File: ikuo-haru-robot.l

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euslisp 9.31%2Bdfsg-3
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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version 
;;
;;
(defclass ikuo-haru-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 ))
(defmethod ikuo-haru-robot
  (:init
   (&rest args &key (name "ikuo-haru") (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
                 )
     (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 -10.0 -65.0 -1.0) (float-vector -10.0 -65.0 -41.0) (float-vector 30.0 -65.0 -41.0) (float-vector 30.0 -65.0 -1.0)))
         (instance face :init :vertices (list (float-vector 30.0 -65.0 -41.0) (float-vector 30.0 -45.0 -41.0) (float-vector 30.0 -45.0 -1.0) (float-vector 30.0 -65.0 -1.0)))
         (instance face :init :vertices (list (float-vector 30.0 -45.0 -41.0) (float-vector -10.0 -45.0 -41.0) (float-vector -10.0 -45.0 -1.0) (float-vector 30.0 -45.0 -1.0)))
         (instance face :init :vertices (list (float-vector -10.0 -45.0 -1.0) (float-vector -10.0 -65.0 -1.0) (float-vector 30.0 -65.0 -1.0) (float-vector 30.0 -45.0 -1.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 -62.7942 -1.0) (float-vector -7.79423 -59.5 -1.0) (float-vector -9.0 -55.0 -1.0) (float-vector -7.79423 -50.5 -1.0) (float-vector -4.5 -47.2058 -1.0) (float-vector 1.998401e-14 -46.0 -1.0) (float-vector 4.5 -47.2058 -1.0) (float-vector 7.79423 -50.5 -1.0) (float-vector 9.0 -55.0 -1.0) (float-vector 7.79423 -59.5 -1.0) (float-vector 4.5 -62.7942 -1.0) (float-vector 1.421085e-14 -64.0 -1.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -45.0 -41.0) (float-vector -10.0 -65.0 -41.0) (float-vector -10.0 -65.0 -1.0) (float-vector -10.0 -45.0 -1.0)))
         (instance face :init :vertices (list (float-vector -10.0 -65.0 -41.0) (float-vector -10.0 -45.0 -41.0) (float-vector 30.0 -45.0 -41.0) (float-vector 30.0 -65.0 -41.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 -59.5 -41.0) (float-vector -4.5 -62.7942 -41.0) (float-vector 1.421085e-14 -64.0 -41.0) (float-vector 4.5 -62.7942 -41.0) (float-vector 7.79423 -59.5 -41.0) (float-vector 9.0 -55.0 -41.0) (float-vector 7.79423 -50.5 -41.0) (float-vector 4.5 -47.2058 -41.0) (float-vector 1.998401e-14 -46.0 -41.0) (float-vector -4.5 -47.2058 -41.0) (float-vector -7.79423 -50.5 -41.0) (float-vector -9.0 -55.0 -41.0)))
))
         (instance face :init :vertices (list (float-vector 1.421085e-14 -64.0 1.0) (float-vector 1.421085e-14 -64.0 -1.0) (float-vector 4.5 -62.7942 -1.0) (float-vector 4.5 -62.7942 1.0)))
         (instance face :init :vertices (list (float-vector 1.421085e-14 -64.0 -41.0) (float-vector 1.421085e-14 -64.0 -43.0) (float-vector 4.5 -62.7942 -43.0) (float-vector 4.5 -62.7942 -41.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -59.5 -1.0) (float-vector 7.79423 -59.5 1.0) (float-vector 4.5 -62.7942 1.0) (float-vector 4.5 -62.7942 -1.0)))
         (instance face :init :vertices (list (float-vector 4.5 -62.7942 -43.0) (float-vector 7.79423 -59.5 -43.0) (float-vector 7.79423 -59.5 -41.0) (float-vector 4.5 -62.7942 -41.0)))
         (instance face :init :vertices (list (float-vector 9.0 -55.0 -1.0) (float-vector 9.0 -55.0 1.0) (float-vector 7.79423 -59.5 1.0) (float-vector 7.79423 -59.5 -1.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -59.5 -43.0) (float-vector 9.0 -55.0 -43.0) (float-vector 9.0 -55.0 -41.0) (float-vector 7.79423 -59.5 -41.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -50.5 -1.0) (float-vector 7.79423 -50.5 1.0) (float-vector 9.0 -55.0 1.0) (float-vector 9.0 -55.0 -1.0)))
         (instance face :init :vertices (list (float-vector 9.0 -55.0 -43.0) (float-vector 7.79423 -50.5 -43.0) (float-vector 7.79423 -50.5 -41.0) (float-vector 9.0 -55.0 -41.0)))
         (instance face :init :vertices (list (float-vector 4.5 -47.2058 -1.0) (float-vector 4.5 -47.2058 1.0) (float-vector 7.79423 -50.5 1.0) (float-vector 7.79423 -50.5 -1.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -50.5 -43.0) (float-vector 4.5 -47.2058 -43.0) (float-vector 4.5 -47.2058 -41.0) (float-vector 7.79423 -50.5 -41.0)))
         (instance face :init :vertices (list (float-vector 1.998401e-14 -46.0 -1.0) (float-vector 1.998401e-14 -46.0 1.0) (float-vector 4.5 -47.2058 1.0) (float-vector 4.5 -47.2058 -1.0)))
         (instance face :init :vertices (list (float-vector 4.5 -47.2058 -43.0) (float-vector 1.998401e-14 -46.0 -43.0) (float-vector 1.998401e-14 -46.0 -41.0) (float-vector 4.5 -47.2058 -41.0)))
         (instance face :init :vertices (list (float-vector -4.5 -47.2058 -1.0) (float-vector -4.5 -47.2058 1.0) (float-vector 1.998401e-14 -46.0 1.0) (float-vector 1.998401e-14 -46.0 -1.0)))
         (instance face :init :vertices (list (float-vector 1.998401e-14 -46.0 -43.0) (float-vector -4.5 -47.2058 -43.0) (float-vector -4.5 -47.2058 -41.0) (float-vector 1.998401e-14 -46.0 -41.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -50.5 -1.0) (float-vector -7.79423 -50.5 1.0) (float-vector -4.5 -47.2058 1.0) (float-vector -4.5 -47.2058 -1.0)))
         (instance face :init :vertices (list (float-vector -4.5 -47.2058 -43.0) (float-vector -7.79423 -50.5 -43.0) (float-vector -7.79423 -50.5 -41.0) (float-vector -4.5 -47.2058 -41.0)))
         (instance face :init :vertices (list (float-vector -9.0 -55.0 -1.0) (float-vector -9.0 -55.0 1.0) (float-vector -7.79423 -50.5 1.0) (float-vector -7.79423 -50.5 -1.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -50.5 -43.0) (float-vector -9.0 -55.0 -43.0) (float-vector -9.0 -55.0 -41.0) (float-vector -7.79423 -50.5 -41.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -59.5 -1.0) (float-vector -7.79423 -59.5 1.0) (float-vector -9.0 -55.0 1.0) (float-vector -9.0 -55.0 -1.0)))
         (instance face :init :vertices (list (float-vector -9.0 -55.0 -43.0) (float-vector -7.79423 -59.5 -43.0) (float-vector -7.79423 -59.5 -41.0) (float-vector -9.0 -55.0 -41.0)))
         (instance face :init :vertices (list (float-vector -4.5 -62.7942 -1.0) (float-vector -4.5 -62.7942 1.0) (float-vector -7.79423 -59.5 1.0) (float-vector -7.79423 -59.5 -1.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -59.5 -43.0) (float-vector -4.5 -62.7942 -43.0) (float-vector -4.5 -62.7942 -41.0) (float-vector -7.79423 -59.5 -41.0)))
         (instance face :init :vertices (list (float-vector -4.5 -62.7942 1.0) (float-vector 1.421085e-14 -64.0 1.0) (float-vector 4.5 -62.7942 1.0) (float-vector 7.79423 -59.5 1.0) (float-vector 9.0 -55.0 1.0) (float-vector 7.79423 -50.5 1.0) (float-vector 4.5 -47.2058 1.0) (float-vector 1.998401e-14 -46.0 1.0) (float-vector -4.5 -47.2058 1.0) (float-vector -7.79423 -50.5 1.0) (float-vector -9.0 -55.0 1.0) (float-vector -7.79423 -59.5 1.0)))
         (instance face :init :vertices (list (float-vector 1.421085e-14 -64.0 1.0) (float-vector -4.5 -62.7942 1.0) (float-vector -4.5 -62.7942 -1.0) (float-vector 1.421085e-14 -64.0 -1.0)))
         (instance face :init :vertices (list (float-vector -4.5 -62.7942 -43.0) (float-vector 1.421085e-14 -64.0 -43.0) (float-vector 1.421085e-14 -64.0 -41.0) (float-vector -4.5 -62.7942 -41.0)))
         (instance face :init :vertices (list (float-vector 1.421085e-14 -64.0 -43.0) (float-vector -4.5 -62.7942 -43.0) (float-vector -7.79423 -59.5 -43.0) (float-vector -9.0 -55.0 -43.0) (float-vector -7.79423 -50.5 -43.0) (float-vector -4.5 -47.2058 -43.0) (float-vector 1.998401e-14 -46.0 -43.0) (float-vector 4.5 -47.2058 -43.0) (float-vector 7.79423 -50.5 -43.0) (float-vector 9.0 -55.0 -43.0) (float-vector 7.79423 -59.5 -43.0) (float-vector 4.5 -62.7942 -43.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -14.0 -124.9 8.1) (float-vector -14.0 -75.1 8.1) (float-vector 45.0 -75.1 8.1) (float-vector 45.0 -124.9 8.1)))
         (instance face :init :vertices (list (float-vector 45.0 -75.1 8.1) (float-vector 45.0 -75.1 36.9) (float-vector 45.0 -124.9 36.9) (float-vector 45.0 -124.9 8.1)))
         (instance face :init :vertices (list (float-vector 45.0 -75.1 36.9) (float-vector -14.0 -75.1 36.9) (float-vector -14.0 -124.9 36.9) (float-vector 45.0 -124.9 36.9)))
         (instance face :init :vertices (list (float-vector -14.0 -124.9 36.9) (float-vector -14.0 -124.9 8.1) (float-vector 45.0 -124.9 8.1) (float-vector 45.0 -124.9 36.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -6.7 -124.9 10.8953) (float-vector -11.6047 -124.9 15.8) (float-vector -13.4 -124.9 22.5) (float-vector -11.6047 -124.9 29.2) (float-vector -6.7 -124.9 34.1047) (float-vector 4.283240e-14 -124.9 35.9) (float-vector 6.7 -124.9 34.1047) (float-vector 11.6047 -124.9 29.2) (float-vector 13.4 -124.9 22.5) (float-vector 11.6047 -124.9 15.8) (float-vector 6.7 -124.9 10.8953) (float-vector 2.773337e-14 -124.9 9.1)))
))
         (instance face :init :vertices (list (float-vector -14.0 -75.1 36.9) (float-vector -14.0 -75.1 8.1) (float-vector -14.0 -124.9 8.1) (float-vector -14.0 -124.9 36.9)))
         (instance face :init :vertices (list (float-vector -14.0 -75.1 8.1) (float-vector -14.0 -75.1 36.9) (float-vector 45.0 -75.1 36.9) (float-vector 45.0 -75.1 8.1))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -11.6047 -75.1 15.8) (float-vector -6.7 -75.1 10.8953) (float-vector 1.667555e-14 -75.1 9.1) (float-vector 6.7 -75.1 10.8953) (float-vector 11.6047 -75.1 15.8) (float-vector 13.4 -75.1 22.5) (float-vector 11.6047 -75.1 29.2) (float-vector 6.7 -75.1 34.1047) (float-vector 3.177458e-14 -75.1 35.9) (float-vector -6.7 -75.1 34.1047) (float-vector -11.6047 -75.1 29.2) (float-vector -13.4 -75.1 22.5)))
))
         (instance face :init :vertices (list (float-vector 2.817746e-14 -126.9 9.1) (float-vector 2.773337e-14 -124.9 9.1) (float-vector 6.7 -124.9 10.8953) (float-vector 6.7 -126.9 10.8953)))
         (instance face :init :vertices (list (float-vector 1.667555e-14 -75.1 9.1) (float-vector 1.623146e-14 -73.1 9.1) (float-vector 6.7 -73.1 10.8953) (float-vector 6.7 -75.1 10.8953)))
         (instance face :init :vertices (list (float-vector 11.6047 -124.9 15.8) (float-vector 11.6047 -126.9 15.8) (float-vector 6.7 -126.9 10.8953) (float-vector 6.7 -124.9 10.8953)))
         (instance face :init :vertices (list (float-vector 6.7 -73.1 10.8953) (float-vector 11.6047 -73.1 15.8) (float-vector 11.6047 -75.1 15.8) (float-vector 6.7 -75.1 10.8953)))
         (instance face :init :vertices (list (float-vector 13.4 -124.9 22.5) (float-vector 13.4 -126.9 22.5) (float-vector 11.6047 -126.9 15.8) (float-vector 11.6047 -124.9 15.8)))
         (instance face :init :vertices (list (float-vector 11.6047 -73.1 15.8) (float-vector 13.4 -73.1 22.5) (float-vector 13.4 -75.1 22.5) (float-vector 11.6047 -75.1 15.8)))
         (instance face :init :vertices (list (float-vector 11.6047 -124.9 29.2) (float-vector 11.6047 -126.9 29.2) (float-vector 13.4 -126.9 22.5) (float-vector 13.4 -124.9 22.5)))
         (instance face :init :vertices (list (float-vector 13.4 -73.1 22.5) (float-vector 11.6047 -73.1 29.2) (float-vector 11.6047 -75.1 29.2) (float-vector 13.4 -75.1 22.5)))
         (instance face :init :vertices (list (float-vector 6.7 -124.9 34.1047) (float-vector 6.7 -126.9 34.1047) (float-vector 11.6047 -126.9 29.2) (float-vector 11.6047 -124.9 29.2)))
         (instance face :init :vertices (list (float-vector 11.6047 -73.1 29.2) (float-vector 6.7 -73.1 34.1047) (float-vector 6.7 -75.1 34.1047) (float-vector 11.6047 -75.1 29.2)))
         (instance face :init :vertices (list (float-vector 4.283240e-14 -124.9 35.9) (float-vector 4.327649e-14 -126.9 35.9) (float-vector 6.7 -126.9 34.1047) (float-vector 6.7 -124.9 34.1047)))
         (instance face :init :vertices (list (float-vector 6.7 -73.1 34.1047) (float-vector 3.133049e-14 -73.1 35.9) (float-vector 3.177458e-14 -75.1 35.9) (float-vector 6.7 -75.1 34.1047)))
         (instance face :init :vertices (list (float-vector -6.7 -124.9 34.1047) (float-vector -6.7 -126.9 34.1047) (float-vector 4.327649e-14 -126.9 35.9) (float-vector 4.283240e-14 -124.9 35.9)))
         (instance face :init :vertices (list (float-vector 3.133049e-14 -73.1 35.9) (float-vector -6.7 -73.1 34.1047) (float-vector -6.7 -75.1 34.1047) (float-vector 3.177458e-14 -75.1 35.9)))
         (instance face :init :vertices (list (float-vector -11.6047 -124.9 29.2) (float-vector -11.6047 -126.9 29.2) (float-vector -6.7 -126.9 34.1047) (float-vector -6.7 -124.9 34.1047)))
         (instance face :init :vertices (list (float-vector -6.7 -73.1 34.1047) (float-vector -11.6047 -73.1 29.2) (float-vector -11.6047 -75.1 29.2) (float-vector -6.7 -75.1 34.1047)))
         (instance face :init :vertices (list (float-vector -13.4 -124.9 22.5) (float-vector -13.4 -126.9 22.5) (float-vector -11.6047 -126.9 29.2) (float-vector -11.6047 -124.9 29.2)))
         (instance face :init :vertices (list (float-vector -11.6047 -73.1 29.2) (float-vector -13.4 -73.1 22.5) (float-vector -13.4 -75.1 22.5) (float-vector -11.6047 -75.1 29.2)))
         (instance face :init :vertices (list (float-vector -11.6047 -124.9 15.8) (float-vector -11.6047 -126.9 15.8) (float-vector -13.4 -126.9 22.5) (float-vector -13.4 -124.9 22.5)))
         (instance face :init :vertices (list (float-vector -13.4 -73.1 22.5) (float-vector -11.6047 -73.1 15.8) (float-vector -11.6047 -75.1 15.8) (float-vector -13.4 -75.1 22.5)))
         (instance face :init :vertices (list (float-vector -6.7 -124.9 10.8953) (float-vector -6.7 -126.9 10.8953) (float-vector -11.6047 -126.9 15.8) (float-vector -11.6047 -124.9 15.8)))
         (instance face :init :vertices (list (float-vector -11.6047 -73.1 15.8) (float-vector -6.7 -73.1 10.8953) (float-vector -6.7 -75.1 10.8953) (float-vector -11.6047 -75.1 15.8)))
         (instance face :init :vertices (list (float-vector -6.7 -126.9 10.8953) (float-vector 2.817746e-14 -126.9 9.1) (float-vector 6.7 -126.9 10.8953) (float-vector 11.6047 -126.9 15.8) (float-vector 13.4 -126.9 22.5) (float-vector 11.6047 -126.9 29.2) (float-vector 6.7 -126.9 34.1047) (float-vector 4.327649e-14 -126.9 35.9) (float-vector -6.7 -126.9 34.1047) (float-vector -11.6047 -126.9 29.2) (float-vector -13.4 -126.9 22.5) (float-vector -11.6047 -126.9 15.8)))
         (instance face :init :vertices (list (float-vector 2.817746e-14 -126.9 9.1) (float-vector -6.7 -126.9 10.8953) (float-vector -6.7 -124.9 10.8953) (float-vector 2.773337e-14 -124.9 9.1)))
         (instance face :init :vertices (list (float-vector -6.7 -73.1 10.8953) (float-vector 1.623146e-14 -73.1 9.1) (float-vector 1.667555e-14 -75.1 9.1) (float-vector -6.7 -75.1 10.8953)))
         (instance face :init :vertices (list (float-vector 1.623146e-14 -73.1 9.1) (float-vector -6.7 -73.1 10.8953) (float-vector -11.6047 -73.1 15.8) (float-vector -13.4 -73.1 22.5) (float-vector -11.6047 -73.1 29.2) (float-vector -6.7 -73.1 34.1047) (float-vector 3.133049e-14 -73.1 35.9) (float-vector 6.7 -73.1 34.1047) (float-vector 11.6047 -73.1 29.2) (float-vector 13.4 -73.1 22.5) (float-vector 11.6047 -73.1 15.8) (float-vector 6.7 -73.1 10.8953)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 65.0 -41.0) (float-vector -10.0 65.0 -1.0) (float-vector 30.0 65.0 -1.0) (float-vector 30.0 65.0 -41.0)))
         (instance face :init :vertices (list (float-vector 30.0 65.0 -1.0) (float-vector 30.0 45.0 -1.0) (float-vector 30.0 45.0 -41.0) (float-vector 30.0 65.0 -41.0)))
         (instance face :init :vertices (list (float-vector 30.0 45.0 -1.0) (float-vector -10.0 45.0 -1.0) (float-vector -10.0 45.0 -41.0) (float-vector 30.0 45.0 -41.0)))
         (instance face :init :vertices (list (float-vector -10.0 45.0 -41.0) (float-vector -10.0 65.0 -41.0) (float-vector 30.0 65.0 -41.0) (float-vector 30.0 45.0 -41.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 62.7942 -41.0) (float-vector -7.79423 59.5 -41.0) (float-vector -9.0 55.0 -41.0) (float-vector -7.79423 50.5 -41.0) (float-vector -4.5 47.2058 -41.0) (float-vector -4.440892e-16 46.0 -41.0) (float-vector 4.5 47.2058 -41.0) (float-vector 7.79423 50.5 -41.0) (float-vector 9.0 55.0 -41.0) (float-vector 7.79423 59.5 -41.0) (float-vector 4.5 62.7942 -41.0) (float-vector -1.421085e-14 64.0 -41.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 45.0 -1.0) (float-vector -10.0 65.0 -1.0) (float-vector -10.0 65.0 -41.0) (float-vector -10.0 45.0 -41.0)))
         (instance face :init :vertices (list (float-vector -10.0 65.0 -1.0) (float-vector -10.0 45.0 -1.0) (float-vector 30.0 45.0 -1.0) (float-vector 30.0 65.0 -1.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 59.5 -1.0) (float-vector -4.5 62.7942 -1.0) (float-vector -1.421085e-14 64.0 -1.0) (float-vector 4.5 62.7942 -1.0) (float-vector 7.79423 59.5 -1.0) (float-vector 9.0 55.0 -1.0) (float-vector 7.79423 50.5 -1.0) (float-vector 4.5 47.2058 -1.0) (float-vector -4.440892e-16 46.0 -1.0) (float-vector -4.5 47.2058 -1.0) (float-vector -7.79423 50.5 -1.0) (float-vector -9.0 55.0 -1.0)))
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         (instance face :init :vertices (list (float-vector -30.0 60.0 40.0) (float-vector -30.0 60.0 -40.0) (float-vector -70.0 60.0 -40.0) (float-vector -70.0 60.0 40.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -80.0 -50.0 -40.0) (float-vector 0.0 -50.0 -40.0) (float-vector 0.0 -50.0 43.0) (float-vector -80.0 -50.0 43.0) (float-vector -80.0 -50.0 42.0) (float-vector -1.0 -50.0 42.0) (float-vector -1.0 -50.0 -39.0) (float-vector -80.0 -50.0 -39.0)))
         (instance face :init :vertices (list (float-vector 0.0 -30.0 -40.0) (float-vector -80.0 -30.0 -40.0) (float-vector -80.0 -30.0 -39.0) (float-vector -1.0 -30.0 -39.0) (float-vector -1.0 -30.0 42.0) (float-vector -80.0 -30.0 42.0) (float-vector -80.0 -30.0 43.0) (float-vector 0.0 -30.0 43.0)))
         (instance face :init :vertices (list (float-vector -80.0 -50.0 -40.0) (float-vector -80.0 -30.0 -40.0) (float-vector 0.0 -30.0 -40.0) (float-vector 0.0 -50.0 -40.0)))
         (instance face :init :vertices (list (float-vector -80.0 -50.0 -39.0) (float-vector -80.0 -30.0 -39.0) (float-vector -80.0 -30.0 -40.0) (float-vector -80.0 -50.0 -40.0)))
         (instance face :init :vertices (list (float-vector -1.0 -50.0 -39.0) (float-vector -1.0 -30.0 -39.0) (float-vector -80.0 -30.0 -39.0) (float-vector -80.0 -50.0 -39.0)))
         (instance face :init :vertices (list (float-vector -1.0 -50.0 42.0) (float-vector -1.0 -30.0 42.0) (float-vector -1.0 -30.0 -39.0) (float-vector -1.0 -50.0 -39.0)))
         (instance face :init :vertices (list (float-vector -80.0 -50.0 42.0) (float-vector -80.0 -30.0 42.0) (float-vector -1.0 -30.0 42.0) (float-vector -1.0 -50.0 42.0)))
         (instance face :init :vertices (list (float-vector -80.0 -50.0 43.0) (float-vector -80.0 -30.0 43.0) (float-vector -80.0 -30.0 42.0) (float-vector -80.0 -50.0 42.0)))
         (instance face :init :vertices (list (float-vector 0.0 -50.0 43.0) (float-vector 0.0 -30.0 43.0) (float-vector -80.0 -30.0 43.0) (float-vector -80.0 -50.0 43.0)))
         (instance face :init :vertices (list (float-vector 0.0 -50.0 -40.0) (float-vector 0.0 -30.0 -40.0) (float-vector 0.0 -30.0 43.0) (float-vector 0.0 -50.0 43.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -80.0 30.0 -40.0) (float-vector -1.421085e-14 30.0 -40.0) (float-vector -1.421085e-14 30.0 43.0) (float-vector -80.0 30.0 43.0) (float-vector -80.0 30.0 42.0) (float-vector -1.0 30.0 42.0) (float-vector -1.0 30.0 -39.0) (float-vector -80.0 30.0 -39.0)))
         (instance face :init :vertices (list (float-vector -1.421085e-14 50.0 -40.0) (float-vector -80.0 50.0 -40.0) (float-vector -80.0 50.0 -39.0) (float-vector -1.0 50.0 -39.0) (float-vector -1.0 50.0 42.0) (float-vector -80.0 50.0 42.0) (float-vector -80.0 50.0 43.0) (float-vector -1.421085e-14 50.0 43.0)))
         (instance face :init :vertices (list (float-vector -80.0 30.0 -40.0) (float-vector -80.0 50.0 -40.0) (float-vector -1.421085e-14 50.0 -40.0) (float-vector -1.421085e-14 30.0 -40.0)))
         (instance face :init :vertices (list (float-vector -80.0 30.0 -39.0) (float-vector -80.0 50.0 -39.0) (float-vector -80.0 50.0 -40.0) (float-vector -80.0 30.0 -40.0)))
         (instance face :init :vertices (list (float-vector -1.0 30.0 -39.0) (float-vector -1.0 50.0 -39.0) (float-vector -80.0 50.0 -39.0) (float-vector -80.0 30.0 -39.0)))
         (instance face :init :vertices (list (float-vector -1.0 30.0 42.0) (float-vector -1.0 50.0 42.0) (float-vector -1.0 50.0 -39.0) (float-vector -1.0 30.0 -39.0)))
         (instance face :init :vertices (list (float-vector -80.0 30.0 42.0) (float-vector -80.0 50.0 42.0) (float-vector -1.0 50.0 42.0) (float-vector -1.0 30.0 42.0)))
         (instance face :init :vertices (list (float-vector -80.0 30.0 43.0) (float-vector -80.0 50.0 43.0) (float-vector -80.0 50.0 42.0) (float-vector -80.0 30.0 42.0)))
         (instance face :init :vertices (list (float-vector -1.421085e-14 30.0 43.0) (float-vector -1.421085e-14 50.0 43.0) (float-vector -80.0 50.0 43.0) (float-vector -80.0 30.0 43.0)))
         (instance face :init :vertices (list (float-vector -1.421085e-14 30.0 -40.0) (float-vector -1.421085e-14 50.0 -40.0) (float-vector -1.421085e-14 50.0 43.0) (float-vector -1.421085e-14 30.0 43.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -32.0 34.0 40.0) (float-vector -34.2961 34.4567 40.0) (float-vector -36.2426 35.7574 40.0) (float-vector -37.5433 37.7039 40.0) (float-vector -38.0 40.0 40.0) (float-vector -37.5433 42.2961 40.0) (float-vector -36.2426 44.2426 40.0) (float-vector -34.2961 45.5433 40.0) (float-vector -32.0 46.0 40.0) (float-vector -29.7039 45.5433 40.0) (float-vector -27.7574 44.2426 40.0) (float-vector -26.4567 42.2961 40.0) (float-vector -26.0 40.0 40.0) (float-vector -26.4567 37.7039 40.0) (float-vector -27.7574 35.7574 40.0) (float-vector -29.7039 34.4567 40.0)))
         (instance face :init :vertices (list (float-vector -34.2961 34.4567 40.0) (float-vector -32.0 34.0 40.0) (float-vector -32.0 40.0 110.0)))
         (instance face :init :vertices (list (float-vector -32.0 34.0 40.0) (float-vector -29.7039 34.4567 40.0) (float-vector -32.0 40.0 110.0)))
         (instance face :init :vertices (list (float-vector -29.7039 34.4567 40.0) (float-vector -27.7574 35.7574 40.0) (float-vector -32.0 40.0 110.0)))
         (instance face :init :vertices (list (float-vector -27.7574 35.7574 40.0) (float-vector -26.4567 37.7039 40.0) (float-vector -32.0 40.0 110.0)))
         (instance face :init :vertices (list (float-vector -26.4567 37.7039 40.0) (float-vector -26.0 40.0 40.0) (float-vector -32.0 40.0 110.0)))
         (instance face :init :vertices (list (float-vector -26.0 40.0 40.0) (float-vector -26.4567 42.2961 40.0) (float-vector -32.0 40.0 110.0)))
         (instance face :init :vertices (list (float-vector -26.4567 42.2961 40.0) (float-vector -27.7574 44.2426 40.0) (float-vector -32.0 40.0 110.0)))
         (instance face :init :vertices (list (float-vector -27.7574 44.2426 40.0) (float-vector -29.7039 45.5433 40.0) (float-vector -32.0 40.0 110.0)))
         (instance face :init :vertices (list (float-vector -29.7039 45.5433 40.0) (float-vector -32.0 46.0 40.0) (float-vector -32.0 40.0 110.0)))
         (instance face :init :vertices (list (float-vector -32.0 46.0 40.0) (float-vector -34.2961 45.5433 40.0) (float-vector -32.0 40.0 110.0)))
         (instance face :init :vertices (list (float-vector -34.2961 45.5433 40.0) (float-vector -36.2426 44.2426 40.0) (float-vector -32.0 40.0 110.0)))
         (instance face :init :vertices (list (float-vector -36.2426 44.2426 40.0) (float-vector -37.5433 42.2961 40.0) (float-vector -32.0 40.0 110.0)))
         (instance face :init :vertices (list (float-vector -37.5433 42.2961 40.0) (float-vector -38.0 40.0 40.0) (float-vector -32.0 40.0 110.0)))
         (instance face :init :vertices (list (float-vector -38.0 40.0 40.0) (float-vector -37.5433 37.7039 40.0) (float-vector -32.0 40.0 110.0)))
         (instance face :init :vertices (list (float-vector -37.5433 37.7039 40.0) (float-vector -36.2426 35.7574 40.0) (float-vector -32.0 40.0 110.0)))
         (instance face :init :vertices (list (float-vector -36.2426 35.7574 40.0) (float-vector -34.2961 34.4567 40.0) (float-vector -32.0 40.0 110.0)))
       ))
       ))
     (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)
     (send (elt bc 6) :set-color :gray90)
     (send (elt bc 7) :set-color :gray90)
     (send (elt bc 8) :set-color :gray90)
     (send (elt bc 9) :set-color :gray90)
     (send (elt bc 10) :set-color :lightgoldenrod)
     (send (elt bc 11) :set-color :gray90)
     (send (elt bc 12) :set-color :gray90)
     (send (elt bc 13) :set-color :yellow)
     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :weight 886.5 :centroid (float-vector -11.0107 0.225606 1.03666) :inertia-tensor #2f((3.151446e+06 2875.25 -20777.6) (2875.25 7.100111e+05 -2063.3) (-20777.6 -2063.3 3.350513e+06))))

