4.5)))
         (instance face :init :vertices (list (float-vector 9.0 33.5 0.0) (float-vector 9.0 31.5 0.0) (float-vector 7.79423 31.5 -4.5) (float-vector 7.79423 33.5 -4.5)))
         (instance face :init :vertices (list (float-vector 4.5 73.5 -7.79423) (float-vector 4.5 75.5 -7.79423) (float-vector 7.79423 75.5 -4.5) (float-vector 7.79423 73.5 -4.5)))
         (instance face :init :vertices (list (float-vector 7.79423 31.5 -4.5) (float-vector 4.5 31.5 -7.79423) (float-vector 4.5 33.5 -7.79423) (float-vector 7.79423 33.5 -4.5)))
         (instance face :init :vertices (list (float-vector 0.0 73.5 -9.0) (float-vector 0.0 75.5 -9.0) (float-vector 4.5 75.5 -7.79423) (float-vector 4.5 73.5 -7.79423)))
         (instance face :init :vertices (list (float-vector 4.5 31.5 -7.79423) (float-vector 0.0 31.5 -9.0) (float-vector 0.0 33.5 -9.0) (float-vector 4.5 33.5 -7.79423)))
         (instance face :init :vertices (list (float-vector -4.5 73.5 -7.79423) (float-vector -4.5 75.5 -7.79423) (float-vector 0.0 75.5 -9.0) (float-vector 0.0 73.5 -9.0)))
         (instance face :init :vertices (list (float-vector 0.0 31.5 -9.0) (float-vector -4.5 31.5 -7.79423) (float-vector -4.5 33.5 -7.79423) (float-vector 0.0 33.5 -9.0)))
         (instance face :init :vertices (list (float-vector -7.79423 73.5 -4.5) (float-vector -7.79423 75.5 -4.5) (float-vector -4.5 75.5 -7.79423) (float-vector -4.5 73.5 -7.79423)))
         (instance face :init :vertices (list (float-vector -4.5 31.5 -7.79423) (float-vector -7.79423 31.5 -4.5) (float-vector -7.79423 33.5 -4.5) (float-vector -4.5 33.5 -7.79423)))
         (instance face :init :vertices (list (float-vector -9.0 73.5 0.0) (float-vector -9.0 75.5 0.0) (float-vector -7.79423 75.5 -4.5) (float-vector -7.79423 73.5 -4.5)))
         (instance face :init :vertices (list (float-vector -7.79423 31.5 -4.5) (float-vector -9.0 31.5 -2.842171e-14) (float-vector -9.0 33.5 -2.842171e-14) (float-vector -7.79423 33.5 -4.5)))
         (instance face :init :vertices (list (float-vector -7.79423 73.5 4.5) (float-vector -7.79423 75.5 4.5) (float-vector -9.0 75.5 0.0) (float-vector -9.0 73.5 0.0)))
         (instance face :init :vertices (list (float-vector -9.0 31.5 -2.842171e-14) (float-vector -7.79423 31.5 4.5) (float-vector -7.79423 33.5 4.5) (float-vector -9.0 33.5 -2.842171e-14)))
         (instance face :init :vertices (list (float-vector -4.5 73.5 7.79423) (float-vector -4.5 75.5 7.79423) (float-vector -7.79423 75.5 4.5) (float-vector -7.79423 73.5 4.5)))
         (instance face :init :vertices (list (float-vector -7.79423 31.5 4.5) (float-vector -4.5 31.5 7.79423) (float-vector -4.5 33.5 7.79423) (float-vector -7.79423 33.5 4.5)))
         (instance face :init :vertices (list (float-vector 0.0 73.5 9.0) (float-vector 0.0 75.5 9.0) (float-vector -4.5 75.5 7.79423) (float-vector -4.5 73.5 7.79423)))
         (instance face :init :vertices (list (float-vector -4.5 31.5 7.79423) (float-vector 0.0 31.5 9.0) (float-vector 0.0 33.5 9.0) (float-vector -4.5 33.5 7.79423)))
         (instance face :init :vertices (list (float-vector 4.5 73.5 7.79423) (float-vector 4.5 75.5 7.79423) (float-vector 0.0 75.5 9.0) (float-vector 0.0 73.5 9.0)))
         (instance face :init :vertices (list (float-vector 0.0 31.5 9.0) (float-vector 4.5 31.5 7.79423) (float-vector 4.5 33.5 7.79423) (float-vector 0.0 33.5 9.0)))
         (instance face :init :vertices (list (float-vector 7.79423 73.5 4.5) (float-vector 7.79423 75.5 4.5) (float-vector 4.5 75.5 7.79423) (float-vector 4.5 73.5 7.79423)))
         (instance face :init :vertices (list (float-vector 4.5 31.5 7.79423) (float-vector 7.79423 31.5 4.5) (float-vector 7.79423 33.5 4.5) (float-vector 4.5 33.5 7.79423)))
         (instance face :init :vertices (list (float-vector 7.79423 75.5 4.5) (float-vector 9.0 75.5 0.0) (float-vector 7.79423 75.5 -4.5) (float-vector 4.5 75.5 -7.79423) (float-vector 0.0 75.5 -9.0) (float-vector -4.5 75.5 -7.79423) (float-vector -7.79423 75.5 -4.5) (float-vector -9.0 75.5 0.0) (float-vector -7.79423 75.5 4.5) (float-vector -4.5 75.5 7.79423) (float-vector 0.0 75.5 9.0) (float-vector 4.5 75.5 7.79423)))
         (instance face :init :vertices (list (float-vector 9.0 75.5 0.0) (float-vector 7.79423 75.5 4.5) (float-vector 7.79423 73.5 4.5) (float-vector 9.0 73.5 0.0)))
         (instance face :init :vertices (list (float-vector 7.79423 31.5 4.5) (float-vector 9.0 31.5 0.0) (float-vector 9.0 33.5 0.0) (float-vector 7.79423 33.5 4.5)))
         (instance face :init :vertices (list (float-vector 9.0 31.5 0.0) (float-vector 7.79423 31.5 4.5) (float-vector 4.5 31.5 7.79423) (float-vector 0.0 31.5 9.0) (float-vector -4.5 31.5 7.79423) (float-vector -7.79423 31.5 4.5) (float-vector -9.0 31.5 -2.842171e-14) (float-vector -7.79423 31.5 -4.5) (float-vector -4.5 31.5 -7.79423) (float-vector 0.0 31.5 -9.0) (float-vector 4.5 31.5 -7.79423) (float-vector 7.79423 31.5 -4.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink20 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-x-elbow :weight 76.6114 :centroid (float-vector 2.724300e-15 47.4671 -8.17093) :inertia-tensor #2f((39822.4 -7.157840e-13 -6.422181e-13) (-7.157840e-13 17441.4 3776.49) (-6.422181e-13 3776.49 27488.5))))

     ;; definition of :larm-z-wrist
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 29.0 23.0) (float-vector 10.0 0.0 23.0) (float-vector 7.07107 -7.07107 23.0) (float-vector 5.684342e-14 -10.0 23.0) (float-vector -7.07107 -7.07107 23.0) (float-vector -10.0 0.0 23.0) (float-vector -10.0 29.0 23.0)))
         (instance face :init :vertices (list (float-vector 10.0 29.0 23.0) (float-vector -10.0 29.0 23.0) (float-vector -10.0 29.0 -23.0) (float-vector 10.0 29.0 -23.0)))
         (instance face :init :vertices (list (float-vector 10.0 29.0 -23.0) (float-vector -10.0 29.0 -23.0) (float-vector -10.0 0.0 -23.0) (float-vector -7.07107 -7.07107 -23.0) (float-vector 0.0 -10.0 -23.0) (float-vector 7.07107 -7.07107 -23.0) (float-vector 10.0 0.0 -23.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 24.5) (float-vector 7.07107 -7.07107 24.5) (float-vector 7.07107 -7.07107 23.0) (float-vector 10.0 0.0 23.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -24.5) (float-vector 10.0 0.0 -23.0) (float-vector 7.07107 -7.07107 -23.0) (float-vector 7.07107 -7.07107 -24.5)))
         (instance face :init :vertices (list (float-vector -10.0 29.0 75.4) (float-vector 10.0 29.0 75.4) (float-vector 10.0 30.5 75.4) (float-vector -10.0 30.5 75.4)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -24.5) (float-vector 7.07107 -7.07107 -24.5) (float-vector 0.0 -10.0 -24.5) (float-vector -7.07107 -7.07107 -24.5) (float-vector -10.0 0.0 -24.5) (float-vector -10.0 30.5 -24.5) (float-vector 10.0 30.5 -24.5)))
         (instance face :init :vertices (list (float-vector 10.0 30.5 75.4) (float-vector 10.0 29.0 75.4) (float-vector 10.0 29.0 24.5) (float-vector 10.0 0.0 24.5) (float-vector 10.0 0.0 23.0) (float-vector 10.0 29.0 23.0) (float-vector 10.0 29.0 -23.0) (float-vector 10.0 0.0 -23.0) (float-vector 10.0 0.0 -24.5) (float-vector 10.0 30.5 -24.5)))
         (instance face :init :vertices (list (float-vector -10.0 30.5 75.4) (float-vector 10.0 30.5 75.4) (float-vector 10.0 30.5 -24.5) (float-vector -10.0 30.5 -24.5)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 24.5) (float-vector -10.0 29.0 24.5) (float-vector -10.0 29.0 75.4) (float-vector -10.0 30.5 75.4) (float-vector -10.0 30.5 -24.5) (float-vector -10.0 0.0 -24.5) (float-vector -10.0 0.0 -23.0) (float-vector -10.0 29.0 -23.0) (float-vector -10.0 29.0 23.0) (float-vector -10.0 0.0 23.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 24.5) (float-vector -10.0 0.0 24.5) (float-vector -10.0 0.0 23.0) (float-vector -7.07107 -7.07107 23.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -23.0) (float-vector -10.0 0.0 -23.0) (float-vector -10.0 0.0 -24.5) (float-vector -7.07107 -7.07107 -24.5)))
         (instance face :init :vertices (list (float-vector 5.684342e-14 -10.0 23.0) (float-vector 7.07107 -7.07107 23.0) (float-vector 7.07107 -7.07107 24.5) (float-vector 5.684342e-14 -10.0 24.5)))
         (instance face :init :vertices (list (float-vector 5.684342e-14 -10.0 24.5) (float-vector -7.07107 -7.07107 24.5) (float-vector -7.07107 -7.07107 23.0) (float-vector 5.684342e-14 -10.0 23.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -24.5) (float-vector 7.07107 -7.07107 -24.5) (float-vector 7.07107 -7.07107 -23.0) (float-vector 0.0 -10.0 -23.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -23.0) (float-vector -7.07107 -7.07107 -23.0) (float-vector -7.07107 -7.07107 -24.5) (float-vector 0.0 -10.0 -24.5)))
         (instance face :init :vertices (list (float-vector -10.0 29.0 24.5) (float-vector -10.0 0.0 24.5) (float-vector -7.07107 -7.07107 24.5) (float-vector 5.684342e-14 -10.0 24.5) (float-vector 7.07107 -7.07107 24.5) (float-vector 10.0 0.0 24.5) (float-vector 10.0 29.0 24.5)))
         (instance face :init :vertices (list (float-vector 10.0 29.0 24.5) (float-vector 10.0 29.0 75.4) (float-vector -10.0 29.0 75.4) (float-vector -10.0 29.0 24.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 19.3 76.5) (float-vector 10.0 -20.7 76.5) (float-vector 10.0 -20.7 36.5) (float-vector 10.0 19.3 36.5)))
         (instance face :init :vertices (list (float-vector 10.0 -20.7 36.5) (float-vector -10.0 -20.7 36.5) (float-vector -10.0 19.3 36.5) (float-vector 10.0 19.3 36.5)))
         (instance face :init :vertices (list (float-vector -10.0 -20.7 36.5) (float-vector -10.0 -20.7 76.5) (float-vector -10.0 19.3 76.5) (float-vector -10.0 19.3 36.5)))
         (instance face :init :vertices (list (float-vector -10.0 19.3 76.5) (float-vector 10.0 19.3 76.5) (float-vector 10.0 19.3 36.5) (float-vector -10.0 19.3 36.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 7.79423 19.3 71.0) (float-vector 4.5 19.3 74.2942) (float-vector 0.0 19.3 75.5) (float-vector -4.5 19.3 74.2942) (float-vector -7.79423 19.3 71.0) (float-vector -9.0 19.3 66.5) (float-vector -7.79423 19.3 62.0) (float-vector -4.5 19.3 58.7058) (float-vector 0.0 19.3 57.5) (float-vector 4.5 19.3 58.7058) (float-vector 7.79423 19.3 62.0) (float-vector 9.0 19.3 66.5)))
))
         (instance face :init :vertices (list (float-vector -10.0 -20.7 76.5) (float-vector 10.0 -20.7 76.5) (float-vector 10.0 19.3 76.5) (float-vector -10.0 19.3 76.5)))
         (instance face :init :vertices (list (float-vector 10.0 -20.7 76.5) (float-vector -10.0 -20.7 76.5) (float-vector -10.0 -20.7 36.5) (float-vector 10.0 -20.7 36.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.5 -20.7 74.2942) (float-vector 7.79423 -20.7 71.0) (float-vector 9.0 -20.7 66.5) (float-vector 7.79423 -20.7 62.0) (float-vector 4.5 -20.7 58.7058) (float-vector 0.0 -20.7 57.5) (float-vector -4.5 -20.7 58.7058) (float-vector -7.79423 -20.7 62.0) (float-vector -9.0 -20.7 66.5) (float-vector -7.79423 -20.7 71.0) (float-vector -4.5 -20.7 74.2942) (float-vector 0.0 -20.7 75.5)))
))
         (instance face :init :vertices (list (float-vector 9.0 21.3 66.5) (float-vector 9.0 19.3 66.5) (float-vector 7.79423 19.3 62.0) (float-vector 7.79423 21.3 62.0)))
         (instance face :init :vertices (list (float-vector 9.0 -20.7 66.5) (float-vector 9.0 -22.7 66.5) (float-vector 7.79423 -22.7 62.0) (float-vector 7.79423 -20.7 62.0)))
         (instance face :init :vertices (list (float-vector 4.5 19.3 58.7058) (float-vector 4.5 21.3 58.7058) (float-vector 7.79423 21.3 62.0) (float-vector 7.79423 19.3 62.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -22.7 62.0) (float-vector 4.5 -22.7 58.7058) (float-vector 4.5 -20.7 58.7058) (float-vector 7.79423 -20.7 62.0)))
         (instance face :init :vertices (list (float-vector 0.0 19.3 57.5) (float-vector 0.0 21.3 57.5) (float-vector 4.5 21.3 58.7058) (float-vector 4.5 19.3 58.7058)))
         (instance face :init :vertices (list (float-vector 4.5 -22.7 58.7058) (float-vector 0.0 -22.7 57.5) (float-vector 0.0 -20.7 57.5) (float-vector 4.5 -20.7 58.7058)))
         (instance face :init :vertices (list (float-vector -4.5 19.3 58.7058) (float-vector -4.5 21.3 58.7058) (float-vector 0.0 21.3 57.5) (float-vector 0.0 19.3 57.5)))
         (instance face :init :vertices (list (float-vector 0.0 -22.7 57.5) (float-vector -4.5 -22.7 58.7058) (float-vector -4.5 -20.7 58.7058) (float-vector 0.0 -20.7 57.5)))
         (instance face :init :vertices (list (float-vector -7.79423 19.3 62.0) (float-vector -7.79423 21.3 62.0) (float-vector -4.5 21.3 58.7058) (float-vector -4.5 19.3 58.7058)))
         (instance face :init :vertices (list (float-vector -4.5 -22.7 58.7058) (float-vector -7.79423 -22.7 62.0) (float-vector -7.79423 -20.7 62.0) (float-vector -4.5 -20.7 58.7058)))
         (instance face :init :vertices (list (float-vector -9.0 19.3 66.5) (float-vector -9.0 21.3 66.5) (float-vector -7.79423 21.3 62.0) (float-vector -7.79423 19.3 62.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -22.7 62.0) (float-vector -9.0 -22.7 66.5) (float-vector -9.0 -20.7 66.5) (float-vector -7.79423 -20.7 62.0)))
         (instance face :init :vertices (list (float-vector -7.79423 19.3 71.0) (float-vector -7.79423 21.3 71.0) (float-vector -9.0 21.3 66.5) (float-vector -9.0 19.3 66.5)))
         (instance face :init :vertices (list (float-vector -9.0 -22.7 66.5) (float-vector -7.79423 -22.7 71.0) (float-vector -7.79423 -20.7 71.0) (float-vector -9.0 -20.7 66.5)))
         (instance face :init :vertices (list (float-vector -4.5 19.3 74.2942) (float-vector -4.5 21.3 74.2942) (float-vector -7.79423 21.3 71.0) (float-vector -7.79423 19.3 71.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -22.7 71.0) (float-vector -4.5 -22.7 74.2942) (float-vector -4.5 -20.7 74.2942) (float-vector -7.79423 -20.7 71.0)))
         (instance face :init :vertices (list (float-vector 0.0 19.3 75.5) (float-vector 0.0 21.3 75.5) (float-vector -4.5 21.3 74.2942) (float-vector -4.5 19.3 74.2942)))
         (instance face :init :vertices (list (float-vector -4.5 -22.7 74.2942) (float-vector 0.0 -22.7 75.5) (float-vector 0.0 -20.7 75.5) (float-vector -4.5 -20.7 74.2942)))
         (instance face :init :vertices (list (float-vector 4.5 19.3 74.2942) (float-vector 4.5 21.3 74.2942) (float-vector 0.0 21.3 75.5) (float-vector 0.0 19.3 75.5)))
         (instance face :init :vertices (list (float-vector 0.0 -22.7 75.5) (float-vector 4.5 -22.7 74.2942) (float-vector 4.5 -20.7 74.2942) (float-vector 0.0 -20.7 75.5)))
         (instance face :init :vertices (list (float-vector 7.79423 19.3 71.0) (float-vector 7.79423 21.3 71.0) (float-vector 4.5 21.3 74.2942) (float-vector 4.5 19.3 74.2942)))
         (instance face :init :vertices (list (float-vector 4.5 -22.7 74.2942) (float-vector 7.79423 -22.7 71.0) (float-vector 7.79423 -20.7 71.0) (float-vector 4.5 -20.7 74.2942)))
         (instance face :init :vertices (list (float-vector 7.79423 21.3 71.0) (float-vector 9.0 21.3 66.5) (float-vector 7.79423 21.3 62.0) (float-vector 4.5 21.3 58.7058) (float-vector 0.0 21.3 57.5) (float-vector -4.5 21.3 58.7058) (float-vector -7.79423 21.3 62.0) (float-vector -9.0 21.3 66.5) (float-vector -7.79423 21.3 71.0) (float-vector -4.5 21.3 74.2942) (float-vector 0.0 21.3 75.5) (float-vector 4.5 21.3 74.2942)))
         (instance face :init :vertices (list (float-vector 9.0 21.3 66.5) (float-vector 7.79423 21.3 71.0) (float-vector 7.79423 19.3 71.0) (float-vector 9.0 19.3 66.5)))
         (instance face :init :vertices (list (float-vector 7.79423 -22.7 71.0) (float-vector 9.0 -22.7 66.5) (float-vector 9.0 -20.7 66.5) (float-vector 7.79423 -20.7 71.0)))
         (instance face :init :vertices (list (float-vector 9.0 -22.7 66.5) (float-vector 7.79423 -22.7 71.0) (float-vector 4.5 -22.7 74.2942) (float-vector 0.0 -22.7 75.5) (float-vector -4.5 -22.7 74.2942) (float-vector -7.79423 -22.7 71.0) (float-vector -9.0 -22.7 66.5) (float-vector -7.79423 -22.7 62.0) (float-vector -4.5 -22.7 58.7058) (float-vector 0.0 -22.7 57.5) (float-vector 4.5 -22.7 58.7058) (float-vector 7.79423 -22.7 62.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink21 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-z-wrist :weight 84.5 :centroid (float-vector -3.570808e-16 4.63315 46.85) :inertia-tensor #2f((25413.5 -3.250112e-13 -6.645970e-13) (-3.250112e-13 17129.0 3420.89) (-6.645970e-13 3420.89 12584.5))))

     ;; definition of :larm-x-wrist
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 22.0 -25.0) (float-vector 10.0 22.0 25.0) (float-vector 10.0 1.421085e-14 25.0) (float-vector 10.0 1.421085e-14 23.0) (float-vector 10.0 20.0 23.0) (float-vector 10.0 20.0 -23.0) (float-vector 10.0 0.0 -23.0)))
         (instance face :init :vertices (list (float-vector -10.0 22.0 -25.0) (float-vector -10.0 22.0 25.0) (float-vector 10.0 22.0 25.0) (float-vector 10.0 22.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -23.0) (float-vector -10.0 20.0 -23.0) (float-vector -10.0 20.0 23.0) (float-vector -10.0 1.421085e-14 23.0) (float-vector -10.0 1.421085e-14 25.0) (float-vector -10.0 22.0 25.0) (float-vector -10.0 22.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 1.421085e-14 25.0) (float-vector -10.0 1.421085e-14 23.0) (float-vector -7.07107 -7.07107 23.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -23.0) (float-vector -10.0 0.0 -23.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 23.0) (float-vector 0.0 -10.0 23.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -23.0) (float-vector -7.07107 -7.07107 -23.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 23.0) (float-vector 7.07107 -7.07107 23.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -23.0) (float-vector 0.0 -10.0 -23.0) (float-vector 0.0 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 1.421085e-14 25.0) (float-vector 10.0 22.0 25.0) (float-vector -10.0 22.0 25.0) (float-vector -10.0 1.421085e-14 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 22.0 -25.0) (float-vector 10.0 22.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 23.0) (float-vector 10.0 1.421085e-14 23.0) (float-vector 10.0 1.421085e-14 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -23.0) (float-vector 7.07107 -7.07107 -23.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 20.0 23.0) (float-vector 10.0 1.421085e-14 23.0) (float-vector 7.07107 -7.07107 23.0) (float-vector 0.0 -10.0 23.0) (float-vector -7.07107 -7.07107 23.0) (float-vector -10.0 1.421085e-14 23.0) (float-vector -10.0 20.0 23.0)))
         (instance face :init :vertices (list (float-vector 10.0 20.0 -23.0) (float-vector 10.0 20.0 23.0) (float-vector -10.0 20.0 23.0) (float-vector -10.0 20.0 -23.0)))
         (instance face :init :vertices (list (float-vector -10.0 20.0 -23.0) (float-vector -10.0 0.0 -23.0) (float-vector -7.07107 -7.07107 -23.0) (float-vector 0.0 -10.0 -23.0) (float-vector 7.07107 -7.07107 -23.0) (float-vector 10.0 0.0 -23.0) (float-vector 10.0 20.0 -23.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -18.5 38.5 18.5) (float-vector 10.5 38.5 18.5) (float-vector 10.5 38.5 -9.5) (float-vector -18.5 38.5 -9.5)))
         (instance face :init :vertices (list (float-vector 10.5 38.5 -9.5) (float-vector 10.5 25.5 -9.5) (float-vector -18.5 25.5 -9.5) (float-vector -18.5 38.5 -9.5)))
         (instance face :init :vertices (list (float-vector 10.5 25.5 -9.5) (float-vector 10.5 25.5 18.5) (float-vector -18.5 25.5 18.5) (float-vector -18.5 25.5 -9.5)))
         (instance face :init :vertices (list (float-vector -18.5 25.5 18.5) (float-vector -18.5 38.5 18.5) (float-vector -18.5 38.5 -9.5) (float-vector -18.5 25.5 -9.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -18.5 36.7631 14.25) (float-vector -18.5 34.75 16.2631) (float-vector -18.5 32.0 17.0) (float-vector -18.5 29.25 16.2631) (float-vector -18.5 27.2369 14.25) (float-vector -18.5 26.5 11.5) (float-vector -18.5 27.2369 8.75) (float-vector -18.5 29.25 6.73686) (float-vector -18.5 32.0 6.0) (float-vector -18.5 34.75 6.73686) (float-vector -18.5 36.7631 8.75) (float-vector -18.5 37.5 11.5)))
))
         (instance face :init :vertices (list (float-vector 10.5 25.5 18.5) (float-vector 10.5 38.5 18.5) (float-vector -18.5 38.5 18.5) (float-vector -18.5 25.5 18.5)))
         (instance face :init :vertices (list (float-vector 10.5 38.5 18.5) (float-vector 10.5 25.5 18.5) (float-vector 10.5 25.5 -9.5) (float-vector 10.5 38.5 -9.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 10.5 34.75 16.2631) (float-vector 10.5 36.7631 14.25) (float-vector 10.5 37.5 11.5) (float-vector 10.5 36.7631 8.75) (float-vector 10.5 34.75 6.73686) (float-vector 10.5 32.0 6.0) (float-vector 10.5 29.25 6.73686) (float-vector 10.5 27.2369 8.75) (float-vector 10.5 26.5 11.5) (float-vector 10.5 27.2369 14.25) (float-vector 10.5 29.25 16.2631) (float-vector 10.5 32.0 17.0)))
))
         (instance face :init :vertices (list (float-vector -20.5 37.5 11.5) (float-vector -18.5 37.5 11.5) (float-vector -18.5 36.7631 8.75) (float-vector -20.5 36.7631 8.75)))
         (instance face :init :vertices (list (float-vector 10.5 37.5 11.5) (float-vector 12.5 37.5 11.5) (float-vector 12.5 36.7631 8.75) (float-vector 10.5 36.7631 8.75)))
         (instance face :init :vertices (list (float-vector -18.5 34.75 6.73686) (float-vector -20.5 34.75 6.73686) (float-vector -20.5 36.7631 8.75) (float-vector -18.5 36.7631 8.75)))
         (instance face :init :vertices (list (float-vector 12.5 36.7631 8.75) (float-vector 12.5 34.75 6.73686) (float-vector 10.5 34.75 6.73686) (float-vector 10.5 36.7631 8.75)))
         (instance face :init :vertices (list (float-vector -18.5 32.0 6.0) (float-vector -20.5 32.0 6.0) (float-vector -20.5 34.75 6.73686) (float-vector -18.5 34.75 6.73686)))
         (instance face :init :vertices (list (float-vector 12.5 34.75 6.73686) (float-vector 12.5 32.0 6.0) (float-vector 10.5 32.0 6.0) (float-vector 10.5 34.75 6.73686)))
         (instance face :init :vertices (list (float-vector -18.5 29.25 6.73686) (float-vector -20.5 29.25 6.73686) (float-vector -20.5 32.0 6.0) (float-vector -18.5 32.0 6.0)))
         (instance face :init :vertices (list (float-vector 12.5 32.0 6.0) (float-vector 12.5 29.25 6.73686) (float-vector 10.5 29.25 6.73686) (float-vector 10.5 32.0 6.0)))
         (instance face :init :vertices (list (float-vector -18.5 27.2369 8.75) (float-vector -20.5 27.2369 8.75) (float-vector -20.5 29.25 6.73686) (float-vector -18.5 29.25 6.73686)))
         (instance face :init :vertices (list (float-vector 12.5 29.25 6.73686) (float-vector 12.5 27.2369 8.75) (float-vector 10.5 27.2369 8.75) (float-vector 10.5 29.25 6.73686)))
         (instance face :init :vertices (list (float-vector -18.5 26.5 11.5) (float-vector -20.5 26.5 11.5) (float-vector -20.5 27.2369 8.75) (float-vector -18.5 27.2369 8.75)))
         (instance face :init :vertices (list (float-vector 12.5 27.2369 8.75) (float-vector 12.5 26.5 11.5) (float-vector 10.5 26.5 11.5) (float-vector 10.5 27.2369 8.75)))
         (instance face :init :vertices (list (float-vector -18.5 27.2369 14.25) (float-vector -20.5 27.2369 14.25) (float-vector -20.5 26.5 11.5) (float-vector -18.5 26.5 11.5)))
         (instance face :init :vertices (list (float-vector 12.5 26.5 11.5) (float-vector 12.5 27.2369 14.25) (float-vector 10.5 27.2369 14.25) (float-vector 10.5 26.5 11.5)))
         (instance face :init :vertices (list (float-vector -18.5 29.25 16.2631) (float-vector -20.5 29.25 16.2631) (float-vector -20.5 27.2369 14.25) (float-vector -18.5 27.2369 14.25)))
         (instance face :init :vertices (list (float-vector 12.5 27.2369 14.25) (float-vector 12.5 29.25 16.2631) (float-vector 10.5 29.25 16.2631) (float-vector 10.5 27.2369 14.25)))
         (instance face :init :vertices (list (float-vector -18.5 32.0 17.0) (float-vector -20.5 32.0 17.0) (float-vector -20.5 29.25 16.2631) (float-vector -18.5 29.25 16.2631)))
         (instance face :init :vertices (list (float-vector 12.5 29.25 16.2631) (float-vector 12.5 32.0 17.0) (float-vector 10.5 32.0 17.0) (float-vector 10.5 29.25 16.2631)))
         (instance face :init :vertices (list (float-vector -18.5 34.75 16.2631) (float-vector -20.5 34.75 16.2631) (float-vector -20.5 32.0 17.0) (float-vector -18.5 32.0 17.0)))
         (instance face :init :vertices (list (float-vector 12.5 32.0 17.0) (float-vector 12.5 34.75 16.2631) (float-vector 10.5 34.75 16.2631) (float-vector 10.5 32.0 17.0)))
         (instance face :init :vertices (list (float-vector -18.5 36.7631 14.25) (float-vector -20.5 36.7631 14.25) (float-vector -20.5 34.75 16.2631) (float-vector -18.5 34.75 16.2631)))
         (instance face :init :vertices (list (float-vector 12.5 34.75 16.2631) (float-vector 12.5 36.7631 14.25) (float-vector 10.5 36.7631 14.25) (float-vector 10.5 34.75 16.2631)))
         (instance face :init :vertices (list (float-vector -20.5 36.7631 14.25) (float-vector -20.5 37.5 11.5) (float-vector -20.5 36.7631 8.75) (float-vector -20.5 34.75 6.73686) (float-vector -20.5 32.0 6.0) (float-vector -20.5 29.25 6.73686) (float-vector -20.5 27.2369 8.75) (float-vector -20.5 26.5 11.5) (float-vector -20.5 27.2369 14.25) (float-vector -20.5 29.25 16.2631) (float-vector -20.5 32.0 17.0) (float-vector -20.5 34.75 16.2631)))
         (instance face :init :vertices (list (float-vector -20.5 37.5 11.5) (float-vector -20.5 36.7631 14.25) (float-vector -18.5 36.7631 14.25) (float-vector -18.5 37.5 11.5)))
         (instance face :init :vertices (list (float-vector 12.5 36.7631 14.25) (float-vector 12.5 37.5 11.5) (float-vector 10.5 37.5 11.5) (float-vector 10.5 36.7631 14.25)))
         (instance face :init :vertices (list (float-vector 12.5 37.5 11.5) (float-vector 12.5 36.7631 14.25) (float-vector 12.5 34.75 16.2631) (float-vector 12.5 32.0 17.0) (float-vector 12.5 29.25 16.2631) (float-vector 12.5 27.2369 14.25) (float-vector 12.5 26.5 11.5) (float-vector 12.5 27.2369 8.75) (float-vector 12.5 29.25 6.73686) (float-vector 12.5 32.0 6.0) (float-vector 12.5 34.75 6.73686) (float-vector 12.5 36.7631 8.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -9.0 26.5 9.0) (float-vector -9.0 26.5 -9.0) (float-vector -9.0 22.0 -9.0) (float-vector -9.0 22.0 9.0)))
         (instance face :init :vertices (list (float-vector 9.0 26.5 -9.0) (float-vector 9.0 26.5 9.0) (float-vector 9.0 22.0 9.0) (float-vector 9.0 22.0 -9.0)))
         (instance face :init :vertices (list (float-vector -9.0 26.5 9.0) (float-vector 9.0 26.5 9.0) (float-vector 9.0 26.5 -9.0) (float-vector -9.0 26.5 -9.0)))
         (instance face :init :vertices (list (float-vector -9.0 22.0 9.0) (float-vector 9.0 22.0 9.0) (float-vector 9.0 26.5 9.0) (float-vector -9.0 26.5 9.0)))
         (instance face :init :vertices (list (float-vector -9.0 22.0 -9.0) (float-vector 9.0 22.0 -9.0) (float-vector 9.0 22.0 9.0) (float-vector -9.0 22.0 9.0)))
         (instance face :init :vertices (list (float-vector -9.0 26.5 -9.0) (float-vector 9.0 26.5 -9.0) (float-vector 9.0 22.0 -9.0) (float-vector -9.0 22.0 -9.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -18.5 74.8 -10.8) (float-vector 10.5 74.8 -10.8) (float-vector 10.5 46.8 -10.8) (float-vector -18.5 46.8 -10.8)))
         (instance face :init :vertices (list (float-vector 10.5 46.8 -10.8) (float-vector 10.5 46.8 2.2) (float-vector -18.5 46.8 2.2) (float-vector -18.5 46.8 -10.8)))
         (instance face :init :vertices (list (float-vector 10.5 46.8 2.2) (float-vector 10.5 74.8 2.2) (float-vector -18.5 74.8 2.2) (float-vector -18.5 46.8 2.2)))
         (instance face :init :vertices (list (float-vector -18.5 74.8 2.2) (float-vector -18.5 74.8 -10.8) (float-vector -18.5 46.8 -10.8) (float-vector -18.5 46.8 2.2))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -18.5 70.55 -9.06314) (float-vector -18.5 72.5631 -7.05) (float-vector -18.5 73.3 -4.3) (float-vector -18.5 72.5631 -1.55) (float-vector -18.5 70.55 0.46314) (float-vector -18.5 67.8 1.2) (float-vector -18.5 65.05 0.46314) (float-vector -18.5 63.0369 -1.55) (float-vector -18.5 62.3 -4.3) (float-vector -18.5 63.0369 -7.05) (float-vector -18.5 65.05 -9.06314) (float-vector -18.5 67.8 -9.8)))
))
         (instance face :init :vertices (list (float-vector 10.5 74.8 2.2) (float-vector 10.5 74.8 -10.8) (float-vector -18.5 74.8 -10.8) (float-vector -18.5 74.8 2.2)))
         (instance face :init :vertices (list (float-vector 10.5 74.8 -10.8) (float-vector 10.5 74.8 2.2) (float-vector 10.5 46.8 2.2) (float-vector 10.5 46.8 -10.8))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 10.5 72.5631 -7.05) (float-vector 10.5 70.55 -9.06314) (float-vector 10.5 67.8 -9.8) (float-vector 10.5 65.05 -9.06314) (float-vector 10.5 63.0369 -7.05) (float-vector 10.5 62.3 -4.3) (float-vector 10.5 63.0369 -1.55) (float-vector 10.5 65.05 0.46314) (float-vector 10.5 67.8 1.2) (float-vector 10.5 70.55 0.46314) (float-vector 10.5 72.5631 -1.55) (float-vector 10.5 73.3 -4.3)))
))
         (instance face :init :vertices (list (float-vector -20.5 67.8 -9.8) (float-vector -18.5 67.8 -9.8) (float-vector -18.5 65.05 -9.06314) (float-vector -20.5 65.05 -9.06314)))
         (instance face :init :vertices (list (float-vector 10.5 67.8 -9.8) (float-vector 12.5 67.8 -9.8) (float-vector 12.5 65.05 -9.06314) (float-vector 10.5 65.05 -9.06314)))
         (instance face :init :vertices (list (float-vector -18.5 63.0369 -7.05) (float-vector -20.5 63.0369 -7.05) (float-vector -20.5 65.05 -9.06314) (float-vector -18.5 65.05 -9.06314)))
         (instance face :init :vertices (list (float-vector 12.5 65.05 -9.06314) (float-vector 12.5 63.0369 -7.05) (float-vector 10.5 63.0369 -7.05) (float-vector 10.5 65.05 -9.06314)))
         (instance face :init :vertices (list (float-vector -18.5 62.3 -4.3) (float-vector -20.5 62.3 -4.3) (float-vector -20.5 63.0369 -7.05) (float-vector -18.5 63.0369 -7.05)))
         (instance face :init :vertices (list (float-vector 12.5 63.0369 -7.05) (float-vector 12.5 62.3 -4.3) (float-vector 10.5 62.3 -4.3) (float-vector 10.5 63.0369 -7.05)))
         (instance face :init :vertices (list (float-vector -18.5 63.0369 -1.55) (float-vector -20.5 63.0369 -1.55) (float-vector -20.5 62.3 -4.3) (float-vector -18.5 62.3 -4.3)))
         (instance face :init :vertices (list (float-vector 12.5 62.3 -4.3) (float-vector 12.5 63.0369 -1.55) (float-vector 10.5 63.0369 -1.55) (float-vector 10.5 62.3 -4.3)))
         (instance face :init :vertices (list (float-vector -18.5 65.05 0.46314) (float-vector -20.5 65.05 0.46314) (float-vector -20.5 63.0369 -1.55) (float-vector -18.5 63.0369 -1.55)))
         (instance face :init :vertices (list (float-vector 12.5 63.0369 -1.55) (float-vector 12.5 65.05 0.46314) (float-vector 10.5 65.05 0.46314) (float-vector 10.5 63.0369 -1.55)))
         (instance face :init :vertices (list (float-vector -18.5 67.8 1.2) (float-vector -20.5 67.8 1.2) (float-vector -20.5 65.05 0.46314) (float-vector -18.5 65.05 0.46314)))
         (instance face :init :vertices (list (float-vector 12.5 65.05 0.46314) (float-vector 12.5 67.8 1.2) (float-vector 10.5 67.8 1.2) (float-vector 10.5 65.05 0.46314)))
         (instance face :init :vertices (list (float-vector -18.5 70.55 0.46314) (float-vector -20.5 70.55 0.46314) (float-vector -20.5 67.8 1.2) (float-vector -18.5 67.8 1.2)))
         (instance face :init :vertices (list (float-vector 12.5 67.8 1.2) (float-vector 12.5 70.55 0.46314) (float-vector 10.5 70.55 0.46314) (float-vector 10.5 67.8 1.2)))
         (instance face :init :vertices (list (float-vector -18.5 72.5631 -1.55) (float-vector -20.5 72.5631 -1.55) (float-vector -20.5 70.55 0.46314) (float-vector -18.5 70.55 0.46314)))
         (instance face :init :vertices (list (float-vector 12.5 70.55 0.46314) (float-vector 12.5 72.5631 -1.55) (float-vector 10.5 72.5631 -1.55) (float-vector 10.5 70.55 0.46314)))
         (instance face :init :vertices (list (float-vector -18.5 73.3 -4.3) (float-vector -20.5 73.3 -4.3) (float-vector -20.5 72.5631 -1.55) (float-vector -18.5 72.5631 -1.55)))
         (instance face :init :vertices (list (float-vector 12.5 72.5631 -1.55) (float-vector 12.5 73.3 -4.3) (float-vector 10.5 73.3 -4.3) (float-vector 10.5 72.5631 -1.55)))
         (instance face :init :vertices (list (float-vector -18.5 72.5631 -7.05) (float-vector -20.5 72.5631 -7.05) (float-vector -20.5 73.3 -4.3) (float-vector -18.5 73.3 -4.3)))
         (instance face :init :vertices (list (float-vector 12.5 73.3 -4.3) (float-vector 12.5 72.5631 -7.05) (float-vector 10.5 72.5631 -7.05) (float-vector 10.5 73.3 -4.3)))
         (instance face :init :vertices (list (float-vector -18.5 70.55 -9.06314) (float-vector -20.5 70.55 -9.06314) (float-vector -20.5 72.5631 -7.05) (float-vector -18.5 72.5631 -7.05)))
         (instance face :init :vertices (list (float-vector 12.5 72.5631 -7.05) (float-vector 12.5 70.55 -9.06314) (float-vector 10.5 70.55 -9.06314) (float-vector 10.5 72.5631 -7.05)))
         (instance face :init :vertices (list (float-vector -20.5 70.55 -9.06314) (float-vector -20.5 67.8 -9.8) (float-vector -20.5 65.05 -9.06314) (float-vector -20.5 63.0369 -7.05) (float-vector -20.5 62.3 -4.3) (float-vector -20.5 63.0369 -1.55) (float-vector -20.5 65.05 0.46314) (float-vector -20.5 67.8 1.2) (float-vector -20.5 70.55 0.46314) (float-vector -20.5 72.5631 -1.55) (float-vector -20.5 73.3 -4.3) (float-vector -20.5 72.5631 -7.05)))
         (instance face :init :vertices (list (float-vector -20.5 67.8 -9.8) (float-vector -20.5 70.55 -9.06314) (float-vector -18.5 70.55 -9.06314) (float-vector -18.5 67.8 -9.8)))
         (instance face :init :vertices (list (float-vector 12.5 70.55 -9.06314) (float-vector 12.5 67.8 -9.8) (float-vector 10.5 67.8 -9.8) (float-vector 10.5 70.55 -9.06314)))
         (instance face :init :vertices (list (float-vector 12.5 67.8 -9.8) (float-vector 12.5 70.55 -9.06314) (float-vector 12.5 72.5631 -7.05) (float-vector 12.5 73.3 -4.3) (float-vector 12.5 72.5631 -1.55) (float-vector 12.5 70.55 0.46314) (float-vector 12.5 67.8 1.2) (float-vector 12.5 65.05 0.46314) (float-vector 12.5 63.0369 -1.55) (float-vector 12.5 62.3 -4.3) (float-vector 12.5 63.0369 -7.05) (float-vector 12.5 65.05 -9.06314)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray40)
     (send (elt bc 3) :set-color :gray40)
     (setq blink22 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-x-wrist :weight 65.2474 :centroid (float-vector -2.69743 37.3912 0.145902) :inertia-tensor #2f((29442.0 1251.56 8.46451) (1251.56 10755.2 2816.99) (8.46451 2816.99 25916.9))))