     ;; definition of :rleg-crotch-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 7.105427e-15 -29.0) (float-vector 10.0 25.0 -29.0) (float-vector 10.0 25.0 29.0) (float-vector 10.0 7.105427e-15 29.0) (float-vector 10.0 7.105427e-15 25.0) (float-vector 10.0 21.0 25.0) (float-vector 10.0 21.0 -25.0) (float-vector 10.0 7.105427e-15 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -29.0) (float-vector -10.0 25.0 29.0) (float-vector 10.0 25.0 29.0) (float-vector 10.0 25.0 -29.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -29.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 21.0 -25.0) (float-vector -10.0 21.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 29.0) (float-vector -10.0 25.0 29.0) (float-vector -10.0 25.0 -29.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 29.0) (float-vector -10.0 0.0 29.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -29.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -29.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 29.0) (float-vector -7.07107 -7.07107 29.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -29.0) (float-vector -3.552714e-15 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -29.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 29.0) (float-vector 0.0 -10.0 29.0) (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 -29.0) (float-vector 7.07107 -7.07107 -25.0) (float-vector -3.552714e-15 -10.0 -25.0) (float-vector 0.0 -10.0 -29.0)))
         (instance face :init :vertices (list (float-vector 10.0 7.105427e-15 29.0) (float-vector 10.0 25.0 29.0) (float-vector -10.0 25.0 29.0) (float-vector -10.0 0.0 29.0) (float-vector -7.07107 -7.07107 29.0) (float-vector 0.0 -10.0 29.0) (float-vector 7.07107 -7.07107 29.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -29.0) (float-vector 0.0 -10.0 -29.0) (float-vector -7.07107 -7.07107 -29.0) (float-vector -10.0 0.0 -29.0) (float-vector -10.0 25.0 -29.0) (float-vector 10.0 25.0 -29.0) (float-vector 10.0 7.105427e-15 -29.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 29.0) (float-vector 7.07107 -7.07107 25.0) (float-vector 10.0 7.105427e-15 25.0) (float-vector 10.0 7.105427e-15 29.0)))
         (instance face :init :vertices (list (float-vector 10.0 7.105427e-15 -29.0) (float-vector 10.0 7.105427e-15 -25.0) (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -29.0)))
         (instance face :init :vertices (list (float-vector 10.0 21.0 25.0) (float-vector 10.0 7.105427e-15 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) (float-vector -10.0 0.0 25.0) (float-vector -10.0 21.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 21.0 -25.0) (float-vector 10.0 21.0 25.0) (float-vector -10.0 21.0 25.0) (float-vector -10.0 21.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 21.0 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -3.552714e-15 -10.0 -25.0) (float-vector 7.07107 -7.07107 -25.0) (float-vector 10.0 7.105427e-15 -25.0) (float-vector 10.0 21.0 -25.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -0.325644 -28.564 -34.6) (float-vector 24.5744 14.564 -34.6) (float-vector -26.5211 44.064 -34.6) (float-vector -51.4211 0.935967 -34.6)))
         (instance face :init :vertices (list (float-vector -26.5211 44.064 -34.6) (float-vector -26.5211 44.064 -63.4) (float-vector -51.4211 0.935967 -63.4) (float-vector -51.4211 0.935967 -34.6)))
         (instance face :init :vertices (list (float-vector -26.5211 44.064 -63.4) (float-vector 24.5744 14.564 -63.4) (float-vector -0.325644 -28.564 -63.4) (float-vector -51.4211 0.935967 -63.4)))
         (instance face :init :vertices (list (float-vector -0.325644 -28.564 -63.4) (float-vector -0.325644 -28.564 -34.6) (float-vector -51.4211 0.935967 -34.6) (float-vector -51.4211 0.935967 -63.4))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -6.64763 -24.914 -37.3953) (float-vector -2.4 -27.3664 -42.3) (float-vector -0.84526 -28.264 -49.0) (float-vector -2.4 -27.3664 -55.7) (float-vector -6.64763 -24.914 -60.6047) (float-vector -12.45 -21.564 -62.4) (float-vector -18.2524 -18.214 -60.6047) (float-vector -22.5 -15.7617 -55.7) (float-vector -24.0547 -14.864 -49.0) (float-vector -22.5 -15.7617 -42.3) (float-vector -18.2524 -18.214 -37.3953) (float-vector -12.45 -21.564 -35.6)))
))
         (instance face :init :vertices (list (float-vector 24.5744 14.564 -63.4) (float-vector 24.5744 14.564 -34.6) (float-vector -0.325644 -28.564 -34.6) (float-vector -0.325644 -28.564 -63.4)))
         (instance face :init :vertices (list (float-vector 24.5744 14.564 -34.6) (float-vector 24.5744 14.564 -63.4) (float-vector -26.5211 44.064 -63.4) (float-vector -26.5211 44.064 -34.6))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 22.5 15.7617 -42.3) (float-vector 18.2524 18.214 -37.3953) (float-vector 12.45 21.564 -35.6) (float-vector 6.64763 24.914 -37.3953) (float-vector 2.4 27.3664 -42.3) (float-vector 0.84526 28.264 -49.0) (float-vector 2.4 27.3664 -55.7) (float-vector 6.64763 24.914 -60.6047) (float-vector 12.45 21.564 -62.4) (float-vector 18.2524 18.214 -60.6047) (float-vector 22.5 15.7617 -55.7) (float-vector 24.0547 14.864 -49.0)))
))
         (instance face :init :vertices (list (float-vector -13.45 -23.2961 -35.6) (float-vector -12.45 -21.564 -35.6) (float-vector -18.2524 -18.214 -37.3953) (float-vector -19.2524 -19.9461 -37.3953)))
         (instance face :init :vertices (list (float-vector 12.45 21.564 -35.6) (float-vector 13.45 23.2961 -35.6) (float-vector 7.64763 26.6461 -37.3953) (float-vector 6.64763 24.914 -37.3953)))
         (instance face :init :vertices (list (float-vector -22.5 -15.7617 -42.3) (float-vector -23.5 -17.4937 -42.3) (float-vector -19.2524 -19.9461 -37.3953) (float-vector -18.2524 -18.214 -37.3953)))
         (instance face :init :vertices (list (float-vector 7.64763 26.6461 -37.3953) (float-vector 3.4 29.0985 -42.3) (float-vector 2.4 27.3664 -42.3) (float-vector 6.64763 24.914 -37.3953)))
         (instance face :init :vertices (list (float-vector -24.0547 -14.864 -49.0) (float-vector -25.0547 -16.5961 -49.0) (float-vector -23.5 -17.4937 -42.3) (float-vector -22.5 -15.7617 -42.3)))
         (instance face :init :vertices (list (float-vector 3.4 29.0985 -42.3) (float-vector 1.84526 29.9961 -49.0) (float-vector 0.84526 28.264 -49.0) (float-vector 2.4 27.3664 -42.3)))
         (instance face :init :vertices (list (float-vector -22.5 -15.7617 -55.7) (float-vector -23.5 -17.4937 -55.7) (float-vector -25.0547 -16.5961 -49.0) (float-vector -24.0547 -14.864 -49.0)))
         (instance face :init :vertices (list (float-vector 1.84526 29.9961 -49.0) (float-vector 3.4 29.0985 -55.7) (float-vector 2.4 27.3664 -55.7) (float-vector 0.84526 28.264 -49.0)))
         (instance face :init :vertices (list (float-vector -18.2524 -18.214 -60.6047) (float-vector -19.2524 -19.9461 -60.6047) (float-vector -23.5 -17.4937 -55.7) (float-vector -22.5 -15.7617 -55.7)))
         (instance face :init :vertices (list (float-vector 3.4 29.0985 -55.7) (float-vector 7.64763 26.6461 -60.6047) (float-vector 6.64763 24.914 -60.6047) (float-vector 2.4 27.3664 -55.7)))
         (instance face :init :vertices (list (float-vector -12.45 -21.564 -62.4) (float-vector -13.45 -23.2961 -62.4) (float-vector -19.2524 -19.9461 -60.6047) (float-vector -18.2524 -18.214 -60.6047)))
         (instance face :init :vertices (list (float-vector 7.64763 26.6461 -60.6047) (float-vector 13.45 23.2961 -62.4) (float-vector 12.45 21.564 -62.4) (float-vector 6.64763 24.914 -60.6047)))
         (instance face :init :vertices (list (float-vector -6.64763 -24.914 -60.6047) (float-vector -7.64763 -26.6461 -60.6047) (float-vector -13.45 -23.2961 -62.4) (float-vector -12.45 -21.564 -62.4)))
         (instance face :init :vertices (list (float-vector 13.45 23.2961 -62.4) (float-vector 19.2524 19.9461 -60.6047) (float-vector 18.2524 18.214 -60.6047) (float-vector 12.45 21.564 -62.4)))
         (instance face :init :vertices (list (float-vector -2.4 -27.3664 -55.7) (float-vector -3.4 -29.0985 -55.7) (float-vector -7.64763 -26.6461 -60.6047) (float-vector -6.64763 -24.914 -60.6047)))
         (instance face :init :vertices (list (float-vector 19.2524 19.9461 -60.6047) (float-vector 23.5 17.4937 -55.7) (float-vector 22.5 15.7617 -55.7) (float-vector 18.2524 18.214 -60.6047)))
         (instance face :init :vertices (list (float-vector -0.84526 -28.264 -49.0) (float-vector -1.84526 -29.9961 -49.0) (float-vector -3.4 -29.0985 -55.7) (float-vector -2.4 -27.3664 -55.7)))
         (instance face :init :vertices (list (float-vector 23.5 17.4937 -55.7) (float-vector 25.0547 16.5961 -49.0) (float-vector 24.0547 14.864 -49.0) (float-vector 22.5 15.7617 -55.7)))
         (instance face :init :vertices (list (float-vector -2.4 -27.3664 -42.3) (float-vector -3.4 -29.0985 -42.3) (float-vector -1.84526 -29.9961 -49.0) (float-vector -0.84526 -28.264 -49.0)))
         (instance face :init :vertices (list (float-vector 25.0547 16.5961 -49.0) (float-vector 23.5 17.4937 -42.3) (float-vector 22.5 15.7617 -42.3) (float-vector 24.0547 14.864 -49.0)))
         (instance face :init :vertices (list (float-vector -6.64763 -24.914 -37.3953) (float-vector -7.64763 -26.6461 -37.3953) (float-vector -3.4 -29.0985 -42.3) (float-vector -2.4 -27.3664 -42.3)))
         (instance face :init :vertices (list (float-vector 23.5 17.4937 -42.3) (float-vector 19.2524 19.9461 -37.3953) (float-vector 18.2524 18.214 -37.3953) (float-vector 22.5 15.7617 -42.3)))
         (instance face :init :vertices (list (float-vector -7.64763 -26.6461 -37.3953) (float-vector -13.45 -23.2961 -35.6) (float-vector -19.2524 -19.9461 -37.3953) (float-vector -23.5 -17.4937 -42.3) (float-vector -25.0547 -16.5961 -49.0) (float-vector -23.5 -17.4937 -55.7) (float-vector -19.2524 -19.9461 -60.6047) (float-vector -13.45 -23.2961 -62.4) (float-vector -7.64763 -26.6461 -60.6047) (float-vector -3.4 -29.0985 -55.7) (float-vector -1.84526 -29.9961 -49.0) (float-vector -3.4 -29.0985 -42.3)))
         (instance face :init :vertices (list (float-vector -13.45 -23.2961 -35.6) (float-vector -7.64763 -26.6461 -37.3953) (float-vector -6.64763 -24.914 -37.3953) (float-vector -12.45 -21.564 -35.6)))
         (instance face :init :vertices (list (float-vector 19.2524 19.9461 -37.3953) (float-vector 13.45 23.2961 -35.6) (float-vector 12.45 21.564 -35.6) (float-vector 18.2524 18.214 -37.3953)))
         (instance face :init :vertices (list (float-vector 13.45 23.2961 -35.6) (float-vector 19.2524 19.9461 -37.3953) (float-vector 23.5 17.4937 -42.3) (float-vector 25.0547 16.5961 -49.0) (float-vector 23.5 17.4937 -55.7) (float-vector 19.2524 19.9461 -60.6047) (float-vector 13.45 23.2961 -62.4) (float-vector 7.64763 26.6461 -60.6047) (float-vector 3.4 29.0985 -55.7) (float-vector 1.84526 29.9961 -49.0) (float-vector 3.4 29.0985 -42.3) (float-vector 7.64763 26.6461 -37.3953)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink22 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-crotch-y :weight 131.655 :centroid (float-vector -10.6387 8.96107 -39.8239) :inertia-tensor #2f((96083.0 1898.92 -12852.4) (1898.92 1.009377e+05 -7358.63) (-12852.4 -7358.63 61271.1))))

     ;; definition of :rleg-crotch-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 0.0 -32.0) (float-vector 14.4 34.5 -32.0) (float-vector 14.4 34.5 32.0) (float-vector 14.4 -2.842171e-14 32.0) (float-vector 14.4 -2.842171e-14 30.5) (float-vector 14.4 33.0 30.5) (float-vector 14.4 33.0 -30.5) (float-vector 14.4 0.0 -30.5)))
         (instance face :init :vertices (list (float-vector -14.4 34.5 -32.0) (float-vector -14.4 34.5 32.0) (float-vector 14.4 34.5 32.0) (float-vector 14.4 34.5 -32.0)))
         (instance face :init :vertices (list (float-vector -14.4 0.0 -32.0) (float-vector -14.4 0.0 -30.5) (float-vector -14.4 33.0 -30.5) (float-vector -14.4 33.0 30.5) (float-vector -14.4 -2.842171e-14 30.5) (float-vector -14.4 -2.842171e-14 32.0) (float-vector -14.4 34.5 32.0) (float-vector -14.4 34.5 -32.0)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 32.0) (float-vector -14.4 -2.842171e-14 32.0) (float-vector -14.4 -2.842171e-14 30.5) (float-vector -10.1823 -10.1823 30.5)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 -32.0) (float-vector -10.1823 -10.1823 -30.5) (float-vector -14.4 0.0 -30.5) (float-vector -14.4 0.0 -32.0)))
         (instance face :init :vertices (list (float-vector 0.0 -14.4 32.0) (float-vector -10.1823 -10.1823 32.0) (float-vector -10.1823 -10.1823 30.5) (float-vector 0.0 -14.4 30.5)))
         (instance face :init :vertices (list (float-vector 0.0 -14.4 -32.0) (float-vector 0.0 -14.4 -30.5) (float-vector -10.1823 -10.1823 -30.5) (float-vector -10.1823 -10.1823 -32.0)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 32.0) (float-vector 0.0 -14.4 32.0) (float-vector 0.0 -14.4 30.5) (float-vector 10.1823 -10.1823 30.5)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -32.0) (float-vector 10.1823 -10.1823 -30.5) (float-vector 0.0 -14.4 -30.5) (float-vector 0.0 -14.4 -32.0)))
         (instance face :init :vertices (list (float-vector 14.4 -2.842171e-14 32.0) (float-vector 14.4 34.5 32.0) (float-vector -14.4 34.5 32.0) (float-vector -14.4 -2.842171e-14 32.0) (float-vector -10.1823 -10.1823 32.0) (float-vector 0.0 -14.4 32.0) (float-vector 10.1823 -10.1823 32.0)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -32.0) (float-vector 0.0 -14.4 -32.0) (float-vector -10.1823 -10.1823 -32.0) (float-vector -14.4 0.0 -32.0) (float-vector -14.4 34.5 -32.0) (float-vector 14.4 34.5 -32.0) (float-vector 14.4 0.0 -32.0)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 32.0) (float-vector 10.1823 -10.1823 30.5) (float-vector 14.4 -2.842171e-14 30.5) (float-vector 14.4 -2.842171e-14 32.0)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 -32.0) (float-vector 14.4 0.0 -30.5) (float-vector 10.1823 -10.1823 -30.5) (float-vector 10.1823 -10.1823 -32.0)))
         (instance face :init :vertices (list (float-vector 14.4 33.0 30.5) (float-vector 14.4 -2.842171e-14 30.5) (float-vector 10.1823 -10.1823 30.5) (float-vector 0.0 -14.4 30.5) (float-vector -10.1823 -10.1823 30.5) (float-vector -14.4 -2.842171e-14 30.5) (float-vector -14.4 33.0 30.5)))
         (instance face :init :vertices (list (float-vector 14.4 33.0 -30.5) (float-vector 14.4 33.0 30.5) (float-vector -14.4 33.0 30.5) (float-vector -14.4 33.0 -30.5)))
         (instance face :init :vertices (list (float-vector -14.4 33.0 -30.5) (float-vector -14.4 0.0 -30.5) (float-vector -10.1823 -10.1823 -30.5) (float-vector 0.0 -14.4 -30.5) (float-vector 10.1823 -10.1823 -30.5) (float-vector 14.4 0.0 -30.5) (float-vector 14.4 33.0 -30.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -14.4 105.0 24.9) (float-vector -14.4 105.0 -24.9) (float-vector -14.4 46.0 -24.9) (float-vector -14.4 46.0 24.9)))
         (instance face :init :vertices (list (float-vector -14.4 46.0 -24.9) (float-vector 14.4 46.0 -24.9) (float-vector 14.4 46.0 24.9) (float-vector -14.4 46.0 24.9)))
         (instance face :init :vertices (list (float-vector 14.4 46.0 -24.9) (float-vector 14.4 105.0 -24.9) (float-vector 14.4 105.0 24.9) (float-vector 14.4 46.0 24.9)))
         (instance face :init :vertices (list (float-vector 14.4 105.0 24.9) (float-vector -14.4 105.0 24.9) (float-vector -14.4 46.0 24.9) (float-vector 14.4 46.0 24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -11.6047 97.7 24.9) (float-vector -6.7 102.605 24.9) (float-vector -2.858824e-14 104.4 24.9) (float-vector 6.7 102.605 24.9) (float-vector 11.6047 97.7 24.9) (float-vector 13.4 91.0 24.9) (float-vector 11.6047 84.3 24.9) (float-vector 6.7 79.3953 24.9) (float-vector -5.372369e-14 77.6 24.9) (float-vector -6.7 79.3953 24.9) (float-vector -11.6047 84.3 24.9) (float-vector -13.4 91.0 24.9)))
))
         (instance face :init :vertices (list (float-vector 14.4 105.0 -24.9) (float-vector -14.4 105.0 -24.9) (float-vector -14.4 105.0 24.9) (float-vector 14.4 105.0 24.9)))
         (instance face :init :vertices (list (float-vector -14.4 105.0 -24.9) (float-vector 14.4 105.0 -24.9) (float-vector 14.4 46.0 -24.9) (float-vector -14.4 46.0 -24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -6.7 102.605 -24.9) (float-vector -11.6047 97.7 -24.9) (float-vector -13.4 91.0 -24.9) (float-vector -11.6047 84.3 -24.9) (float-vector -6.7 79.3953 -24.9) (float-vector -3.713696e-14 77.6 -24.9) (float-vector 6.7 79.3953 -24.9) (float-vector 11.6047 84.3 -24.9) (float-vector 13.4 91.0 -24.9) (float-vector 11.6047 97.7 -24.9) (float-vector 6.7 102.605 -24.9) (float-vector -1.200151e-14 104.4 -24.9)))
))
         (instance face :init :vertices (list (float-vector -13.4 91.0 26.9) (float-vector -13.4 91.0 24.9) (float-vector -11.6047 84.3 24.9) (float-vector -11.6047 84.3 26.9)))
         (instance face :init :vertices (list (float-vector -13.4 91.0 -24.9) (float-vector -13.4 91.0 -26.9) (float-vector -11.6047 84.3 -26.9) (float-vector -11.6047 84.3 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 79.3953 24.9) (float-vector -6.7 79.3953 26.9) (float-vector -11.6047 84.3 26.9) (float-vector -11.6047 84.3 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 84.3 -26.9) (float-vector -6.7 79.3953 -26.9) (float-vector -6.7 79.3953 -24.9) (float-vector -11.6047 84.3 -24.9)))
         (instance face :init :vertices (list (float-vector -5.372369e-14 77.6 24.9) (float-vector -5.438983e-14 77.6 26.9) (float-vector -6.7 79.3953 26.9) (float-vector -6.7 79.3953 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 79.3953 -26.9) (float-vector -3.647083e-14 77.6 -26.9) (float-vector -3.713696e-14 77.6 -24.9) (float-vector -6.7 79.3953 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 79.3953 24.9) (float-vector 6.7 79.3953 26.9) (float-vector -5.438983e-14 77.6 26.9) (float-vector -5.372369e-14 77.6 24.9)))
         (instance face :init :vertices (list (float-vector -3.647083e-14 77.6 -26.9) (float-vector 6.7 79.3953 -26.9) (float-vector 6.7 79.3953 -24.9) (float-vector -3.713696e-14 77.6 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 84.3 24.9) (float-vector 11.6047 84.3 26.9) (float-vector 6.7 79.3953 26.9) (float-vector 6.7 79.3953 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 79.3953 -26.9) (float-vector 11.6047 84.3 -26.9) (float-vector 11.6047 84.3 -24.9) (float-vector 6.7 79.3953 -24.9)))
         (instance face :init :vertices (list (float-vector 13.4 91.0 24.9) (float-vector 13.4 91.0 26.9) (float-vector 11.6047 84.3 26.9) (float-vector 11.6047 84.3 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 84.3 -26.9) (float-vector 13.4 91.0 -26.9) (float-vector 13.4 91.0 -24.9) (float-vector 11.6047 84.3 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 97.7 24.9) (float-vector 11.6047 97.7 26.9) (float-vector 13.4 91.0 26.9) (float-vector 13.4 91.0 24.9)))
         (instance face :init :vertices (list (float-vector 13.4 91.0 -26.9) (float-vector 11.6047 97.7 -26.9) (float-vector 11.6047 97.7 -24.9) (float-vector 13.4 91.0 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 102.605 24.9) (float-vector 6.7 102.605 26.9) (float-vector 11.6047 97.7 26.9) (float-vector 11.6047 97.7 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 97.7 -26.9) (float-vector 6.7 102.605 -26.9) (float-vector 6.7 102.605 -24.9) (float-vector 11.6047 97.7 -24.9)))
         (instance face :init :vertices (list (float-vector -2.858824e-14 104.4 24.9) (float-vector -2.925438e-14 104.4 26.9) (float-vector 6.7 102.605 26.9) (float-vector 6.7 102.605 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 102.605 -26.9) (float-vector -1.133538e-14 104.4 -26.9) (float-vector -1.200151e-14 104.4 -24.9) (float-vector 6.7 102.605 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 102.605 24.9) (float-vector -6.7 102.605 26.9) (float-vector -2.925438e-14 104.4 26.9) (float-vector -2.858824e-14 104.4 24.9)))
         (instance face :init :vertices (list (float-vector -1.133538e-14 104.4 -26.9) (float-vector -6.7 102.605 -26.9) (float-vector -6.7 102.605 -24.9) (float-vector -1.200151e-14 104.4 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 97.7 24.9) (float-vector -11.6047 97.7 26.9) (float-vector -6.7 102.605 26.9) (float-vector -6.7 102.605 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 102.605 -26.9) (float-vector -11.6047 97.7 -26.9) (float-vector -11.6047 97.7 -24.9) (float-vector -6.7 102.605 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 97.7 26.9) (float-vector -13.4 91.0 26.9) (float-vector -11.6047 84.3 26.9) (float-vector -6.7 79.3953 26.9) (float-vector -5.438983e-14 77.6 26.9) (float-vector 6.7 79.3953 26.9) (float-vector 11.6047 84.3 26.9) (float-vector 13.4 91.0 26.9) (float-vector 11.6047 97.7 26.9) (float-vector 6.7 102.605 26.9) (float-vector -2.925438e-14 104.4 26.9) (float-vector -6.7 102.605 26.9)))
         (instance face :init :vertices (list (float-vector -13.4 91.0 26.9) (float-vector -11.6047 97.7 26.9) (float-vector -11.6047 97.7 24.9) (float-vector -13.4 91.0 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 97.7 -26.9) (float-vector -13.4 91.0 -26.9) (float-vector -13.4 91.0 -24.9) (float-vector -11.6047 97.7 -24.9)))
         (instance face :init :vertices (list (float-vector -13.4 91.0 -26.9) (float-vector -11.6047 97.7 -26.9) (float-vector -6.7 102.605 -26.9) (float-vector -1.133538e-14 104.4 -26.9) (float-vector 6.7 102.605 -26.9) (float-vector 11.6047 97.7 -26.9) (float-vector 13.4 91.0 -26.9) (float-vector 11.6047 84.3 -26.9) (float-vector 6.7 79.3953 -26.9) (float-vector -3.647083e-14 77.6 -26.9) (float-vector -6.7 79.3953 -26.9) (float-vector -11.6047 84.3 -26.9)))
       ))
       ))
     (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 :rleg-crotch-p :weight 124.539 :centroid (float-vector -4.761172e-14 68.1306 -7.105427e-15) :inertia-tensor #2f((1.156509e+05 8.582840e-11 8.170048e-12) (8.582840e-11 43109.2 -2.556358e-11) (8.170048e-12 -2.556358e-11 89757.9))))