     ;; definition of :larm-3-finger
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 6.5 -2.842171e-14 -20.5) (float-vector 6.5 16.5 -20.5) (float-vector 6.5 16.5 20.5) (float-vector 6.5 -2.842171e-14 20.5) (float-vector 6.5 0.0 19.0) (float-vector 6.5 15.0 19.0) (float-vector 6.5 15.0 -19.0) (float-vector 6.5 -2.842171e-14 -19.0)))
         (instance face :init :vertices (list (float-vector -6.5 16.5 -20.5) (float-vector -6.5 16.5 20.5) (float-vector 6.5 16.5 20.5) (float-vector 6.5 16.5 -20.5)))
         (instance face :init :vertices (list (float-vector -6.5 0.0 -20.5) (float-vector -6.5 -2.842171e-14 -19.0) (float-vector -6.5 15.0 -19.0) (float-vector -6.5 15.0 19.0) (float-vector -6.5 0.0 19.0) (float-vector -6.5 0.0 20.5) (float-vector -6.5 16.5 20.5) (float-vector -6.5 16.5 -20.5)))
         (instance face :init :vertices (list (float-vector -4.59619 -4.59619 20.5) (float-vector -6.5 0.0 20.5) (float-vector -6.5 0.0 19.0) (float-vector -4.59619 -4.59619 19.0)))
         (instance face :init :vertices (list (float-vector -4.59619 -4.59619 -20.5) (float-vector -4.59619 -4.59619 -19.0) (float-vector -6.5 -2.842171e-14 -19.0) (float-vector -6.5 0.0 -20.5)))
         (instance face :init :vertices (list (float-vector 0.0 -6.5 20.5) (float-vector -4.59619 -4.59619 20.5) (float-vector -4.59619 -4.59619 19.0) (float-vector 0.0 -6.5 19.0)))
         (instance face :init :vertices (list (float-vector 0.0 -6.5 -20.5) (float-vector 0.0 -6.5 -19.0) (float-vector -4.59619 -4.59619 -19.0) (float-vector -4.59619 -4.59619 -20.5)))
         (instance face :init :vertices (list (float-vector 4.59619 -4.59619 20.5) (float-vector 0.0 -6.5 20.5) (float-vector 0.0 -6.5 19.0) (float-vector 4.59619 -4.59619 19.0)))
         (instance face :init :vertices (list (float-vector 4.59619 -4.59619 -20.5) (float-vector 4.59619 -4.59619 -19.0) (float-vector 0.0 -6.5 -19.0) (float-vector 0.0 -6.5 -20.5)))
         (instance face :init :vertices (list (float-vector 6.5 -2.842171e-14 20.5) (float-vector 6.5 16.5 20.5) (float-vector -6.5 16.5 20.5) (float-vector -6.5 0.0 20.5) (float-vector -4.59619 -4.59619 20.5) (float-vector 0.0 -6.5 20.5) (float-vector 4.59619 -4.59619 20.5)))
         (instance face :init :vertices (list (float-vector 4.59619 -4.59619 -20.5) (float-vector 0.0 -6.5 -20.5) (float-vector -4.59619 -4.59619 -20.5) (float-vector -6.5 0.0 -20.5) (float-vector -6.5 16.5 -20.5) (float-vector 6.5 16.5 -20.5) (float-vector 6.5 -2.842171e-14 -20.5)))
         (instance face :init :vertices (list (float-vector 4.59619 -4.59619 20.5) (float-vector 4.59619 -4.59619 19.0) (float-vector 6.5 0.0 19.0) (float-vector 6.5 -2.842171e-14 20.5)))
         (instance face :init :vertices (list (float-vector 6.5 -2.842171e-14 -20.5) (float-vector 6.5 -2.842171e-14 -19.0) (float-vector 4.59619 -4.59619 -19.0) (float-vector 4.59619 -4.59619 -20.5)))
         (instance face :init :vertices (list (float-vector 6.5 15.0 19.0) (float-vector 6.5 0.0 19.0) (float-vector 4.59619 -4.59619 19.0) (float-vector 0.0 -6.5 19.0) (float-vector -4.59619 -4.59619 19.0) (float-vector -6.5 0.0 19.0) (float-vector -6.5 15.0 19.0)))
         (instance face :init :vertices (list (float-vector 6.5 15.0 -19.0) (float-vector 6.5 15.0 19.0) (float-vector -6.5 15.0 19.0) (float-vector -6.5 15.0 -19.0)))
         (instance face :init :vertices (list (float-vector -6.5 15.0 -19.0) (float-vector -6.5 -2.842171e-14 -19.0) (float-vector -4.59619 -4.59619 -19.0) (float-vector 0.0 -6.5 -19.0) (float-vector 4.59619 -4.59619 -19.0) (float-vector 6.5 -2.842171e-14 -19.0) (float-vector 6.5 15.0 -19.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -7.0 33.0 -21.0) (float-vector -7.0 16.0 -21.0) (float-vector -7.0 16.0 21.0) (float-vector -7.0 33.0 21.0) (float-vector -7.0 33.0 19.5) (float-vector -7.0 17.5 19.5) (float-vector -7.0 17.5 -19.5) (float-vector -7.0 33.0 -19.5)))
         (instance face :init :vertices (list (float-vector 7.0 16.0 -21.0) (float-vector 7.0 16.0 21.0) (float-vector -7.0 16.0 21.0) (float-vector -7.0 16.0 -21.0)))
         (instance face :init :vertices (list (float-vector 7.0 33.0 -21.0) (float-vector 7.0 33.0 -19.5) (float-vector 7.0 17.5 -19.5) (float-vector 7.0 17.5 19.5) (float-vector 7.0 33.0 19.5) (float-vector 7.0 33.0 21.0) (float-vector 7.0 16.0 21.0) (float-vector 7.0 16.0 -21.0)))
         (instance face :init :vertices (list (float-vector 4.94975 37.9497 21.0) (float-vector 7.0 33.0 21.0) (float-vector 7.0 33.0 19.5) (float-vector 4.94975 37.9497 19.5)))
         (instance face :init :vertices (list (float-vector 4.94975 37.9497 -21.0) (float-vector 4.94975 37.9497 -19.5) (float-vector 7.0 33.0 -19.5) (float-vector 7.0 33.0 -21.0)))
         (instance face :init :vertices (list (float-vector 0.0 40.0 21.0) (float-vector 4.94975 37.9497 21.0) (float-vector 4.94975 37.9497 19.5) (float-vector 0.0 40.0 19.5)))
         (instance face :init :vertices (list (float-vector 0.0 40.0 -21.0) (float-vector 0.0 40.0 -19.5) (float-vector 4.94975 37.9497 -19.5) (float-vector 4.94975 37.9497 -21.0)))
         (instance face :init :vertices (list (float-vector -4.94975 37.9497 21.0) (float-vector 0.0 40.0 21.0) (float-vector 0.0 40.0 19.5) (float-vector -4.94975 37.9497 19.5)))
         (instance face :init :vertices (list (float-vector -4.94975 37.9497 -21.0) (float-vector -4.94975 37.9497 -19.5) (float-vector 0.0 40.0 -19.5) (float-vector 0.0 40.0 -21.0)))
         (instance face :init :vertices (list (float-vector -7.0 33.0 21.0) (float-vector -7.0 16.0 21.0) (float-vector 7.0 16.0 21.0) (float-vector 7.0 33.0 21.0) (float-vector 4.94975 37.9497 21.0) (float-vector 0.0 40.0 21.0) (float-vector -4.94975 37.9497 21.0)))
         (instance face :init :vertices (list (float-vector -4.94975 37.9497 -21.0) (float-vector 0.0 40.0 -21.0) (float-vector 4.94975 37.9497 -21.0) (float-vector 7.0 33.0 -21.0) (float-vector 7.0 16.0 -21.0) (float-vector -7.0 16.0 -21.0) (float-vector -7.0 33.0 -21.0)))
         (instance face :init :vertices (list (float-vector -4.94975 37.9497 21.0) (float-vector -4.94975 37.9497 19.5) (float-vector -7.0 33.0 19.5) (float-vector -7.0 33.0 21.0)))
         (instance face :init :vertices (list (float-vector -7.0 33.0 -21.0) (float-vector -7.0 33.0 -19.5) (float-vector -4.94975 37.9497 -19.5) (float-vector -4.94975 37.9497 -21.0)))
         (instance face :init :vertices (list (float-vector -7.0 17.5 19.5) (float-vector -7.0 33.0 19.5) (float-vector -4.94975 37.9497 19.5) (float-vector 0.0 40.0 19.5) (float-vector 4.94975 37.9497 19.5) (float-vector 7.0 33.0 19.5) (float-vector 7.0 17.5 19.5)))
         (instance face :init :vertices (list (float-vector -7.0 17.5 -19.5) (float-vector -7.0 17.5 19.5) (float-vector 7.0 17.5 19.5) (float-vector 7.0 17.5 -19.5)))
         (instance face :init :vertices (list (float-vector 7.0 17.5 -19.5) (float-vector 7.0 33.0 -19.5) (float-vector 4.94975 37.9497 -19.5) (float-vector 0.0 40.0 -19.5) (float-vector -4.94975 37.9497 -19.5) (float-vector -7.0 33.0 -19.5) (float-vector -7.0 17.5 -19.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink6 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-3-finger :weight 8.92253 :centroid (float-vector 1.965224e-15 16.6941 5.425696e-15) :inertia-tensor #2f((3184.62 -1.000392e-13 -1.108066e-28) (-1.000392e-13 2545.33 -1.032236e-12) (-1.108066e-28 -1.032236e-12 911.756))))

     ;; definition of :larm-4-finger
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 6.5 -7.0 14.5) (float-vector 6.5 -7.0 -14.5) (float-vector 6.5 21.0 -14.5) (float-vector 6.5 21.0 14.5)))
         (instance face :init :vertices (list (float-vector 6.5 21.0 -14.5) (float-vector -6.5 21.0 -14.5) (float-vector -6.5 21.0 14.5) (float-vector 6.5 21.0 14.5)))
         (instance face :init :vertices (list (float-vector -6.5 21.0 -14.5) (float-vector -6.5 -7.0 -14.5) (float-vector -6.5 -7.0 14.5) (float-vector -6.5 21.0 14.5)))
         (instance face :init :vertices (list (float-vector -6.5 -7.0 14.5) (float-vector 6.5 -7.0 14.5) (float-vector 6.5 21.0 14.5) (float-vector -6.5 21.0 14.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.76314 -2.75 14.5) (float-vector 2.75 -4.76314 14.5) (float-vector 0.0 -5.5 14.5) (float-vector -2.75 -4.76314 14.5) (float-vector -4.76314 -2.75 14.5) (float-vector -5.5 0.0 14.5) (float-vector -4.76314 2.75 14.5) (float-vector -2.75 4.76314 14.5) (float-vector 0.0 5.5 14.5) (float-vector 2.75 4.76314 14.5) (float-vector 4.76314 2.75 14.5) (float-vector 5.5 0.0 14.5)))
))
         (instance face :init :vertices (list (float-vector -6.5 -7.0 -14.5) (float-vector 6.5 -7.0 -14.5) (float-vector 6.5 -7.0 14.5) (float-vector -6.5 -7.0 14.5)))
         (instance face :init :vertices (list (float-vector 6.5 -7.0 -14.5) (float-vector -6.5 -7.0 -14.5) (float-vector -6.5 21.0 -14.5) (float-vector 6.5 21.0 -14.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 2.75 -4.76314 -14.5) (float-vector 4.76314 -2.75 -14.5) (float-vector 5.5 -2.842171e-14 -14.5) (float-vector 4.76314 2.75 -14.5) (float-vector 2.75 4.76314 -14.5) (float-vector 0.0 5.5 -14.5) (float-vector -2.75 4.76314 -14.5) (float-vector -4.76314 2.75 -14.5) (float-vector -5.5 0.0 -14.5) (float-vector -4.76314 -2.75 -14.5) (float-vector -2.75 -4.76314 -14.5) (float-vector 0.0 -5.5 -14.5)))
))
         (instance face :init :vertices (list (float-vector 5.5 0.0 16.5) (float-vector 5.5 0.0 14.5) (float-vector 4.76314 2.75 14.5) (float-vector 4.76314 2.75 16.5)))
         (instance face :init :vertices (list (float-vector 5.5 -2.842171e-14 -14.5) (float-vector 5.5 -2.842171e-14 -16.5) (float-vector 4.76314 2.75 -16.5) (float-vector 4.76314 2.75 -14.5)))
         (instance face :init :vertices (list (float-vector 2.75 4.76314 14.5) (float-vector 2.75 4.76314 16.5) (float-vector 4.76314 2.75 16.5) (float-vector 4.76314 2.75 14.5)))
         (instance face :init :vertices (list (float-vector 4.76314 2.75 -16.5) (float-vector 2.75 4.76314 -16.5) (float-vector 2.75 4.76314 -14.5) (float-vector 4.76314 2.75 -14.5)))
         (instance face :init :vertices (list (float-vector 0.0 5.5 14.5) (float-vector 0.0 5.5 16.5) (float-vector 2.75 4.76314 16.5) (float-vector 2.75 4.76314 14.5)))
         (instance face :init :vertices (list (float-vector 2.75 4.76314 -16.5) (float-vector 0.0 5.5 -16.5) (float-vector 0.0 5.5 -14.5) (float-vector 2.75 4.76314 -14.5)))
         (instance face :init :vertices (list (float-vector -2.75 4.76314 14.5) (float-vector -2.75 4.76314 16.5) (float-vector 0.0 5.5 16.5) (float-vector 0.0 5.5 14.5)))
         (instance face :init :vertices (list (float-vector 0.0 5.5 -16.5) (float-vector -2.75 4.76314 -16.5) (float-vector -2.75 4.76314 -14.5) (float-vector 0.0 5.5 -14.5)))
         (instance face :init :vertices (list (float-vector -4.76314 2.75 14.5) (float-vector -4.76314 2.75 16.5) (float-vector -2.75 4.76314 16.5) (float-vector -2.75 4.76314 14.5)))
         (instance face :init :vertices (list (float-vector -2.75 4.76314 -16.5) (float-vector -4.76314 2.75 -16.5) (float-vector -4.76314 2.75 -14.5) (float-vector -2.75 4.76314 -14.5)))
         (instance face :init :vertices (list (float-vector -5.5 0.0 14.5) (float-vector -5.5 0.0 16.5) (float-vector -4.76314 2.75 16.5) (float-vector -4.76314 2.75 14.5)))
         (instance face :init :vertices (list (float-vector -4.76314 2.75 -16.5) (float-vector -5.5 0.0 -16.5) (float-vector -5.5 0.0 -14.5) (float-vector -4.76314 2.75 -14.5)))
         (instance face :init :vertices (list (float-vector -4.76314 -2.75 14.5) (float-vector -4.76314 -2.75 16.5) (float-vector -5.5 0.0 16.5) (float-vector -5.5 0.0 14.5)))
         (instance face :init :vertices (list (float-vector -5.5 0.0 -16.5) (float-vector -4.76314 -2.75 -16.5) (float-vector -4.76314 -2.75 -14.5) (float-vector -5.5 0.0 -14.5)))
         (instance face :init :vertices (list (float-vector -2.75 -4.76314 14.5) (float-vector -2.75 -4.76314 16.5) (float-vector -4.76314 -2.75 16.5) (float-vector -4.76314 -2.75 14.5)))
         (instance face :init :vertices (list (float-vector -4.76314 -2.75 -16.5) (float-vector -2.75 -4.76314 -16.5) (float-vector -2.75 -4.76314 -14.5) (float-vector -4.76314 -2.75 -14.5)))
         (instance face :init :vertices (list (float-vector 0.0 -5.5 14.5) (float-vector 0.0 -5.5 16.5) (float-vector -2.75 -4.76314 16.5) (float-vector -2.75 -4.76314 14.5)))
         (instance face :init :vertices (list (float-vector -2.75 -4.76314 -16.5) (float-vector 0.0 -5.5 -16.5) (float-vector 0.0 -5.5 -14.5) (float-vector -2.75 -4.76314 -14.5)))
         (instance face :init :vertices (list (float-vector 2.75 -4.76314 14.5) (float-vector 2.75 -4.76314 16.5) (float-vector 0.0 -5.5 16.5) (float-vector 0.0 -5.5 14.5)))
         (instance face :init :vertices (list (float-vector 0.0 -5.5 -16.5) (float-vector 2.75 -4.76314 -16.5) (float-vector 2.75 -4.76314 -14.5) (float-vector 0.0 -5.5 -14.5)))
         (instance face :init :vertices (list (float-vector 4.76314 -2.75 14.5) (float-vector 4.76314 -2.75 16.5) (float-vector 2.75 -4.76314 16.5) (float-vector 2.75 -4.76314 14.5)))
         (instance face :init :vertices (list (float-vector 2.75 -4.76314 -16.5) (float-vector 4.76314 -2.75 -16.5) (float-vector 4.76314 -2.75 -14.5) (float-vector 2.75 -4.76314 -14.5)))
         (instance face :init :vertices (list (float-vector 4.76314 -2.75 16.5) (float-vector 5.5 0.0 16.5) (float-vector 4.76314 2.75 16.5) (float-vector 2.75 4.76314 16.5) (float-vector 0.0 5.5 16.5) (float-vector -2.75 4.76314 16.5) (float-vector -4.76314 2.75 16.5) (float-vector -5.5 0.0 16.5) (float-vector -4.76314 -2.75 16.5) (float-vector -2.75 -4.76314 16.5) (float-vector 0.0 -5.5 16.5) (float-vector 2.75 -4.76314 16.5)))
         (instance face :init :vertices (list (float-vector 5.5 0.0 16.5) (float-vector 4.76314 -2.75 16.5) (float-vector 4.76314 -2.75 14.5) (float-vector 5.5 0.0 14.5)))
         (instance face :init :vertices (list (float-vector 4.76314 -2.75 -16.5) (float-vector 5.5 -2.842171e-14 -16.5) (float-vector 5.5 -2.842171e-14 -14.5) (float-vector 4.76314 -2.75 -14.5)))
         (instance face :init :vertices (list (float-vector 5.5 -2.842171e-14 -16.5) (float-vector 4.76314 -2.75 -16.5) (float-vector 2.75 -4.76314 -16.5) (float-vector 0.0 -5.5 -16.5) (float-vector -2.75 -4.76314 -16.5) (float-vector -4.76314 -2.75 -16.5) (float-vector -5.5 0.0 -16.5) (float-vector -4.76314 2.75 -16.5) (float-vector -2.75 4.76314 -16.5) (float-vector 0.0 5.5 -16.5) (float-vector 2.75 4.76314 -16.5) (float-vector 4.76314 2.75 -16.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (setq blink7 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-4-finger :weight 22 :centroid (float-vector 5.093665e-16 6.76729 -1.584696e-15) :inertia-tensor #2f((2979.17 3.824794e-29 4.552081e-29) (3.824794e-29 1851.67 2.606658e-31) (4.552081e-29 2.606658e-31 1747.17))))

     ;; definition of :larm-1-finger
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 6.5 1.421085e-14 -20.5) (float-vector 6.5 16.5 -20.5) (float-vector 6.5 16.5 20.5) (float-vector 6.5 0.0 20.5) (float-vector 6.5 0.0 19.0) (float-vector 6.5 15.0 19.0) (float-vector 6.5 15.0 -19.0) (float-vector 6.5 1.421085e-14 -19.0)))
         (instance face :init :vertices (list (float-vector -6.5 16.5 -20.5) (float-vector -6.5 16.5 20.5) (float-vector 6.5 16.5 20.5) (float-vector 6.5 16.5 -20.5)))
         (instance face :init :vertices (list (float-vector -6.5 1.421085e-14 -20.5) (float-vector -6.5 1.421085e-14 -19.0) (float-vector -6.5 15.0 -19.0) (float-vector -6.5 15.0 19.0) (float-vector -6.5 0.0 19.0) (float-vector -6.5 0.0 20.5) (float-vector -6.5 16.5 20.5) (float-vector -6.5 16.5 -20.5)))
         (instance face :init :vertices (list (float-vector -4.59619 -4.59619 20.5) (float-vector -6.5 0.0 20.5) (float-vector -6.5 0.0 19.0) (float-vector -4.59619 -4.59619 19.0)))
         (instance face :init :vertices (list (float-vector -4.59619 -4.59619 -20.5) (float-vector -4.59619 -4.59619 -19.0) (float-vector -6.5 1.421085e-14 -19.0) (float-vector -6.5 1.421085e-14 -20.5)))
         (instance face :init :vertices (list (float-vector 0.0 -6.5 20.5) (float-vector -4.59619 -4.59619 20.5) (float-vector -4.59619 -4.59619 19.0) (float-vector 0.0 -6.5 19.0)))
         (instance face :init :vertices (list (float-vector 0.0 -6.5 -20.5) (float-vector 0.0 -6.5 -19.0) (float-vector -4.59619 -4.59619 -19.0) (float-vector -4.59619 -4.59619 -20.5)))
         (instance face :init :vertices (list (float-vector 4.59619 -4.59619 20.5) (float-vector 0.0 -6.5 20.5) (float-vector 0.0 -6.5 19.0) (float-vector 4.59619 -4.59619 19.0)))
         (instance face :init :vertices (list (float-vector 4.59619 -4.59619 -20.5) (float-vector 4.59619 -4.59619 -19.0) (float-vector 0.0 -6.5 -19.0) (float-vector 0.0 -6.5 -20.5)))
         (instance face :init :vertices (list (float-vector 6.5 0.0 20.5) (float-vector 6.5 16.5 20.5) (float-vector -6.5 16.5 20.5) (float-vector -6.5 0.0 20.5) (float-vector -4.59619 -4.59619 20.5) (float-vector 0.0 -6.5 20.5) (float-vector 4.59619 -4.59619 20.5)))
         (instance face :init :vertices (list (float-vector 4.59619 -4.59619 -20.5) (float-vector 0.0 -6.5 -20.5) (float-vector -4.59619 -4.59619 -20.5) (float-vector -6.5 1.421085e-14 -20.5) (float-vector -6.5 16.5 -20.5) (float-vector 6.5 16.5 -20.5) (float-vector 6.5 1.421085e-14 -20.5)))
         (instance face :init :vertices (list (float-vector 4.59619 -4.59619 20.5) (float-vector 4.59619 -4.59619 19.0) (float-vector 6.5 0.0 19.0) (float-vector 6.5 0.0 20.5)))
         (instance face :init :vertices (list (float-vector 6.5 1.421085e-14 -20.5) (float-vector 6.5 1.421085e-14 -19.0) (float-vector 4.59619 -4.59619 -19.0) (float-vector 4.59619 -4.59619 -20.5)))
         (instance face :init :vertices (list (float-vector 6.5 15.0 19.0) (float-vector 6.5 0.0 19.0) (float-vector 4.59619 -4.59619 19.0) (float-vector 0.0 -6.5 19.0) (float-vector -4.59619 -4.59619 19.0) (float-vector -6.5 0.0 19.0) (float-vector -6.5 15.0 19.0)))
         (instance face :init :vertices (list (float-vector 6.5 15.0 -19.0) (float-vector 6.5 15.0 19.0) (float-vector -6.5 15.0 19.0) (float-vector -6.5 15.0 -19.0)))
         (instance face :init :vertices (list (float-vector -6.5 15.0 -19.0) (float-vector -6.5 1.421085e-14 -19.0) (float-vector -4.59619 -4.59619 -19.0) (float-vector 0.0 -6.5 -19.0) (float-vector 4.59619 -4.59619 -19.0) (float-vector 6.5 1.421085e-14 -19.0) (float-vector 6.5 15.0 -19.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -7.0 33.0 -21.0) (float-vector -7.0 16.0 -21.0) (float-vector -7.0 16.0 21.0) (float-vector -7.0 33.0 21.0) (float-vector -7.0 33.0 19.5) (float-vector -7.0 17.5 19.5) (float-vector -7.0 17.5 -19.5) (float-vector -7.0 33.0 -19.5)))
         (instance face :init :vertices (list (float-vector 7.0 16.0 -21.0) (float-vector 7.0 16.0 21.0) (float-vector -7.0 16.0 21.0) (float-vector -7.0 16.0 -21.0)))
         (instance face :init :vertices (list (float-vector 7.0 33.0 -21.0) (float-vector 7.0 33.0 -19.5) (float-vector 7.0 17.5 -19.5) (float-vector 7.0 17.5 19.5) (float-vector 7.0 33.0 19.5) (float-vector 7.0 33.0 21.0) (float-vector 7.0 16.0 21.0) (float-vector 7.0 16.0 -21.0)))
         (instance face :init :vertices (list (float-vector 4.94975 37.9497 21.0) (float-vector 7.0 33.0 21.0) (float-vector 7.0 33.0 19.5) (float-vector 4.94975 37.9497 19.5)))
         (instance face :init :vertices (list (float-vector 4.94975 37.9497 -21.0) (float-vector 4.94975 37.9497 -19.5) (float-vector 7.0 33.0 -19.5) (float-vector 7.0 33.0 -21.0)))
         (instance face :init :vertices (list (float-vector 0.0 40.0 21.0) (float-vector 4.94975 37.9497 21.0) (float-vector 4.94975 37.9497 19.5) (float-vector 0.0 40.0 19.5)))
         (instance face :init :vertices (list (float-vector 0.0 40.0 -21.0) (float-vector 0.0 40.0 -19.5) (float-vector 4.94975 37.9497 -19.5) (float-vector 4.94975 37.9497 -21.0)))
         (instance face :init :vertices (list (float-vector -4.94975 37.9497 21.0) (float-vector 0.0 40.0 21.0) (float-vector 0.0 40.0 19.5) (float-vector -4.94975 37.9497 19.5)))
         (instance face :init :vertices (list (float-vector -4.94975 37.9497 -21.0) (float-vector -4.94975 37.9497 -19.5) (float-vector 0.0 40.0 -19.5) (float-vector 0.0 40.0 -21.0)))
         (instance face :init :vertices (list (float-vector -7.0 33.0 21.0) (float-vector -7.0 16.0 21.0) (float-vector 7.0 16.0 21.0) (float-vector 7.0 33.0 21.0) (float-vector 4.94975 37.9497 21.0) (float-vector 0.0 40.0 21.0) (float-vector -4.94975 37.9497 21.0)))
         (instance face :init :vertices (list (float-vector -4.94975 37.9497 -21.0) (float-vector 0.0 40.0 -21.0) (float-vector 4.94975 37.9497 -21.0) (float-vector 7.0 33.0 -21.0) (float-vector 7.0 16.0 -21.0) (float-vector -7.0 16.0 -21.0) (float-vector -7.0 33.0 -21.0)))
         (instance face :init :vertices (list (float-vector -4.94975 37.9497 21.0) (float-vector -4.94975 37.9497 19.5) (float-vector -7.0 33.0 19.5) (float-vector -7.0 33.0 21.0)))
         (instance face :init :vertices (list (float-vector -7.0 33.0 -21.0) (float-vector -7.0 33.0 -19.5) (float-vector -4.94975 37.9497 -19.5) (float-vector -4.94975 37.9497 -21.0)))
         (instance face :init :vertices (list (float-vector -7.0 17.5 19.5) (float-vector -7.0 33.0 19.5) (float-vector -4.94975 37.9497 19.5) (float-vector 0.0 40.0 19.5) (float-vector 4.94975 37.9497 19.5) (float-vector 7.0 33.0 19.5) (float-vector 7.0 17.5 19.5)))
         (instance face :init :vertices (list (float-vector -7.0 17.5 -19.5) (float-vector -7.0 17.5 19.5) (float-vector 7.0 17.5 19.5) (float-vector 7.0 17.5 -19.5)))
         (instance face :init :vertices (list (float-vector 7.0 17.5 -19.5) (float-vector 7.0 33.0 -19.5) (float-vector 4.94975 37.9497 -19.5) (float-vector 0.0 40.0 -19.5) (float-vector -4.94975 37.9497 -19.5) (float-vector -7.0 33.0 -19.5) (float-vector -7.0 17.5 -19.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink4 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-1-finger :weight 8.92253 :centroid (float-vector 1.965224e-15 16.6941 5.425696e-15) :inertia-tensor #2f((3184.62 -1.000392e-13 -1.108066e-28) (-1.000392e-13 2545.33 -1.032236e-12) (-1.108066e-28 -1.032236e-12 911.756))))

     ;; definition of :larm-2-finger
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 6.5 -7.0 14.5) (float-vector 6.5 -7.0 -14.5) (float-vector 6.5 21.0 -14.5) (float-vector 6.5 21.0 14.5)))
         (instance face :init :vertices (list (float-vector 6.5 21.0 -14.5) (float-vector -6.5 21.0 -14.5) (float-vector -6.5 21.0 14.5) (float-vector 6.5 21.0 14.5)))
         (instance face :init :vertices (list (float-vector -6.5 21.0 -14.5) (float-vector -6.5 -7.0 -14.5) (float-vector -6.5 -7.0 14.5) (float-vector -6.5 21.0 14.5)))
         (instance face :init :vertices (list (float-vector -6.5 -7.0 14.5) (float-vector 6.5 -7.0 14.5) (float-vector 6.5 21.0 14.5) (float-vector -6.5 21.0 14.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.76314 -2.75 14.5) (float-vector 2.75 -4.76314 14.5) (float-vector 0.0 -5.5 14.5) (float-vector -2.75 -4.76314 14.5) (float-vector -4.76314 -2.75 14.5) (float-vector -5.5 0.0 14.5) (float-vector -4.76314 2.75 14.5) (float-vector -2.75 4.76314 14.5) (float-vector 0.0 5.5 14.5) (float-vector 2.75 4.76314 14.5) (float-vector 4.76314 2.75 14.5) (float-vector 5.5 0.0 14.5)))
))
         (instance face :init :vertices (list (float-vector -6.5 -7.0 -14.5) (float-vector 6.5 -7.0 -14.5) (float-vector 6.5 -7.0 14.5) (float-vector -6.5 -7.0 14.5)))
         (instance face :init :vertices (list (float-vector 6.5 -7.0 -14.5) (float-vector -6.5 -7.0 -14.5) (float-vector -6.5 21.0 -14.5) (float-vector 6.5 21.0 -14.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 2.75 -4.76314 -14.5) (float-vector 4.76314 -2.75 -14.5) (float-vector 5.5 -2.842171e-14 -14.5) (float-vector 4.76314 2.75 -14.5) (float-vector 2.75 4.76314 -14.5) (float-vector 0.0 5.5 -14.5) (float-vector -2.75 4.76314 -14.5) (float-vector -4.76314 2.75 -14.5) (float-vector -5.5 0.0 -14.5) (float-vector -4.76314 -2.75 -14.5) (float-vector -2.75 -4.76314 -14.5) (float-vector 0.0 -5.5 -14.5)))
))
         (instance face :init :vertices (list (float-vector 5.5 0.0 16.5) (float-vector 5.5 0.0 14.5) (float-vector 4.76314 2.75 14.5) (float-vector 4.76314 2.75 16.5)))
         (instance face :init :vertices (list (float-vector 5.5 -2.842171e-14 -14.5) (float-vector 5.5 -2.842171e-14 -16.5) (float-vector 4.76314 2.75 -16.5) (float-vector 4.76314 2.75 -14.5)))
         (instance face :init :vertices (list (float-vector 2.75 4.76314 14.5) (float-vector 2.75 4.76314 16.5) (float-vector 4.76314 2.75 16.5) (float-vector 4.76314 2.75 14.5)))
         (instance face :init :vertices (list (float-vector 4.76314 2.75 -16.5) (float-vector 2.75 4.76314 -16.5) (float-vector 2.75 4.76314 -14.5) (float-vector 4.76314 2.75 -14.5)))
         (instance face :init :vertices (list (float-vector 0.0 5.5 14.5) (float-vector 0.0 5.5 16.5) (float-vector 2.75 4.76314 16.5) (float-vector 2.75 4.76314 14.5)))
         (instance face :init :vertices (list (float-vector 2.75 4.76314 -16.5) (float-vector 0.0 5.5 -16.5) (float-vector 0.0 5.5 -14.5) (float-vector 2.75 4.76314 -14.5)))
         (instance face :init :vertices (list (float-vector -2.75 4.76314 14.5) (float-vector -2.75 4.76314 16.5) (float-vector 0.0 5.5 16.5) (float-vector 0.0 5.5 14.5)))
         (instance face :init :vertices (list (float-vector 0.0 5.5 -16.5) (float-vector -2.75 4.76314 -16.5) (float-vector -2.75 4.76314 -14.5) (float-vector 0.0 5.5 -14.5)))
         (instance face :init :vertices (list (float-vector -4.76314 2.75 14.5) (float-vector -4.76314 2.75 16.5) (float-vector -2.75 4.76314 16.5) (float-vector -2.75 4.76314 14.5)))
         (instance face :init :vertices (list (float-vector -2.75 4.76314 -16.5) (float-vector -4.76314 2.75 -16.5) (float-vector -4.76314 2.75 -14.5) (float-vector -2.75 4.76314 -14.5)))
         (instance face :init :vertices (list (float-vector -5.5 0.0 14.5) (float-vector -5.5 0.0 16.5) (float-vector -4.76314 2.75 16.5) (float-vector -4.76314 2.75 14.5)))
         (instance face :init :vertices (list (float-vector -4.76314 2.75 -16.5) (float-vector -5.5 0.0 -16.5) (float-vector -5.5 0.0 -14.5) (float-vector -4.76314 2.75 -14.5)))
         (instance face :init :vertices (list (float-vector -4.76314 -2.75 14.5) (float-vector -4.76314 -2.75 16.5) (float-vector -5.5 0.0 16.5) (float-vector -5.5 0.0 14.5)))
         (instance face :init :vertices (list (float-vector -5.5 0.0 -16.5) (float-vector -4.76314 -2.75 -16.5) (float-vector -4.76314 -2.75 -14.5) (float-vector -5.5 0.0 -14.5)))
         (instance face :init :vertices (list (float-vector -2.75 -4.76314 14.5) (float-vector -2.75 -4.76314 16.5) (float-vector -4.76314 -2.75 16.5) (float-vector -4.76314 -2.75 14.5)))
         (instance face :init :vertices (list (float-vector -4.76314 -2.75 -16.5) (float-vector -2.75 -4.76314 -16.5) (float-vector -2.75 -4.76314 -14.5) (float-vector -4.76314 -2.75 -14.5)))
         (instance face :init :vertices (list (float-vector 0.0 -5.5 14.5) (float-vector 0.0 -5.5 16.5) (float-vector -2.75 -4.76314 16.5) (float-vector -2.75 -4.76314 14.5)))
         (instance face :init :vertices (list (float-vector -2.75 -4.76314 -16.5) (float-vector 0.0 -5.5 -16.5) (float-vector 0.0 -5.5 -14.5) (float-vector -2.75 -4.76314 -14.5)))
         (instance face :init :vertices (list (float-vector 2.75 -4.76314 14.5) (float-vector 2.75 -4.76314 16.5) (float-vector 0.0 -5.5 16.5) (float-vector 0.0 -5.5 14.5)))
         (instance face :init :vertices (list (float-vector 0.0 -5.5 -16.5) (float-vector 2.75 -4.76314 -16.5) (float-vector 2.75 -4.76314 -14.5) (float-vector 0.0 -5.5 -14.5)))
         (instance face :init :vertices (list (float-vector 4.76314 -2.75 14.5) (float-vector 4.76314 -2.75 16.5) (float-vector 2.75 -4.76314 16.5) (float-vector 2.75 -4.76314 14.5)))
         (instance face :init :vertices (list (float-vector 2.75 -4.76314 -16.5) (float-vector 4.76314 -2.75 -16.5) (float-vector 4.76314 -2.75 -14.5) (float-vector 2.75 -4.76314 -14.5)))
         (instance face :init :vertices (list (float-vector 4.76314 -2.75 16.5) (float-vector 5.5 0.0 16.5) (float-vector 4.76314 2.75 16.5) (float-vector 2.75 4.76314 16.5) (float-vector 0.0 5.5 16.5) (float-vector -2.75 4.76314 16.5) (float-vector -4.76314 2.75 16.5) (float-vector -5.5 0.0 16.5) (float-vector -4.76314 -2.75 16.5) (float-vector -2.75 -4.76314 16.5) (float-vector 0.0 -5.5 16.5) (float-vector 2.75 -4.76314 16.5)))
         (instance face :init :vertices (list (float-vector 5.5 0.0 16.5) (float-vector 4.76314 -2.75 16.5) (float-vector 4.76314 -2.75 14.5) (float-vector 5.5 0.0 14.5)))
         (instance face :init :vertices (list (float-vector 4.76314 -2.75 -16.5) (float-vector 5.5 -2.842171e-14 -16.5) (float-vector 5.5 -2.842171e-14 -14.5) (float-vector 4.76314 -2.75 -14.5)))
         (instance face :init :vertices (list (float-vector 5.5 -2.842171e-14 -16.5) (float-vector 4.76314 -2.75 -16.5) (float-vector 2.75 -4.76314 -16.5) (float-vector 0.0 -5.5 -16.5) (float-vector -2.75 -4.76314 -16.5) (float-vector -4.76314 -2.75 -16.5) (float-vector -5.5 0.0 -16.5) (float-vector -4.76314 2.75 -16.5) (float-vector -2.75 4.76314 -16.5) (float-vector 0.0 5.5 -16.5) (float-vector 2.75 4.76314 -16.5) (float-vector 4.76314 2.75 -16.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (setq blink5 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-2-finger :weight 22 :centroid (float-vector 5.093665e-16 6.76729 -1.584696e-15) :inertia-tensor #2f((2979.17 3.824794e-29 4.552081e-29) (3.824794e-29 1851.67 2.606658e-31) (4.552081e-29 2.606658e-31 1747.17))))