     ;; definition of :rleg-knee-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 0.0 -32.0) (float-vector 14.4 35.0 -32.0) (float-vector 14.4 35.0 32.0) (float-vector 14.4 2.842171e-14 32.0) (float-vector 14.4 2.842171e-14 30.5) (float-vector 14.4 33.5 30.5) (float-vector 14.4 33.5 -30.5) (float-vector 14.4 0.0 -30.5)))
         (instance face :init :vertices (list (float-vector -14.4 35.0 -32.0) (float-vector -14.4 35.0 32.0) (float-vector 14.4 35.0 32.0) (float-vector 14.4 35.0 -32.0)))
         (instance face :init :vertices (list (float-vector -14.4 0.0 -32.0) (float-vector -14.4 0.0 -30.5) (float-vector -14.4 33.5 -30.5) (float-vector -14.4 33.5 30.5) (float-vector -14.4 2.842171e-14 30.5) (float-vector -14.4 2.842171e-14 32.0) (float-vector -14.4 35.0 32.0) (float-vector -14.4 35.0 -32.0)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 32.0) (float-vector -14.4 2.842171e-14 32.0) (float-vector -14.4 2.842171e-14 30.5) (float-vector -10.1823 -10.1823 30.5)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 -32.0) (float-vector -10.1823 -10.1823 -30.5) (float-vector -14.4 0.0 -30.5) (float-vector -14.4 0.0 -32.0)))
         (instance face :init :vertices (list (float-vector -6.310887e-30 -14.4 32.0) (float-vector -10.1823 -10.1823 32.0) (float-vector -10.1823 -10.1823 30.5) (float-vector 0.0 -14.4 30.5)))
         (instance face :init :vertices (list (float-vector 0.0 -14.4 -32.0) (float-vector -6.310887e-30 -14.4 -30.5) (float-vector -10.1823 -10.1823 -30.5) (float-vector -10.1823 -10.1823 -32.0)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 32.0) (float-vector -6.310887e-30 -14.4 32.0) (float-vector 0.0 -14.4 30.5) (float-vector 10.1823 -10.1823 30.5)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -32.0) (float-vector 10.1823 -10.1823 -30.5) (float-vector -6.310887e-30 -14.4 -30.5) (float-vector 0.0 -14.4 -32.0)))
         (instance face :init :vertices (list (float-vector 14.4 2.842171e-14 32.0) (float-vector 14.4 35.0 32.0) (float-vector -14.4 35.0 32.0) (float-vector -14.4 2.842171e-14 32.0) (float-vector -10.1823 -10.1823 32.0) (float-vector -6.310887e-30 -14.4 32.0) (float-vector 10.1823 -10.1823 32.0)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -32.0) (float-vector 0.0 -14.4 -32.0) (float-vector -10.1823 -10.1823 -32.0) (float-vector -14.4 0.0 -32.0) (float-vector -14.4 35.0 -32.0) (float-vector 14.4 35.0 -32.0) (float-vector 14.4 0.0 -32.0)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 32.0) (float-vector 10.1823 -10.1823 30.5) (float-vector 14.4 2.842171e-14 30.5) (float-vector 14.4 2.842171e-14 32.0)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 -32.0) (float-vector 14.4 0.0 -30.5) (float-vector 10.1823 -10.1823 -30.5) (float-vector 10.1823 -10.1823 -32.0)))
         (instance face :init :vertices (list (float-vector 14.4 33.5 30.5) (float-vector 14.4 2.842171e-14 30.5) (float-vector 10.1823 -10.1823 30.5) (float-vector 0.0 -14.4 30.5) (float-vector -10.1823 -10.1823 30.5) (float-vector -14.4 2.842171e-14 30.5) (float-vector -14.4 33.5 30.5)))
         (instance face :init :vertices (list (float-vector 14.4 33.5 -30.5) (float-vector 14.4 33.5 30.5) (float-vector -14.4 33.5 30.5) (float-vector -14.4 33.5 -30.5)))
         (instance face :init :vertices (list (float-vector -14.4 33.5 -30.5) (float-vector -14.4 0.0 -30.5) (float-vector -10.1823 -10.1823 -30.5) (float-vector -6.310887e-30 -14.4 -30.5) (float-vector 10.1823 -10.1823 -30.5) (float-vector 14.4 0.0 -30.5) (float-vector 14.4 33.5 -30.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -14.4 70.0 -33.5) (float-vector -14.4 35.0 -33.5) (float-vector -14.4 35.0 30.5) (float-vector -14.4 70.0 30.5) (float-vector -14.4 70.0 29.0) (float-vector -14.4 36.5 29.0) (float-vector -14.4 36.5 -32.0) (float-vector -14.4 70.0 -32.0)))
         (instance face :init :vertices (list (float-vector 14.4 35.0 -33.5) (float-vector 14.4 35.0 30.5) (float-vector -14.4 35.0 30.5) (float-vector -14.4 35.0 -33.5)))
         (instance face :init :vertices (list (float-vector 14.4 70.0 -33.5) (float-vector 14.4 70.0 -32.0) (float-vector 14.4 36.5 -32.0) (float-vector 14.4 36.5 29.0) (float-vector 14.4 70.0 29.0) (float-vector 14.4 70.0 30.5) (float-vector 14.4 35.0 30.5) (float-vector 14.4 35.0 -33.5)))
         (instance face :init :vertices (list (float-vector 10.1823 80.1823 30.5) (float-vector 14.4 70.0 30.5) (float-vector 14.4 70.0 29.0) (float-vector 10.1823 80.1823 29.0)))
         (instance face :init :vertices (list (float-vector 10.1823 80.1823 -33.5) (float-vector 10.1823 80.1823 -32.0) (float-vector 14.4 70.0 -32.0) (float-vector 14.4 70.0 -33.5)))
         (instance face :init :vertices (list (float-vector -2.620126e-14 84.4 30.5) (float-vector 10.1823 80.1823 30.5) (float-vector 10.1823 80.1823 29.0) (float-vector -2.570166e-14 84.4 29.0)))
         (instance face :init :vertices (list (float-vector -4.884981e-15 84.4 -33.5) (float-vector -5.384582e-15 84.4 -32.0) (float-vector 10.1823 80.1823 -32.0) (float-vector 10.1823 80.1823 -33.5)))
         (instance face :init :vertices (list (float-vector -10.1823 80.1823 30.5) (float-vector -2.620126e-14 84.4 30.5) (float-vector -2.570166e-14 84.4 29.0) (float-vector -10.1823 80.1823 29.0)))
         (instance face :init :vertices (list (float-vector -10.1823 80.1823 -33.5) (float-vector -10.1823 80.1823 -32.0) (float-vector -5.384582e-15 84.4 -32.0) (float-vector -4.884981e-15 84.4 -33.5)))
         (instance face :init :vertices (list (float-vector -14.4 70.0 30.5) (float-vector -14.4 35.0 30.5) (float-vector 14.4 35.0 30.5) (float-vector 14.4 70.0 30.5) (float-vector 10.1823 80.1823 30.5) (float-vector -2.620126e-14 84.4 30.5) (float-vector -10.1823 80.1823 30.5)))
         (instance face :init :vertices (list (float-vector -10.1823 80.1823 -33.5) (float-vector -4.884981e-15 84.4 -33.5) (float-vector 10.1823 80.1823 -33.5) (float-vector 14.4 70.0 -33.5) (float-vector 14.4 35.0 -33.5) (float-vector -14.4 35.0 -33.5) (float-vector -14.4 70.0 -33.5)))
         (instance face :init :vertices (list (float-vector -10.1823 80.1823 30.5) (float-vector -10.1823 80.1823 29.0) (float-vector -14.4 70.0 29.0) (float-vector -14.4 70.0 30.5)))
         (instance face :init :vertices (list (float-vector -14.4 70.0 -33.5) (float-vector -14.4 70.0 -32.0) (float-vector -10.1823 80.1823 -32.0) (float-vector -10.1823 80.1823 -33.5)))
         (instance face :init :vertices (list (float-vector -14.4 36.5 29.0) (float-vector -14.4 70.0 29.0) (float-vector -10.1823 80.1823 29.0) (float-vector -2.570166e-14 84.4 29.0) (float-vector 10.1823 80.1823 29.0) (float-vector 14.4 70.0 29.0) (float-vector 14.4 36.5 29.0)))
         (instance face :init :vertices (list (float-vector -14.4 36.5 -32.0) (float-vector -14.4 36.5 29.0) (float-vector 14.4 36.5 29.0) (float-vector 14.4 36.5 -32.0)))
         (instance face :init :vertices (list (float-vector 14.4 36.5 -32.0) (float-vector 14.4 70.0 -32.0) (float-vector 10.1823 80.1823 -32.0) (float-vector -5.384582e-15 84.4 -32.0) (float-vector -10.1823 80.1823 -32.0) (float-vector -14.4 70.0 -32.0) (float-vector -14.4 36.5 -32.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink16 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-knee-p :weight 35.3104 :centroid (float-vector 3.103984e-14 35.0 -0.75) :inertia-tensor #2f((40936.0 2.124056e-11 -2.556547e-12) (2.124056e-11 27463.2 367.68) (-2.556547e-12 367.68 18354.1))))

     ;; definition of :rleg-ankle-p
     (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 -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 1.095235e-14 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 -4.146683e-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 4.146683e-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 1.924572e-14 -24.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -2.842171e-14 -13.4 -24.9)))
))
         (instance face :init :vertices (list (float-vector 13.4 -4.479750e-15 26.9) (float-vector 13.4 -4.146683e-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 4.146683e-15 -24.9) (float-vector 13.4 4.479750e-15 -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 1.421085e-14 13.4 24.9) (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)))
         (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 1.421085e-14 13.4 26.9) (float-vector 1.421085e-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 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 1.095235e-14 24.9) (float-vector -13.4 1.061928e-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 1.957878e-14 -26.9) (float-vector -13.4 1.924572e-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 1.061928e-14 26.9) (float-vector -13.4 1.095235e-14 24.9)))
         (instance face :init :vertices (list (float-vector -13.4 1.957878e-14 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -13.4 1.924572e-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 -1.421085e-14 -13.4 24.9) (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)))
         (instance face :init :vertices (list (float-vector -6.7 -11.6047 -26.9) (float-vector -2.842171e-14 -13.4 -26.9) (float-vector -2.842171e-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 -1.421085e-14 -13.4 26.9) (float-vector -1.421085e-14 -13.4 24.9)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -13.4 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector 6.7 -11.6047 -24.9) (float-vector -2.842171e-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 -4.479750e-15 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 1.061928e-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)))
         (instance face :init :vertices (list (float-vector 13.4 -4.479750e-15 26.9) (float-vector 11.6047 -6.7 26.9) (float-vector 11.6047 -6.7 24.9) (float-vector 13.4 -4.146683e-15 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -6.7 -26.9) (float-vector 13.4 4.479750e-15 -26.9) (float-vector 13.4 4.146683e-15 -24.9) (float-vector 11.6047 -6.7 -24.9)))
         (instance face :init :vertices (list (float-vector 13.4 4.479750e-15 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector -2.842171e-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 1.957878e-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 -55.0 48.0 -29.9) (float-vector -19.0 48.0 -29.9) (float-vector -19.0 -16.0 -29.9) (float-vector -55.0 -16.0 -29.9) (float-vector -55.0 -14.5 -29.9) (float-vector -20.5 -14.5 -29.9) (float-vector -20.5 46.5 -29.9) (float-vector -55.0 46.5 -29.9)))
         (instance face :init :vertices (list (float-vector -19.0 48.0 -1.1) (float-vector -19.0 -16.0 -1.1) (float-vector -19.0 -16.0 -29.9) (float-vector -19.0 48.0 -29.9)))
         (instance face :init :vertices (list (float-vector -55.0 48.0 -1.1) (float-vector -55.0 46.5 -1.1) (float-vector -20.5 46.5 -1.1) (float-vector -20.5 -14.5 -1.1) (float-vector -55.0 -14.5 -1.1) (float-vector -55.0 -16.0 -1.1) (float-vector -19.0 -16.0 -1.1) (float-vector -19.0 48.0 -1.1)))
         (instance face :init :vertices (list (float-vector -65.1823 -16.0 -5.31766) (float-vector -55.0 -16.0 -1.1) (float-vector -55.0 -14.5 -1.1) (float-vector -65.1823 -14.5 -5.31766)))
         (instance face :init :vertices (list (float-vector -65.1823 48.0 -5.31766) (float-vector -65.1823 46.5 -5.31766) (float-vector -55.0 46.5 -1.1) (float-vector -55.0 48.0 -1.1)))
         (instance face :init :vertices (list (float-vector -69.4 -16.0 -15.5) (float-vector -65.1823 -16.0 -5.31766) (float-vector -65.1823 -14.5 -5.31766) (float-vector -69.4 -14.5 -15.5)))
         (instance face :init :vertices (list (float-vector -69.4 48.0 -15.5) (float-vector -69.4 46.5 -15.5) (float-vector -65.1823 46.5 -5.31766) (float-vector -65.1823 48.0 -5.31766)))
         (instance face :init :vertices (list (float-vector -65.1823 -16.0 -25.6823) (float-vector -69.4 -16.0 -15.5) (float-vector -69.4 -14.5 -15.5) (float-vector -65.1823 -14.5 -25.6823)))
         (instance face :init :vertices (list (float-vector -65.1823 48.0 -25.6823) (float-vector -65.1823 46.5 -25.6823) (float-vector -69.4 46.5 -15.5) (float-vector -69.4 48.0 -15.5)))
         (instance face :init :vertices (list (float-vector -55.0 -16.0 -29.9) (float-vector -19.0 -16.0 -29.9) (float-vector -19.0 -16.0 -1.1) (float-vector -55.0 -16.0 -1.1) (float-vector -65.1823 -16.0 -5.31766) (float-vector -69.4 -16.0 -15.5) (float-vector -65.1823 -16.0 -25.6823)))
         (instance face :init :vertices (list (float-vector -65.1823 48.0 -25.6823) (float-vector -69.4 48.0 -15.5) (float-vector -65.1823 48.0 -5.31766) (float-vector -55.0 48.0 -1.1) (float-vector -19.0 48.0 -1.1) (float-vector -19.0 48.0 -29.9) (float-vector -55.0 48.0 -29.9)))
         (instance face :init :vertices (list (float-vector -65.1823 -16.0 -25.6823) (float-vector -65.1823 -14.5 -25.6823) (float-vector -55.0 -14.5 -29.9) (float-vector -55.0 -16.0 -29.9)))
         (instance face :init :vertices (list (float-vector -55.0 48.0 -29.9) (float-vector -55.0 46.5 -29.9) (float-vector -65.1823 46.5 -25.6823) (float-vector -65.1823 48.0 -25.6823)))
         (instance face :init :vertices (list (float-vector -20.5 -14.5 -29.9) (float-vector -55.0 -14.5 -29.9) (float-vector -65.1823 -14.5 -25.6823) (float-vector -69.4 -14.5 -15.5) (float-vector -65.1823 -14.5 -5.31766) (float-vector -55.0 -14.5 -1.1) (float-vector -20.5 -14.5 -1.1)))
         (instance face :init :vertices (list (float-vector -20.5 46.5 -29.9) (float-vector -20.5 -14.5 -29.9) (float-vector -20.5 -14.5 -1.1) (float-vector -20.5 46.5 -1.1)))
         (instance face :init :vertices (list (float-vector -20.5 46.5 -1.1) (float-vector -55.0 46.5 -1.1) (float-vector -65.1823 46.5 -5.31766) (float-vector -69.4 46.5 -15.5) (float-vector -65.1823 46.5 -25.6823) (float-vector -55.0 46.5 -29.9) (float-vector -20.5 46.5 -29.9)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray90)
     (setq blink10 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-ankle-p :weight 124.888 :centroid (float-vector -4.76952 15.2419 -2.22015) :inertia-tensor #2f((70812.4 451.589 -7910.24) (451.589 56238.4 210.209) (-7910.24 210.209 72986.3))))

     ;; definition of :rleg-ankle-r
     (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 -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 2.131628e-14 24.9) (float-vector -11.6047 6.7 24.9) (float-vector -6.7 11.6047 24.9) (float-vector 1.776357e-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 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 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 1.421085e-14 -24.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -2.842171e-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 7.105427e-15 -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 1.776357e-14 13.4 24.9) (float-vector 1.776357e-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 0.0 13.4 -26.9) (float-vector 0.0 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 1.776357e-14 13.4 26.9) (float-vector 1.776357e-14 13.4 24.9)))
         (instance face :init :vertices (list (float-vector 0.0 13.4 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector -6.7 11.6047 -24.9) (float-vector 0.0 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 2.131628e-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 2.131628e-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 -1.421085e-14 -13.4 24.9) (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)))
         (instance face :init :vertices (list (float-vector -6.7 -11.6047 -26.9) (float-vector -3.197442e-14 -13.4 -26.9) (float-vector -2.842171e-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 -1.421085e-14 -13.4 26.9) (float-vector -1.421085e-14 -13.4 24.9)))
         (instance face :init :vertices (list (float-vector -3.197442e-14 -13.4 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector 6.7 -11.6047 -24.9) (float-vector -2.842171e-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 1.776357e-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)))
         (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 7.105427e-15 -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 7.105427e-15 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector -3.197442e-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 0.0 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 -11.0 -24.5 -35.0) (float-vector -11.0 55.5 -35.0) (float-vector -11.0 55.5 80.0) (float-vector -11.0 -24.5 80.0)))
         (instance face :init :vertices (list (float-vector -21.0 55.5 -35.0) (float-vector -21.0 -24.5 -35.0) (float-vector -21.0 -24.5 80.0) (float-vector -21.0 55.5 80.0)))
         (instance face :init :vertices (list (float-vector -11.0 -24.5 -35.0) (float-vector -21.0 -24.5 -35.0) (float-vector -21.0 55.5 -35.0) (float-vector -11.0 55.5 -35.0)))
         (instance face :init :vertices (list (float-vector -11.0 -24.5 80.0) (float-vector -21.0 -24.5 80.0) (float-vector -21.0 -24.5 -35.0) (float-vector -11.0 -24.5 -35.0)))
         (instance face :init :vertices (list (float-vector -11.0 55.5 80.0) (float-vector -21.0 55.5 80.0) (float-vector -21.0 -24.5 80.0) (float-vector -11.0 -24.5 80.0)))
         (instance face :init :vertices (list (float-vector -11.0 55.5 -35.0) (float-vector -21.0 55.5 -35.0) (float-vector -21.0 55.5 80.0) (float-vector -11.0 55.5 80.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -11.0 -9.5 34.5) (float-vector -11.0 40.5 34.5) (float-vector 19.0 30.5 34.5) (float-vector 19.0 0.5 34.5)))
         (instance face :init :vertices (list (float-vector -11.0 40.5 79.5) (float-vector -11.0 -9.5 79.5) (float-vector 19.0 0.5 79.5) (float-vector 19.0 30.5 79.5)))
         (instance face :init :vertices (list (float-vector -11.0 -9.5 34.5) (float-vector -11.0 -9.5 79.5) (float-vector -11.0 40.5 79.5) (float-vector -11.0 40.5 34.5)))
         (instance face :init :vertices (list (float-vector 19.0 0.5 34.5) (float-vector 19.0 0.5 79.5) (float-vector -11.0 -9.5 79.5) (float-vector -11.0 -9.5 34.5)))
         (instance face :init :vertices (list (float-vector 19.0 30.5 34.5) (float-vector 19.0 30.5 79.5) (float-vector 19.0 0.5 79.5) (float-vector 19.0 0.5 34.5)))
         (instance face :init :vertices (list (float-vector -11.0 40.5 34.5) (float-vector -11.0 40.5 79.5) (float-vector 19.0 30.5 79.5) (float-vector 19.0 30.5 34.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :lightgoldenrod)
     (send (elt bc 2) :set-color :yellow)
     (setq blink11 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-ankle-r :weight 272.0 :centroid (float-vector 0.289522 15.3486 32.0404) :inertia-tensor #2f((3.425452e+05 -11.9232 -13005.6) (-11.9232 2.952529e+05 -1319.5) (-13005.6 -1319.5 96554.8))))