     ;; definition of :head-neck-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 11.5 28.5 25.75) (float-vector 11.5 0.0 25.75) (float-vector 8.13173 -8.13173 25.75) (float-vector 1.972152e-31 -11.5 25.75) (float-vector -8.13173 -8.13173 25.75) (float-vector -11.5 0.0 25.75) (float-vector -11.5 28.5 25.75)))
         (instance face :init :vertices (list (float-vector 11.5 28.5 25.75) (float-vector -11.5 28.5 25.75) (float-vector -11.5 28.5 -25.75) (float-vector 11.5 28.5 -25.75)))
         (instance face :init :vertices (list (float-vector 11.5 28.5 -25.75) (float-vector -11.5 28.5 -25.75) (float-vector -11.5 0.0 -25.75) (float-vector -8.13173 -8.13173 -25.75) (float-vector 1.972152e-31 -11.5 -25.75) (float-vector 8.13173 -8.13173 -25.75) (float-vector 11.5 0.0 -25.75)))
         (instance face :init :vertices (list (float-vector 11.5 0.0 27.25) (float-vector 8.13173 -8.13173 27.25) (float-vector 8.13173 -8.13173 25.75) (float-vector 11.5 0.0 25.75)))
         (instance face :init :vertices (list (float-vector 11.5 0.0 -27.25) (float-vector 11.5 0.0 -25.75) (float-vector 8.13173 -8.13173 -25.75) (float-vector 8.13173 -8.13173 -27.25)))
         (instance face :init :vertices (list (float-vector -11.5 28.5 73.25) (float-vector 11.5 28.5 73.25) (float-vector 11.5 30.0 73.25) (float-vector -11.5 30.0 73.25)))
         (instance face :init :vertices (list (float-vector 11.5 0.0 -27.25) (float-vector 8.13173 -8.13173 -27.25) (float-vector 1.972152e-31 -11.5 -27.25) (float-vector -8.13173 -8.13173 -27.25) (float-vector -11.5 0.0 -27.25) (float-vector -11.5 30.0 -27.25) (float-vector 11.5 30.0 -27.25)))
         (instance face :init :vertices (list (float-vector 11.5 30.0 73.25) (float-vector 11.5 28.5 73.25) (float-vector 11.5 28.5 27.25) (float-vector 11.5 0.0 27.25) (float-vector 11.5 0.0 25.75) (float-vector 11.5 28.5 25.75) (float-vector 11.5 28.5 -25.75) (float-vector 11.5 0.0 -25.75) (float-vector 11.5 0.0 -27.25) (float-vector 11.5 30.0 -27.25)))
         (instance face :init :vertices (list (float-vector -11.5 30.0 73.25) (float-vector 11.5 30.0 73.25) (float-vector 11.5 30.0 -27.25) (float-vector -11.5 30.0 -27.25)))
         (instance face :init :vertices (list (float-vector -11.5 0.0 27.25) (float-vector -11.5 28.5 27.25) (float-vector -11.5 28.5 73.25) (float-vector -11.5 30.0 73.25) (float-vector -11.5 30.0 -27.25) (float-vector -11.5 0.0 -27.25) (float-vector -11.5 0.0 -25.75) (float-vector -11.5 28.5 -25.75) (float-vector -11.5 28.5 25.75) (float-vector -11.5 0.0 25.75)))
         (instance face :init :vertices (list (float-vector -8.13173 -8.13173 27.25) (float-vector -11.5 0.0 27.25) (float-vector -11.5 0.0 25.75) (float-vector -8.13173 -8.13173 25.75)))
         (instance face :init :vertices (list (float-vector -8.13173 -8.13173 -25.75) (float-vector -11.5 0.0 -25.75) (float-vector -11.5 0.0 -27.25) (float-vector -8.13173 -8.13173 -27.25)))
         (instance face :init :vertices (list (float-vector 1.972152e-31 -11.5 25.75) (float-vector 8.13173 -8.13173 25.75) (float-vector 8.13173 -8.13173 27.25) (float-vector 1.972152e-31 -11.5 27.25)))
         (instance face :init :vertices (list (float-vector 1.972152e-31 -11.5 27.25) (float-vector -8.13173 -8.13173 27.25) (float-vector -8.13173 -8.13173 25.75) (float-vector 1.972152e-31 -11.5 25.75)))
         (instance face :init :vertices (list (float-vector 1.972152e-31 -11.5 -27.25) (float-vector 8.13173 -8.13173 -27.25) (float-vector 8.13173 -8.13173 -25.75) (float-vector 1.972152e-31 -11.5 -25.75)))
         (instance face :init :vertices (list (float-vector 1.972152e-31 -11.5 -25.75) (float-vector -8.13173 -8.13173 -25.75) (float-vector -8.13173 -8.13173 -27.25) (float-vector 1.972152e-31 -11.5 -27.25)))
         (instance face :init :vertices (list (float-vector -11.5 28.5 27.25) (float-vector -11.5 0.0 27.25) (float-vector -8.13173 -8.13173 27.25) (float-vector 1.972152e-31 -11.5 27.25) (float-vector 8.13173 -8.13173 27.25) (float-vector 11.5 0.0 27.25) (float-vector 11.5 28.5 27.25)))
         (instance face :init :vertices (list (float-vector 11.5 28.5 27.25) (float-vector 11.5 28.5 73.25) (float-vector -11.5 28.5 73.25) (float-vector -11.5 28.5 27.25)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -11.5 -22.3 82.25) (float-vector -11.5 20.0 82.25) (float-vector -11.5 20.0 37.25) (float-vector -11.5 -22.3 37.25)))
         (instance face :init :vertices (list (float-vector -11.5 20.0 37.25) (float-vector 11.5 20.0 37.25) (float-vector 11.5 -22.3 37.25) (float-vector -11.5 -22.3 37.25)))
         (instance face :init :vertices (list (float-vector 11.5 20.0 37.25) (float-vector 11.5 20.0 82.25) (float-vector 11.5 -22.3 82.25) (float-vector 11.5 -22.3 37.25)))
         (instance face :init :vertices (list (float-vector 11.5 -22.3 82.25) (float-vector -11.5 -22.3 82.25) (float-vector -11.5 -22.3 37.25) (float-vector 11.5 -22.3 37.25))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -9.09327 -22.3 75.5) (float-vector -5.25 -22.3 79.3433) (float-vector 2.576719e-14 -22.3 80.75) (float-vector 5.25 -22.3 79.3433) (float-vector 9.09327 -22.3 75.5) (float-vector 10.5 -22.3 70.25) (float-vector 9.09327 -22.3 65.0) (float-vector 5.25 -22.3 61.1567) (float-vector -1.710828e-15 -22.3 59.75) (float-vector -5.25 -22.3 61.1567) (float-vector -9.09327 -22.3 65.0) (float-vector -10.5 -22.3 70.25)))
))
         (instance face :init :vertices (list (float-vector 11.5 20.0 82.25) (float-vector -11.5 20.0 82.25) (float-vector -11.5 -22.3 82.25) (float-vector 11.5 -22.3 82.25)))
         (instance face :init :vertices (list (float-vector -11.5 20.0 82.25) (float-vector 11.5 20.0 82.25) (float-vector 11.5 20.0 37.25) (float-vector -11.5 20.0 37.25))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -5.25 20.0 79.3433) (float-vector -9.09327 20.0 75.5) (float-vector -10.5 20.0 70.25) (float-vector -9.09327 20.0 65.0) (float-vector -5.25 20.0 61.1567) (float-vector 2.985415e-15 20.0 59.75) (float-vector 5.25 20.0 61.1567) (float-vector 9.09327 20.0 65.0) (float-vector 10.5 20.0 70.25) (float-vector 9.09327 20.0 75.5) (float-vector 5.25 20.0 79.3433) (float-vector 3.046344e-14 20.0 80.75)))
))
         (instance face :init :vertices (list (float-vector -10.5 -24.3 70.25) (float-vector -10.5 -22.3 70.25) (float-vector -9.09327 -22.3 65.0) (float-vector -9.09327 -24.3 65.0)))
         (instance face :init :vertices (list (float-vector -10.5 20.0 70.25) (float-vector -10.5 22.0 70.25) (float-vector -9.09327 22.0 65.0) (float-vector -9.09327 20.0 65.0)))
         (instance face :init :vertices (list (float-vector -5.25 -22.3 61.1567) (float-vector -5.25 -24.3 61.1567) (float-vector -9.09327 -24.3 65.0) (float-vector -9.09327 -22.3 65.0)))
         (instance face :init :vertices (list (float-vector -9.09327 22.0 65.0) (float-vector -5.25 22.0 61.1567) (float-vector -5.25 20.0 61.1567) (float-vector -9.09327 20.0 65.0)))
         (instance face :init :vertices (list (float-vector -1.710828e-15 -22.3 59.75) (float-vector -1.932873e-15 -24.3 59.75) (float-vector -5.25 -24.3 61.1567) (float-vector -5.25 -22.3 61.1567)))
         (instance face :init :vertices (list (float-vector -5.25 22.0 61.1567) (float-vector 3.207460e-15 22.0 59.75) (float-vector 2.985415e-15 20.0 59.75) (float-vector -5.25 20.0 61.1567)))
         (instance face :init :vertices (list (float-vector 5.25 -22.3 61.1567) (float-vector 5.25 -24.3 61.1567) (float-vector -1.932873e-15 -24.3 59.75) (float-vector -1.710828e-15 -22.3 59.75)))
         (instance face :init :vertices (list (float-vector 3.207460e-15 22.0 59.75) (float-vector 5.25 22.0 61.1567) (float-vector 5.25 20.0 61.1567) (float-vector 2.985415e-15 20.0 59.75)))
         (instance face :init :vertices (list (float-vector 9.09327 -22.3 65.0) (float-vector 9.09327 -24.3 65.0) (float-vector 5.25 -24.3 61.1567) (float-vector 5.25 -22.3 61.1567)))
         (instance face :init :vertices (list (float-vector 5.25 22.0 61.1567) (float-vector 9.09327 22.0 65.0) (float-vector 9.09327 20.0 65.0) (float-vector 5.25 20.0 61.1567)))
         (instance face :init :vertices (list (float-vector 10.5 -22.3 70.25) (float-vector 10.5 -24.3 70.25) (float-vector 9.09327 -24.3 65.0) (float-vector 9.09327 -22.3 65.0)))
         (instance face :init :vertices (list (float-vector 9.09327 22.0 65.0) (float-vector 10.5 22.0 70.25) (float-vector 10.5 20.0 70.25) (float-vector 9.09327 20.0 65.0)))
         (instance face :init :vertices (list (float-vector 9.09327 -22.3 75.5) (float-vector 9.09327 -24.3 75.5) (float-vector 10.5 -24.3 70.25) (float-vector 10.5 -22.3 70.25)))
         (instance face :init :vertices (list (float-vector 10.5 22.0 70.25) (float-vector 9.09327 22.0 75.5) (float-vector 9.09327 20.0 75.5) (float-vector 10.5 20.0 70.25)))
         (instance face :init :vertices (list (float-vector 5.25 -22.3 79.3433) (float-vector 5.25 -24.3 79.3433) (float-vector 9.09327 -24.3 75.5) (float-vector 9.09327 -22.3 75.5)))
         (instance face :init :vertices (list (float-vector 9.09327 22.0 75.5) (float-vector 5.25 22.0 79.3433) (float-vector 5.25 20.0 79.3433) (float-vector 9.09327 20.0 75.5)))
         (instance face :init :vertices (list (float-vector 2.576719e-14 -22.3 80.75) (float-vector 2.554515e-14 -24.3 80.75) (float-vector 5.25 -24.3 79.3433) (float-vector 5.25 -22.3 79.3433)))
         (instance face :init :vertices (list (float-vector 5.25 22.0 79.3433) (float-vector 3.068548e-14 22.0 80.75) (float-vector 3.046344e-14 20.0 80.75) (float-vector 5.25 20.0 79.3433)))
         (instance face :init :vertices (list (float-vector -5.25 -22.3 79.3433) (float-vector -5.25 -24.3 79.3433) (float-vector 2.554515e-14 -24.3 80.75) (float-vector 2.576719e-14 -22.3 80.75)))
         (instance face :init :vertices (list (float-vector 3.068548e-14 22.0 80.75) (float-vector -5.25 22.0 79.3433) (float-vector -5.25 20.0 79.3433) (float-vector 3.046344e-14 20.0 80.75)))
         (instance face :init :vertices (list (float-vector -9.09327 -22.3 75.5) (float-vector -9.09327 -24.3 75.5) (float-vector -5.25 -24.3 79.3433) (float-vector -5.25 -22.3 79.3433)))
         (instance face :init :vertices (list (float-vector -5.25 22.0 79.3433) (float-vector -9.09327 22.0 75.5) (float-vector -9.09327 20.0 75.5) (float-vector -5.25 20.0 79.3433)))
         (instance face :init :vertices (list (float-vector -9.09327 -24.3 75.5) (float-vector -10.5 -24.3 70.25) (float-vector -9.09327 -24.3 65.0) (float-vector -5.25 -24.3 61.1567) (float-vector -1.932873e-15 -24.3 59.75) (float-vector 5.25 -24.3 61.1567) (float-vector 9.09327 -24.3 65.0) (float-vector 10.5 -24.3 70.25) (float-vector 9.09327 -24.3 75.5) (float-vector 5.25 -24.3 79.3433) (float-vector 2.554515e-14 -24.3 80.75) (float-vector -5.25 -24.3 79.3433)))
         (instance face :init :vertices (list (float-vector -10.5 -24.3 70.25) (float-vector -9.09327 -24.3 75.5) (float-vector -9.09327 -22.3 75.5) (float-vector -10.5 -22.3 70.25)))
         (instance face :init :vertices (list (float-vector -9.09327 22.0 75.5) (float-vector -10.5 22.0 70.25) (float-vector -10.5 20.0 70.25) (float-vector -9.09327 20.0 75.5)))
         (instance face :init :vertices (list (float-vector -10.5 22.0 70.25) (float-vector -9.09327 22.0 75.5) (float-vector -5.25 22.0 79.3433) (float-vector 3.068548e-14 22.0 80.75) (float-vector 5.25 22.0 79.3433) (float-vector 9.09327 22.0 75.5) (float-vector 10.5 22.0 70.25) (float-vector 9.09327 22.0 65.0) (float-vector 5.25 22.0 61.1567) (float-vector 3.207460e-15 22.0 59.75) (float-vector -5.25 22.0 61.1567) (float-vector -9.09327 22.0 65.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-neck-y :weight 85 :centroid (float-vector 5.568378e-15 4.09912 49.0567) :inertia-tensor #2f((30318.5 5.314994e-13 -2.106306e-12) (5.314994e-13 21701.0 3753.56) (-2.106306e-12 3753.56 14348.4))))

     ;; definition of :head-neck-r
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 11.5 0.0 -27.25) (float-vector 11.5 25.0 -27.25) (float-vector 11.5 25.0 27.25) (float-vector 11.5 0.0 27.25) (float-vector 11.5 0.0 25.75) (float-vector 11.5 23.5 25.75) (float-vector 11.5 23.5 -25.75) (float-vector 11.5 0.0 -25.75)))
         (instance face :init :vertices (list (float-vector -11.5 25.0 -27.25) (float-vector -11.5 25.0 27.25) (float-vector 11.5 25.0 27.25) (float-vector 11.5 25.0 -27.25)))
         (instance face :init :vertices (list (float-vector -11.5 0.0 -27.25) (float-vector -11.5 0.0 -25.75) (float-vector -11.5 23.5 -25.75) (float-vector -11.5 23.5 25.75) (float-vector -11.5 0.0 25.75) (float-vector -11.5 0.0 27.25) (float-vector -11.5 25.0 27.25) (float-vector -11.5 25.0 -27.25)))
         (instance face :init :vertices (list (float-vector -8.13173 -8.13173 27.25) (float-vector -11.5 0.0 27.25) (float-vector -11.5 0.0 25.75) (float-vector -8.13173 -8.13173 25.75)))
         (instance face :init :vertices (list (float-vector -8.13173 -8.13173 -27.25) (float-vector -8.13173 -8.13173 -25.75) (float-vector -11.5 0.0 -25.75) (float-vector -11.5 0.0 -27.25)))
         (instance face :init :vertices (list (float-vector 1.183291e-30 -11.5 27.25) (float-vector -8.13173 -8.13173 27.25) (float-vector -8.13173 -8.13173 25.75) (float-vector 1.183291e-30 -11.5 25.75)))
         (instance face :init :vertices (list (float-vector 1.183291e-30 -11.5 -27.25) (float-vector 1.183291e-30 -11.5 -25.75) (float-vector -8.13173 -8.13173 -25.75) (float-vector -8.13173 -8.13173 -27.25)))
         (instance face :init :vertices (list (float-vector 8.13173 -8.13173 27.25) (float-vector 1.183291e-30 -11.5 27.25) (float-vector 1.183291e-30 -11.5 25.75) (float-vector 8.13173 -8.13173 25.75)))
         (instance face :init :vertices (list (float-vector 8.13173 -8.13173 -27.25) (float-vector 8.13173 -8.13173 -25.75) (float-vector 1.183291e-30 -11.5 -25.75) (float-vector 1.183291e-30 -11.5 -27.25)))
         (instance face :init :vertices (list (float-vector 11.5 0.0 27.25) (float-vector 11.5 25.0 27.25) (float-vector -11.5 25.0 27.25) (float-vector -11.5 0.0 27.25) (float-vector -8.13173 -8.13173 27.25) (float-vector 1.183291e-30 -11.5 27.25) (float-vector 8.13173 -8.13173 27.25)))
         (instance face :init :vertices (list (float-vector 8.13173 -8.13173 -27.25) (float-vector 1.183291e-30 -11.5 -27.25) (float-vector -8.13173 -8.13173 -27.25) (float-vector -11.5 0.0 -27.25) (float-vector -11.5 25.0 -27.25) (float-vector 11.5 25.0 -27.25) (float-vector 11.5 0.0 -27.25)))
         (instance face :init :vertices (list (float-vector 8.13173 -8.13173 27.25) (float-vector 8.13173 -8.13173 25.75) (float-vector 11.5 0.0 25.75) (float-vector 11.5 0.0 27.25)))
         (instance face :init :vertices (list (float-vector 11.5 0.0 -27.25) (float-vector 11.5 0.0 -25.75) (float-vector 8.13173 -8.13173 -25.75) (float-vector 8.13173 -8.13173 -27.25)))
         (instance face :init :vertices (list (float-vector 11.5 23.5 25.75) (float-vector 11.5 0.0 25.75) (float-vector 8.13173 -8.13173 25.75) (float-vector 1.183291e-30 -11.5 25.75) (float-vector -8.13173 -8.13173 25.75) (float-vector -11.5 0.0 25.75) (float-vector -11.5 23.5 25.75)))
         (instance face :init :vertices (list (float-vector 11.5 23.5 -25.75) (float-vector 11.5 23.5 25.75) (float-vector -11.5 23.5 25.75) (float-vector -11.5 23.5 -25.75)))
         (instance face :init :vertices (list (float-vector -11.5 23.5 -25.75) (float-vector -11.5 0.0 -25.75) (float-vector -8.13173 -8.13173 -25.75) (float-vector 1.183291e-30 -11.5 -25.75) (float-vector 8.13173 -8.13173 -25.75) (float-vector 11.5 0.0 -25.75) (float-vector 11.5 23.5 -25.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 19.0 29.7 8.0) (float-vector -17.0 29.7 8.0) (float-vector -17.0 29.7 -32.0) (float-vector 19.0 29.7 -32.0)))
         (instance face :init :vertices (list (float-vector -17.0 29.7 -32.0) (float-vector -17.0 49.5 -32.0) (float-vector 19.0 49.5 -32.0) (float-vector 19.0 29.7 -32.0)))
         (instance face :init :vertices (list (float-vector -17.0 49.5 -32.0) (float-vector -17.0 49.5 8.0) (float-vector 19.0 49.5 8.0) (float-vector 19.0 49.5 -32.0)))
         (instance face :init :vertices (list (float-vector 19.0 49.5 8.0) (float-vector 19.0 29.7 8.0) (float-vector 19.0 29.7 -32.0) (float-vector 19.0 49.5 -32.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 19.0 31.8924 2.45) (float-vector 19.0 35.15 5.70763) (float-vector 19.0 39.6 6.9) (float-vector 19.0 44.05 5.70763) (float-vector 19.0 47.3076 2.45) (float-vector 19.0 48.5 -2.0) (float-vector 19.0 47.3076 -6.45) (float-vector 19.0 44.05 -9.70763) (float-vector 19.0 39.6 -10.9) (float-vector 19.0 35.15 -9.70763) (float-vector 19.0 31.8924 -6.45) (float-vector 19.0 30.7 -2.0)))
))
         (instance face :init :vertices (list (float-vector -17.0 49.5 8.0) (float-vector -17.0 29.7 8.0) (float-vector 19.0 29.7 8.0) (float-vector 19.0 49.5 8.0)))
         (instance face :init :vertices (list (float-vector -17.0 29.7 8.0) (float-vector -17.0 49.5 8.0) (float-vector -17.0 49.5 -32.0) (float-vector -17.0 29.7 -32.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -17.0 35.15 5.70763) (float-vector -17.0 31.8924 2.45) (float-vector -17.0 30.7 -2.0) (float-vector -17.0 31.8924 -6.45) (float-vector -17.0 35.15 -9.70763) (float-vector -17.0 39.6 -10.9) (float-vector -17.0 44.05 -9.70763) (float-vector -17.0 47.3076 -6.45) (float-vector -17.0 48.5 -2.0) (float-vector -17.0 47.3076 2.45) (float-vector -17.0 44.05 5.70763) (float-vector -17.0 39.6 6.9)))
))
         (instance face :init :vertices (list (float-vector 21.0 30.7 -2.0) (float-vector 19.0 30.7 -2.0) (float-vector 19.0 31.8924 -6.45) (float-vector 21.0 31.8924 -6.45)))
         (instance face :init :vertices (list (float-vector -17.0 30.7 -2.0) (float-vector -19.0 30.7 -2.0) (float-vector -19.0 31.8924 -6.45) (float-vector -17.0 31.8924 -6.45)))
         (instance face :init :vertices (list (float-vector 19.0 35.15 -9.70763) (float-vector 21.0 35.15 -9.70763) (float-vector 21.0 31.8924 -6.45) (float-vector 19.0 31.8924 -6.45)))
         (instance face :init :vertices (list (float-vector -19.0 31.8924 -6.45) (float-vector -19.0 35.15 -9.70763) (float-vector -17.0 35.15 -9.70763) (float-vector -17.0 31.8924 -6.45)))
         (instance face :init :vertices (list (float-vector 19.0 39.6 -10.9) (float-vector 21.0 39.6 -10.9) (float-vector 21.0 35.15 -9.70763) (float-vector 19.0 35.15 -9.70763)))
         (instance face :init :vertices (list (float-vector -19.0 35.15 -9.70763) (float-vector -19.0 39.6 -10.9) (float-vector -17.0 39.6 -10.9) (float-vector -17.0 35.15 -9.70763)))
         (instance face :init :vertices (list (float-vector 19.0 44.05 -9.70763) (float-vector 21.0 44.05 -9.70763) (float-vector 21.0 39.6 -10.9) (float-vector 19.0 39.6 -10.9)))
         (instance face :init :vertices (list (float-vector -19.0 39.6 -10.9) (float-vector -19.0 44.05 -9.70763) (float-vector -17.0 44.05 -9.70763) (float-vector -17.0 39.6 -10.9)))
         (instance face :init :vertices (list (float-vector 19.0 47.3076 -6.45) (float-vector 21.0 47.3076 -6.45) (float-vector 21.0 44.05 -9.70763) (float-vector 19.0 44.05 -9.70763)))
         (instance face :init :vertices (list (float-vector -19.0 44.05 -9.70763) (float-vector -19.0 47.3076 -6.45) (float-vector -17.0 47.3076 -6.45) (float-vector -17.0 44.05 -9.70763)))
         (instance face :init :vertices (list (float-vector 19.0 48.5 -2.0) (float-vector 21.0 48.5 -2.0) (float-vector 21.0 47.3076 -6.45) (float-vector 19.0 47.3076 -6.45)))
         (instance face :init :vertices (list (float-vector -19.0 47.3076 -6.45) (float-vector -19.0 48.5 -2.0) (float-vector -17.0 48.5 -2.0) (float-vector -17.0 47.3076 -6.45)))
         (instance face :init :vertices (list (float-vector 19.0 47.3076 2.45) (float-vector 21.0 47.3076 2.45) (float-vector 21.0 48.5 -2.0) (float-vector 19.0 48.5 -2.0)))
         (instance face :init :vertices (list (float-vector -19.0 48.5 -2.0) (float-vector -19.0 47.3076 2.45) (float-vector -17.0 47.3076 2.45) (float-vector -17.0 48.5 -2.0)))
         (instance face :init :vertices (list (float-vector 19.0 44.05 5.70763) (float-vector 21.0 44.05 5.70763) (float-vector 21.0 47.3076 2.45) (float-vector 19.0 47.3076 2.45)))
         (instance face :init :vertices (list (float-vector -19.0 47.3076 2.45) (float-vector -19.0 44.05 5.70763) (float-vector -17.0 44.05 5.70763) (float-vector -17.0 47.3076 2.45)))
         (instance face :init :vertices (list (float-vector 19.0 39.6 6.9) (float-vector 21.0 39.6 6.9) (float-vector 21.0 44.05 5.70763) (float-vector 19.0 44.05 5.70763)))
         (instance face :init :vertices (list (float-vector -19.0 44.05 5.70763) (float-vector -19.0 39.6 6.9) (float-vector -17.0 39.6 6.9) (float-vector -17.0 44.05 5.70763)))
         (instance face :init :vertices (list (float-vector 19.0 35.15 5.70763) (float-vector 21.0 35.15 5.70763) (float-vector 21.0 39.6 6.9) (float-vector 19.0 39.6 6.9)))
         (instance face :init :vertices (list (float-vector -19.0 39.6 6.9) (float-vector -19.0 35.15 5.70763) (float-vector -17.0 35.15 5.70763) (float-vector -17.0 39.6 6.9)))
         (instance face :init :vertices (list (float-vector 19.0 31.8924 2.45) (float-vector 21.0 31.8924 2.45) (float-vector 21.0 35.15 5.70763) (float-vector 19.0 35.15 5.70763)))
         (instance face :init :vertices (list (float-vector -19.0 35.15 5.70763) (float-vector -19.0 31.8924 2.45) (float-vector -17.0 31.8924 2.45) (float-vector -17.0 35.15 5.70763)))
         (instance face :init :vertices (list (float-vector 21.0 31.8924 2.45) (float-vector 21.0 30.7 -2.0) (float-vector 21.0 31.8924 -6.45) (float-vector 21.0 35.15 -9.70763) (float-vector 21.0 39.6 -10.9) (float-vector 21.0 44.05 -9.70763) (float-vector 21.0 47.3076 -6.45) (float-vector 21.0 48.5 -2.0) (float-vector 21.0 47.3076 2.45) (float-vector 21.0 44.05 5.70763) (float-vector 21.0 39.6 6.9) (float-vector 21.0 35.15 5.70763)))
         (instance face :init :vertices (list (float-vector 21.0 30.7 -2.0) (float-vector 21.0 31.8924 2.45) (float-vector 19.0 31.8924 2.45) (float-vector 19.0 30.7 -2.0)))
         (instance face :init :vertices (list (float-vector -19.0 31.8924 2.45) (float-vector -19.0 30.7 -2.0) (float-vector -17.0 30.7 -2.0) (float-vector -17.0 31.8924 2.45)))
         (instance face :init :vertices (list (float-vector -19.0 30.7 -2.0) (float-vector -19.0 31.8924 2.45) (float-vector -19.0 35.15 5.70763) (float-vector -19.0 39.6 6.9) (float-vector -19.0 44.05 5.70763) (float-vector -19.0 47.3076 2.45) (float-vector -19.0 48.5 -2.0) (float-vector -19.0 47.3076 -6.45) (float-vector -19.0 44.05 -9.70763) (float-vector -19.0 39.6 -10.9) (float-vector -19.0 35.15 -9.70763) (float-vector -19.0 31.8924 -6.45)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 9.5 26.0 16.0) (float-vector 9.5 49.5 16.0) (float-vector 9.5 49.5 8.0) (float-vector 9.5 29.7 8.0) (float-vector 9.5 29.7 -32.0) (float-vector 9.5 49.5 -32.0) (float-vector 9.5 49.5 -40.0) (float-vector 9.5 26.0 -40.0)))
         (instance face :init :vertices (list (float-vector 9.5 26.0 16.0) (float-vector 9.5 26.0 -40.0) (float-vector -23.5 26.0 -40.0) (float-vector -23.5 26.0 16.0)))
         (instance face :init :vertices (list (float-vector -23.5 26.0 16.0) (float-vector -23.5 26.0 -40.0) (float-vector -23.5 49.5 -40.0) (float-vector -23.5 49.5 16.0)))
         (instance face :init :vertices (list (float-vector 11.0 49.5 -40.0) (float-vector 9.5 49.5 -40.0) (float-vector 9.5 49.5 -32.0) (float-vector 11.0 49.5 -32.0)))
         (instance face :init :vertices (list (float-vector 11.0 49.5 8.0) (float-vector 9.5 49.5 8.0) (float-vector 9.5 49.5 16.0) (float-vector 11.0 49.5 16.0)))
         (instance face :init :vertices (list (float-vector -25.0 49.5 16.0) (float-vector -23.5 49.5 16.0) (float-vector -23.5 49.5 -40.0) (float-vector -25.0 49.5 -40.0)))
         (instance face :init :vertices (list (float-vector 11.0 49.5 -40.0) (float-vector 11.0 49.5 -32.0) (float-vector 11.0 29.7 -32.0) (float-vector 11.0 29.7 8.0) (float-vector 11.0 49.5 8.0) (float-vector 11.0 49.5 16.0) (float-vector 11.0 24.5 16.0) (float-vector 11.0 24.5 -40.0)))
         (instance face :init :vertices (list (float-vector -25.0 49.5 16.0) (float-vector -25.0 49.5 -40.0) (float-vector -25.0 24.5 -40.0) (float-vector -25.0 24.5 16.0)))
         (instance face :init :vertices (list (float-vector 11.0 24.5 16.0) (float-vector 11.0 49.5 16.0) (float-vector 9.5 49.5 16.0) (float-vector 9.5 26.0 16.0) (float-vector -23.5 26.0 16.0) (float-vector -23.5 49.5 16.0) (float-vector -25.0 49.5 16.0) (float-vector -25.0 24.5 16.0)))
         (instance face :init :vertices (list (float-vector -25.0 24.5 -40.0) (float-vector -25.0 49.5 -40.0) (float-vector -23.5 49.5 -40.0) (float-vector -23.5 26.0 -40.0) (float-vector 9.5 26.0 -40.0) (float-vector 9.5 49.5 -40.0) (float-vector 11.0 49.5 -40.0) (float-vector 11.0 24.5 -40.0)))
         (instance face :init :vertices (list (float-vector 11.0 24.5 -40.0) (float-vector 11.0 24.5 16.0) (float-vector -25.0 24.5 16.0) (float-vector -25.0 24.5 -40.0)))
         (instance face :init :vertices (list (float-vector 11.0 29.7 -32.0) (float-vector 11.0 49.5 -32.0) (float-vector 9.5 49.5 -32.0) (float-vector 9.5 29.7 -32.0)))
         (instance face :init :vertices (list (float-vector 9.5 29.7 8.0) (float-vector 9.5 49.5 8.0) (float-vector 11.0 49.5 8.0) (float-vector 11.0 29.7 8.0)))
         (instance face :init :vertices (list (float-vector 11.0 29.7 8.0) (float-vector 11.0 29.7 -32.0) (float-vector 9.5 29.7 -32.0) (float-vector 9.5 29.7 8.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray90)
     (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-neck-r :weight 76.0697 :centroid (float-vector -2.17907 33.7874 -10.0783) :inertia-tensor #2f((20888.6 -390.829 -11.6317) (-390.829 18501.2 2466.05) (-11.6317 2466.05 14112.0))))