     ;; definition of :rarm-shoulder-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 0.0 -31.25) (float-vector 14.4 36.5 -31.25) (float-vector 14.4 36.5 31.25) (float-vector 14.4 0.0 31.25) (float-vector 14.4 0.0 29.75) (float-vector 14.4 35.0 29.75) (float-vector 14.4 35.0 -29.75) (float-vector 14.4 0.0 -29.75)))
         (instance face :init :vertices (list (float-vector -14.4 36.5 -31.25) (float-vector -14.4 36.5 31.25) (float-vector 14.4 36.5 31.25) (float-vector 14.4 36.5 -31.25)))
         (instance face :init :vertices (list (float-vector -14.4 0.0 -31.25) (float-vector -14.4 0.0 -29.75) (float-vector -14.4 35.0 -29.75) (float-vector -14.4 35.0 29.75) (float-vector -14.4 -5.684342e-14 29.75) (float-vector -14.4 -5.684342e-14 31.25) (float-vector -14.4 36.5 31.25) (float-vector -14.4 36.5 -31.25)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 31.25) (float-vector -14.4 -5.684342e-14 31.25) (float-vector -14.4 -5.684342e-14 29.75) (float-vector -10.1823 -10.1823 29.75)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 -31.25) (float-vector -10.1823 -10.1823 -29.75) (float-vector -14.4 0.0 -29.75) (float-vector -14.4 0.0 -31.25)))
         (instance face :init :vertices (list (float-vector 0.0 -14.4 31.25) (float-vector -10.1823 -10.1823 31.25) (float-vector -10.1823 -10.1823 29.75) (float-vector 0.0 -14.4 29.75)))
         (instance face :init :vertices (list (float-vector 0.0 -14.4 -31.25) (float-vector -6.310887e-30 -14.4 -29.75) (float-vector -10.1823 -10.1823 -29.75) (float-vector -10.1823 -10.1823 -31.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 31.25) (float-vector 0.0 -14.4 31.25) (float-vector 0.0 -14.4 29.75) (float-vector 10.1823 -10.1823 29.75)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -31.25) (float-vector 10.1823 -10.1823 -29.75) (float-vector -6.310887e-30 -14.4 -29.75) (float-vector 0.0 -14.4 -31.25)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 31.25) (float-vector 14.4 36.5 31.25) (float-vector -14.4 36.5 31.25) (float-vector -14.4 -5.684342e-14 31.25) (float-vector -10.1823 -10.1823 31.25) (float-vector 0.0 -14.4 31.25) (float-vector 10.1823 -10.1823 31.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -31.25) (float-vector 0.0 -14.4 -31.25) (float-vector -10.1823 -10.1823 -31.25) (float-vector -14.4 0.0 -31.25) (float-vector -14.4 36.5 -31.25) (float-vector 14.4 36.5 -31.25) (float-vector 14.4 0.0 -31.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 31.25) (float-vector 10.1823 -10.1823 29.75) (float-vector 14.4 0.0 29.75) (float-vector 14.4 0.0 31.25)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 -31.25) (float-vector 14.4 0.0 -29.75) (float-vector 10.1823 -10.1823 -29.75) (float-vector 10.1823 -10.1823 -31.25)))
         (instance face :init :vertices (list (float-vector 14.4 35.0 29.75) (float-vector 14.4 0.0 29.75) (float-vector 10.1823 -10.1823 29.75) (float-vector 0.0 -14.4 29.75) (float-vector -10.1823 -10.1823 29.75) (float-vector -14.4 -5.684342e-14 29.75) (float-vector -14.4 35.0 29.75)))
         (instance face :init :vertices (list (float-vector 14.4 35.0 -29.75) (float-vector 14.4 35.0 29.75) (float-vector -14.4 35.0 29.75) (float-vector -14.4 35.0 -29.75)))
         (instance face :init :vertices (list (float-vector -14.4 35.0 -29.75) (float-vector -14.4 0.0 -29.75) (float-vector -10.1823 -10.1823 -29.75) (float-vector -6.310887e-30 -14.4 -29.75) (float-vector 10.1823 -10.1823 -29.75) (float-vector 14.4 0.0 -29.75) (float-vector 14.4 35.0 -29.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 20.0 -10.0 36.5) (float-vector -20.0 -10.0 36.5) (float-vector -20.0 30.0 36.5) (float-vector 20.0 30.0 36.5)))
         (instance face :init :vertices (list (float-vector -20.0 30.0 36.5) (float-vector -20.0 30.0 56.5) (float-vector 20.0 30.0 56.5) (float-vector 20.0 30.0 36.5)))
         (instance face :init :vertices (list (float-vector -20.0 30.0 56.5) (float-vector -20.0 -10.0 56.5) (float-vector 20.0 -10.0 56.5) (float-vector 20.0 30.0 56.5)))
         (instance face :init :vertices (list (float-vector 20.0 -10.0 56.5) (float-vector 20.0 -10.0 36.5) (float-vector 20.0 30.0 36.5) (float-vector 20.0 30.0 56.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 20.0 -4.5 38.7058) (float-vector 20.0 -7.79423 42.0) (float-vector 20.0 -9.0 46.5) (float-vector 20.0 -7.79423 51.0) (float-vector 20.0 -4.5 54.2942) (float-vector 20.0 -5.684342e-14 55.5) (float-vector 20.0 4.5 54.2942) (float-vector 20.0 7.79423 51.0) (float-vector 20.0 9.0 46.5) (float-vector 20.0 7.79423 42.0) (float-vector 20.0 4.5 38.7058) (float-vector 20.0 0.0 37.5)))
))
         (instance face :init :vertices (list (float-vector -20.0 -10.0 56.5) (float-vector -20.0 -10.0 36.5) (float-vector 20.0 -10.0 36.5) (float-vector 20.0 -10.0 56.5)))
         (instance face :init :vertices (list (float-vector -20.0 -10.0 36.5) (float-vector -20.0 -10.0 56.5) (float-vector -20.0 30.0 56.5) (float-vector -20.0 30.0 36.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -20.0 -7.79423 42.0) (float-vector -20.0 -4.5 38.7058) (float-vector -20.0 -5.684342e-14 37.5) (float-vector -20.0 4.5 38.7058) (float-vector -20.0 7.79423 42.0) (float-vector -20.0 9.0 46.5) (float-vector -20.0 7.79423 51.0) (float-vector -20.0 4.5 54.2942) (float-vector -20.0 -5.684342e-14 55.5) (float-vector -20.0 -4.5 54.2942) (float-vector -20.0 -7.79423 51.0) (float-vector -20.0 -9.0 46.5)))
))
         (instance face :init :vertices (list (float-vector 22.0 0.0 37.5) (float-vector 20.0 0.0 37.5) (float-vector 20.0 4.5 38.7058) (float-vector 22.0 4.5 38.7058)))
         (instance face :init :vertices (list (float-vector -20.0 -5.684342e-14 37.5) (float-vector -22.0 -5.684342e-14 37.5) (float-vector -22.0 4.5 38.7058) (float-vector -20.0 4.5 38.7058)))
         (instance face :init :vertices (list (float-vector 20.0 7.79423 42.0) (float-vector 22.0 7.79423 42.0) (float-vector 22.0 4.5 38.7058) (float-vector 20.0 4.5 38.7058)))
         (instance face :init :vertices (list (float-vector -22.0 4.5 38.7058) (float-vector -22.0 7.79423 42.0) (float-vector -20.0 7.79423 42.0) (float-vector -20.0 4.5 38.7058)))
         (instance face :init :vertices (list (float-vector 20.0 9.0 46.5) (float-vector 22.0 9.0 46.5) (float-vector 22.0 7.79423 42.0) (float-vector 20.0 7.79423 42.0)))
         (instance face :init :vertices (list (float-vector -22.0 7.79423 42.0) (float-vector -22.0 9.0 46.5) (float-vector -20.0 9.0 46.5) (float-vector -20.0 7.79423 42.0)))
         (instance face :init :vertices (list (float-vector 20.0 7.79423 51.0) (float-vector 22.0 7.79423 51.0) (float-vector 22.0 9.0 46.5) (float-vector 20.0 9.0 46.5)))
         (instance face :init :vertices (list (float-vector -22.0 9.0 46.5) (float-vector -22.0 7.79423 51.0) (float-vector -20.0 7.79423 51.0) (float-vector -20.0 9.0 46.5)))
         (instance face :init :vertices (list (float-vector 20.0 4.5 54.2942) (float-vector 22.0 4.5 54.2942) (float-vector 22.0 7.79423 51.0) (float-vector 20.0 7.79423 51.0)))
         (instance face :init :vertices (list (float-vector -22.0 7.79423 51.0) (float-vector -22.0 4.5 54.2942) (float-vector -20.0 4.5 54.2942) (float-vector -20.0 7.79423 51.0)))
         (instance face :init :vertices (list (float-vector 20.0 -5.684342e-14 55.5) (float-vector 22.0 -5.684342e-14 55.5) (float-vector 22.0 4.5 54.2942) (float-vector 20.0 4.5 54.2942)))
         (instance face :init :vertices (list (float-vector -22.0 4.5 54.2942) (float-vector -22.0 -5.684342e-14 55.5) (float-vector -20.0 -5.684342e-14 55.5) (float-vector -20.0 4.5 54.2942)))
         (instance face :init :vertices (list (float-vector 20.0 -4.5 54.2942) (float-vector 22.0 -4.5 54.2942) (float-vector 22.0 -5.684342e-14 55.5) (float-vector 20.0 -5.684342e-14 55.5)))
         (instance face :init :vertices (list (float-vector -22.0 -5.684342e-14 55.5) (float-vector -22.0 -4.5 54.2942) (float-vector -20.0 -4.5 54.2942) (float-vector -20.0 -5.684342e-14 55.5)))
         (instance face :init :vertices (list (float-vector 20.0 -7.79423 51.0) (float-vector 22.0 -7.79423 51.0) (float-vector 22.0 -4.5 54.2942) (float-vector 20.0 -4.5 54.2942)))
         (instance face :init :vertices (list (float-vector -22.0 -4.5 54.2942) (float-vector -22.0 -7.79423 51.0) (float-vector -20.0 -7.79423 51.0) (float-vector -20.0 -4.5 54.2942)))
         (instance face :init :vertices (list (float-vector 20.0 -9.0 46.5) (float-vector 22.0 -9.0 46.5) (float-vector 22.0 -7.79423 51.0) (float-vector 20.0 -7.79423 51.0)))
         (instance face :init :vertices (list (float-vector -22.0 -7.79423 51.0) (float-vector -22.0 -9.0 46.5) (float-vector -20.0 -9.0 46.5) (float-vector -20.0 -7.79423 51.0)))
         (instance face :init :vertices (list (float-vector 20.0 -7.79423 42.0) (float-vector 22.0 -7.79423 42.0) (float-vector 22.0 -9.0 46.5) (float-vector 20.0 -9.0 46.5)))
         (instance face :init :vertices (list (float-vector -22.0 -9.0 46.5) (float-vector -22.0 -7.79423 42.0) (float-vector -20.0 -7.79423 42.0) (float-vector -20.0 -9.0 46.5)))
         (instance face :init :vertices (list (float-vector 20.0 -4.5 38.7058) (float-vector 22.0 -4.5 38.7058) (float-vector 22.0 -7.79423 42.0) (float-vector 20.0 -7.79423 42.0)))
         (instance face :init :vertices (list (float-vector -22.0 -7.79423 42.0) (float-vector -22.0 -4.5 38.7058) (float-vector -20.0 -4.5 38.7058) (float-vector -20.0 -7.79423 42.0)))
         (instance face :init :vertices (list (float-vector 22.0 -4.5 38.7058) (float-vector 22.0 0.0 37.5) (float-vector 22.0 4.5 38.7058) (float-vector 22.0 7.79423 42.0) (float-vector 22.0 9.0 46.5) (float-vector 22.0 7.79423 51.0) (float-vector 22.0 4.5 54.2942) (float-vector 22.0 -5.684342e-14 55.5) (float-vector 22.0 -4.5 54.2942) (float-vector 22.0 -7.79423 51.0) (float-vector 22.0 -9.0 46.5) (float-vector 22.0 -7.79423 42.0)))
         (instance face :init :vertices (list (float-vector 22.0 0.0 37.5) (float-vector 22.0 -4.5 38.7058) (float-vector 20.0 -4.5 38.7058) (float-vector 20.0 0.0 37.5)))
         (instance face :init :vertices (list (float-vector -22.0 -4.5 38.7058) (float-vector -22.0 -5.684342e-14 37.5) (float-vector -20.0 -5.684342e-14 37.5) (float-vector -20.0 -4.5 38.7058)))
         (instance face :init :vertices (list (float-vector -22.0 -5.684342e-14 37.5) (float-vector -22.0 -4.5 38.7058) (float-vector -22.0 -7.79423 42.0) (float-vector -22.0 -9.0 46.5) (float-vector -22.0 -7.79423 51.0) (float-vector -22.0 -4.5 54.2942) (float-vector -22.0 -5.684342e-14 55.5) (float-vector -22.0 4.5 54.2942) (float-vector -22.0 7.79423 51.0) (float-vector -22.0 9.0 46.5) (float-vector -22.0 7.79423 42.0) (float-vector -22.0 4.5 38.7058)))
       ))
       ))
     (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 :rarm-shoulder-p :weight 82.3301 :centroid (float-vector 1.099222e-14 12.3372 36.4296) :inertia-tensor #2f((60112.1 -8.371591e-12 3.120286e-11) (-8.371591e-12 54366.2 7894.04) (3.120286e-11 7894.04 25410.7))))

     ;; definition of :rarm-shoulder-r
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -26.25) (float-vector 10.0 25.0 -26.25) (float-vector 10.0 25.0 26.25) (float-vector 10.0 0.0 26.25) (float-vector 10.0 0.0 24.75) (float-vector 10.0 23.5 24.75) (float-vector 10.0 23.5 -24.75) (float-vector 10.0 0.0 -24.75)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -26.25) (float-vector -10.0 25.0 26.25) (float-vector 10.0 25.0 26.25) (float-vector 10.0 25.0 -26.25)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -26.25) (float-vector -10.0 0.0 -24.75) (float-vector -10.0 23.5 -24.75) (float-vector -10.0 23.5 24.75) (float-vector -10.0 0.0 24.75) (float-vector -10.0 0.0 26.25) (float-vector -10.0 25.0 26.25) (float-vector -10.0 25.0 -26.25)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 26.25) (float-vector -10.0 0.0 26.25) (float-vector -10.0 0.0 24.75) (float-vector -7.07107 -7.07107 24.75)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -26.25) (float-vector -7.07107 -7.07107 -24.75) (float-vector -10.0 0.0 -24.75) (float-vector -10.0 0.0 -26.25)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 26.25) (float-vector -7.07107 -7.07107 26.25) (float-vector -7.07107 -7.07107 24.75) (float-vector 0.0 -10.0 24.75)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -26.25) (float-vector 0.0 -10.0 -24.75) (float-vector -7.07107 -7.07107 -24.75) (float-vector -7.07107 -7.07107 -26.25)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 26.25) (float-vector 0.0 -10.0 26.25) (float-vector 0.0 -10.0 24.75) (float-vector 7.07107 -7.07107 24.75)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -26.25) (float-vector 7.07107 -7.07107 -24.75) (float-vector 0.0 -10.0 -24.75) (float-vector 0.0 -10.0 -26.25)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 26.25) (float-vector 10.0 25.0 26.25) (float-vector -10.0 25.0 26.25) (float-vector -10.0 0.0 26.25) (float-vector -7.07107 -7.07107 26.25) (float-vector 0.0 -10.0 26.25) (float-vector 7.07107 -7.07107 26.25)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -26.25) (float-vector 0.0 -10.0 -26.25) (float-vector -7.07107 -7.07107 -26.25) (float-vector -10.0 0.0 -26.25) (float-vector -10.0 25.0 -26.25) (float-vector 10.0 25.0 -26.25) (float-vector 10.0 0.0 -26.25)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 26.25) (float-vector 7.07107 -7.07107 24.75) (float-vector 10.0 0.0 24.75) (float-vector 10.0 0.0 26.25)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -26.25) (float-vector 10.0 0.0 -24.75) (float-vector 7.07107 -7.07107 -24.75) (float-vector 7.07107 -7.07107 -26.25)))
         (instance face :init :vertices (list (float-vector 10.0 23.5 24.75) (float-vector 10.0 0.0 24.75) (float-vector 7.07107 -7.07107 24.75) (float-vector 0.0 -10.0 24.75) (float-vector -7.07107 -7.07107 24.75) (float-vector -10.0 0.0 24.75) (float-vector -10.0 23.5 24.75)))
         (instance face :init :vertices (list (float-vector 10.0 23.5 -24.75) (float-vector 10.0 23.5 24.75) (float-vector -10.0 23.5 24.75) (float-vector -10.0 23.5 -24.75)))
         (instance face :init :vertices (list (float-vector -10.0 23.5 -24.75) (float-vector -10.0 0.0 -24.75) (float-vector -7.07107 -7.07107 -24.75) (float-vector 0.0 -10.0 -24.75) (float-vector 7.07107 -7.07107 -24.75) (float-vector 10.0 0.0 -24.75) (float-vector 10.0 23.5 -24.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 34.5 10.0) (float-vector -10.0 74.5 10.0) (float-vector -10.0 74.5 -30.0) (float-vector -10.0 34.5 -30.0)))
         (instance face :init :vertices (list (float-vector -10.0 74.5 -30.0) (float-vector 10.0 74.5 -30.0) (float-vector 10.0 34.5 -30.0) (float-vector -10.0 34.5 -30.0)))
         (instance face :init :vertices (list (float-vector 10.0 74.5 -30.0) (float-vector 10.0 74.5 10.0) (float-vector 10.0 34.5 10.0) (float-vector 10.0 34.5 -30.0)))
         (instance face :init :vertices (list (float-vector 10.0 34.5 10.0) (float-vector -10.0 34.5 10.0) (float-vector -10.0 34.5 -30.0) (float-vector 10.0 34.5 -30.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 34.5 4.5) (float-vector -4.5 34.5 7.79423) (float-vector 0.0 34.5 9.0) (float-vector 4.5 34.5 7.79423) (float-vector 7.79423 34.5 4.5) (float-vector 9.0 34.5 1.180954e-15) (float-vector 7.79423 34.5 -4.5) (float-vector 4.5 34.5 -7.79423) (float-vector 0.0 34.5 -9.0) (float-vector -4.5 34.5 -7.79423) (float-vector -7.79423 34.5 -4.5) (float-vector -9.0 34.5 1.294932e-14)))
))
         (instance face :init :vertices (list (float-vector 10.0 74.5 10.0) (float-vector -10.0 74.5 10.0) (float-vector -10.0 34.5 10.0) (float-vector 10.0 34.5 10.0)))
         (instance face :init :vertices (list (float-vector -10.0 74.5 10.0) (float-vector 10.0 74.5 10.0) (float-vector 10.0 74.5 -30.0) (float-vector -10.0 74.5 -30.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 74.5 7.79423) (float-vector -7.79423 74.5 4.5) (float-vector -9.0 74.5 1.150515e-15) (float-vector -7.79423 74.5 -4.5) (float-vector -4.5 74.5 -7.79423) (float-vector 0.0 74.5 -9.0) (float-vector 4.5 74.5 -7.79423) (float-vector 7.79423 74.5 -4.5) (float-vector 9.0 74.5 -1.061785e-14) (float-vector 7.79423 74.5 4.5) (float-vector 4.5 74.5 7.79423) (float-vector 2.842171e-14 74.5 9.0)))
))
         (instance face :init :vertices (list (float-vector -9.0 32.5 1.353926e-14) (float-vector -9.0 34.5 1.294932e-14) (float-vector -7.79423 34.5 -4.5) (float-vector -7.79423 32.5 -4.5)))
         (instance face :init :vertices (list (float-vector -9.0 74.5 1.150515e-15) (float-vector -9.0 76.5 5.605745e-16) (float-vector -7.79423 76.5 -4.5) (float-vector -7.79423 74.5 -4.5)))
         (instance face :init :vertices (list (float-vector -4.5 34.5 -7.79423) (float-vector -4.5 32.5 -7.79423) (float-vector -7.79423 32.5 -4.5) (float-vector -7.79423 34.5 -4.5)))
         (instance face :init :vertices (list (float-vector -7.79423 76.5 -4.5) (float-vector -4.5 76.5 -7.79423) (float-vector -4.5 74.5 -7.79423) (float-vector -7.79423 74.5 -4.5)))
         (instance face :init :vertices (list (float-vector 0.0 34.5 -9.0) (float-vector 0.0 32.5 -9.0) (float-vector -4.5 32.5 -7.79423) (float-vector -4.5 34.5 -7.79423)))
         (instance face :init :vertices (list (float-vector -4.5 76.5 -7.79423) (float-vector 0.0 76.5 -9.0) (float-vector 0.0 74.5 -9.0) (float-vector -4.5 74.5 -7.79423)))
         (instance face :init :vertices (list (float-vector 4.5 34.5 -7.79423) (float-vector 4.5 32.5 -7.79423) (float-vector 0.0 32.5 -9.0) (float-vector 0.0 34.5 -9.0)))
         (instance face :init :vertices (list (float-vector 0.0 76.5 -9.0) (float-vector 4.5 76.5 -7.79423) (float-vector 4.5 74.5 -7.79423) (float-vector 0.0 74.5 -9.0)))
         (instance face :init :vertices (list (float-vector 7.79423 34.5 -4.5) (float-vector 7.79423 32.5 -4.5) (float-vector 4.5 32.5 -7.79423) (float-vector 4.5 34.5 -7.79423)))
         (instance face :init :vertices (list (float-vector 4.5 76.5 -7.79423) (float-vector 7.79423 76.5 -4.5) (float-vector 7.79423 74.5 -4.5) (float-vector 4.5 74.5 -7.79423)))
         (instance face :init :vertices (list (float-vector 9.0 34.5 1.180954e-15) (float-vector 9.0 32.5 1.770894e-15) (float-vector 7.79423 32.5 -4.5) (float-vector 7.79423 34.5 -4.5)))
         (instance face :init :vertices (list (float-vector 7.79423 76.5 -4.5) (float-vector 9.0 76.5 -1.120779e-14) (float-vector 9.0 74.5 -1.061785e-14) (float-vector 7.79423 74.5 -4.5)))
         (instance face :init :vertices (list (float-vector 7.79423 34.5 4.5) (float-vector 7.79423 32.5 4.5) (float-vector 9.0 32.5 1.770894e-15) (float-vector 9.0 34.5 1.180954e-15)))
         (instance face :init :vertices (list (float-vector 9.0 76.5 -1.120779e-14) (float-vector 7.79423 76.5 4.5) (float-vector 7.79423 74.5 4.5) (float-vector 9.0 74.5 -1.061785e-14)))
         (instance face :init :vertices (list (float-vector 4.5 34.5 7.79423) (float-vector 4.5 32.5 7.79423) (float-vector 7.79423 32.5 4.5) (float-vector 7.79423 34.5 4.5)))
         (instance face :init :vertices (list (float-vector 7.79423 76.5 4.5) (float-vector 4.5 76.5 7.79423) (float-vector 4.5 74.5 7.79423) (float-vector 7.79423 74.5 4.5)))
         (instance face :init :vertices (list (float-vector 0.0 34.5 9.0) (float-vector 0.0 32.5 9.0) (float-vector 4.5 32.5 7.79423) (float-vector 4.5 34.5 7.79423)))
         (instance face :init :vertices (list (float-vector 4.5 76.5 7.79423) (float-vector 2.842171e-14 76.5 9.0) (float-vector 2.842171e-14 74.5 9.0) (float-vector 4.5 74.5 7.79423)))
         (instance face :init :vertices (list (float-vector -4.5 34.5 7.79423) (float-vector -4.5 32.5 7.79423) (float-vector 0.0 32.5 9.0) (float-vector 0.0 34.5 9.0)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 76.5 9.0) (float-vector -4.5 76.5 7.79423) (float-vector -4.5 74.5 7.79423) (float-vector 2.842171e-14 74.5 9.0)))
         (instance face :init :vertices (list (float-vector -7.79423 34.5 4.5) (float-vector -7.79423 32.5 4.5) (float-vector -4.5 32.5 7.79423) (float-vector -4.5 34.5 7.79423)))
         (instance face :init :vertices (list (float-vector -4.5 76.5 7.79423) (float-vector -7.79423 76.5 4.5) (float-vector -7.79423 74.5 4.5) (float-vector -4.5 74.5 7.79423)))
         (instance face :init :vertices (list (float-vector -7.79423 32.5 4.5) (float-vector -9.0 32.5 1.353926e-14) (float-vector -7.79423 32.5 -4.5) (float-vector -4.5 32.5 -7.79423) (float-vector 0.0 32.5 -9.0) (float-vector 4.5 32.5 -7.79423) (float-vector 7.79423 32.5 -4.5) (float-vector 9.0 32.5 1.770894e-15) (float-vector 7.79423 32.5 4.5) (float-vector 4.5 32.5 7.79423) (float-vector 0.0 32.5 9.0) (float-vector -4.5 32.5 7.79423)))
         (instance face :init :vertices (list (float-vector -9.0 32.5 1.353926e-14) (float-vector -7.79423 32.5 4.5) (float-vector -7.79423 34.5 4.5) (float-vector -9.0 34.5 1.294932e-14)))
         (instance face :init :vertices (list (float-vector -7.79423 76.5 4.5) (float-vector -9.0 76.5 5.605745e-16) (float-vector -9.0 74.5 1.150515e-15) (float-vector -7.79423 74.5 4.5)))
         (instance face :init :vertices (list (float-vector -9.0 76.5 5.605745e-16) (float-vector -7.79423 76.5 4.5) (float-vector -4.5 76.5 7.79423) (float-vector 2.842171e-14 76.5 9.0) (float-vector 4.5 76.5 7.79423) (float-vector 7.79423 76.5 4.5) (float-vector 9.0 76.5 -1.120779e-14) (float-vector 7.79423 76.5 -4.5) (float-vector 4.5 76.5 -7.79423) (float-vector 0.0 76.5 -9.0) (float-vector -4.5 76.5 -7.79423) (float-vector -7.79423 76.5 -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 :rarm-shoulder-r :weight 73.705 :centroid (float-vector 8.526513e-14 49.637 -8.49312) :inertia-tensor #2f((35519.5 6.957339e-15 -7.898972e-13) (6.957339e-15 16013.6 3044.16) (-7.898972e-13 3044.16 24419.6))))

     ;; definition of :rarm-shoulder-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -2.220446e-15 -24.75) (float-vector 10.0 21.5 -24.75) (float-vector 10.0 21.5 24.75) (float-vector 10.0 -2.220446e-15 24.75) (float-vector 10.0 -2.220446e-15 23.25) (float-vector 10.0 20.0 23.25) (float-vector 10.0 20.0 -23.25) (float-vector 10.0 -2.220446e-15 -23.25)))
         (instance face :init :vertices (list (float-vector -10.0 21.5 -24.75) (float-vector -10.0 21.5 24.75) (float-vector 10.0 21.5 24.75) (float-vector 10.0 21.5 -24.75)))
         (instance face :init :vertices (list (float-vector -10.0 2.220446e-15 -24.75) (float-vector -10.0 2.220446e-15 -23.25) (float-vector -10.0 20.0 -23.25) (float-vector -10.0 20.0 23.25) (float-vector -10.0 2.220446e-15 23.25) (float-vector -10.0 2.220446e-15 24.75) (float-vector -10.0 21.5 24.75) (float-vector -10.0 21.5 -24.75)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 24.75) (float-vector -10.0 2.220446e-15 24.75) (float-vector -10.0 2.220446e-15 23.25) (float-vector -7.07107 -7.07107 23.25)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -24.75) (float-vector -7.07107 -7.07107 -23.25) (float-vector -10.0 2.220446e-15 -23.25) (float-vector -10.0 2.220446e-15 -24.75)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 24.75) (float-vector -7.07107 -7.07107 24.75) (float-vector -7.07107 -7.07107 23.25) (float-vector 0.0 -10.0 23.25)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -24.75) (float-vector 0.0 -10.0 -23.25) (float-vector -7.07107 -7.07107 -23.25) (float-vector -7.07107 -7.07107 -24.75)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 24.75) (float-vector 0.0 -10.0 24.75) (float-vector 0.0 -10.0 23.25) (float-vector 7.07107 -7.07107 23.25)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -24.75) (float-vector 7.07107 -7.07107 -23.25) (float-vector 0.0 -10.0 -23.25) (float-vector 0.0 -10.0 -24.75)))
         (instance face :init :vertices (list (float-vector 10.0 -2.220446e-15 24.75) (float-vector 10.0 21.5 24.75) (float-vector -10.0 21.5 24.75) (float-vector -10.0 2.220446e-15 24.75) (float-vector -7.07107 -7.07107 24.75) (float-vector 0.0 -10.0 24.75) (float-vector 7.07107 -7.07107 24.75)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -24.75) (float-vector 0.0 -10.0 -24.75) (float-vector -7.07107 -7.07107 -24.75) (float-vector -10.0 2.220446e-15 -24.75) (float-vector -10.0 21.5 -24.75) (float-vector 10.0 21.5 -24.75) (float-vector 10.0 -2.220446e-15 -24.75)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 24.75) (float-vector 7.07107 -7.07107 23.25) (float-vector 10.0 -2.220446e-15 23.25) (float-vector 10.0 -2.220446e-15 24.75)))
         (instance face :init :vertices (list (float-vector 10.0 -2.220446e-15 -24.75) (float-vector 10.0 -2.220446e-15 -23.25) (float-vector 7.07107 -7.07107 -23.25) (float-vector 7.07107 -7.07107 -24.75)))
         (instance face :init :vertices (list (float-vector 10.0 20.0 23.25) (float-vector 10.0 -2.220446e-15 23.25) (float-vector 7.07107 -7.07107 23.25) (float-vector 0.0 -10.0 23.25) (float-vector -7.07107 -7.07107 23.25) (float-vector -10.0 2.220446e-15 23.25) (float-vector -10.0 20.0 23.25)))
         (instance face :init :vertices (list (float-vector 10.0 20.0 -23.25) (float-vector 10.0 20.0 23.25) (float-vector -10.0 20.0 23.25) (float-vector -10.0 20.0 -23.25)))
         (instance face :init :vertices (list (float-vector -10.0 20.0 -23.25) (float-vector -10.0 2.220446e-15 -23.25) (float-vector -7.07107 -7.07107 -23.25) (float-vector 0.0 -10.0 -23.25) (float-vector 7.07107 -7.07107 -23.25) (float-vector 10.0 -2.220446e-15 -23.25) (float-vector 10.0 20.0 -23.25)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -11.0 -26.25 -49.0) (float-vector -11.0 -26.25 -24.0) (float-vector -11.0 26.25 -24.0) (float-vector -11.0 26.25 -49.0) (float-vector -11.0 24.75 -49.0) (float-vector -11.0 24.75 -25.5) (float-vector -11.0 -24.75 -25.5) (float-vector -11.0 -24.75 -49.0)))
         (instance face :init :vertices (list (float-vector 9.0 -26.25 -24.0) (float-vector 9.0 26.25 -24.0) (float-vector -11.0 26.25 -24.0) (float-vector -11.0 -26.25 -24.0)))
         (instance face :init :vertices (list (float-vector 9.0 -26.25 -49.0) (float-vector 9.0 -24.75 -49.0) (float-vector 9.0 -24.75 -25.5) (float-vector 9.0 24.75 -25.5) (float-vector 9.0 24.75 -49.0) (float-vector 9.0 26.25 -49.0) (float-vector 9.0 26.25 -24.0) (float-vector 9.0 -26.25 -24.0)))
         (instance face :init :vertices (list (float-vector 6.07107 26.25 -56.0711) (float-vector 9.0 26.25 -49.0) (float-vector 9.0 24.75 -49.0) (float-vector 6.07107 24.75 -56.0711)))
         (instance face :init :vertices (list (float-vector 6.07107 -26.25 -56.0711) (float-vector 6.07107 -24.75 -56.0711) (float-vector 9.0 -24.75 -49.0) (float-vector 9.0 -26.25 -49.0)))
         (instance face :init :vertices (list (float-vector -1.0 26.25 -59.0) (float-vector 6.07107 26.25 -56.0711) (float-vector 6.07107 24.75 -56.0711) (float-vector -1.0 24.75 -59.0)))
         (instance face :init :vertices (list (float-vector -1.0 -26.25 -59.0) (float-vector -1.0 -24.75 -59.0) (float-vector 6.07107 -24.75 -56.0711) (float-vector 6.07107 -26.25 -56.0711)))
         (instance face :init :vertices (list (float-vector -8.07107 26.25 -56.0711) (float-vector -1.0 26.25 -59.0) (float-vector -1.0 24.75 -59.0) (float-vector -8.07107 24.75 -56.0711)))
         (instance face :init :vertices (list (float-vector -8.07107 -26.25 -56.0711) (float-vector -8.07107 -24.75 -56.0711) (float-vector -1.0 -24.75 -59.0) (float-vector -1.0 -26.25 -59.0)))
         (instance face :init :vertices (list (float-vector -11.0 26.25 -49.0) (float-vector -11.0 26.25 -24.0) (float-vector 9.0 26.25 -24.0) (float-vector 9.0 26.25 -49.0) (float-vector 6.07107 26.25 -56.0711) (float-vector -1.0 26.25 -59.0) (float-vector -8.07107 26.25 -56.0711)))
         (instance face :init :vertices (list (float-vector -8.07107 -26.25 -56.0711) (float-vector -1.0 -26.25 -59.0) (float-vector 6.07107 -26.25 -56.0711) (float-vector 9.0 -26.25 -49.0) (float-vector 9.0 -26.25 -24.0) (float-vector -11.0 -26.25 -24.0) (float-vector -11.0 -26.25 -49.0)))
         (instance face :init :vertices (list (float-vector -8.07107 26.25 -56.0711) (float-vector -8.07107 24.75 -56.0711) (float-vector -11.0 24.75 -49.0) (float-vector -11.0 26.25 -49.0)))
         (instance face :init :vertices (list (float-vector -11.0 -26.25 -49.0) (float-vector -11.0 -24.75 -49.0) (float-vector -8.07107 -24.75 -56.0711) (float-vector -8.07107 -26.25 -56.0711)))
         (instance face :init :vertices (list (float-vector -11.0 24.75 -25.5) (float-vector -11.0 24.75 -49.0) (float-vector -8.07107 24.75 -56.0711) (float-vector -1.0 24.75 -59.0) (float-vector 6.07107 24.75 -56.0711) (float-vector 9.0 24.75 -49.0) (float-vector 9.0 24.75 -25.5)))
         (instance face :init :vertices (list (float-vector -11.0 -24.75 -25.5) (float-vector -11.0 24.75 -25.5) (float-vector 9.0 24.75 -25.5) (float-vector 9.0 -24.75 -25.5)))
         (instance face :init :vertices (list (float-vector 9.0 -24.75 -25.5) (float-vector 9.0 -24.75 -49.0) (float-vector 6.07107 -24.75 -56.0711) (float-vector -1.0 -24.75 -59.0) (float-vector -8.07107 -24.75 -56.0711) (float-vector -11.0 -24.75 -49.0) (float-vector -11.0 -24.75 -25.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink19 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-shoulder-y :weight 17.6 :centroid (float-vector -0.523011 6.30612 -17.4886) :inertia-tensor #2f((15205.0 -58.0479 -146.817) (-58.0479 9995.17 -1941.02) (-146.817 -1941.02 6391.98))))