     ;; definition of :head-neck-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -23.5) (float-vector 10.0 42.0 -23.5) (float-vector 10.0 42.0 23.5) (float-vector 10.0 0.0 23.5) (float-vector 10.0 0.0 22.0) (float-vector 10.0 40.5 22.0) (float-vector 10.0 40.5 -22.0) (float-vector 10.0 0.0 -22.0)))
         (instance face :init :vertices (list (float-vector -10.0 42.0 -23.5) (float-vector -10.0 42.0 23.5) (float-vector 10.0 42.0 23.5) (float-vector 10.0 42.0 -23.5)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -23.5) (float-vector -10.0 0.0 -22.0) (float-vector -10.0 40.5 -22.0) (float-vector -10.0 40.5 22.0) (float-vector -10.0 0.0 22.0) (float-vector -10.0 0.0 23.5) (float-vector -10.0 42.0 23.5) (float-vector -10.0 42.0 -23.5)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 23.5) (float-vector -10.0 0.0 23.5) (float-vector -10.0 0.0 22.0) (float-vector -7.07107 -7.07107 22.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -23.5) (float-vector -7.07107 -7.07107 -22.0) (float-vector -10.0 0.0 -22.0) (float-vector -10.0 0.0 -23.5)))
         (instance face :init :vertices (list (float-vector 8.881784e-16 -10.0 23.5) (float-vector -7.07107 -7.07107 23.5) (float-vector -7.07107 -7.07107 22.0) (float-vector 8.881784e-16 -10.0 22.0)))
         (instance face :init :vertices (list (float-vector 8.881784e-16 -10.0 -23.5) (float-vector 8.881784e-16 -10.0 -22.0) (float-vector -7.07107 -7.07107 -22.0) (float-vector -7.07107 -7.07107 -23.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 23.5) (float-vector 8.881784e-16 -10.0 23.5) (float-vector 8.881784e-16 -10.0 22.0) (float-vector 7.07107 -7.07107 22.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -23.5) (float-vector 7.07107 -7.07107 -22.0) (float-vector 8.881784e-16 -10.0 -22.0) (float-vector 8.881784e-16 -10.0 -23.5)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 23.5) (float-vector 10.0 42.0 23.5) (float-vector -10.0 42.0 23.5) (float-vector -10.0 0.0 23.5) (float-vector -7.07107 -7.07107 23.5) (float-vector 8.881784e-16 -10.0 23.5) (float-vector 7.07107 -7.07107 23.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -23.5) (float-vector 8.881784e-16 -10.0 -23.5) (float-vector -7.07107 -7.07107 -23.5) (float-vector -10.0 0.0 -23.5) (float-vector -10.0 42.0 -23.5) (float-vector 10.0 42.0 -23.5) (float-vector 10.0 0.0 -23.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 23.5) (float-vector 7.07107 -7.07107 22.0) (float-vector 10.0 0.0 22.0) (float-vector 10.0 0.0 23.5)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -23.5) (float-vector 10.0 0.0 -22.0) (float-vector 7.07107 -7.07107 -22.0) (float-vector 7.07107 -7.07107 -23.5)))
         (instance face :init :vertices (list (float-vector 10.0 40.5 22.0) (float-vector 10.0 0.0 22.0) (float-vector 7.07107 -7.07107 22.0) (float-vector 8.881784e-16 -10.0 22.0) (float-vector -7.07107 -7.07107 22.0) (float-vector -10.0 0.0 22.0) (float-vector -10.0 40.5 22.0)))
         (instance face :init :vertices (list (float-vector 10.0 40.5 -22.0) (float-vector 10.0 40.5 22.0) (float-vector -10.0 40.5 22.0) (float-vector -10.0 40.5 -22.0)))
         (instance face :init :vertices (list (float-vector -10.0 40.5 -22.0) (float-vector -10.0 0.0 -22.0) (float-vector -7.07107 -7.07107 -22.0) (float-vector 8.881784e-16 -10.0 -22.0) (float-vector 7.07107 -7.07107 -22.0) (float-vector 10.0 0.0 -22.0) (float-vector 10.0 40.5 -22.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 15.0 44.5 -26.0) (float-vector -65.0 44.5 -26.0) (float-vector -65.0 44.5 26.0) (float-vector 15.0 44.5 26.0)))
         (instance face :init :vertices (list (float-vector -65.0 42.0 -26.0) (float-vector 15.0 42.0 -26.0) (float-vector 15.0 42.0 26.0) (float-vector -65.0 42.0 26.0)))
         (instance face :init :vertices (list (float-vector 15.0 44.5 -26.0) (float-vector 15.0 42.0 -26.0) (float-vector -65.0 42.0 -26.0) (float-vector -65.0 44.5 -26.0)))
         (instance face :init :vertices (list (float-vector 15.0 44.5 26.0) (float-vector 15.0 42.0 26.0) (float-vector 15.0 42.0 -26.0) (float-vector 15.0 44.5 -26.0)))
         (instance face :init :vertices (list (float-vector -65.0 44.5 26.0) (float-vector -65.0 42.0 26.0) (float-vector 15.0 42.0 26.0) (float-vector 15.0 44.5 26.0)))
         (instance face :init :vertices (list (float-vector -65.0 44.5 -26.0) (float-vector -65.0 42.0 -26.0) (float-vector -65.0 42.0 26.0) (float-vector -65.0 44.5 26.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -3.5 63.25 1.0) (float-vector -4.5 63.25 1.0) (float-vector -4.5 63.25 -1.0) (float-vector -3.5 63.25 -1.0)))
         (instance face :init :vertices (list (float-vector -3.5 61.25 1.0) (float-vector -4.5 61.25 1.0) (float-vector -4.5 63.25 1.0) (float-vector -3.5 63.25 1.0)))
         (instance face :init :vertices (list (float-vector -3.5 61.25 -1.0) (float-vector -4.5 61.25 -1.0) (float-vector -4.5 61.25 1.0) (float-vector -3.5 61.25 1.0)))
         (instance face :init :vertices (list (float-vector -4.5 61.25 -1.0) (float-vector -4.5 63.25 -1.0) (float-vector -4.5 63.25 1.0) (float-vector -4.5 61.25 1.0)))
         (instance face :init :vertices (list (float-vector -4.5 63.25 -1.0) (float-vector -4.5 61.25 -1.0) (float-vector -3.5 61.25 -1.0) (float-vector -3.5 63.25 -1.0)))
         (instance face :init :vertices (list (float-vector -4.5 79.75 -17.5) (float-vector -4.5 79.75 17.5) (float-vector -4.5 44.75 17.5) (float-vector -4.5 44.75 -17.5)))
         (instance face :init :vertices (list (float-vector -4.5 79.75 -17.5) (float-vector -56.5 79.75 -17.5) (float-vector -56.5 79.75 17.5) (float-vector -4.5 79.75 17.5)))
         (instance face :init :vertices (list (float-vector -56.5 79.75 -17.5) (float-vector -56.5 44.75 -17.5) (float-vector -56.5 44.75 17.5) (float-vector -56.5 79.75 17.5)))
         (instance face :init :vertices (list (float-vector -56.5 44.75 17.5) (float-vector -4.5 44.75 17.5) (float-vector -4.5 79.75 17.5) (float-vector -56.5 79.75 17.5)))
         (instance face :init :vertices (list (float-vector -56.5 44.75 -17.5) (float-vector -4.5 44.75 -17.5) (float-vector -4.5 44.75 17.5) (float-vector -56.5 44.75 17.5)))
         (instance face :init :vertices (list (float-vector -4.5 44.75 -17.5) (float-vector -56.5 44.75 -17.5) (float-vector -56.5 79.75 -17.5) (float-vector -4.5 79.75 -17.5)))
         (instance face :init :vertices (list (float-vector 23.0 62.25 -15.0) (float-vector -3.5 62.25 -15.0) (float-vector -3.5 69.75 -12.9904) (float-vector 23.0 69.75 -12.9904)))
         (instance face :init :vertices (list (float-vector -3.5 69.75 -12.9904) (float-vector -3.5 75.2404 -7.5) (float-vector 23.0 75.2404 -7.5) (float-vector 23.0 69.75 -12.9904)))
         (instance face :init :vertices (list (float-vector -3.5 75.2404 -7.5) (float-vector -3.5 77.25 -3.552714e-15) (float-vector 23.0 77.25 -7.993606e-15) (float-vector 23.0 75.2404 -7.5)))
         (instance face :init :vertices (list (float-vector -3.5 77.25 -3.552714e-15) (float-vector -3.5 75.2404 7.5) (float-vector 23.0 75.2404 7.5) (float-vector 23.0 77.25 -7.993606e-15)))
         (instance face :init :vertices (list (float-vector -3.5 75.2404 7.5) (float-vector -3.5 69.75 12.9904) (float-vector 23.0 69.75 12.9904) (float-vector 23.0 75.2404 7.5)))
         (instance face :init :vertices (list (float-vector -3.5 69.75 12.9904) (float-vector -3.5 62.25 15.0) (float-vector 23.0 62.25 15.0) (float-vector 23.0 69.75 12.9904)))
         (instance face :init :vertices (list (float-vector -3.5 62.25 15.0) (float-vector -3.5 54.75 12.9904) (float-vector 23.0 54.75 12.9904) (float-vector 23.0 62.25 15.0)))
         (instance face :init :vertices (list (float-vector -3.5 54.75 12.9904) (float-vector -3.5 49.2596 7.5) (float-vector 23.0 49.2596 7.5) (float-vector 23.0 54.75 12.9904)))
         (instance face :init :vertices (list (float-vector -3.5 49.2596 7.5) (float-vector -3.5 47.25 1.820766e-14) (float-vector 23.0 47.25 1.376677e-14) (float-vector 23.0 49.2596 7.5)))
         (instance face :init :vertices (list (float-vector -3.5 47.25 1.820766e-14) (float-vector -3.5 49.2596 -7.5) (float-vector 23.0 49.2596 -7.5) (float-vector 23.0 47.25 1.376677e-14)))
         (instance face :init :vertices (list (float-vector -3.5 49.2596 -7.5) (float-vector -3.5 54.75 -12.9904) (float-vector 23.0 54.75 -12.9904) (float-vector 23.0 49.2596 -7.5)))
         (instance face :init :vertices (list (float-vector 23.0 54.75 -12.9904) (float-vector 23.0 62.25 -15.0) (float-vector 23.0 69.75 -12.9904) (float-vector 23.0 75.2404 -7.5) (float-vector 23.0 77.25 -7.993606e-15) (float-vector 23.0 75.2404 7.5) (float-vector 23.0 69.75 12.9904) (float-vector 23.0 62.25 15.0) (float-vector 23.0 54.75 12.9904) (float-vector 23.0 49.2596 7.5) (float-vector 23.0 47.25 1.376677e-14) (float-vector 23.0 49.2596 -7.5)))
         (instance face :init :vertices (list (float-vector -3.5 54.75 -12.9904) (float-vector -3.5 62.25 -15.0) (float-vector 23.0 62.25 -15.0) (float-vector 23.0 54.75 -12.9904)))
         (instance face :init :vertices (list (float-vector -3.5 63.25 -1.0) (float-vector -3.5 61.25 -1.0) (float-vector -3.5 61.25 1.0) (float-vector -3.5 63.25 1.0)))
         (instance face :init :vertices (list (float-vector -3.5 62.25 -15.0) (float-vector -3.5 54.75 -12.9904) (float-vector -3.5 49.2596 -7.5) (float-vector -3.5 47.25 1.820766e-14) (float-vector -3.5 49.2596 7.5) (float-vector -3.5 54.75 12.9904) (float-vector -3.5 62.25 15.0) (float-vector -3.5 69.75 12.9904) (float-vector -3.5 75.2404 7.5) (float-vector -3.5 77.25 -3.552714e-15) (float-vector -3.5 75.2404 -7.5) (float-vector -3.5 69.75 -12.9904)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 13.0 21.25 34.0) (float-vector 57.0 21.25 78.0) (float-vector 57.0 103.25 78.0) (float-vector 13.0 103.25 34.0)))
         (instance face :init :vertices (list (float-vector 77.0 21.25 78.0) (float-vector 77.0 23.25 78.0) (float-vector 65.0 23.25 78.0) (float-vector 65.0 101.25 78.0) (float-vector 77.0 101.25 78.0) (float-vector 77.0 103.25 78.0) (float-vector 57.0 103.25 78.0) (float-vector 57.0 21.25 78.0)))
         (instance face :init :vertices (list (float-vector 77.0 103.25 -78.0) (float-vector 77.0 103.25 78.0) (float-vector 77.0 101.25 78.0) (float-vector 77.0 101.25 -78.0)))
         (instance face :init :vertices (list (float-vector 77.0 21.25 -78.0) (float-vector 77.0 23.25 -78.0) (float-vector 77.0 23.25 78.0) (float-vector 77.0 21.25 78.0)))
         (instance face :init :vertices (list (float-vector 57.0 21.25 -78.0) (float-vector 57.0 103.25 -78.0) (float-vector 77.0 103.25 -78.0) (float-vector 77.0 101.25 -78.0) (float-vector 65.0 101.25 -78.0) (float-vector 65.0 23.25 -78.0) (float-vector 77.0 23.25 -78.0) (float-vector 77.0 21.25 -78.0)))
         (instance face :init :vertices (list (float-vector 13.0 21.25 -34.0) (float-vector 13.0 103.25 -34.0) (float-vector 57.0 103.25 -78.0) (float-vector 57.0 21.25 -78.0)))
         (instance face :init :vertices (list (float-vector 13.0 103.25 34.0) (float-vector 57.0 103.25 78.0) (float-vector 77.0 103.25 78.0) (float-vector 77.0 103.25 -78.0) (float-vector 57.0 103.25 -78.0) (float-vector 13.0 103.25 -34.0)))
         (instance face :init :vertices (list (float-vector 13.0 21.25 -34.0) (float-vector 57.0 21.25 -78.0) (float-vector 77.0 21.25 -78.0) (float-vector 77.0 21.25 78.0) (float-vector 57.0 21.25 78.0) (float-vector 13.0 21.25 34.0)))
         (instance face :init :vertices (list (float-vector 13.0 21.25 34.0) (float-vector 13.0 103.25 34.0) (float-vector 13.0 103.25 -34.0) (float-vector 13.0 21.25 -34.0)))
         (instance face :init :vertices (list (float-vector 21.0 23.25 34.0) (float-vector 65.0 23.25 78.0) (float-vector 77.0 23.25 78.0) (float-vector 77.0 23.25 -78.0) (float-vector 65.0 23.25 -78.0) (float-vector 21.0 23.25 -34.0) (float-vector 21.0 23.25 -20.0) (float-vector 37.0 23.25 -20.0) (float-vector 37.0 23.25 20.0) (float-vector 21.0 23.25 20.0)))
         (instance face :init :vertices (list (float-vector 69.0 101.25 20.0) (float-vector 21.0 101.25 20.0) (float-vector 21.0 23.25 20.0) (float-vector 37.0 23.25 20.0) (float-vector 37.0 37.25 20.0) (float-vector 69.0 37.25 20.0)))
         (instance face :init :vertices (list (float-vector 69.0 37.25 -20.0) (float-vector 69.0 101.25 -20.0) (float-vector 69.0 101.25 20.0) (float-vector 69.0 37.25 20.0)))
         (instance face :init :vertices (list (float-vector 21.0 101.25 34.0) (float-vector 21.0 23.25 34.0) (float-vector 21.0 23.25 20.0) (float-vector 21.0 101.25 20.0)))
         (instance face :init :vertices (list (float-vector 65.0 101.25 78.0) (float-vector 65.0 23.25 78.0) (float-vector 21.0 23.25 34.0) (float-vector 21.0 101.25 34.0)))
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         (instance face :init :vertices (list (float-vector 21.4563 102.25 40.4563) (float-vector 21.4563 102.25 -40.4563) (float-vector 14.0 98.7731 -33.0) (float-vector 14.0 98.7731 33.0)))
         (instance face :init :vertices (list (float-vector 119.372 147.909 45.0) (float-vector 130.3 153.005 2.797762e-14) (float-vector 119.372 147.909 -45.0) (float-vector 89.516 133.987 -77.9423) (float-vector 48.7321 114.969 -90.0) (float-vector 13.1793 98.3903 -79.4888) (float-vector 23.2886 103.104 -76.5754) (float-vector 27.6838 105.154 -75.3087) (float-vector 66.243 123.134 -18.7691) (float-vector 66.243 123.134 -13.591) (float-vector 66.243 123.134 13.591) (float-vector 66.243 123.134 18.7691) (float-vector 27.6838 105.154 75.3087) (float-vector 23.2886 103.104 76.5754) (float-vector 13.1793 98.3903 79.4888) (float-vector 48.7321 114.969 90.0) (float-vector 89.516 133.987 77.9423)))
         (instance face :init :vertices (list (float-vector 120.64 145.19 45.0) (float-vector 131.568 150.286 2.731149e-14) (float-vector 130.3 153.005 2.797762e-14) (float-vector 119.372 147.909 45.0)))
         (instance face :init :vertices (list (float-vector 28.5549 102.25 -47.5549) (float-vector 28.5549 102.25 47.5549) (float-vector 14.0 95.4629 33.0) (float-vector 14.0 95.4629 -33.0)))
         (instance face :init :vertices (list (float-vector 131.568 150.286 2.731149e-14) (float-vector 120.64 145.19 45.0) (float-vector 90.7839 131.268 77.9423) (float-vector 50.0 112.25 90.0) (float-vector 17.3253 97.0135 80.3397) (float-vector 24.3618 100.295 78.3119) (float-vector 28.7571 102.344 77.0452) (float-vector 67.8851 120.59 19.6714) (float-vector 67.8851 120.59 -19.6714) (float-vector 28.7571 102.344 -77.0452) (float-vector 24.3618 100.295 -78.3119) (float-vector 17.3253 97.0135 -80.3397) (float-vector 50.0 112.25 -90.0) (float-vector 90.7839 131.268 -77.9423) (float-vector 120.64 145.19 -45.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 51.5 65.75 14.0) (float-vector 51.5 36.75 14.0) (float-vector 51.5 36.75 -14.0) (float-vector 51.5 65.75 -14.0)))
         (instance face :init :vertices (list (float-vector 51.5 36.75 -14.0) (float-vector 38.5 36.75 -14.0) (float-vector 38.5 65.75 -14.0) (float-vector 51.5 65.75 -14.0)))
         (instance face :init :vertices (list (float-vector 38.5 36.75 -14.0) (float-vector 38.5 36.75 14.0) (float-vector 38.5 65.75 14.0) (float-vector 38.5 65.75 -14.0)))
         (instance face :init :vertices (list (float-vector 38.5 65.75 14.0) (float-vector 51.5 65.75 14.0) (float-vector 51.5 65.75 -14.0) (float-vector 38.5 65.75 -14.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 49.7631 65.75 9.75) (float-vector 47.75 65.75 11.7631) (float-vector 45.0 65.75 12.5) (float-vector 42.25 65.75 11.7631) (float-vector 40.2369 65.75 9.75) (float-vector 39.5 65.75 7.0) (float-vector 40.2369 65.75 4.25) (float-vector 42.25 65.75 2.23686) (float-vector 45.0 65.75 1.5) (float-vector 47.75 65.75 2.23686) (float-vector 49.7631 65.75 4.25) (float-vector 50.5 65.75 7.0)))
))
         (instance face :init :vertices (list (float-vector 38.5 36.75 14.0) (float-vector 51.5 36.75 14.0) (float-vector 51.5 65.75 14.0) (float-vector 38.5 65.75 14.0)))
         (instance face :init :vertices (list (float-vector 51.5 36.75 14.0) (float-vector 38.5 36.75 14.0) (float-vector 38.5 36.75 -14.0) (float-vector 51.5 36.75 -14.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 47.75 36.75 11.7631) (float-vector 49.7631 36.75 9.75) (float-vector 50.5 36.75 7.0) (float-vector 49.7631 36.75 4.25) (float-vector 47.75 36.75 2.23686) (float-vector 45.0 36.75 1.5) (float-vector 42.25 36.75 2.23686) (float-vector 40.2369 36.75 4.25) (float-vector 39.5 36.75 7.0) (float-vector 40.2369 36.75 9.75) (float-vector 42.25 36.75 11.7631) (float-vector 45.0 36.75 12.5)))
))
         (instance face :init :vertices (list (float-vector 50.5 67.75 7.0) (float-vector 50.5 65.75 7.0) (float-vector 49.7631 65.75 4.25) (float-vector 49.7631 67.75 4.25)))
         (instance face :init :vertices (list (float-vector 50.5 36.75 7.0) (float-vector 50.5 34.75 7.0) (float-vector 49.7631 34.75 4.25) (float-vector 49.7631 36.75 4.25)))
         (instance face :init :vertices (list (float-vector 47.75 65.75 2.23686) (float-vector 47.75 67.75 2.23686) (float-vector 49.7631 67.75 4.25) (float-vector 49.7631 65.75 4.25)))
         (instance face :init :vertices (list (float-vector 49.7631 34.75 4.25) (float-vector 47.75 34.75 2.23686) (float-vector 47.75 36.75 2.23686) (float-vector 49.7631 36.75 4.25)))
         (instance face :init :vertices (list (float-vector 45.0 65.75 1.5) (float-vector 45.0 67.75 1.5) (float-vector 47.75 67.75 2.23686) (float-vector 47.75 65.75 2.23686)))
         (instance face :init :vertices (list (float-vector 47.75 34.75 2.23686) (float-vector 45.0 34.75 1.5) (float-vector 45.0 36.75 1.5) (float-vector 47.75 36.75 2.23686)))
         (instance face :init :vertices (list (float-vector 42.25 65.75 2.23686) (float-vector 42.25 67.75 2.23686) (float-vector 45.0 67.75 1.5) (float-vector 45.0 65.75 1.5)))
         (instance face :init :vertices (list (float-vector 45.0 34.75 1.5) (float-vector 42.25 34.75 2.23686) (float-vector 42.25 36.75 2.23686) (float-vector 45.0 36.75 1.5)))
         (instance face :init :vertices (list (float-vector 40.2369 65.75 4.25) (float-vector 40.2369 67.75 4.25) (float-vector 42.25 67.75 2.23686) (float-vector 42.25 65.75 2.23686)))
         (instance face :init :vertices (list (float-vector 42.25 34.75 2.23686) (float-vector 40.2369 34.75 4.25) (float-vector 40.2369 36.75 4.25) (float-vector 42.25 36.75 2.23686)))
         (instance face :init :vertices (list (float-vector 39.5 65.75 7.0) (float-vector 39.5 67.75 7.0) (float-vector 40.2369 67.75 4.25) (float-vector 40.2369 65.75 4.25)))
         (instance face :init :vertices (list (float-vector 40.2369 34.75 4.25) (float-vector 39.5 34.75 7.0) (float-vector 39.5 36.75 7.0) (float-vector 40.2369 36.75 4.25)))
         (instance face :init :vertices (list (float-vector 40.2369 65.75 9.75) (float-vector 40.2369 67.75 9.75) (float-vector 39.5 67.75 7.0) (float-vector 39.5 65.75 7.0)))
         (instance face :init :vertices (list (float-vector 39.5 34.75 7.0) (float-vector 40.2369 34.75 9.75) (float-vector 40.2369 36.75 9.75) (float-vector 39.5 36.75 7.0)))
         (instance face :init :vertices (list (float-vector 42.25 65.75 11.7631) (float-vector 42.25 67.75 11.7631) (float-vector 40.2369 67.75 9.75) (float-vector 40.2369 65.75 9.75)))
         (instance face :init :vertices (list (float-vector 40.2369 34.75 9.75) (float-vector 42.25 34.75 11.7631) (float-vector 42.25 36.75 11.7631) (float-vector 40.2369 36.75 9.75)))
         (instance face :init :vertices (list (float-vector 45.0 65.75 12.5) (float-vector 45.0 67.75 12.5) (float-vector 42.25 67.75 11.7631) (float-vector 42.25 65.75 11.7631)))
         (instance face :init :vertices (list (float-vector 42.25 34.75 11.7631) (float-vector 45.0 34.75 12.5) (float-vector 45.0 36.75 12.5) (float-vector 42.25 36.75 11.7631)))
         (instance face :init :vertices (list (float-vector 47.75 65.75 11.7631) (float-vector 47.75 67.75 11.7631) (float-vector 45.0 67.75 12.5) (float-vector 45.0 65.75 12.5)))
         (instance face :init :vertices (list (float-vector 45.0 34.75 12.5) (float-vector 47.75 34.75 11.7631) (float-vector 47.75 36.75 11.7631) (float-vector 45.0 36.75 12.5)))
         (instance face :init :vertices (list (float-vector 49.7631 65.75 9.75) (float-vector 49.7631 67.75 9.75) (float-vector 47.75 67.75 11.7631) (float-vector 47.75 65.75 11.7631)))
         (instance face :init :vertices (list (float-vector 47.75 34.75 11.7631) (float-vector 49.7631 34.75 9.75) (float-vector 49.7631 36.75 9.75) (float-vector 47.75 36.75 11.7631)))
         (instance face :init :vertices (list (float-vector 49.7631 67.75 9.75) (float-vector 50.5 67.75 7.0) (float-vector 49.7631 67.75 4.25) (float-vector 47.75 67.75 2.23686) (float-vector 45.0 67.75 1.5) (float-vector 42.25 67.75 2.23686) (float-vector 40.2369 67.75 4.25) (float-vector 39.5 67.75 7.0) (float-vector 40.2369 67.75 9.75) (float-vector 42.25 67.75 11.7631) (float-vector 45.0 67.75 12.5) (float-vector 47.75 67.75 11.7631)))
         (instance face :init :vertices (list (float-vector 50.5 67.75 7.0) (float-vector 49.7631 67.75 9.75) (float-vector 49.7631 65.75 9.75) (float-vector 50.5 65.75 7.0)))
         (instance face :init :vertices (list (float-vector 49.7631 34.75 9.75) (float-vector 50.5 34.75 7.0) (float-vector 50.5 36.75 7.0) (float-vector 49.7631 36.75 9.75)))
         (instance face :init :vertices (list (float-vector 50.5 34.75 7.0) (float-vector 49.7631 34.75 9.75) (float-vector 47.75 34.75 11.7631) (float-vector 45.0 34.75 12.5) (float-vector 42.25 34.75 11.7631) (float-vector 40.2369 34.75 9.75) (float-vector 39.5 34.75 7.0) (float-vector 40.2369 34.75 4.25) (float-vector 42.25 34.75 2.23686) (float-vector 45.0 34.75 1.5) (float-vector 47.75 34.75 2.23686) (float-vector 49.7631 34.75 4.25)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color (list))
     (send (elt bc 2) :set-color :gray40)
     (send (elt bc 3) :set-color :gray90)
     (send (elt bc 4) :set-color :white)
     (send (elt bc 5) :set-color :gray40)
     (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-neck-p :weight 752.0 :centroid (float-vector 0.818991 40.3027 0.006808) :inertia-tensor #2f((2.311443e+05 1.685611e+05 -279.259) (1.685611e+05 5.561982e+05 -74.4522) (-279.259 -74.4522 7.431255e+05))))

     ;; definition of :head-necklink4
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -12.0 5.0 1.5) (float-vector -12.0 -5.0 1.5) (float-vector 28.0 -5.0 1.5) (float-vector 28.0 -1.5 1.5) (float-vector 5.0 -1.5 1.5) (float-vector 5.0 1.5 1.5) (float-vector 28.0 1.5 1.5) (float-vector 28.0 5.0 1.5)))
         (instance face :init :vertices (list (float-vector -12.0 -5.0 0.0) (float-vector -12.0 5.0 0.0) (float-vector 28.0 5.0 0.0) (float-vector 28.0 1.5 0.0) (float-vector 5.0 1.5 0.0) (float-vector 5.0 -1.5 0.0) (float-vector 28.0 -1.5 0.0) (float-vector 28.0 -5.0 0.0)))
         (instance face :init :vertices (list (float-vector -12.0 5.0 1.5) (float-vector -12.0 5.0 0.0) (float-vector -12.0 -5.0 0.0) (float-vector -12.0 -5.0 1.5)))
         (instance face :init :vertices (list (float-vector 28.0 5.0 1.5) (float-vector 28.0 5.0 0.0) (float-vector -12.0 5.0 0.0) (float-vector -12.0 5.0 1.5)))
         (instance face :init :vertices (list (float-vector 28.0 1.5 1.5) (float-vector 28.0 1.5 0.0) (float-vector 28.0 5.0 0.0) (float-vector 28.0 5.0 1.5)))
         (instance face :init :vertices (list (float-vector 5.0 1.5 1.5) (float-vector 5.0 1.5 0.0) (float-vector 28.0 1.5 0.0) (float-vector 28.0 1.5 1.5)))
         (instance face :init :vertices (list (float-vector 5.0 -1.5 1.5) (float-vector 5.0 -1.5 0.0) (float-vector 5.0 1.5 0.0) (float-vector 5.0 1.5 1.5)))
         (instance face :init :vertices (list (float-vector 28.0 -1.5 1.5) (float-vector 28.0 -1.5 0.0) (float-vector 5.0 -1.5 0.0) (float-vector 5.0 -1.5 1.5)))
         (instance face :init :vertices (list (float-vector 28.0 -5.0 1.5) (float-vector 28.0 -5.0 0.0) (float-vector 28.0 -1.5 0.0) (float-vector 28.0 -1.5 1.5)))
         (instance face :init :vertices (list (float-vector -12.0 -5.0 1.5) (float-vector -12.0 -5.0 0.0) (float-vector 28.0 -5.0 0.0) (float-vector 28.0 -5.0 1.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color (list))
     (setq blink36 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-necklink4 :weight 22 :centroid (float-vector 6.2281 -3.869592e-17 0.75) :inertia-tensor #2f((0.0 0.0 0.0) (0.0 0.0 0.0) (0.0 0.0 0.0))))