     ;; definition of :rarm-elbow-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -10.0 20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 30.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector -10.0 30.0 20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0) (float-vector 10.0 30.0 20.0) (float-vector -10.0 30.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 4.5 -7.79423 20.0) (float-vector -2.842171e-14 -9.0 20.0) (float-vector -4.5 -7.79423 20.0) (float-vector -7.79423 -4.5 20.0) (float-vector -9.0 2.842171e-14 20.0) (float-vector -7.79423 4.5 20.0) (float-vector -4.5 7.79423 20.0) (float-vector 0.0 9.0 20.0) (float-vector 4.5 7.79423 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 9.0 0.0 20.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 -10.0 20.0) (float-vector -10.0 -10.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 -10.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector 10.0 30.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.5 -7.79423 -20.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 0.0 9.0 -20.0) (float-vector -4.5 7.79423 -20.0) (float-vector -7.79423 4.5 -20.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -2.842171e-14 -9.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector 9.0 0.0 22.0) (float-vector 9.0 0.0 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 7.79423 4.5 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -20.0) (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 4.5 -22.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 20.0) (float-vector 4.5 7.79423 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 4.5 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 4.5 7.79423 -20.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 0.0 9.0 20.0) (float-vector 0.0 9.0 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 -22.0) (float-vector 0.0 9.0 -22.0) (float-vector 0.0 9.0 -20.0) (float-vector 4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 20.0) (float-vector -4.5 7.79423 22.0) (float-vector 0.0 9.0 22.0) (float-vector 0.0 9.0 20.0)))
         (instance face :init :vertices (list (float-vector 0.0 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 0.0 9.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 20.0) (float-vector -7.79423 4.5 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -7.79423 4.5 -20.0) (float-vector -4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 2.842171e-14 20.0) (float-vector -9.0 2.842171e-14 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 20.0) (float-vector -7.79423 -4.5 22.0) (float-vector -9.0 2.842171e-14 22.0) (float-vector -9.0 2.842171e-14 20.0)))
         (instance face :init :vertices (list (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -9.0 0.0 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 20.0) (float-vector -4.5 -7.79423 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -7.79423 -4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -9.0 20.0) (float-vector -2.842171e-14 -9.0 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 -22.0) (float-vector -2.842171e-14 -9.0 -22.0) (float-vector -2.842171e-14 -9.0 -20.0) (float-vector -4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 20.0) (float-vector 4.5 -7.79423 22.0) (float-vector -2.842171e-14 -9.0 22.0) (float-vector -2.842171e-14 -9.0 20.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector -2.842171e-14 -9.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 7.79423 -4.5 22.0) (float-vector 4.5 -7.79423 22.0) (float-vector 4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 22.0) (float-vector 9.0 0.0 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 0.0 9.0 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -9.0 2.842171e-14 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -2.842171e-14 -9.0 22.0) (float-vector 4.5 -7.79423 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 22.0) (float-vector 7.79423 -4.5 22.0) (float-vector 7.79423 -4.5 20.0) (float-vector 9.0 0.0 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 -22.0) (float-vector 9.0 0.0 -22.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector -2.842171e-14 -9.0 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector 0.0 9.0 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 7.79423 4.5 -22.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 70.0 -20.0) (float-vector -10.0 70.0 8.5) (float-vector -10.0 30.0 8.5) (float-vector -10.0 30.0 10.0) (float-vector -10.0 71.5 10.0) (float-vector -10.0 71.5 -21.5) (float-vector -10.0 -10.0 -21.5) (float-vector -10.0 -10.0 -20.0)))
         (instance face :init :vertices (list (float-vector 10.0 70.0 8.5) (float-vector 10.0 70.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -21.5) (float-vector 10.0 71.5 -21.5) (float-vector 10.0 71.5 10.0) (float-vector 10.0 30.0 10.0) (float-vector 10.0 30.0 8.5)))
         (instance face :init :vertices (list (float-vector -10.0 70.0 -20.0) (float-vector 10.0 70.0 -20.0) (float-vector 10.0 70.0 8.5) (float-vector -10.0 70.0 8.5)))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 70.0 -20.0) (float-vector -10.0 70.0 -20.0)))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 -21.5) (float-vector 10.0 -10.0 -21.5) (float-vector 10.0 -10.0 -20.0) (float-vector -10.0 -10.0 -20.0)))
         (instance face :init :vertices (list (float-vector -10.0 71.5 -21.5) (float-vector 10.0 71.5 -21.5) (float-vector 10.0 -10.0 -21.5) (float-vector -10.0 -10.0 -21.5)))
         (instance face :init :vertices (list (float-vector -10.0 71.5 10.0) (float-vector 10.0 71.5 10.0) (float-vector 10.0 71.5 -21.5) (float-vector -10.0 71.5 -21.5)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 10.0) (float-vector 10.0 30.0 10.0) (float-vector 10.0 71.5 10.0) (float-vector -10.0 71.5 10.0)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 8.5) (float-vector 10.0 30.0 8.5) (float-vector 10.0 30.0 10.0) (float-vector -10.0 30.0 10.0)))
         (instance face :init :vertices (list (float-vector -10.0 70.0 8.5) (float-vector 10.0 70.0 8.5) (float-vector 10.0 30.0 8.5) (float-vector -10.0 30.0 8.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 95.0 -33.75) (float-vector -10.0 70.0 -33.75) (float-vector -10.0 70.0 18.75) (float-vector -10.0 95.0 18.75) (float-vector -10.0 95.0 17.25) (float-vector -10.0 71.5 17.25) (float-vector -10.0 71.5 -32.25) (float-vector -10.0 95.0 -32.25)))
         (instance face :init :vertices (list (float-vector 10.0 70.0 -33.75) (float-vector 10.0 70.0 18.75) (float-vector -10.0 70.0 18.75) (float-vector -10.0 70.0 -33.75)))
         (instance face :init :vertices (list (float-vector 10.0 95.0 -33.75) (float-vector 10.0 95.0 -32.25) (float-vector 10.0 71.5 -32.25) (float-vector 10.0 71.5 17.25) (float-vector 10.0 95.0 17.25) (float-vector 10.0 95.0 18.75) (float-vector 10.0 70.0 18.75) (float-vector 10.0 70.0 -33.75)))
         (instance face :init :vertices (list (float-vector 7.07107 102.071 18.75) (float-vector 10.0 95.0 18.75) (float-vector 10.0 95.0 17.25) (float-vector 7.07107 102.071 17.25)))
         (instance face :init :vertices (list (float-vector 7.07107 102.071 -33.75) (float-vector 7.07107 102.071 -32.25) (float-vector 10.0 95.0 -32.25) (float-vector 10.0 95.0 -33.75)))
         (instance face :init :vertices (list (float-vector 0.0 105.0 18.75) (float-vector 7.07107 102.071 18.75) (float-vector 7.07107 102.071 17.25) (float-vector 0.0 105.0 17.25)))
         (instance face :init :vertices (list (float-vector 0.0 105.0 -33.75) (float-vector 0.0 105.0 -32.25) (float-vector 7.07107 102.071 -32.25) (float-vector 7.07107 102.071 -33.75)))
         (instance face :init :vertices (list (float-vector -7.07107 102.071 18.75) (float-vector 0.0 105.0 18.75) (float-vector 0.0 105.0 17.25) (float-vector -7.07107 102.071 17.25)))
         (instance face :init :vertices (list (float-vector -7.07107 102.071 -33.75) (float-vector -7.07107 102.071 -32.25) (float-vector 0.0 105.0 -32.25) (float-vector 0.0 105.0 -33.75)))
         (instance face :init :vertices (list (float-vector -10.0 95.0 18.75) (float-vector -10.0 70.0 18.75) (float-vector 10.0 70.0 18.75) (float-vector 10.0 95.0 18.75) (float-vector 7.07107 102.071 18.75) (float-vector 0.0 105.0 18.75) (float-vector -7.07107 102.071 18.75)))
         (instance face :init :vertices (list (float-vector -7.07107 102.071 -33.75) (float-vector 0.0 105.0 -33.75) (float-vector 7.07107 102.071 -33.75) (float-vector 10.0 95.0 -33.75) (float-vector 10.0 70.0 -33.75) (float-vector -10.0 70.0 -33.75) (float-vector -10.0 95.0 -33.75)))
         (instance face :init :vertices (list (float-vector -7.07107 102.071 18.75) (float-vector -7.07107 102.071 17.25) (float-vector -10.0 95.0 17.25) (float-vector -10.0 95.0 18.75)))
         (instance face :init :vertices (list (float-vector -10.0 95.0 -33.75) (float-vector -10.0 95.0 -32.25) (float-vector -7.07107 102.071 -32.25) (float-vector -7.07107 102.071 -33.75)))
         (instance face :init :vertices (list (float-vector -10.0 71.5 17.25) (float-vector -10.0 95.0 17.25) (float-vector -7.07107 102.071 17.25) (float-vector 0.0 105.0 17.25) (float-vector 7.07107 102.071 17.25) (float-vector 10.0 95.0 17.25) (float-vector 10.0 71.5 17.25)))
         (instance face :init :vertices (list (float-vector -10.0 71.5 -32.25) (float-vector -10.0 71.5 17.25) (float-vector 10.0 71.5 17.25) (float-vector 10.0 71.5 -32.25)))
         (instance face :init :vertices (list (float-vector 10.0 71.5 -32.25) (float-vector 10.0 95.0 -32.25) (float-vector 7.07107 102.071 -32.25) (float-vector 0.0 105.0 -32.25) (float-vector -7.07107 102.071 -32.25) (float-vector -10.0 95.0 -32.25) (float-vector -10.0 71.5 -32.25)))
       ))
       ))
     (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)
     (setq blink18 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-elbow-p :weight 85.705 :centroid (float-vector -1.051603e-12 21.962 -2.16513) :inertia-tensor #2f((63210.3 2.750261e-10 -9.470540e-11) (2.750261e-10 15819.2 4534.19) (-9.470540e-11 4534.19 52304.8))))

     ;; definition of :rarm-wrist-r
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -10.0 20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 30.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector -10.0 30.0 20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0) (float-vector 10.0 30.0 20.0) (float-vector -10.0 30.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 4.5 -7.79423 20.0) (float-vector -2.842171e-14 -9.0 20.0) (float-vector -4.5 -7.79423 20.0) (float-vector -7.79423 -4.5 20.0) (float-vector -9.0 0.0 20.0) (float-vector -7.79423 4.5 20.0) (float-vector -4.5 7.79423 20.0) (float-vector -2.842171e-14 9.0 20.0) (float-vector 4.5 7.79423 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 9.0 0.0 20.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 -10.0 20.0) (float-vector -10.0 -10.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 -10.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector 10.0 30.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.5 -7.79423 -20.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector -2.842171e-14 9.0 -20.0) (float-vector -4.5 7.79423 -20.0) (float-vector -7.79423 4.5 -20.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -2.842171e-14 -9.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector 9.0 0.0 22.0) (float-vector 9.0 0.0 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 7.79423 4.5 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -20.0) (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 4.5 -22.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 20.0) (float-vector 4.5 7.79423 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 4.5 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 4.5 7.79423 -20.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 9.0 20.0) (float-vector -2.842171e-14 9.0 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 -22.0) (float-vector -2.842171e-14 9.0 -22.0) (float-vector -2.842171e-14 9.0 -20.0) (float-vector 4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 20.0) (float-vector -4.5 7.79423 22.0) (float-vector -2.842171e-14 9.0 22.0) (float-vector -2.842171e-14 9.0 20.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector -2.842171e-14 9.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 20.0) (float-vector -7.79423 4.5 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -7.79423 4.5 -20.0) (float-vector -4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 0.0 20.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 20.0) (float-vector -7.79423 -4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -9.0 0.0 20.0)))
         (instance face :init :vertices (list (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -9.0 0.0 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 20.0) (float-vector -4.5 -7.79423 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -7.79423 -4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -9.0 20.0) (float-vector -2.842171e-14 -9.0 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 -22.0) (float-vector -2.842171e-14 -9.0 -22.0) (float-vector -2.842171e-14 -9.0 -20.0) (float-vector -4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 20.0) (float-vector 4.5 -7.79423 22.0) (float-vector -2.842171e-14 -9.0 22.0) (float-vector -2.842171e-14 -9.0 20.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector -2.842171e-14 -9.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 7.79423 -4.5 22.0) (float-vector 4.5 -7.79423 22.0) (float-vector 4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 22.0) (float-vector 9.0 0.0 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 4.5 7.79423 22.0) (float-vector -2.842171e-14 9.0 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -2.842171e-14 -9.0 22.0) (float-vector 4.5 -7.79423 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 22.0) (float-vector 7.79423 -4.5 22.0) (float-vector 7.79423 -4.5 20.0) (float-vector 9.0 0.0 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 -22.0) (float-vector 9.0 0.0 -22.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector -2.842171e-14 -9.0 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -2.842171e-14 9.0 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 7.79423 4.5 -22.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 70.0 -20.0) (float-vector -10.0 70.0 8.5) (float-vector -10.0 30.0 8.5) (float-vector -10.0 30.0 10.0) (float-vector -10.0 71.5 10.0) (float-vector -10.0 71.5 -21.5) (float-vector -10.0 -10.0 -21.5) (float-vector -10.0 -10.0 -20.0)))
         (instance face :init :vertices (list (float-vector 10.0 70.0 8.5) (float-vector 10.0 70.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -21.5) (float-vector 10.0 71.5 -21.5) (float-vector 10.0 71.5 10.0) (float-vector 10.0 30.0 10.0) (float-vector 10.0 30.0 8.5)))
         (instance face :init :vertices (list (float-vector -10.0 70.0 -20.0) (float-vector 10.0 70.0 -20.0) (float-vector 10.0 70.0 8.5) (float-vector -10.0 70.0 8.5)))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 70.0 -20.0) (float-vector -10.0 70.0 -20.0)))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 -21.5) (float-vector 10.0 -10.0 -21.5) (float-vector 10.0 -10.0 -20.0) (float-vector -10.0 -10.0 -20.0)))
         (instance face :init :vertices (list (float-vector -10.0 71.5 -21.5) (float-vector 10.0 71.5 -21.5) (float-vector 10.0 -10.0 -21.5) (float-vector -10.0 -10.0 -21.5)))
         (instance face :init :vertices (list (float-vector -10.0 71.5 10.0) (float-vector 10.0 71.5 10.0) (float-vector 10.0 71.5 -21.5) (float-vector -10.0 71.5 -21.5)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 10.0) (float-vector 10.0 30.0 10.0) (float-vector 10.0 71.5 10.0) (float-vector -10.0 71.5 10.0)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 8.5) (float-vector 10.0 30.0 8.5) (float-vector 10.0 30.0 10.0) (float-vector -10.0 30.0 10.0)))
         (instance face :init :vertices (list (float-vector -10.0 70.0 8.5) (float-vector 10.0 70.0 8.5) (float-vector 10.0 30.0 8.5) (float-vector -10.0 30.0 8.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray50)
     (setq blink17 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-wrist-r :weight 76.5 :centroid (float-vector -4.831691e-13 15.0461 -1.5232) :inertia-tensor #2f((19189.5 1.664453e-10 -4.746960e-11) (1.664453e-10 10899.6 524.722) (-4.746960e-11 524.722 12589.9))))

     ;; definition of :lleg-crotch-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -29.0) (float-vector 10.0 25.0 -29.0) (float-vector 10.0 25.0 29.0) (float-vector 10.0 0.0 29.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 21.0 25.0) (float-vector 10.0 21.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -29.0) (float-vector -10.0 25.0 29.0) (float-vector 10.0 25.0 29.0) (float-vector 10.0 25.0 -29.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -29.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 21.0 -25.0) (float-vector -10.0 21.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 7.105427e-15 29.0) (float-vector -10.0 25.0 29.0) (float-vector -10.0 25.0 -29.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 29.0) (float-vector -10.0 7.105427e-15 29.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -29.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -29.0)))
         (instance face :init :vertices (list (float-vector -3.552714e-15 -10.0 29.0) (float-vector -7.07107 -7.07107 29.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -3.552714e-15 -10.0 25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -29.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -29.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 29.0) (float-vector -3.552714e-15 -10.0 29.0) (float-vector -3.552714e-15 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -29.0) (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -29.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 29.0) (float-vector 10.0 25.0 29.0) (float-vector -10.0 25.0 29.0) (float-vector -10.0 7.105427e-15 29.0) (float-vector -7.07107 -7.07107 29.0) (float-vector -3.552714e-15 -10.0 29.0) (float-vector 7.07107 -7.07107 29.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -29.0) (float-vector 0.0 -10.0 -29.0) (float-vector -7.07107 -7.07107 -29.0) (float-vector -10.0 0.0 -29.0) (float-vector -10.0 25.0 -29.0) (float-vector 10.0 25.0 -29.0) (float-vector 10.0 0.0 -29.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 29.0) (float-vector 7.07107 -7.07107 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 29.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -29.0) (float-vector 10.0 0.0 -25.0) (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -29.0)))
         (instance face :init :vertices (list (float-vector 10.0 21.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 7.07107 -7.07107 25.0) (float-vector -3.552714e-15 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 21.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 21.0 -25.0) (float-vector 10.0 21.0 25.0) (float-vector -10.0 21.0 25.0) (float-vector -10.0 21.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 21.0 -25.0) (float-vector -10.0 0.0 -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) (float-vector 10.0 0.0 -25.0) (float-vector 10.0 21.0 -25.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 24.5744 14.564 34.6) (float-vector -0.325644 -28.564 34.6) (float-vector -51.4211 0.935967 34.6) (float-vector -26.5211 44.064 34.6)))
         (instance face :init :vertices (list (float-vector -51.4211 0.935967 34.6) (float-vector -51.4211 0.935967 63.4) (float-vector -26.5211 44.064 63.4) (float-vector -26.5211 44.064 34.6)))
         (instance face :init :vertices (list (float-vector -51.4211 0.935967 63.4) (float-vector -0.325644 -28.564 63.4) (float-vector 24.5744 14.564 63.4) (float-vector -26.5211 44.064 63.4)))
         (instance face :init :vertices (list (float-vector 24.5744 14.564 63.4) (float-vector 24.5744 14.564 34.6) (float-vector -26.5211 44.064 34.6) (float-vector -26.5211 44.064 63.4))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 18.2524 18.214 37.3953) (float-vector 22.5 15.7617 42.3) (float-vector 24.0547 14.864 49.0) (float-vector 22.5 15.7617 55.7) (float-vector 18.2524 18.214 60.6047) (float-vector 12.45 21.564 62.4) (float-vector 6.64763 24.914 60.6047) (float-vector 2.4 27.3664 55.7) (float-vector 0.84526 28.264 49.0) (float-vector 2.4 27.3664 42.3) (float-vector 6.64763 24.914 37.3953) (float-vector 12.45 21.564 35.6)))
))
         (instance face :init :vertices (list (float-vector -0.325644 -28.564 63.4) (float-vector -0.325644 -28.564 34.6) (float-vector 24.5744 14.564 34.6) (float-vector 24.5744 14.564 63.4)))
         (instance face :init :vertices (list (float-vector -0.325644 -28.564 34.6) (float-vector -0.325644 -28.564 63.4) (float-vector -51.4211 0.935967 63.4) (float-vector -51.4211 0.935967 34.6))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -2.4 -27.3664 42.3) (float-vector -6.64763 -24.914 37.3953) (float-vector -12.45 -21.564 35.6) (float-vector -18.2524 -18.214 37.3953) (float-vector -22.5 -15.7617 42.3) (float-vector -24.0547 -14.864 49.0) (float-vector -22.5 -15.7617 55.7) (float-vector -18.2524 -18.214 60.6047) (float-vector -12.45 -21.564 62.4) (float-vector -6.64763 -24.914 60.6047) (float-vector -2.4 -27.3664 55.7) (float-vector -0.84526 -28.264 49.0)))
))
         (instance face :init :vertices (list (float-vector 13.45 23.2961 35.6) (float-vector 12.45 21.564 35.6) (float-vector 6.64763 24.914 37.3953) (float-vector 7.64763 26.6461 37.3953)))
         (instance face :init :vertices (list (float-vector -12.45 -21.564 35.6) (float-vector -13.45 -23.2961 35.6) (float-vector -19.2524 -19.9461 37.3953) (float-vector -18.2524 -18.214 37.3953)))
         (instance face :init :vertices (list (float-vector 2.4 27.3664 42.3) (float-vector 3.4 29.0985 42.3) (float-vector 7.64763 26.6461 37.3953) (float-vector 6.64763 24.914 37.3953)))
         (instance face :init :vertices (list (float-vector -19.2524 -19.9461 37.3953) (float-vector -23.5 -17.4937 42.3) (float-vector -22.5 -15.7617 42.3) (float-vector -18.2524 -18.214 37.3953)))
         (instance face :init :vertices (list (float-vector 0.84526 28.264 49.0) (float-vector 1.84526 29.9961 49.0) (float-vector 3.4 29.0985 42.3) (float-vector 2.4 27.3664 42.3)))
         (instance face :init :vertices (list (float-vector -23.5 -17.4937 42.3) (float-vector -25.0547 -16.5961 49.0) (float-vector -24.0547 -14.864 49.0) (float-vector -22.5 -15.7617 42.3)))
         (instance face :init :vertices (list (float-vector 2.4 27.3664 55.7) (float-vector 3.4 29.0985 55.7) (float-vector 1.84526 29.9961 49.0) (float-vector 0.84526 28.264 49.0)))
         (instance face :init :vertices (list (float-vector -25.0547 -16.5961 49.0) (float-vector -23.5 -17.4937 55.7) (float-vector -22.5 -15.7617 55.7) (float-vector -24.0547 -14.864 49.0)))
         (instance face :init :vertices (list (float-vector 6.64763 24.914 60.6047) (float-vector 7.64763 26.6461 60.6047) (float-vector 3.4 29.0985 55.7) (float-vector 2.4 27.3664 55.7)))
         (instance face :init :vertices (list (float-vector -23.5 -17.4937 55.7) (float-vector -19.2524 -19.9461 60.6047) (float-vector -18.2524 -18.214 60.6047) (float-vector -22.5 -15.7617 55.7)))
         (instance face :init :vertices (list (float-vector 12.45 21.564 62.4) (float-vector 13.45 23.2961 62.4) (float-vector 7.64763 26.6461 60.6047) (float-vector 6.64763 24.914 60.6047)))
         (instance face :init :vertices (list (float-vector -19.2524 -19.9461 60.6047) (float-vector -13.45 -23.2961 62.4) (float-vector -12.45 -21.564 62.4) (float-vector -18.2524 -18.214 60.6047)))
         (instance face :init :vertices (list (float-vector 18.2524 18.214 60.6047) (float-vector 19.2524 19.9461 60.6047) (float-vector 13.45 23.2961 62.4) (float-vector 12.45 21.564 62.4)))
         (instance face :init :vertices (list (float-vector -13.45 -23.2961 62.4) (float-vector -7.64763 -26.6461 60.6047) (float-vector -6.64763 -24.914 60.6047) (float-vector -12.45 -21.564 62.4)))
         (instance face :init :vertices (list (float-vector 22.5 15.7617 55.7) (float-vector 23.5 17.4937 55.7) (float-vector 19.2524 19.9461 60.6047) (float-vector 18.2524 18.214 60.6047)))
         (instance face :init :vertices (list (float-vector -7.64763 -26.6461 60.6047) (float-vector -3.4 -29.0985 55.7) (float-vector -2.4 -27.3664 55.7) (float-vector -6.64763 -24.914 60.6047)))
         (instance face :init :vertices (list (float-vector 24.0547 14.864 49.0) (float-vector 25.0547 16.5961 49.0) (float-vector 23.5 17.4937 55.7) (float-vector 22.5 15.7617 55.7)))
         (instance face :init :vertices (list (float-vector -3.4 -29.0985 55.7) (float-vector -1.84526 -29.9961 49.0) (float-vector -0.84526 -28.264 49.0) (float-vector -2.4 -27.3664 55.7)))
         (instance face :init :vertices (list (float-vector 22.5 15.7617 42.3) (float-vector 23.5 17.4937 42.3) (float-vector 25.0547 16.5961 49.0) (float-vector 24.0547 14.864 49.0)))
         (instance face :init :vertices (list (float-vector -1.84526 -29.9961 49.0) (float-vector -3.4 -29.0985 42.3) (float-vector -2.4 -27.3664 42.3) (float-vector -0.84526 -28.264 49.0)))
         (instance face :init :vertices (list (float-vector 18.2524 18.214 37.3953) (float-vector 19.2524 19.9461 37.3953) (float-vector 23.5 17.4937 42.3) (float-vector 22.5 15.7617 42.3)))
         (instance face :init :vertices (list (float-vector -3.4 -29.0985 42.3) (float-vector -7.64763 -26.6461 37.3953) (float-vector -6.64763 -24.914 37.3953) (float-vector -2.4 -27.3664 42.3)))
         (instance face :init :vertices (list (float-vector 19.2524 19.9461 37.3953) (float-vector 13.45 23.2961 35.6) (float-vector 7.64763 26.6461 37.3953) (float-vector 3.4 29.0985 42.3) (float-vector 1.84526 29.9961 49.0) (float-vector 3.4 29.0985 55.7) (float-vector 7.64763 26.6461 60.6047) (float-vector 13.45 23.2961 62.4) (float-vector 19.2524 19.9461 60.6047) (float-vector 23.5 17.4937 55.7) (float-vector 25.0547 16.5961 49.0) (float-vector 23.5 17.4937 42.3)))
         (instance face :init :vertices (list (float-vector 13.45 23.2961 35.6) (float-vector 19.2524 19.9461 37.3953) (float-vector 18.2524 18.214 37.3953) (float-vector 12.45 21.564 35.6)))
         (instance face :init :vertices (list (float-vector -7.64763 -26.6461 37.3953) (float-vector -13.45 -23.2961 35.6) (float-vector -12.45 -21.564 35.6) (float-vector -6.64763 -24.914 37.3953)))
         (instance face :init :vertices (list (float-vector -13.45 -23.2961 35.6) (float-vector -7.64763 -26.6461 37.3953) (float-vector -3.4 -29.0985 42.3) (float-vector -1.84526 -29.9961 49.0) (float-vector -3.4 -29.0985 55.7) (float-vector -7.64763 -26.6461 60.6047) (float-vector -13.45 -23.2961 62.4) (float-vector -19.2524 -19.9461 60.6047) (float-vector -23.5 -17.4937 55.7) (float-vector -25.0547 -16.5961 49.0) (float-vector -23.5 -17.4937 42.3) (float-vector -19.2524 -19.9461 37.3953)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-crotch-y :weight 131.655 :centroid (float-vector -10.6387 8.96107 39.8239) :inertia-tensor #2f((96083.0 1898.92 12852.4) (1898.92 1.009377e+05 7358.63) (12852.4 7358.63 61271.1))))

     ;; definition of :lleg-crotch-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 2.842171e-14 -32.0) (float-vector 14.4 34.5 -32.0) (float-vector 14.4 34.5 32.0) (float-vector 14.4 0.0 32.0) (float-vector 14.4 0.0 30.5) (float-vector 14.4 33.0 30.5) (float-vector 14.4 33.0 -30.5) (float-vector 14.4 2.842171e-14 -30.5)))
         (instance face :init :vertices (list (float-vector -14.4 34.5 -32.0) (float-vector -14.4 34.5 32.0) (float-vector 14.4 34.5 32.0) (float-vector 14.4 34.5 -32.0)))
         (instance face :init :vertices (list (float-vector -14.4 2.842171e-14 -32.0) (float-vector -14.4 2.842171e-14 -30.5) (float-vector -14.4 33.0 -30.5) (float-vector -14.4 33.0 30.5) (float-vector -14.4 0.0 30.5) (float-vector -14.4 0.0 32.0) (float-vector -14.4 34.5 32.0) (float-vector -14.4 34.5 -32.0)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 32.0) (float-vector -14.4 0.0 32.0) (float-vector -14.4 0.0 30.5) (float-vector -10.1823 -10.1823 30.5)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 -32.0) (float-vector -10.1823 -10.1823 -30.5) (float-vector -14.4 2.842171e-14 -30.5) (float-vector -14.4 2.842171e-14 -32.0)))
         (instance face :init :vertices (list (float-vector -3.552714e-15 -14.4 32.0) (float-vector -10.1823 -10.1823 32.0) (float-vector -10.1823 -10.1823 30.5) (float-vector -3.386180e-15 -14.4 30.5)))
         (instance face :init :vertices (list (float-vector 3.552714e-15 -14.4 -32.0) (float-vector 3.386180e-15 -14.4 -30.5) (float-vector -10.1823 -10.1823 -30.5) (float-vector -10.1823 -10.1823 -32.0)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 32.0) (float-vector -3.552714e-15 -14.4 32.0) (float-vector -3.386180e-15 -14.4 30.5) (float-vector 10.1823 -10.1823 30.5)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -32.0) (float-vector 10.1823 -10.1823 -30.5) (float-vector 3.386180e-15 -14.4 -30.5) (float-vector 3.552714e-15 -14.4 -32.0)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 32.0) (float-vector 14.4 34.5 32.0) (float-vector -14.4 34.5 32.0) (float-vector -14.4 0.0 32.0) (float-vector -10.1823 -10.1823 32.0) (float-vector -3.552714e-15 -14.4 32.0) (float-vector 10.1823 -10.1823 32.0)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -32.0) (float-vector 3.552714e-15 -14.4 -32.0) (float-vector -10.1823 -10.1823 -32.0) (float-vector -14.4 2.842171e-14 -32.0) (float-vector -14.4 34.5 -32.0) (float-vector 14.4 34.5 -32.0) (float-vector 14.4 2.842171e-14 -32.0)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 32.0) (float-vector 10.1823 -10.1823 30.5) (float-vector 14.4 0.0 30.5) (float-vector 14.4 0.0 32.0)))
         (instance face :init :vertices (list (float-vector 14.4 2.842171e-14 -32.0) (float-vector 14.4 2.842171e-14 -30.5) (float-vector 10.1823 -10.1823 -30.5) (float-vector 10.1823 -10.1823 -32.0)))
         (instance face :init :vertices (list (float-vector 14.4 33.0 30.5) (float-vector 14.4 0.0 30.5) (float-vector 10.1823 -10.1823 30.5) (float-vector -3.386180e-15 -14.4 30.5) (float-vector -10.1823 -10.1823 30.5) (float-vector -14.4 0.0 30.5) (float-vector -14.4 33.0 30.5)))
         (instance face :init :vertices (list (float-vector 14.4 33.0 -30.5) (float-vector 14.4 33.0 30.5) (float-vector -14.4 33.0 30.5) (float-vector -14.4 33.0 -30.5)))
         (instance face :init :vertices (list (float-vector -14.4 33.0 -30.5) (float-vector -14.4 2.842171e-14 -30.5) (float-vector -10.1823 -10.1823 -30.5) (float-vector 3.386180e-15 -14.4 -30.5) (float-vector 10.1823 -10.1823 -30.5) (float-vector 14.4 2.842171e-14 -30.5) (float-vector 14.4 33.0 -30.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -14.4 105.0 24.9) (float-vector -14.4 105.0 -24.9) (float-vector -14.4 46.0 -24.9) (float-vector -14.4 46.0 24.9)))
         (instance face :init :vertices (list (float-vector -14.4 46.0 -24.9) (float-vector 14.4 46.0 -24.9) (float-vector 14.4 46.0 24.9) (float-vector -14.4 46.0 24.9)))
         (instance face :init :vertices (list (float-vector 14.4 46.0 -24.9) (float-vector 14.4 105.0 -24.9) (float-vector 14.4 105.0 24.9) (float-vector 14.4 46.0 24.9)))
         (instance face :init :vertices (list (float-vector 14.4 105.0 24.9) (float-vector -14.4 105.0 24.9) (float-vector -14.4 46.0 24.9) (float-vector 14.4 46.0 24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -11.6047 97.7 24.9) (float-vector -6.7 102.605 24.9) (float-vector -3.135270e-14 104.4 24.9) (float-vector 6.7 102.605 24.9) (float-vector 11.6047 97.7 24.9) (float-vector 13.4 91.0 24.9) (float-vector 11.6047 84.3 24.9) (float-vector 6.7 79.3953 24.9) (float-vector -5.648815e-14 77.6 24.9) (float-vector -6.7 79.3953 24.9) (float-vector -11.6047 84.3 24.9) (float-vector -13.4 91.0 24.9)))
))
         (instance face :init :vertices (list (float-vector 14.4 105.0 -24.9) (float-vector -14.4 105.0 -24.9) (float-vector -14.4 105.0 24.9) (float-vector 14.4 105.0 24.9)))
         (instance face :init :vertices (list (float-vector -14.4 105.0 -24.9) (float-vector 14.4 105.0 -24.9) (float-vector 14.4 46.0 -24.9) (float-vector -14.4 46.0 -24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -6.7 102.605 -24.9) (float-vector -11.6047 97.7 -24.9) (float-vector -13.4 91.0 -24.9) (float-vector -11.6047 84.3 -24.9) (float-vector -6.7 79.3953 -24.9) (float-vector -3.437250e-14 77.6 -24.9) (float-vector 6.7 79.3953 -24.9) (float-vector 11.6047 84.3 -24.9) (float-vector 13.4 91.0 -24.9) (float-vector 11.6047 97.7 -24.9) (float-vector 6.7 102.605 -24.9) (float-vector -9.237056e-15 104.4 -24.9)))
))
         (instance face :init :vertices (list (float-vector -13.4 91.0 26.9) (float-vector -13.4 91.0 24.9) (float-vector -11.6047 84.3 24.9) (float-vector -11.6047 84.3 26.9)))
         (instance face :init :vertices (list (float-vector -13.4 91.0 -24.9) (float-vector -13.4 91.0 -26.9) (float-vector -11.6047 84.3 -26.9) (float-vector -11.6047 84.3 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 79.3953 24.9) (float-vector -6.7 79.3953 26.9) (float-vector -11.6047 84.3 26.9) (float-vector -11.6047 84.3 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 84.3 -26.9) (float-vector -6.7 79.3953 -26.9) (float-vector -6.7 79.3953 -24.9) (float-vector -11.6047 84.3 -24.9)))
         (instance face :init :vertices (list (float-vector -5.648815e-14 77.6 24.9) (float-vector -5.737633e-14 77.6 26.9) (float-vector -6.7 79.3953 26.9) (float-vector -6.7 79.3953 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 79.3953 -26.9) (float-vector -3.348433e-14 77.6 -26.9) (float-vector -3.437250e-14 77.6 -24.9) (float-vector -6.7 79.3953 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 79.3953 24.9) (float-vector 6.7 79.3953 26.9) (float-vector -5.737633e-14 77.6 26.9) (float-vector -5.648815e-14 77.6 24.9)))
         (instance face :init :vertices (list (float-vector -3.348433e-14 77.6 -26.9) (float-vector 6.7 79.3953 -26.9) (float-vector 6.7 79.3953 -24.9) (float-vector -3.437250e-14 77.6 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 84.3 24.9) (float-vector 11.6047 84.3 26.9) (float-vector 6.7 79.3953 26.9) (float-vector 6.7 79.3953 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 79.3953 -26.9) (float-vector 11.6047 84.3 -26.9) (float-vector 11.6047 84.3 -24.9) (float-vector 6.7 79.3953 -24.9)))
         (instance face :init :vertices (list (float-vector 13.4 91.0 24.9) (float-vector 13.4 91.0 26.9) (float-vector 11.6047 84.3 26.9) (float-vector 11.6047 84.3 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 84.3 -26.9) (float-vector 13.4 91.0 -26.9) (float-vector 13.4 91.0 -24.9) (float-vector 11.6047 84.3 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 97.7 24.9) (float-vector 11.6047 97.7 26.9) (float-vector 13.4 91.0 26.9) (float-vector 13.4 91.0 24.9)))
         (instance face :init :vertices (list (float-vector 13.4 91.0 -26.9) (float-vector 11.6047 97.7 -26.9) (float-vector 11.6047 97.7 -24.9) (float-vector 13.4 91.0 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 102.605 24.9) (float-vector 6.7 102.605 26.9) (float-vector 11.6047 97.7 26.9) (float-vector 11.6047 97.7 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 97.7 -26.9) (float-vector 6.7 102.605 -26.9) (float-vector 6.7 102.605 -24.9) (float-vector 11.6047 97.7 -24.9)))
         (instance face :init :vertices (list (float-vector -3.135270e-14 104.4 24.9) (float-vector -3.224088e-14 104.4 26.9) (float-vector 6.7 102.605 26.9) (float-vector 6.7 102.605 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 102.605 -26.9) (float-vector -8.348877e-15 104.4 -26.9) (float-vector -9.237056e-15 104.4 -24.9) (float-vector 6.7 102.605 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 102.605 24.9) (float-vector -6.7 102.605 26.9) (float-vector -3.224088e-14 104.4 26.9) (float-vector -3.135270e-14 104.4 24.9)))
         (instance face :init :vertices (list (float-vector -8.348877e-15 104.4 -26.9) (float-vector -6.7 102.605 -26.9) (float-vector -6.7 102.605 -24.9) (float-vector -9.237056e-15 104.4 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 97.7 24.9) (float-vector -11.6047 97.7 26.9) (float-vector -6.7 102.605 26.9) (float-vector -6.7 102.605 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 102.605 -26.9) (float-vector -11.6047 97.7 -26.9) (float-vector -11.6047 97.7 -24.9) (float-vector -6.7 102.605 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 97.7 26.9) (float-vector -13.4 91.0 26.9) (float-vector -11.6047 84.3 26.9) (float-vector -6.7 79.3953 26.9) (float-vector -5.737633e-14 77.6 26.9) (float-vector 6.7 79.3953 26.9) (float-vector 11.6047 84.3 26.9) (float-vector 13.4 91.0 26.9) (float-vector 11.6047 97.7 26.9) (float-vector 6.7 102.605 26.9) (float-vector -3.224088e-14 104.4 26.9) (float-vector -6.7 102.605 26.9)))
         (instance face :init :vertices (list (float-vector -13.4 91.0 26.9) (float-vector -11.6047 97.7 26.9) (float-vector -11.6047 97.7 24.9) (float-vector -13.4 91.0 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 97.7 -26.9) (float-vector -13.4 91.0 -26.9) (float-vector -13.4 91.0 -24.9) (float-vector -11.6047 97.7 -24.9)))
         (instance face :init :vertices (list (float-vector -13.4 91.0 -26.9) (float-vector -11.6047 97.7 -26.9) (float-vector -6.7 102.605 -26.9) (float-vector -8.348877e-15 104.4 -26.9) (float-vector 6.7 102.605 -26.9) (float-vector 11.6047 97.7 -26.9) (float-vector 13.4 91.0 -26.9) (float-vector 11.6047 84.3 -26.9) (float-vector 6.7 79.3953 -26.9) (float-vector -3.348433e-14 77.6 -26.9) (float-vector -6.7 79.3953 -26.9) (float-vector -11.6047 84.3 -26.9)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-crotch-p :weight 124.539 :centroid (float-vector -4.076961e-14 68.1306 1.421085e-14) :inertia-tensor #2f((1.156509e+05 8.363179e-11 9.410738e-12) (8.363179e-11 43109.2 -1.779326e-11) (9.410738e-12 -1.779326e-11 89757.9))))

     ;; definition of :lleg-knee-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 2.842171e-14 -32.0) (float-vector 14.4 35.0 -32.0) (float-vector 14.4 35.0 32.0) (float-vector 14.4 0.0 32.0) (float-vector 14.4 0.0 30.5) (float-vector 14.4 33.5 30.5) (float-vector 14.4 33.5 -30.5) (float-vector 14.4 2.842171e-14 -30.5)))
         (instance face :init :vertices (list (float-vector -14.4 35.0 -32.0) (float-vector -14.4 35.0 32.0) (float-vector 14.4 35.0 32.0) (float-vector 14.4 35.0 -32.0)))
         (instance face :init :vertices (list (float-vector -14.4 2.842171e-14 -32.0) (float-vector -14.4 2.842171e-14 -30.5) (float-vector -14.4 33.5 -30.5) (float-vector -14.4 33.5 30.5) (float-vector -14.4 0.0 30.5) (float-vector -14.4 0.0 32.0) (float-vector -14.4 35.0 32.0) (float-vector -14.4 35.0 -32.0)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 32.0) (float-vector -14.4 0.0 32.0) (float-vector -14.4 0.0 30.5) (float-vector -10.1823 -10.1823 30.5)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 -32.0) (float-vector -10.1823 -10.1823 -30.5) (float-vector -14.4 2.842171e-14 -30.5) (float-vector -14.4 2.842171e-14 -32.0)))
         (instance face :init :vertices (list (float-vector 0.0 -14.4 32.0) (float-vector -10.1823 -10.1823 32.0) (float-vector -10.1823 -10.1823 30.5) (float-vector 0.0 -14.4 30.5)))
         (instance face :init :vertices (list (float-vector 0.0 -14.4 -32.0) (float-vector 0.0 -14.4 -30.5) (float-vector -10.1823 -10.1823 -30.5) (float-vector -10.1823 -10.1823 -32.0)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 32.0) (float-vector 0.0 -14.4 32.0) (float-vector 0.0 -14.4 30.5) (float-vector 10.1823 -10.1823 30.5)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -32.0) (float-vector 10.1823 -10.1823 -30.5) (float-vector 0.0 -14.4 -30.5) (float-vector 0.0 -14.4 -32.0)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 32.0) (float-vector 14.4 35.0 32.0) (float-vector -14.4 35.0 32.0) (float-vector -14.4 0.0 32.0) (float-vector -10.1823 -10.1823 32.0) (float-vector 0.0 -14.4 32.0) (float-vector 10.1823 -10.1823 32.0)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -32.0) (float-vector 0.0 -14.4 -32.0) (float-vector -10.1823 -10.1823 -32.0) (float-vector -14.4 2.842171e-14 -32.0) (float-vector -14.4 35.0 -32.0) (float-vector 14.4 35.0 -32.0) (float-vector 14.4 2.842171e-14 -32.0)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 32.0) (float-vector 10.1823 -10.1823 30.5) (float-vector 14.4 0.0 30.5) (float-vector 14.4 0.0 32.0)))
         (instance face :init :vertices (list (float-vector 14.4 2.842171e-14 -32.0) (float-vector 14.4 2.842171e-14 -30.5) (float-vector 10.1823 -10.1823 -30.5) (float-vector 10.1823 -10.1823 -32.0)))
         (instance face :init :vertices (list (float-vector 14.4 33.5 30.5) (float-vector 14.4 0.0 30.5) (float-vector 10.1823 -10.1823 30.5) (float-vector 0.0 -14.4 30.5) (float-vector -10.1823 -10.1823 30.5) (float-vector -14.4 0.0 30.5) (float-vector -14.4 33.5 30.5)))
         (instance face :init :vertices (list (float-vector 14.4 33.5 -30.5) (float-vector 14.4 33.5 30.5) (float-vector -14.4 33.5 30.5) (float-vector -14.4 33.5 -30.5)))
         (instance face :init :vertices (list (float-vector -14.4 33.5 -30.5) (float-vector -14.4 2.842171e-14 -30.5) (float-vector -10.1823 -10.1823 -30.5) (float-vector 0.0 -14.4 -30.5) (float-vector 10.1823 -10.1823 -30.5) (float-vector 14.4 2.842171e-14 -30.5) (float-vector 14.4 33.5 -30.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -14.4 70.0 -33.5) (float-vector -14.4 35.0 -33.5) (float-vector -14.4 35.0 30.5) (float-vector -14.4 70.0 30.5) (float-vector -14.4 70.0 29.0) (float-vector -14.4 36.5 29.0) (float-vector -14.4 36.5 -32.0) (float-vector -14.4 70.0 -32.0)))
         (instance face :init :vertices (list (float-vector 14.4 35.0 -33.5) (float-vector 14.4 35.0 30.5) (float-vector -14.4 35.0 30.5) (float-vector -14.4 35.0 -33.5)))
         (instance face :init :vertices (list (float-vector 14.4 70.0 -33.5) (float-vector 14.4 70.0 -32.0) (float-vector 14.4 36.5 -32.0) (float-vector 14.4 36.5 29.0) (float-vector 14.4 70.0 29.0) (float-vector 14.4 70.0 30.5) (float-vector 14.4 35.0 30.5) (float-vector 14.4 35.0 -33.5)))
         (instance face :init :vertices (list (float-vector 10.1823 80.1823 30.5) (float-vector 14.4 70.0 30.5) (float-vector 14.4 70.0 29.0) (float-vector 10.1823 80.1823 29.0)))
         (instance face :init :vertices (list (float-vector 10.1823 80.1823 -33.5) (float-vector 10.1823 80.1823 -32.0) (float-vector 14.4 70.0 -32.0) (float-vector 14.4 70.0 -33.5)))
         (instance face :init :vertices (list (float-vector -2.620126e-14 84.4 30.5) (float-vector 10.1823 80.1823 30.5) (float-vector 10.1823 80.1823 29.0) (float-vector -2.570166e-14 84.4 29.0)))
         (instance face :init :vertices (list (float-vector -4.884981e-15 84.4 -33.5) (float-vector -5.384582e-15 84.4 -32.0) (float-vector 10.1823 80.1823 -32.0) (float-vector 10.1823 80.1823 -33.5)))
         (instance face :init :vertices (list (float-vector -10.1823 80.1823 30.5) (float-vector -2.620126e-14 84.4 30.5) (float-vector -2.570166e-14 84.4 29.0) (float-vector -10.1823 80.1823 29.0)))
         (instance face :init :vertices (list (float-vector -10.1823 80.1823 -33.5) (float-vector -10.1823 80.1823 -32.0) (float-vector -5.384582e-15 84.4 -32.0) (float-vector -4.884981e-15 84.4 -33.5)))
         (instance face :init :vertices (list (float-vector -14.4 70.0 30.5) (float-vector -14.4 35.0 30.5) (float-vector 14.4 35.0 30.5) (float-vector 14.4 70.0 30.5) (float-vector 10.1823 80.1823 30.5) (float-vector -2.620126e-14 84.4 30.5) (float-vector -10.1823 80.1823 30.5)))
         (instance face :init :vertices (list (float-vector -10.1823 80.1823 -33.5) (float-vector -4.884981e-15 84.4 -33.5) (float-vector 10.1823 80.1823 -33.5) (float-vector 14.4 70.0 -33.5) (float-vector 14.4 35.0 -33.5) (float-vector -14.4 35.0 -33.5) (float-vector -14.4 70.0 -33.5)))
         (instance face :init :vertices (list (float-vector -10.1823 80.1823 30.5) (float-vector -10.1823 80.1823 29.0) (float-vector -14.4 70.0 29.0) (float-vector -14.4 70.0 30.5)))
         (instance face :init :vertices (list (float-vector -14.4 70.0 -33.5) (float-vector -14.4 70.0 -32.0) (float-vector -10.1823 80.1823 -32.0) (float-vector -10.1823 80.1823 -33.5)))
         (instance face :init :vertices (list (float-vector -14.4 36.5 29.0) (float-vector -14.4 70.0 29.0) (float-vector -10.1823 80.1823 29.0) (float-vector -2.570166e-14 84.4 29.0) (float-vector 10.1823 80.1823 29.0) (float-vector 14.4 70.0 29.0) (float-vector 14.4 36.5 29.0)))
         (instance face :init :vertices (list (float-vector -14.4 36.5 -32.0) (float-vector -14.4 36.5 29.0) (float-vector 14.4 36.5 29.0) (float-vector 14.4 36.5 -32.0)))
         (instance face :init :vertices (list (float-vector 14.4 36.5 -32.0) (float-vector 14.4 70.0 -32.0) (float-vector 10.1823 80.1823 -32.0) (float-vector -5.384582e-15 84.4 -32.0) (float-vector -10.1823 80.1823 -32.0) (float-vector -14.4 70.0 -32.0) (float-vector -14.4 36.5 -32.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-knee-p :weight 35.3104 :centroid (float-vector -1.027607e-13 35.0 -0.75) :inertia-tensor #2f((40936.0 2.534630e-11 6.088719e-12) (2.534630e-11 27463.2 367.68) (6.088719e-12 367.68 18354.1))))