     ;; definition of assoc
     (send blink30 :newcoords (make-coords :pos (float-vector 10.6 58.0 -11.0) :rot #2f((5.551115e-17 -5.551115e-17 -1.0) (-1.0 5.551115e-17 -5.551115e-17) (5.551115e-17 1.0 -5.551115e-17))))
     (send blink29 :assoc blink30)
     (send blink29 :newcoords (make-coords :pos (float-vector 0.0 87.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink28 :assoc blink29)
     (send blink28 :newcoords (make-coords :pos (float-vector 0.0 87.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink27 :assoc blink28)
     (send blink27 :newcoords (make-coords :pos (float-vector 11.0 51.5 7.8) :rot #2f((-2.220446e-16 9.813078e-17 1.0) (-2.551400e-16 1.0 -9.813078e-17) (-1.0 -2.551400e-16 -2.220446e-16))))
     (send blink26 :assoc blink27)
     (send blink26 :newcoords (make-coords :pos (float-vector 0.0 7.8 -49.2) :rot #2f((-1.0 -7.850462e-17 -2.355139e-16) (2.355139e-16 -2.220446e-16 -1.0) (7.850462e-17 -1.0 2.220446e-16))))
     (send blink25 :assoc blink26)
     (send blink31 :newcoords (make-coords :pos (float-vector 10.6 58.0 11.0) :rot #2f((-2.220446e-16 0.0 1.0) (-1.0 0.0 -2.220446e-16) (0.0 -1.0 0.0))))
     (send blink32 :assoc blink31)
     (send blink32 :newcoords (make-coords :pos (float-vector -1.421085e-14 87.0 1.421085e-14) :rot #2f((1.0 3.697785e-32 5.551115e-17) (-1.232595e-32 1.0 -4.440892e-16) (-5.551115e-17 4.440892e-16 1.0))))
     (send blink8 :assoc blink32)
     (send blink8 :newcoords (make-coords :pos (float-vector 0.0 87.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink35 :assoc blink8)
     (send blink35 :newcoords (make-coords :pos (float-vector 11.0 51.5 -7.8) :rot #2f((-2.220446e-16 -2.551400e-16 -1.0) (-5.887847e-17 1.0 -2.551400e-16) (1.0 5.887847e-17 -2.220446e-16))))
     (send blink34 :assoc blink35)
     (send blink34 :newcoords (make-coords :pos (float-vector -7.105427e-15 7.8 49.2) :rot #2f((-1.0 -1.397370e-16 -7.850462e-17) (-7.850462e-17 -2.220446e-16 1.0) (-1.397370e-16 1.0 2.220446e-16))))
     (send blink33 :assoc blink34)
     (send blink24 :newcoords (make-coords :pos (float-vector 0.0 33.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink23 :assoc blink24)
     (send blink16 :newcoords (make-coords :pos (float-vector 2.842171e-14 33.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink15 :assoc blink16)
     (send blink15 :newcoords (make-coords :pos (float-vector -4.0 32.0 -11.5) :rot #2f((-3.330669e-16 -3.925231e-16 -1.0) (7.850462e-17 1.0 -3.925231e-16) (1.0 -7.850462e-17 -3.330669e-16))))
     (send blink14 :assoc blink15)
     (send blink23 :newcoords (make-coords :pos (float-vector -4.0 67.8 4.3) :rot #2f((-3.330669e-16 -3.925231e-16 -1.0) (7.850462e-17 1.0 -3.925231e-16) (1.0 -7.850462e-17 -3.330669e-16))))
     (send blink14 :assoc blink23)
     (send blink14 :newcoords (make-coords :pos (float-vector 0.0 0.0 -66.5) :rot #2f((-1.0 1.570092e-16 -1.232595e-32) (-1.232595e-32 -2.220446e-16 -1.0) (-1.570092e-16 -1.0 2.220446e-16))))
     (send blink13 :assoc blink14)
     (send blink13 :newcoords (make-coords :pos (float-vector 0.0 53.5 0.0) :rot #2f((-1.0 -1.742815e-16 -2.967462e-16) (2.967462e-16 -2.220446e-16 -1.0) (1.742815e-16 -1.0 2.220446e-16))))
     (send blink12 :assoc blink13)
     (send blink12 :newcoords (make-coords :pos (float-vector 0.0 2.842171e-14 -73.35) :rot #2f((-1.0 1.570092e-16 -1.570092e-16) (1.570092e-16 -2.220446e-16 -1.0) (-1.570092e-16 -1.0 2.220446e-16))))
     (send blink11 :assoc blink12)
     (send blink11 :newcoords (make-coords :pos (float-vector 0.0 61.65 0.0) :rot #2f((-1.0 1.397370e-16 -1.397370e-16) (1.397370e-16 -2.220446e-16 -1.0) (-1.397370e-16 -1.0 2.220446e-16))))
     (send blink10 :assoc blink11)
     (send blink10 :newcoords (make-coords :pos (float-vector 1.776357e-15 64.0 16.0) :rot #2f((1.0 -2.465190e-32 1.570092e-16) (-1.570092e-16 -2.220446e-16 1.0) (0.0 -1.0 -2.220446e-16))))
     (send blink9 :assoc blink10)
     (send blink7 :newcoords (make-coords :pos (float-vector 0.0 33.0 0.0) :rot #2f((1.0 -2.220446e-16 -1.110223e-16) (2.220446e-16 1.0 -2.220446e-16) (1.110223e-16 2.220446e-16 1.0))))
     (send blink6 :assoc blink7)
     (send blink5 :newcoords (make-coords :pos (float-vector 0.0 33.0 -5.684342e-14) :rot #2f((1.0 -2.220446e-16 -1.110223e-16) (2.220446e-16 1.0 -2.220446e-16) (1.110223e-16 2.220446e-16 1.0))))
     (send blink4 :assoc blink5)
     (send blink4 :newcoords (make-coords :pos (float-vector -4.0 32.0 11.5) :rot #2f((2.220446e-16 -2.355139e-16 1.0) (7.850462e-17 1.0 2.355139e-16) (-1.0 7.850462e-17 2.220446e-16))))
     (send blink22 :assoc blink4)
     (send blink6 :newcoords (make-coords :pos (float-vector -4.0 67.8 -4.3) :rot #2f((2.220446e-16 -2.355139e-16 1.0) (7.850462e-17 1.0 2.355139e-16) (-1.0 7.850462e-17 2.220446e-16))))
     (send blink22 :assoc blink6)
     (send blink22 :newcoords (make-coords :pos (float-vector 0.0 0.0 66.5) :rot #2f((-1.0 -9.577691e-17 -6.162976e-33) (6.162976e-33 -2.220446e-16 1.0) (-9.577691e-17 1.0 2.220446e-16))))
     (send blink21 :assoc blink22)
     (send blink21 :newcoords (make-coords :pos (float-vector 5.684342e-14 53.5 0.0) :rot #2f((-1.0 1.263931e-16 3.061617e-17) (3.061617e-17 -2.220446e-16 1.0) (1.263931e-16 1.0 2.220446e-16))))
     (send blink20 :assoc blink21)
     (send blink20 :newcoords (make-coords :pos (float-vector 2.842171e-14 0.0 73.35) :rot #2f((-1.0 -6.123234e-17 -1.570092e-16) (-1.570092e-16 -2.220446e-16 1.0) (-6.123234e-17 1.0 2.220446e-16))))
     (send blink19 :assoc blink20)
     (send blink19 :newcoords (make-coords :pos (float-vector 0.0 61.65 0.0) :rot #2f((-1.0 -2.834023e-16 -3.061617e-17) (-3.061617e-17 2.220446e-16 1.0) (-2.834023e-16 1.0 -2.220446e-16))))
     (send blink18 :assoc blink19)
     (send blink18 :newcoords (make-coords :pos (float-vector 8.881784e-16 64.0 -16.0) :rot #2f((1.0 -6.123234e-17 6.162976e-33) (-6.162976e-33 -2.220446e-16 -1.0) (6.123234e-17 1.0 -2.220446e-16))))
     (send blink17 :assoc blink18)
     (send blink36 :newcoords (make-coords :pos (float-vector 60.0 47.5 3.774758e-15) :rot #2f((1.110223e-16 -1.0 -1.110223e-16) (1.110223e-16 -1.110223e-16 1.0) (-1.0 -1.110223e-16 1.110223e-16))))
     (send blink3 :assoc blink36)
     (send blink3 :newcoords (make-coords :pos (float-vector 1.0 39.6 -2.0) :rot #2f((2.220446e-16 -1.373831e-16 -1.0) (1.962616e-17 1.0 -1.373831e-16) (1.0 -1.962616e-17 2.220446e-16))))
     (send blink2 :assoc blink3)
     (send blink2 :newcoords (make-coords :pos (float-vector 5.916457e-31 -1.15 70.25) :rot #2f((1.0 0.0 0.0) (0.0 -2.220446e-16 -1.0) (0.0 1.0 -2.220446e-16))))
     (send blink1 :assoc blink2)
     (send blink1 :newcoords (make-coords :pos (float-vector -5.8 -3.551476e-16 69.25) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink1)
     (send blink17 :newcoords (make-coords :pos (float-vector 7.6 85.0 93.9) :rot #2f((-1.0 1.509494e-48 2.465190e-32) (-1.509494e-48 1.0 -1.224647e-16) (-2.465190e-32 -1.224647e-16 -1.0))))
     (send blink0 :assoc blink17)
     (send blink9 :newcoords (make-coords :pos (float-vector 7.6 -85.0 93.9) :rot #2f((-1.0 4.440892e-16 0.0) (-4.440892e-16 -1.0 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink9)
     (send blink33 :newcoords (make-coords :pos (float-vector 7.6 35.0 -26.0) :rot #2f((2.220446e-16 -1.0 2.465190e-32) (-1.0 -2.220446e-16 -1.224647e-16) (1.224647e-16 0.0 -1.0))))
     (send blink0 :assoc blink33)
     (send blink25 :newcoords (make-coords :pos (float-vector 7.6 -35.0 -26.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink25)
     (send self :assoc blink0)

     ;; definition of end-coords

     ;; definition of head-end-coords
     (setq head-end-coords
       (make-cascoords
	:coords (send (send blink36 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((-1.0 0.0 0.0) (0.0 -1.0 9.244464e-33) (0.0 9.244464e-33 1.0))))))
     (send blink36 :assoc head-end-coords)

     ;; definition of larm-end-coords
     (setq larm-end-coords
       (make-cascoords
	:coords (send (send blink22 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 0.0 67.5 31.5) :rot #2f((5.551115e-17 5.551115e-17 -1.0) (1.0 -2.220446e-16 5.551115e-17) (-2.220446e-16 -1.0 -1.110223e-16))))))
     (send blink22 :assoc larm-end-coords)

     ;; definition of rarm-end-coords
     (setq rarm-end-coords
       (make-cascoords
	:coords (send (send blink14 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 5.684342e-14 67.5 -31.5) :rot #2f((0.0 0.0 -1.0) (1.0 0.0 0.0) (0.0 -1.0 0.0))))))
     (send blink14 :assoc rarm-end-coords)

     ;; definition of lleg-end-coords
     (setq lleg-end-coords
       (make-cascoords
	:coords (send (send blink31 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -25.0 -7.105427e-15 -10.6) :rot #2f((0.0 0.0 1.0) (-1.0 -2.220446e-16 0.0) (2.220446e-16 -1.0 0.0))))))
     (send blink31 :assoc lleg-end-coords)

     ;; definition of rleg-end-coords
     (setq rleg-end-coords
       (make-cascoords
	:coords (send (send blink30 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -25.0 0.0 10.6) :rot #2f((0.0 0.0 1.0) (1.0 0.0 0.0) (0.0 1.0 0.0))))))
     (send blink30 :assoc rleg-end-coords)

     ;; definition of joint

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

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

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

     ;; definition of :head-stviewer
     (setq joint35 (instance rotational-joint :init
			     :parent-link blink3 :child-link blink36 :name :head-stviewer :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-collar-y
     (setq joint16 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink17 :name :larm-collar-y :axis :-z
			     :min  -80.0 :max   80.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-shoulder-p
     (setq joint17 (instance rotational-joint :init
			     :parent-link blink17 :child-link blink18 :name :larm-shoulder-p :axis :-z
			     :min -120.0 :max   30.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-elbow-y
     (setq joint18 (instance rotational-joint :init
			     :parent-link blink18 :child-link blink19 :name :larm-elbow-y :axis :-z
			     :min  -30.0 :max   80.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-elbow-p
     (setq joint19 (instance rotational-joint :init
			     :parent-link blink19 :child-link blink20 :name :larm-elbow-p :axis :-z
			     :min -110.0 :max   10.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-wrist-y
     (setq joint20 (instance rotational-joint :init
			     :parent-link blink20 :child-link blink21 :name :larm-wrist-y :axis :-z
			     :min -110.0 :max   10.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-wrist-p
     (setq joint21 (instance rotational-joint :init
			     :parent-link blink21 :child-link blink22 :name :larm-wrist-p :axis :-z
			     :min  -80.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-thumb1
     (setq joint3 (instance rotational-joint :init
			     :parent-link blink22 :child-link blink4 :name :larm-thumb1 :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-thumb2
     (setq joint4 (instance rotational-joint :init
			     :parent-link blink4 :child-link blink5 :name :larm-thumb2 :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-finger1
     (setq joint5 (instance rotational-joint :init
			     :parent-link blink22 :child-link blink6 :name :larm-finger1 :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-finger2
     (setq joint6 (instance rotational-joint :init
			     :parent-link blink6 :child-link blink7 :name :larm-finger2 :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-collar-y
     (setq joint8 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink9 :name :rarm-collar-y :axis :-z
			     :min  -80.0 :max   80.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-shoulder-p
     (setq joint9 (instance rotational-joint :init
			     :parent-link blink9 :child-link blink10 :name :rarm-shoulder-p :axis :-z
			     :min -120.0 :max   30.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-elbow-y
     (setq joint10 (instance rotational-joint :init
			     :parent-link blink10 :child-link blink11 :name :rarm-elbow-y :axis :-z
			     :min  -30.0 :max   80.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-elbow-p
     (setq joint11 (instance rotational-joint :init
			     :parent-link blink11 :child-link blink12 :name :rarm-elbow-p :axis :-z
			     :min -110.0 :max   10.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-wrist-y
     (setq joint12 (instance rotational-joint :init
			     :parent-link blink12 :child-link blink13 :name :rarm-wrist-y :axis :-z
			     :min -110.0 :max   10.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-wrist-p
     (setq joint13 (instance rotational-joint :init
			     :parent-link blink13 :child-link blink14 :name :rarm-wrist-p :axis :-z
			     :min  -80.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-thumb1
     (setq joint14 (instance rotational-joint :init
			     :parent-link blink14 :child-link blink15 :name :rarm-thumb1 :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-thumb2
     (setq joint15 (instance rotational-joint :init
			     :parent-link blink15 :child-link blink16 :name :rarm-thumb2 :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-finger1
     (setq joint22 (instance rotational-joint :init
			     :parent-link blink14 :child-link blink23 :name :rarm-finger1 :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-finger2
     (setq joint23 (instance rotational-joint :init
			     :parent-link blink23 :child-link blink24 :name :rarm-finger2 :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-crotch-y
     (setq joint32 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink33 :name :lleg-crotch-y :axis :-z
			     :min  -20.0 :max   45.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-crotch-r
     (setq joint33 (instance rotational-joint :init
			     :parent-link blink33 :child-link blink34 :name :lleg-crotch-r :axis :-z
			     :min  -30.0 :max   30.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-crotch-p
     (setq joint34 (instance rotational-joint :init
			     :parent-link blink34 :child-link blink35 :name :lleg-crotch-p :axis :-z
			     :min -115.0 :max   20.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-knee-p
     (setq joint7 (instance rotational-joint :init
			     :parent-link blink35 :child-link blink8 :name :lleg-knee-p :axis :-z
			     :min   -1.0 :max  120.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-ankle-p
     (setq joint31 (instance rotational-joint :init
			     :parent-link blink8 :child-link blink32 :name :lleg-ankle-p :axis :-z
			     :min  -80.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-ankle-r
     (setq joint30 (instance rotational-joint :init
			     :parent-link blink32 :child-link blink31 :name :lleg-ankle-r :axis :-z
			     :min  -30.0 :max   45.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-crotch-y
     (setq joint24 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink25 :name :rleg-crotch-y :axis :-z
			     :min  -20.0 :max   45.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-crotch-r
     (setq joint25 (instance rotational-joint :init
			     :parent-link blink25 :child-link blink26 :name :rleg-crotch-r :axis :-z
			     :min  -30.0 :max   30.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-crotch-p
     (setq joint26 (instance rotational-joint :init
			     :parent-link blink26 :child-link blink27 :name :rleg-crotch-p :axis :-z
			     :min -115.0 :max   20.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-knee-p
     (setq joint27 (instance rotational-joint :init
			     :parent-link blink27 :child-link blink28 :name :rleg-knee-p :axis :-z
			     :min   -1.0 :max  120.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-ankle-p
     (setq joint28 (instance rotational-joint :init
			     :parent-link blink28 :child-link blink29 :name :rleg-ankle-p :axis :-z
			     :min  -80.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-ankle-r
     (setq joint29 (instance rotational-joint :init
			     :parent-link blink29 :child-link blink30 :name :rleg-ankle-r :axis :-z
			     :min  -30.0 :max   45.0 :max-joint-velocity 5 :max-joint-torque 100))

     (setq head-root-link blink1)
     (setq head (list blink1 blink2 blink3 blink36))
     (setq larm-root-link blink17)
     (setq larm (list blink17 blink18 blink19 blink20 blink21 blink22 blink4 blink5 blink6 blink7))
     (setq rarm-root-link blink9)
     (setq rarm (list blink9 blink10 blink11 blink12 blink13 blink14 blink15 blink16 blink23 blink24))
     (setq lleg-root-link blink33)
     (setq lleg (list blink33 blink34 blink35 blink8 blink32 blink31))
     (setq rleg-root-link blink25)
     (setq rleg (list blink25 blink26 blink27 blink28 blink29 blink30))

     ;; 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 blink20 blink21 blink22 blink23 blink24 blink25 blink26 blink27 blink28 blink29 blink30 blink31 blink32 blink33 blink34 blink35 blink36))
     (setq joint-list (list joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12 joint13 joint14 joint15 joint16 joint17 joint18 joint19 joint20 joint21 joint22 joint23 joint24 joint25 joint26 joint27 joint28 joint29 joint30 joint31 joint32 joint33 joint34 joint35))
     ;; 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))

  (:reset-pose () (send self :angle-vector (float-vector 0.0 0.0 0.0 0.0 0.0 0.0 0.0 60.0 0.0 20.0 0.0 -90.0 0.0 -20.0 0.0 0.0 0.0 20.0 0.0 -90.0 0.0 -20.0 0.0 0.0 0.0 0.0 -30.0 60.0 -30.0 0.0 0.0 -30.0 0.0 0.0 -30.0 0.0)))
  (:head-neck-y (&rest args) (forward-message-to joint0 args))
  (:head-neck-r (&rest args) (forward-message-to joint1 args))
  (:head-neck-p (&rest args) (forward-message-to joint2 args))
  (:head-stviewer (&rest args) (forward-message-to joint35 args))
  (:larm-collar-y (&rest args) (forward-message-to joint16 args))
  (:larm-shoulder-p (&rest args) (forward-message-to joint17 args))
  (:larm-elbow-y (&rest args) (forward-message-to joint18 args))
  (:larm-elbow-p (&rest args) (forward-message-to joint19 args))
  (:larm-wrist-y (&rest args) (forward-message-to joint20 args))
  (:larm-wrist-p (&rest args) (forward-message-to joint21 args))
  (:larm-thumb1 (&rest args) (forward-message-to joint3 args))
  (:larm-thumb2 (&rest args) (forward-message-to joint4 args))
  (:larm-finger1 (&rest args) (forward-message-to joint5 args))
  (:larm-finger2 (&rest args) (forward-message-to joint6 args))
  (:rarm-collar-y (&rest args) (forward-message-to joint8 args))
  (:rarm-shoulder-p (&rest args) (forward-message-to joint9 args))
  (:rarm-elbow-y (&rest args) (forward-message-to joint10 args))
  (:rarm-elbow-p (&rest args) (forward-message-to joint11 args))
  (:rarm-wrist-y (&rest args) (forward-message-to joint12 args))
  (:rarm-wrist-p (&rest args) (forward-message-to joint13 args))
  (:rarm-thumb1 (&rest args) (forward-message-to joint14 args))
  (:rarm-thumb2 (&rest args) (forward-message-to joint15 args))
  (:rarm-finger1 (&rest args) (forward-message-to joint22 args))
  (:rarm-finger2 (&rest args) (forward-message-to joint23 args))
  (:lleg-crotch-y (&rest args) (forward-message-to joint32 args))
  (:lleg-crotch-r (&rest args) (forward-message-to joint33 args))
  (:lleg-crotch-p (&rest args) (forward-message-to joint34 args))
  (:lleg-knee-p (&rest args) (forward-message-to joint7 args))
  (:lleg-ankle-p (&rest args) (forward-message-to joint31 args))
  (:lleg-ankle-r (&rest args) (forward-message-to joint30 args))
  (:rleg-crotch-y (&rest args) (forward-message-to joint24 args))
  (:rleg-crotch-r (&rest args) (forward-message-to joint25 args))
  (:rleg-crotch-p (&rest args) (forward-message-to joint26 args))
  (:rleg-knee-p (&rest args) (forward-message-to joint27 args))
  (:rleg-ankle-p (&rest args) (forward-message-to joint28 args))
  (:rleg-ankle-r (&rest args) (forward-message-to joint29 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 igoid3 (&rest args) (instance* igoid3-robot :init args))
;; (format *error-output* "(instance igoid3-robot :init) for generating model~%")