     ;; definition of :lleg-ankle-p
     (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 -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 1.509903e-14 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 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 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 1.509903e-14 -24.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -2.842171e-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 2.524355e-29 -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 1.421085e-14 13.4 24.9) (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)))
         (instance face :init :vertices (list (float-vector 6.7 11.6047 -26.9) (float-vector 0.0 13.4 -26.9) (float-vector 0.0 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 1.421085e-14 13.4 26.9) (float-vector 1.421085e-14 13.4 24.9)))
         (instance face :init :vertices (list (float-vector 0.0 13.4 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector -6.7 11.6047 -24.9) (float-vector 0.0 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 1.509903e-14 24.9) (float-vector -13.4 1.509903e-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 1.509903e-14 -26.9) (float-vector -13.4 1.509903e-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 1.509903e-14 26.9) (float-vector -13.4 1.509903e-14 24.9)))
         (instance face :init :vertices (list (float-vector -13.4 1.509903e-14 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -13.4 1.509903e-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 -1.421085e-14 -13.4 24.9) (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)))
         (instance face :init :vertices (list (float-vector -6.7 -11.6047 -26.9) (float-vector -2.842171e-14 -13.4 -26.9) (float-vector -2.842171e-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 -1.421085e-14 -13.4 26.9) (float-vector -1.421085e-14 -13.4 24.9)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -13.4 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector 6.7 -11.6047 -24.9) (float-vector -2.842171e-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 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 1.509903e-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)))
         (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 2.524355e-29 -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 2.524355e-29 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector -2.842171e-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 1.509903e-14 -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)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -55.0 -16.0 29.9) (float-vector -19.0 -16.0 29.9) (float-vector -19.0 48.0 29.9) (float-vector -55.0 48.0 29.9) (float-vector -55.0 46.5 29.9) (float-vector -20.5 46.5 29.9) (float-vector -20.5 -14.5 29.9) (float-vector -55.0 -14.5 29.9)))
         (instance face :init :vertices (list (float-vector -19.0 -16.0 1.1) (float-vector -19.0 48.0 1.1) (float-vector -19.0 48.0 29.9) (float-vector -19.0 -16.0 29.9)))
         (instance face :init :vertices (list (float-vector -55.0 -16.0 1.1) (float-vector -55.0 -14.5 1.1) (float-vector -20.5 -14.5 1.1) (float-vector -20.5 46.5 1.1) (float-vector -55.0 46.5 1.1) (float-vector -55.0 48.0 1.1) (float-vector -19.0 48.0 1.1) (float-vector -19.0 -16.0 1.1)))
         (instance face :init :vertices (list (float-vector -65.1823 48.0 5.31766) (float-vector -55.0 48.0 1.1) (float-vector -55.0 46.5 1.1) (float-vector -65.1823 46.5 5.31766)))
         (instance face :init :vertices (list (float-vector -65.1823 -16.0 5.31766) (float-vector -65.1823 -14.5 5.31766) (float-vector -55.0 -14.5 1.1) (float-vector -55.0 -16.0 1.1)))
         (instance face :init :vertices (list (float-vector -69.4 48.0 15.5) (float-vector -65.1823 48.0 5.31766) (float-vector -65.1823 46.5 5.31766) (float-vector -69.4 46.5 15.5)))
         (instance face :init :vertices (list (float-vector -69.4 -16.0 15.5) (float-vector -69.4 -14.5 15.5) (float-vector -65.1823 -14.5 5.31766) (float-vector -65.1823 -16.0 5.31766)))
         (instance face :init :vertices (list (float-vector -65.1823 48.0 25.6823) (float-vector -69.4 48.0 15.5) (float-vector -69.4 46.5 15.5) (float-vector -65.1823 46.5 25.6823)))
         (instance face :init :vertices (list (float-vector -65.1823 -16.0 25.6823) (float-vector -65.1823 -14.5 25.6823) (float-vector -69.4 -14.5 15.5) (float-vector -69.4 -16.0 15.5)))
         (instance face :init :vertices (list (float-vector -55.0 48.0 29.9) (float-vector -19.0 48.0 29.9) (float-vector -19.0 48.0 1.1) (float-vector -55.0 48.0 1.1) (float-vector -65.1823 48.0 5.31766) (float-vector -69.4 48.0 15.5) (float-vector -65.1823 48.0 25.6823)))
         (instance face :init :vertices (list (float-vector -65.1823 -16.0 25.6823) (float-vector -69.4 -16.0 15.5) (float-vector -65.1823 -16.0 5.31766) (float-vector -55.0 -16.0 1.1) (float-vector -19.0 -16.0 1.1) (float-vector -19.0 -16.0 29.9) (float-vector -55.0 -16.0 29.9)))
         (instance face :init :vertices (list (float-vector -65.1823 48.0 25.6823) (float-vector -65.1823 46.5 25.6823) (float-vector -55.0 46.5 29.9) (float-vector -55.0 48.0 29.9)))
         (instance face :init :vertices (list (float-vector -55.0 -16.0 29.9) (float-vector -55.0 -14.5 29.9) (float-vector -65.1823 -14.5 25.6823) (float-vector -65.1823 -16.0 25.6823)))
         (instance face :init :vertices (list (float-vector -20.5 46.5 29.9) (float-vector -55.0 46.5 29.9) (float-vector -65.1823 46.5 25.6823) (float-vector -69.4 46.5 15.5) (float-vector -65.1823 46.5 5.31766) (float-vector -55.0 46.5 1.1) (float-vector -20.5 46.5 1.1)))
         (instance face :init :vertices (list (float-vector -20.5 -14.5 29.9) (float-vector -20.5 46.5 29.9) (float-vector -20.5 46.5 1.1) (float-vector -20.5 -14.5 1.1)))
         (instance face :init :vertices (list (float-vector -20.5 -14.5 1.1) (float-vector -55.0 -14.5 1.1) (float-vector -65.1823 -14.5 5.31766) (float-vector -69.4 -14.5 15.5) (float-vector -65.1823 -14.5 25.6823) (float-vector -55.0 -14.5 29.9) (float-vector -20.5 -14.5 29.9)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray90)
     (setq blink15 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-ankle-p :weight 124.888 :centroid (float-vector -4.76952 15.2419 2.22015) :inertia-tensor #2f((70812.4 451.589 7910.24) (451.589 56238.4 -210.209) (7910.24 -210.209 72986.3))))

     ;; definition of :lleg-ankle-r
     (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 -2.842171e-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 1.776357e-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 -1.776357e-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 3.552714e-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 1.776357e-14 13.4 -26.9) (float-vector 1.776357e-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-15 13.4 26.9) (float-vector 7.105427e-15 13.4 24.9)))
         (instance face :init :vertices (list (float-vector 1.776357e-14 13.4 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector -6.7 11.6047 -24.9) (float-vector 1.776357e-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 -2.842171e-14 -13.4 24.9) (float-vector -2.842171e-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 -1.776357e-14 -13.4 -26.9) (float-vector -1.776357e-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 -2.842171e-14 -13.4 26.9) (float-vector -2.842171e-14 -13.4 24.9)))
         (instance face :init :vertices (list (float-vector -1.776357e-14 -13.4 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector 6.7 -11.6047 -24.9) (float-vector -1.776357e-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 3.552714e-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 -2.842171e-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 -1.776357e-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 1.776357e-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 -11.0 55.5 35.0) (float-vector -11.0 -24.5 35.0) (float-vector -11.0 -24.5 -80.0) (float-vector -11.0 55.5 -80.0)))
         (instance face :init :vertices (list (float-vector -21.0 -24.5 35.0) (float-vector -21.0 55.5 35.0) (float-vector -21.0 55.5 -80.0) (float-vector -21.0 -24.5 -80.0)))
         (instance face :init :vertices (list (float-vector -11.0 55.5 35.0) (float-vector -21.0 55.5 35.0) (float-vector -21.0 -24.5 35.0) (float-vector -11.0 -24.5 35.0)))
         (instance face :init :vertices (list (float-vector -11.0 55.5 -80.0) (float-vector -21.0 55.5 -80.0) (float-vector -21.0 55.5 35.0) (float-vector -11.0 55.5 35.0)))
         (instance face :init :vertices (list (float-vector -11.0 -24.5 -80.0) (float-vector -21.0 -24.5 -80.0) (float-vector -21.0 55.5 -80.0) (float-vector -11.0 55.5 -80.0)))
         (instance face :init :vertices (list (float-vector -11.0 -24.5 35.0) (float-vector -21.0 -24.5 35.0) (float-vector -21.0 -24.5 -80.0) (float-vector -11.0 -24.5 -80.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -11.0 40.5 -34.5) (float-vector -11.0 -9.5 -34.5) (float-vector 19.0 0.5 -34.5) (float-vector 19.0 30.5 -34.5)))
         (instance face :init :vertices (list (float-vector -11.0 -9.5 -79.5) (float-vector -11.0 40.5 -79.5) (float-vector 19.0 30.5 -79.5) (float-vector 19.0 0.5 -79.5)))
         (instance face :init :vertices (list (float-vector -11.0 40.5 -34.5) (float-vector -11.0 40.5 -79.5) (float-vector -11.0 -9.5 -79.5) (float-vector -11.0 -9.5 -34.5)))
         (instance face :init :vertices (list (float-vector 19.0 30.5 -34.5) (float-vector 19.0 30.5 -79.5) (float-vector -11.0 40.5 -79.5) (float-vector -11.0 40.5 -34.5)))
         (instance face :init :vertices (list (float-vector 19.0 0.5 -34.5) (float-vector 19.0 0.5 -79.5) (float-vector 19.0 30.5 -79.5) (float-vector 19.0 30.5 -34.5)))
         (instance face :init :vertices (list (float-vector -11.0 -9.5 -34.5) (float-vector -11.0 -9.5 -79.5) (float-vector 19.0 0.5 -79.5) (float-vector 19.0 0.5 -34.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :lightgoldenrod)
     (send (elt bc 2) :set-color :yellow)
     (setq blink14 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-ankle-r :weight 272.0 :centroid (float-vector 0.289522 15.3486 -32.0404) :inertia-tensor #2f((3.425452e+05 -11.9232 13005.6) (-11.9232 2.952529e+05 1319.5) (13005.6 1319.5 96554.8))))

     ;; definition of :larm-shoulder-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 5.684342e-14 -31.25) (float-vector 14.4 36.5 -31.25) (float-vector 14.4 36.5 31.25) (float-vector 14.4 0.0 31.25) (float-vector 14.4 0.0 29.75) (float-vector 14.4 35.0 29.75) (float-vector 14.4 35.0 -29.75) (float-vector 14.4 5.684342e-14 -29.75)))
         (instance face :init :vertices (list (float-vector -14.4 36.5 -31.25) (float-vector -14.4 36.5 31.25) (float-vector 14.4 36.5 31.25) (float-vector 14.4 36.5 -31.25)))
         (instance face :init :vertices (list (float-vector -14.4 0.0 -31.25) (float-vector -14.4 0.0 -29.75) (float-vector -14.4 35.0 -29.75) (float-vector -14.4 35.0 29.75) (float-vector -14.4 0.0 29.75) (float-vector -14.4 0.0 31.25) (float-vector -14.4 36.5 31.25) (float-vector -14.4 36.5 -31.25)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 31.25) (float-vector -14.4 0.0 31.25) (float-vector -14.4 0.0 29.75) (float-vector -10.1823 -10.1823 29.75)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 -31.25) (float-vector -10.1823 -10.1823 -29.75) (float-vector -14.4 0.0 -29.75) (float-vector -14.4 0.0 -31.25)))
         (instance face :init :vertices (list (float-vector 0.0 -14.4 31.25) (float-vector -10.1823 -10.1823 31.25) (float-vector -10.1823 -10.1823 29.75) (float-vector 0.0 -14.4 29.75)))
         (instance face :init :vertices (list (float-vector -1.262177e-29 -14.4 -31.25) (float-vector -1.262177e-29 -14.4 -29.75) (float-vector -10.1823 -10.1823 -29.75) (float-vector -10.1823 -10.1823 -31.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 31.25) (float-vector 0.0 -14.4 31.25) (float-vector 0.0 -14.4 29.75) (float-vector 10.1823 -10.1823 29.75)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -31.25) (float-vector 10.1823 -10.1823 -29.75) (float-vector -1.262177e-29 -14.4 -29.75) (float-vector -1.262177e-29 -14.4 -31.25)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 31.25) (float-vector 14.4 36.5 31.25) (float-vector -14.4 36.5 31.25) (float-vector -14.4 0.0 31.25) (float-vector -10.1823 -10.1823 31.25) (float-vector 0.0 -14.4 31.25) (float-vector 10.1823 -10.1823 31.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -31.25) (float-vector -1.262177e-29 -14.4 -31.25) (float-vector -10.1823 -10.1823 -31.25) (float-vector -14.4 0.0 -31.25) (float-vector -14.4 36.5 -31.25) (float-vector 14.4 36.5 -31.25) (float-vector 14.4 5.684342e-14 -31.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 31.25) (float-vector 10.1823 -10.1823 29.75) (float-vector 14.4 0.0 29.75) (float-vector 14.4 0.0 31.25)))
         (instance face :init :vertices (list (float-vector 14.4 5.684342e-14 -31.25) (float-vector 14.4 5.684342e-14 -29.75) (float-vector 10.1823 -10.1823 -29.75) (float-vector 10.1823 -10.1823 -31.25)))
         (instance face :init :vertices (list (float-vector 14.4 35.0 29.75) (float-vector 14.4 0.0 29.75) (float-vector 10.1823 -10.1823 29.75) (float-vector 0.0 -14.4 29.75) (float-vector -10.1823 -10.1823 29.75) (float-vector -14.4 0.0 29.75) (float-vector -14.4 35.0 29.75)))
         (instance face :init :vertices (list (float-vector 14.4 35.0 -29.75) (float-vector 14.4 35.0 29.75) (float-vector -14.4 35.0 29.75) (float-vector -14.4 35.0 -29.75)))
         (instance face :init :vertices (list (float-vector -14.4 35.0 -29.75) (float-vector -14.4 0.0 -29.75) (float-vector -10.1823 -10.1823 -29.75) (float-vector -1.262177e-29 -14.4 -29.75) (float-vector 10.1823 -10.1823 -29.75) (float-vector 14.4 5.684342e-14 -29.75) (float-vector 14.4 35.0 -29.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -20.0 -10.0 -36.5) (float-vector 20.0 -10.0 -36.5) (float-vector 20.0 30.0 -36.5) (float-vector -20.0 30.0 -36.5)))
         (instance face :init :vertices (list (float-vector 20.0 30.0 -36.5) (float-vector 20.0 30.0 -56.5) (float-vector -20.0 30.0 -56.5) (float-vector -20.0 30.0 -36.5)))
         (instance face :init :vertices (list (float-vector 20.0 30.0 -56.5) (float-vector 20.0 -10.0 -56.5) (float-vector -20.0 -10.0 -56.5) (float-vector -20.0 30.0 -56.5)))
         (instance face :init :vertices (list (float-vector -20.0 -10.0 -56.5) (float-vector -20.0 -10.0 -36.5) (float-vector -20.0 30.0 -36.5) (float-vector -20.0 30.0 -56.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -20.0 -4.5 -38.7058) (float-vector -20.0 -7.79423 -42.0) (float-vector -20.0 -9.0 -46.5) (float-vector -20.0 -7.79423 -51.0) (float-vector -20.0 -4.5 -54.2942) (float-vector -20.0 5.684342e-14 -55.5) (float-vector -20.0 4.5 -54.2942) (float-vector -20.0 7.79423 -51.0) (float-vector -20.0 9.0 -46.5) (float-vector -20.0 7.79423 -42.0) (float-vector -20.0 4.5 -38.7058) (float-vector -20.0 0.0 -37.5)))
))
         (instance face :init :vertices (list (float-vector 20.0 -10.0 -56.5) (float-vector 20.0 -10.0 -36.5) (float-vector -20.0 -10.0 -36.5) (float-vector -20.0 -10.0 -56.5)))
         (instance face :init :vertices (list (float-vector 20.0 -10.0 -36.5) (float-vector 20.0 -10.0 -56.5) (float-vector 20.0 30.0 -56.5) (float-vector 20.0 30.0 -36.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 20.0 -7.79423 -42.0) (float-vector 20.0 -4.5 -38.7058) (float-vector 20.0 5.684342e-14 -37.5) (float-vector 20.0 4.5 -38.7058) (float-vector 20.0 7.79423 -42.0) (float-vector 20.0 9.0 -46.5) (float-vector 20.0 7.79423 -51.0) (float-vector 20.0 4.5 -54.2942) (float-vector 20.0 5.684342e-14 -55.5) (float-vector 20.0 -4.5 -54.2942) (float-vector 20.0 -7.79423 -51.0) (float-vector 20.0 -9.0 -46.5)))
))
         (instance face :init :vertices (list (float-vector -22.0 0.0 -37.5) (float-vector -20.0 0.0 -37.5) (float-vector -20.0 4.5 -38.7058) (float-vector -22.0 4.5 -38.7058)))
         (instance face :init :vertices (list (float-vector 20.0 5.684342e-14 -37.5) (float-vector 22.0 5.684342e-14 -37.5) (float-vector 22.0 4.5 -38.7058) (float-vector 20.0 4.5 -38.7058)))
         (instance face :init :vertices (list (float-vector -20.0 7.79423 -42.0) (float-vector -22.0 7.79423 -42.0) (float-vector -22.0 4.5 -38.7058) (float-vector -20.0 4.5 -38.7058)))
         (instance face :init :vertices (list (float-vector 22.0 4.5 -38.7058) (float-vector 22.0 7.79423 -42.0) (float-vector 20.0 7.79423 -42.0) (float-vector 20.0 4.5 -38.7058)))
         (instance face :init :vertices (list (float-vector -20.0 9.0 -46.5) (float-vector -22.0 9.0 -46.5) (float-vector -22.0 7.79423 -42.0) (float-vector -20.0 7.79423 -42.0)))
         (instance face :init :vertices (list (float-vector 22.0 7.79423 -42.0) (float-vector 22.0 9.0 -46.5) (float-vector 20.0 9.0 -46.5) (float-vector 20.0 7.79423 -42.0)))
         (instance face :init :vertices (list (float-vector -20.0 7.79423 -51.0) (float-vector -22.0 7.79423 -51.0) (float-vector -22.0 9.0 -46.5) (float-vector -20.0 9.0 -46.5)))
         (instance face :init :vertices (list (float-vector 22.0 9.0 -46.5) (float-vector 22.0 7.79423 -51.0) (float-vector 20.0 7.79423 -51.0) (float-vector 20.0 9.0 -46.5)))
         (instance face :init :vertices (list (float-vector -20.0 4.5 -54.2942) (float-vector -22.0 4.5 -54.2942) (float-vector -22.0 7.79423 -51.0) (float-vector -20.0 7.79423 -51.0)))
         (instance face :init :vertices (list (float-vector 22.0 7.79423 -51.0) (float-vector 22.0 4.5 -54.2942) (float-vector 20.0 4.5 -54.2942) (float-vector 20.0 7.79423 -51.0)))
         (instance face :init :vertices (list (float-vector -20.0 5.684342e-14 -55.5) (float-vector -22.0 5.684342e-14 -55.5) (float-vector -22.0 4.5 -54.2942) (float-vector -20.0 4.5 -54.2942)))
         (instance face :init :vertices (list (float-vector 22.0 4.5 -54.2942) (float-vector 22.0 5.684342e-14 -55.5) (float-vector 20.0 5.684342e-14 -55.5) (float-vector 20.0 4.5 -54.2942)))
         (instance face :init :vertices (list (float-vector -20.0 -4.5 -54.2942) (float-vector -22.0 -4.5 -54.2942) (float-vector -22.0 5.684342e-14 -55.5) (float-vector -20.0 5.684342e-14 -55.5)))
         (instance face :init :vertices (list (float-vector 22.0 5.684342e-14 -55.5) (float-vector 22.0 -4.5 -54.2942) (float-vector 20.0 -4.5 -54.2942) (float-vector 20.0 5.684342e-14 -55.5)))
         (instance face :init :vertices (list (float-vector -20.0 -7.79423 -51.0) (float-vector -22.0 -7.79423 -51.0) (float-vector -22.0 -4.5 -54.2942) (float-vector -20.0 -4.5 -54.2942)))
         (instance face :init :vertices (list (float-vector 22.0 -4.5 -54.2942) (float-vector 22.0 -7.79423 -51.0) (float-vector 20.0 -7.79423 -51.0) (float-vector 20.0 -4.5 -54.2942)))
         (instance face :init :vertices (list (float-vector -20.0 -9.0 -46.5) (float-vector -22.0 -9.0 -46.5) (float-vector -22.0 -7.79423 -51.0) (float-vector -20.0 -7.79423 -51.0)))
         (instance face :init :vertices (list (float-vector 22.0 -7.79423 -51.0) (float-vector 22.0 -9.0 -46.5) (float-vector 20.0 -9.0 -46.5) (float-vector 20.0 -7.79423 -51.0)))
         (instance face :init :vertices (list (float-vector -20.0 -7.79423 -42.0) (float-vector -22.0 -7.79423 -42.0) (float-vector -22.0 -9.0 -46.5) (float-vector -20.0 -9.0 -46.5)))
         (instance face :init :vertices (list (float-vector 22.0 -9.0 -46.5) (float-vector 22.0 -7.79423 -42.0) (float-vector 20.0 -7.79423 -42.0) (float-vector 20.0 -9.0 -46.5)))
         (instance face :init :vertices (list (float-vector -20.0 -4.5 -38.7058) (float-vector -22.0 -4.5 -38.7058) (float-vector -22.0 -7.79423 -42.0) (float-vector -20.0 -7.79423 -42.0)))
         (instance face :init :vertices (list (float-vector 22.0 -7.79423 -42.0) (float-vector 22.0 -4.5 -38.7058) (float-vector 20.0 -4.5 -38.7058) (float-vector 20.0 -7.79423 -42.0)))
         (instance face :init :vertices (list (float-vector -22.0 -4.5 -38.7058) (float-vector -22.0 0.0 -37.5) (float-vector -22.0 4.5 -38.7058) (float-vector -22.0 7.79423 -42.0) (float-vector -22.0 9.0 -46.5) (float-vector -22.0 7.79423 -51.0) (float-vector -22.0 4.5 -54.2942) (float-vector -22.0 5.684342e-14 -55.5) (float-vector -22.0 -4.5 -54.2942) (float-vector -22.0 -7.79423 -51.0) (float-vector -22.0 -9.0 -46.5) (float-vector -22.0 -7.79423 -42.0)))
         (instance face :init :vertices (list (float-vector -22.0 0.0 -37.5) (float-vector -22.0 -4.5 -38.7058) (float-vector -20.0 -4.5 -38.7058) (float-vector -20.0 0.0 -37.5)))
         (instance face :init :vertices (list (float-vector 22.0 -4.5 -38.7058) (float-vector 22.0 5.684342e-14 -37.5) (float-vector 20.0 5.684342e-14 -37.5) (float-vector 20.0 -4.5 -38.7058)))
         (instance face :init :vertices (list (float-vector 22.0 5.684342e-14 -37.5) (float-vector 22.0 -4.5 -38.7058) (float-vector 22.0 -7.79423 -42.0) (float-vector 22.0 -9.0 -46.5) (float-vector 22.0 -7.79423 -51.0) (float-vector 22.0 -4.5 -54.2942) (float-vector 22.0 5.684342e-14 -55.5) (float-vector 22.0 4.5 -54.2942) (float-vector 22.0 7.79423 -51.0) (float-vector 22.0 9.0 -46.5) (float-vector 22.0 7.79423 -42.0) (float-vector 22.0 4.5 -38.7058)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink4 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-shoulder-p :weight 82.3301 :centroid (float-vector 1.334902e-14 12.3372 -36.4296) :inertia-tensor #2f((60112.1 -8.479587e-12 -3.161606e-11) (-8.479587e-12 54366.2 -7894.04) (-3.161606e-11 -7894.04 25410.7))))

     ;; definition of :larm-shoulder-r
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -26.25) (float-vector 10.0 25.0 -26.25) (float-vector 10.0 25.0 26.25) (float-vector 10.0 0.0 26.25) (float-vector 10.0 0.0 24.75) (float-vector 10.0 23.5 24.75) (float-vector 10.0 23.5 -24.75) (float-vector 10.0 0.0 -24.75)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -26.25) (float-vector -10.0 25.0 26.25) (float-vector 10.0 25.0 26.25) (float-vector 10.0 25.0 -26.25)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -26.25) (float-vector -10.0 0.0 -24.75) (float-vector -10.0 23.5 -24.75) (float-vector -10.0 23.5 24.75) (float-vector -10.0 0.0 24.75) (float-vector -10.0 0.0 26.25) (float-vector -10.0 25.0 26.25) (float-vector -10.0 25.0 -26.25)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 26.25) (float-vector -10.0 0.0 26.25) (float-vector -10.0 0.0 24.75) (float-vector -7.07107 -7.07107 24.75)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -26.25) (float-vector -7.07107 -7.07107 -24.75) (float-vector -10.0 0.0 -24.75) (float-vector -10.0 0.0 -26.25)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 26.25) (float-vector -7.07107 -7.07107 26.25) (float-vector -7.07107 -7.07107 24.75) (float-vector 0.0 -10.0 24.75)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -26.25) (float-vector 0.0 -10.0 -24.75) (float-vector -7.07107 -7.07107 -24.75) (float-vector -7.07107 -7.07107 -26.25)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 26.25) (float-vector 0.0 -10.0 26.25) (float-vector 0.0 -10.0 24.75) (float-vector 7.07107 -7.07107 24.75)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -26.25) (float-vector 7.07107 -7.07107 -24.75) (float-vector 0.0 -10.0 -24.75) (float-vector 0.0 -10.0 -26.25)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 26.25) (float-vector 10.0 25.0 26.25) (float-vector -10.0 25.0 26.25) (float-vector -10.0 0.0 26.25) (float-vector -7.07107 -7.07107 26.25) (float-vector 0.0 -10.0 26.25) (float-vector 7.07107 -7.07107 26.25)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -26.25) (float-vector 0.0 -10.0 -26.25) (float-vector -7.07107 -7.07107 -26.25) (float-vector -10.0 0.0 -26.25) (float-vector -10.0 25.0 -26.25) (float-vector 10.0 25.0 -26.25) (float-vector 10.0 0.0 -26.25)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 26.25) (float-vector 7.07107 -7.07107 24.75) (float-vector 10.0 0.0 24.75) (float-vector 10.0 0.0 26.25)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -26.25) (float-vector 10.0 0.0 -24.75) (float-vector 7.07107 -7.07107 -24.75) (float-vector 7.07107 -7.07107 -26.25)))
         (instance face :init :vertices (list (float-vector 10.0 23.5 24.75) (float-vector 10.0 0.0 24.75) (float-vector 7.07107 -7.07107 24.75) (float-vector 0.0 -10.0 24.75) (float-vector -7.07107 -7.07107 24.75) (float-vector -10.0 0.0 24.75) (float-vector -10.0 23.5 24.75)))
         (instance face :init :vertices (list (float-vector 10.0 23.5 -24.75) (float-vector 10.0 23.5 24.75) (float-vector -10.0 23.5 24.75) (float-vector -10.0 23.5 -24.75)))
         (instance face :init :vertices (list (float-vector -10.0 23.5 -24.75) (float-vector -10.0 0.0 -24.75) (float-vector -7.07107 -7.07107 -24.75) (float-vector 0.0 -10.0 -24.75) (float-vector 7.07107 -7.07107 -24.75) (float-vector 10.0 0.0 -24.75) (float-vector 10.0 23.5 -24.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 74.5 -10.0) (float-vector -10.0 34.5 -10.0) (float-vector -10.0 34.5 30.0) (float-vector -10.0 74.5 30.0)))
         (instance face :init :vertices (list (float-vector -10.0 34.5 30.0) (float-vector 10.0 34.5 30.0) (float-vector 10.0 74.5 30.0) (float-vector -10.0 74.5 30.0)))
         (instance face :init :vertices (list (float-vector 10.0 34.5 30.0) (float-vector 10.0 34.5 -10.0) (float-vector 10.0 74.5 -10.0) (float-vector 10.0 74.5 30.0)))
         (instance face :init :vertices (list (float-vector 10.0 74.5 -10.0) (float-vector -10.0 74.5 -10.0) (float-vector -10.0 74.5 30.0) (float-vector 10.0 74.5 30.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 74.5 -4.5) (float-vector -4.5 74.5 -7.79423) (float-vector 0.0 74.5 -9.0) (float-vector 4.5 74.5 -7.79423) (float-vector 7.79423 74.5 -4.5) (float-vector 9.0 74.5 -7.719048e-15) (float-vector 7.79423 74.5 4.5) (float-vector 4.5 74.5 7.79423) (float-vector -2.842171e-14 74.5 9.0) (float-vector -4.5 74.5 7.79423) (float-vector -7.79423 74.5 4.5) (float-vector -9.0 74.5 -2.248501e-14)))
))
         (instance face :init :vertices (list (float-vector 10.0 34.5 -10.0) (float-vector -10.0 34.5 -10.0) (float-vector -10.0 74.5 -10.0) (float-vector 10.0 74.5 -10.0)))
         (instance face :init :vertices (list (float-vector -10.0 34.5 -10.0) (float-vector 10.0 34.5 -10.0) (float-vector 10.0 34.5 30.0) (float-vector -10.0 34.5 30.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 34.5 -7.79423) (float-vector -7.79423 34.5 -4.5) (float-vector -9.0 34.5 -1.276457e-14) (float-vector -7.79423 34.5 4.5) (float-vector -4.5 34.5 7.79423) (float-vector 0.0 34.5 9.0) (float-vector 4.5 34.5 7.79423) (float-vector 7.79423 34.5 4.5) (float-vector 9.0 34.5 2.001400e-15) (float-vector 7.79423 34.5 -4.5) (float-vector 4.5 34.5 -7.79423) (float-vector 2.842171e-14 34.5 -9.0)))
))
         (instance face :init :vertices (list (float-vector -9.0 76.5 -2.297104e-14) (float-vector -9.0 74.5 -2.248501e-14) (float-vector -7.79423 74.5 4.5) (float-vector -7.79423 76.5 4.5)))
         (instance face :init :vertices (list (float-vector -9.0 34.5 -1.276457e-14) (float-vector -9.0 32.5 -1.227854e-14) (float-vector -7.79423 32.5 4.5) (float-vector -7.79423 34.5 4.5)))
         (instance face :init :vertices (list (float-vector -4.5 74.5 7.79423) (float-vector -4.5 76.5 7.79423) (float-vector -7.79423 76.5 4.5) (float-vector -7.79423 74.5 4.5)))
         (instance face :init :vertices (list (float-vector -7.79423 32.5 4.5) (float-vector -4.5 32.5 7.79423) (float-vector -4.5 34.5 7.79423) (float-vector -7.79423 34.5 4.5)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 74.5 9.0) (float-vector -2.842171e-14 76.5 9.0) (float-vector -4.5 76.5 7.79423) (float-vector -4.5 74.5 7.79423)))
         (instance face :init :vertices (list (float-vector -4.5 32.5 7.79423) (float-vector 0.0 32.5 9.0) (float-vector 0.0 34.5 9.0) (float-vector -4.5 34.5 7.79423)))
         (instance face :init :vertices (list (float-vector 4.5 74.5 7.79423) (float-vector 4.5 76.5 7.79423) (float-vector -2.842171e-14 76.5 9.0) (float-vector -2.842171e-14 74.5 9.0)))
         (instance face :init :vertices (list (float-vector 0.0 32.5 9.0) (float-vector 4.5 32.5 7.79423) (float-vector 4.5 34.5 7.79423) (float-vector 0.0 34.5 9.0)))
         (instance face :init :vertices (list (float-vector 7.79423 74.5 4.5) (float-vector 7.79423 76.5 4.5) (float-vector 4.5 76.5 7.79423) (float-vector 4.5 74.5 7.79423)))
         (instance face :init :vertices (list (float-vector 4.5 32.5 7.79423) (float-vector 7.79423 32.5 4.5) (float-vector 7.79423 34.5 4.5) (float-vector 4.5 34.5 7.79423)))
         (instance face :init :vertices (list (float-vector 9.0 74.5 -7.719048e-15) (float-vector 9.0 76.5 -8.205070e-15) (float-vector 7.79423 76.5 4.5) (float-vector 7.79423 74.5 4.5)))
         (instance face :init :vertices (list (float-vector 7.79423 32.5 4.5) (float-vector 9.0 32.5 2.487422e-15) (float-vector 9.0 34.5 2.001400e-15) (float-vector 7.79423 34.5 4.5)))
         (instance face :init :vertices (list (float-vector 7.79423 74.5 -4.5) (float-vector 7.79423 76.5 -4.5) (float-vector 9.0 76.5 -8.205070e-15) (float-vector 9.0 74.5 -7.719048e-15)))
         (instance face :init :vertices (list (float-vector 9.0 32.5 2.487422e-15) (float-vector 7.79423 32.5 -4.5) (float-vector 7.79423 34.5 -4.5) (float-vector 9.0 34.5 2.001400e-15)))
         (instance face :init :vertices (list (float-vector 4.5 74.5 -7.79423) (float-vector 4.5 76.5 -7.79423) (float-vector 7.79423 76.5 -4.5) (float-vector 7.79423 74.5 -4.5)))
         (instance face :init :vertices (list (float-vector 7.79423 32.5 -4.5) (float-vector 4.5 32.5 -7.79423) (float-vector 4.5 34.5 -7.79423) (float-vector 7.79423 34.5 -4.5)))
         (instance face :init :vertices (list (float-vector 0.0 74.5 -9.0) (float-vector 0.0 76.5 -9.0) (float-vector 4.5 76.5 -7.79423) (float-vector 4.5 74.5 -7.79423)))
         (instance face :init :vertices (list (float-vector 4.5 32.5 -7.79423) (float-vector 2.842171e-14 32.5 -9.0) (float-vector 2.842171e-14 34.5 -9.0) (float-vector 4.5 34.5 -7.79423)))
         (instance face :init :vertices (list (float-vector -4.5 74.5 -7.79423) (float-vector -4.5 76.5 -7.79423) (float-vector 0.0 76.5 -9.0) (float-vector 0.0 74.5 -9.0)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 32.5 -9.0) (float-vector -4.5 32.5 -7.79423) (float-vector -4.5 34.5 -7.79423) (float-vector 2.842171e-14 34.5 -9.0)))
         (instance face :init :vertices (list (float-vector -7.79423 74.5 -4.5) (float-vector -7.79423 76.5 -4.5) (float-vector -4.5 76.5 -7.79423) (float-vector -4.5 74.5 -7.79423)))
         (instance face :init :vertices (list (float-vector -4.5 32.5 -7.79423) (float-vector -7.79423 32.5 -4.5) (float-vector -7.79423 34.5 -4.5) (float-vector -4.5 34.5 -7.79423)))
         (instance face :init :vertices (list (float-vector -7.79423 76.5 -4.5) (float-vector -9.0 76.5 -2.297104e-14) (float-vector -7.79423 76.5 4.5) (float-vector -4.5 76.5 7.79423) (float-vector -2.842171e-14 76.5 9.0) (float-vector 4.5 76.5 7.79423) (float-vector 7.79423 76.5 4.5) (float-vector 9.0 76.5 -8.205070e-15) (float-vector 7.79423 76.5 -4.5) (float-vector 4.5 76.5 -7.79423) (float-vector 0.0 76.5 -9.0) (float-vector -4.5 76.5 -7.79423)))
         (instance face :init :vertices (list (float-vector -9.0 76.5 -2.297104e-14) (float-vector -7.79423 76.5 -4.5) (float-vector -7.79423 74.5 -4.5) (float-vector -9.0 74.5 -2.248501e-14)))
         (instance face :init :vertices (list (float-vector -7.79423 32.5 -4.5) (float-vector -9.0 32.5 -1.227854e-14) (float-vector -9.0 34.5 -1.276457e-14) (float-vector -7.79423 34.5 -4.5)))
         (instance face :init :vertices (list (float-vector -9.0 32.5 -1.227854e-14) (float-vector -7.79423 32.5 -4.5) (float-vector -4.5 32.5 -7.79423) (float-vector 2.842171e-14 32.5 -9.0) (float-vector 4.5 32.5 -7.79423) (float-vector 7.79423 32.5 -4.5) (float-vector 9.0 32.5 2.487422e-15) (float-vector 7.79423 32.5 4.5) (float-vector 4.5 32.5 7.79423) (float-vector 0.0 32.5 9.0) (float-vector -4.5 32.5 7.79423) (float-vector -7.79423 32.5 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 blink5 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-shoulder-r :weight 73.705 :centroid (float-vector 6.821210e-13 49.637 8.49312) :inertia-tensor #2f((35519.5 1.586752e-12 7.898972e-13) (1.586752e-12 16013.6 -3044.16) (7.898972e-13 -3044.16 24419.6))))

     ;; definition of :larm-shoulder-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 6.310887e-30 -24.75) (float-vector 10.0 21.5 -24.75) (float-vector 10.0 21.5 24.75) (float-vector 10.0 6.310887e-30 24.75) (float-vector 10.0 1.262177e-29 23.25) (float-vector 10.0 20.0 23.25) (float-vector 10.0 20.0 -23.25) (float-vector 10.0 6.310887e-30 -23.25)))
         (instance face :init :vertices (list (float-vector -10.0 21.5 -24.75) (float-vector -10.0 21.5 24.75) (float-vector 10.0 21.5 24.75) (float-vector 10.0 21.5 -24.75)))
         (instance face :init :vertices (list (float-vector -10.0 6.310887e-30 -24.75) (float-vector -10.0 6.310887e-30 -23.25) (float-vector -10.0 20.0 -23.25) (float-vector -10.0 20.0 23.25) (float-vector -10.0 1.262177e-29 23.25) (float-vector -10.0 6.310887e-30 24.75) (float-vector -10.0 21.5 24.75) (float-vector -10.0 21.5 -24.75)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 24.75) (float-vector -10.0 6.310887e-30 24.75) (float-vector -10.0 1.262177e-29 23.25) (float-vector -7.07107 -7.07107 23.25)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -24.75) (float-vector -7.07107 -7.07107 -23.25) (float-vector -10.0 6.310887e-30 -23.25) (float-vector -10.0 6.310887e-30 -24.75)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 24.75) (float-vector -7.07107 -7.07107 24.75) (float-vector -7.07107 -7.07107 23.25) (float-vector 0.0 -10.0 23.25)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -24.75) (float-vector 0.0 -10.0 -23.25) (float-vector -7.07107 -7.07107 -23.25) (float-vector -7.07107 -7.07107 -24.75)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 24.75) (float-vector 0.0 -10.0 24.75) (float-vector 0.0 -10.0 23.25) (float-vector 7.07107 -7.07107 23.25)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -24.75) (float-vector 7.07107 -7.07107 -23.25) (float-vector 0.0 -10.0 -23.25) (float-vector 0.0 -10.0 -24.75)))
         (instance face :init :vertices (list (float-vector 10.0 6.310887e-30 24.75) (float-vector 10.0 21.5 24.75) (float-vector -10.0 21.5 24.75) (float-vector -10.0 6.310887e-30 24.75) (float-vector -7.07107 -7.07107 24.75) (float-vector 0.0 -10.0 24.75) (float-vector 7.07107 -7.07107 24.75)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -24.75) (float-vector 0.0 -10.0 -24.75) (float-vector -7.07107 -7.07107 -24.75) (float-vector -10.0 6.310887e-30 -24.75) (float-vector -10.0 21.5 -24.75) (float-vector 10.0 21.5 -24.75) (float-vector 10.0 6.310887e-30 -24.75)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 24.75) (float-vector 7.07107 -7.07107 23.25) (float-vector 10.0 1.262177e-29 23.25) (float-vector 10.0 6.310887e-30 24.75)))
         (instance face :init :vertices (list (float-vector 10.0 6.310887e-30 -24.75) (float-vector 10.0 6.310887e-30 -23.25) (float-vector 7.07107 -7.07107 -23.25) (float-vector 7.07107 -7.07107 -24.75)))
         (instance face :init :vertices (list (float-vector 10.0 20.0 23.25) (float-vector 10.0 1.262177e-29 23.25) (float-vector 7.07107 -7.07107 23.25) (float-vector 0.0 -10.0 23.25) (float-vector -7.07107 -7.07107 23.25) (float-vector -10.0 1.262177e-29 23.25) (float-vector -10.0 20.0 23.25)))
         (instance face :init :vertices (list (float-vector 10.0 20.0 -23.25) (float-vector 10.0 20.0 23.25) (float-vector -10.0 20.0 23.25) (float-vector -10.0 20.0 -23.25)))
         (instance face :init :vertices (list (float-vector -10.0 20.0 -23.25) (float-vector -10.0 6.310887e-30 -23.25) (float-vector -7.07107 -7.07107 -23.25) (float-vector 0.0 -10.0 -23.25) (float-vector 7.07107 -7.07107 -23.25) (float-vector 10.0 6.310887e-30 -23.25) (float-vector 10.0 20.0 -23.25)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -9.0 26.25 49.0) (float-vector -9.0 26.25 24.0) (float-vector -9.0 -26.25 24.0) (float-vector -9.0 -26.25 49.0) (float-vector -9.0 -24.75 49.0) (float-vector -9.0 -24.75 25.5) (float-vector -9.0 24.75 25.5) (float-vector -9.0 24.75 49.0)))
         (instance face :init :vertices (list (float-vector 11.0 26.25 24.0) (float-vector 11.0 -26.25 24.0) (float-vector -9.0 -26.25 24.0) (float-vector -9.0 26.25 24.0)))
         (instance face :init :vertices (list (float-vector 11.0 26.25 49.0) (float-vector 11.0 24.75 49.0) (float-vector 11.0 24.75 25.5) (float-vector 11.0 -24.75 25.5) (float-vector 11.0 -24.75 49.0) (float-vector 11.0 -26.25 49.0) (float-vector 11.0 -26.25 24.0) (float-vector 11.0 26.25 24.0)))
         (instance face :init :vertices (list (float-vector 8.07107 -26.25 56.0711) (float-vector 11.0 -26.25 49.0) (float-vector 11.0 -24.75 49.0) (float-vector 8.07107 -24.75 56.0711)))
         (instance face :init :vertices (list (float-vector 8.07107 26.25 56.0711) (float-vector 8.07107 24.75 56.0711) (float-vector 11.0 24.75 49.0) (float-vector 11.0 26.25 49.0)))
         (instance face :init :vertices (list (float-vector 1.0 -26.25 59.0) (float-vector 8.07107 -26.25 56.0711) (float-vector 8.07107 -24.75 56.0711) (float-vector 1.0 -24.75 59.0)))
         (instance face :init :vertices (list (float-vector 1.0 26.25 59.0) (float-vector 1.0 24.75 59.0) (float-vector 8.07107 24.75 56.0711) (float-vector 8.07107 26.25 56.0711)))
         (instance face :init :vertices (list (float-vector -6.07107 -26.25 56.0711) (float-vector 1.0 -26.25 59.0) (float-vector 1.0 -24.75 59.0) (float-vector -6.07107 -24.75 56.0711)))
         (instance face :init :vertices (list (float-vector -6.07107 26.25 56.0711) (float-vector -6.07107 24.75 56.0711) (float-vector 1.0 24.75 59.0) (float-vector 1.0 26.25 59.0)))
         (instance face :init :vertices (list (float-vector -9.0 -26.25 49.0) (float-vector -9.0 -26.25 24.0) (float-vector 11.0 -26.25 24.0) (float-vector 11.0 -26.25 49.0) (float-vector 8.07107 -26.25 56.0711) (float-vector 1.0 -26.25 59.0) (float-vector -6.07107 -26.25 56.0711)))
         (instance face :init :vertices (list (float-vector -6.07107 26.25 56.0711) (float-vector 1.0 26.25 59.0) (float-vector 8.07107 26.25 56.0711) (float-vector 11.0 26.25 49.0) (float-vector 11.0 26.25 24.0) (float-vector -9.0 26.25 24.0) (float-vector -9.0 26.25 49.0)))
         (instance face :init :vertices (list (float-vector -6.07107 -26.25 56.0711) (float-vector -6.07107 -24.75 56.0711) (float-vector -9.0 -24.75 49.0) (float-vector -9.0 -26.25 49.0)))
         (instance face :init :vertices (list (float-vector -9.0 26.25 49.0) (float-vector -9.0 24.75 49.0) (float-vector -6.07107 24.75 56.0711) (float-vector -6.07107 26.25 56.0711)))
         (instance face :init :vertices (list (float-vector -9.0 -24.75 25.5) (float-vector -9.0 -24.75 49.0) (float-vector -6.07107 -24.75 56.0711) (float-vector 1.0 -24.75 59.0) (float-vector 8.07107 -24.75 56.0711) (float-vector 11.0 -24.75 49.0) (float-vector 11.0 -24.75 25.5)))
         (instance face :init :vertices (list (float-vector -9.0 24.75 25.5) (float-vector -9.0 -24.75 25.5) (float-vector 11.0 -24.75 25.5) (float-vector 11.0 24.75 25.5)))
         (instance face :init :vertices (list (float-vector 11.0 24.75 25.5) (float-vector 11.0 24.75 49.0) (float-vector 8.07107 24.75 56.0711) (float-vector 1.0 24.75 59.0) (float-vector -6.07107 24.75 56.0711) (float-vector -9.0 24.75 49.0) (float-vector -9.0 24.75 25.5)))
       ))
       ))
     (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-shoulder-y :weight 17.6 :centroid (float-vector 0.523011 6.30612 17.4886) :inertia-tensor #2f((15205.0 58.0479 -146.817) (58.0479 9995.17 1941.02) (-146.817 1941.02 6391.98))))

     ;; definition of :larm-elbow-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -10.0 20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 30.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector -10.0 30.0 20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0) (float-vector 10.0 30.0 20.0) (float-vector -10.0 30.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 4.5 -7.79423 20.0) (float-vector -2.842171e-14 -9.0 20.0) (float-vector -4.5 -7.79423 20.0) (float-vector -7.79423 -4.5 20.0) (float-vector -9.0 0.0 20.0) (float-vector -7.79423 4.5 20.0) (float-vector -4.5 7.79423 20.0) (float-vector 0.0 9.0 20.0) (float-vector 4.5 7.79423 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 9.0 2.842171e-14 20.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 -10.0 20.0) (float-vector -10.0 -10.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 -10.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector 10.0 30.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.5 -7.79423 -20.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 0.0 9.0 -20.0) (float-vector -4.5 7.79423 -20.0) (float-vector -7.79423 4.5 -20.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -4.5 -7.79423 -20.0) (float-vector 0.0 -9.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector 9.0 2.842171e-14 22.0) (float-vector 9.0 2.842171e-14 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 7.79423 4.5 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -20.0) (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 4.5 -22.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 20.0) (float-vector 4.5 7.79423 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 4.5 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 4.5 7.79423 -20.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 0.0 9.0 20.0) (float-vector 0.0 9.0 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 -22.0) (float-vector 0.0 9.0 -22.0) (float-vector 0.0 9.0 -20.0) (float-vector 4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 20.0) (float-vector -4.5 7.79423 22.0) (float-vector 0.0 9.0 22.0) (float-vector 0.0 9.0 20.0)))
         (instance face :init :vertices (list (float-vector 0.0 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 0.0 9.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 20.0) (float-vector -7.79423 4.5 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -7.79423 4.5 -20.0) (float-vector -4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 0.0 20.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 20.0) (float-vector -7.79423 -4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -9.0 0.0 20.0)))
         (instance face :init :vertices (list (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -9.0 0.0 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 20.0) (float-vector -4.5 -7.79423 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -7.79423 -4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -9.0 20.0) (float-vector -2.842171e-14 -9.0 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 -22.0) (float-vector 0.0 -9.0 -22.0) (float-vector 0.0 -9.0 -20.0) (float-vector -4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 20.0) (float-vector 4.5 -7.79423 22.0) (float-vector -2.842171e-14 -9.0 22.0) (float-vector -2.842171e-14 -9.0 20.0)))
         (instance face :init :vertices (list (float-vector 0.0 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector 0.0 -9.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 7.79423 -4.5 22.0) (float-vector 4.5 -7.79423 22.0) (float-vector 4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 22.0) (float-vector 9.0 2.842171e-14 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 0.0 9.0 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -2.842171e-14 -9.0 22.0) (float-vector 4.5 -7.79423 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 2.842171e-14 22.0) (float-vector 7.79423 -4.5 22.0) (float-vector 7.79423 -4.5 20.0) (float-vector 9.0 2.842171e-14 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 -22.0) (float-vector 9.0 0.0 -22.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 0.0 -9.0 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector 0.0 9.0 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 7.79423 4.5 -22.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 70.0 20.0) (float-vector 10.0 70.0 -8.5) (float-vector 10.0 30.0 -8.5) (float-vector 10.0 30.0 -10.0) (float-vector 10.0 71.5 -10.0) (float-vector 10.0 71.5 21.5) (float-vector 10.0 -10.0 21.5) (float-vector 10.0 -10.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 70.0 -8.5) (float-vector -10.0 70.0 20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 -10.0 21.5) (float-vector -10.0 71.5 21.5) (float-vector -10.0 71.5 -10.0) (float-vector -10.0 30.0 -10.0) (float-vector -10.0 30.0 -8.5)))
         (instance face :init :vertices (list (float-vector 10.0 70.0 20.0) (float-vector -10.0 70.0 20.0) (float-vector -10.0 70.0 -8.5) (float-vector 10.0 70.0 -8.5)))
         (instance face :init :vertices (list (float-vector 10.0 -10.0 20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 70.0 20.0) (float-vector 10.0 70.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 -10.0 21.5) (float-vector -10.0 -10.0 21.5) (float-vector -10.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 71.5 21.5) (float-vector -10.0 71.5 21.5) (float-vector -10.0 -10.0 21.5) (float-vector 10.0 -10.0 21.5)))
         (instance face :init :vertices (list (float-vector 10.0 71.5 -10.0) (float-vector -10.0 71.5 -10.0) (float-vector -10.0 71.5 21.5) (float-vector 10.0 71.5 21.5)))
         (instance face :init :vertices (list (float-vector 10.0 30.0 -10.0) (float-vector -10.0 30.0 -10.0) (float-vector -10.0 71.5 -10.0) (float-vector 10.0 71.5 -10.0)))
         (instance face :init :vertices (list (float-vector 10.0 30.0 -8.5) (float-vector -10.0 30.0 -8.5) (float-vector -10.0 30.0 -10.0) (float-vector 10.0 30.0 -10.0)))
         (instance face :init :vertices (list (float-vector 10.0 70.0 -8.5) (float-vector -10.0 70.0 -8.5) (float-vector -10.0 30.0 -8.5) (float-vector 10.0 30.0 -8.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 95.0 -18.75) (float-vector -10.0 70.0 -18.75) (float-vector -10.0 70.0 33.75) (float-vector -10.0 95.0 33.75) (float-vector -10.0 95.0 32.25) (float-vector -10.0 71.5 32.25) (float-vector -10.0 71.5 -17.25) (float-vector -10.0 95.0 -17.25)))
         (instance face :init :vertices (list (float-vector 10.0 70.0 -18.75) (float-vector 10.0 70.0 33.75) (float-vector -10.0 70.0 33.75) (float-vector -10.0 70.0 -18.75)))
         (instance face :init :vertices (list (float-vector 10.0 95.0 -18.75) (float-vector 10.0 95.0 -17.25) (float-vector 10.0 71.5 -17.25) (float-vector 10.0 71.5 32.25) (float-vector 10.0 95.0 32.25) (float-vector 10.0 95.0 33.75) (float-vector 10.0 70.0 33.75) (float-vector 10.0 70.0 -18.75)))
         (instance face :init :vertices (list (float-vector 7.07107 102.071 33.75) (float-vector 10.0 95.0 33.75) (float-vector 10.0 95.0 32.25) (float-vector 7.07107 102.071 32.25)))
         (instance face :init :vertices (list (float-vector 7.07107 102.071 -18.75) (float-vector 7.07107 102.071 -17.25) (float-vector 10.0 95.0 -17.25) (float-vector 10.0 95.0 -18.75)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 105.0 33.75) (float-vector 7.07107 102.071 33.75) (float-vector 7.07107 102.071 32.25) (float-vector -2.842171e-14 105.0 32.25)))
         (instance face :init :vertices (list (float-vector 0.0 105.0 -18.75) (float-vector 0.0 105.0 -17.25) (float-vector 7.07107 102.071 -17.25) (float-vector 7.07107 102.071 -18.75)))
         (instance face :init :vertices (list (float-vector -7.07107 102.071 33.75) (float-vector -2.842171e-14 105.0 33.75) (float-vector -2.842171e-14 105.0 32.25) (float-vector -7.07107 102.071 32.25)))
         (instance face :init :vertices (list (float-vector -7.07107 102.071 -18.75) (float-vector -7.07107 102.071 -17.25) (float-vector 0.0 105.0 -17.25) (float-vector 0.0 105.0 -18.75)))
         (instance face :init :vertices (list (float-vector -10.0 95.0 33.75) (float-vector -10.0 70.0 33.75) (float-vector 10.0 70.0 33.75) (float-vector 10.0 95.0 33.75) (float-vector 7.07107 102.071 33.75) (float-vector -2.842171e-14 105.0 33.75) (float-vector -7.07107 102.071 33.75)))
         (instance face :init :vertices (list (float-vector -7.07107 102.071 -18.75) (float-vector 0.0 105.0 -18.75) (float-vector 7.07107 102.071 -18.75) (float-vector 10.0 95.0 -18.75) (float-vector 10.0 70.0 -18.75) (float-vector -10.0 70.0 -18.75) (float-vector -10.0 95.0 -18.75)))
         (instance face :init :vertices (list (float-vector -7.07107 102.071 33.75) (float-vector -7.07107 102.071 32.25) (float-vector -10.0 95.0 32.25) (float-vector -10.0 95.0 33.75)))
         (instance face :init :vertices (list (float-vector -10.0 95.0 -18.75) (float-vector -10.0 95.0 -17.25) (float-vector -7.07107 102.071 -17.25) (float-vector -7.07107 102.071 -18.75)))
         (instance face :init :vertices (list (float-vector -10.0 71.5 32.25) (float-vector -10.0 95.0 32.25) (float-vector -7.07107 102.071 32.25) (float-vector -2.842171e-14 105.0 32.25) (float-vector 7.07107 102.071 32.25) (float-vector 10.0 95.0 32.25) (float-vector 10.0 71.5 32.25)))
         (instance face :init :vertices (list (float-vector -10.0 71.5 -17.25) (float-vector -10.0 71.5 32.25) (float-vector 10.0 71.5 32.25) (float-vector 10.0 71.5 -17.25)))
         (instance face :init :vertices (list (float-vector 10.0 71.5 -17.25) (float-vector 10.0 95.0 -17.25) (float-vector 7.07107 102.071 -17.25) (float-vector 0.0 105.0 -17.25) (float-vector -7.07107 102.071 -17.25) (float-vector -10.0 95.0 -17.25) (float-vector -10.0 71.5 -17.25)))
       ))
       ))
     (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)
     (setq blink7 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-elbow-p :weight 85.705 :centroid (float-vector -5.968559e-13 21.962 2.16513) :inertia-tensor #2f((63210.3 1.561005e-10 5.602686e-11) (1.561005e-10 15819.2 -4534.19) (5.602686e-11 -4534.19 52304.8))))

     ;; definition of :larm-wrist-r
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -10.0 20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 30.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector -10.0 30.0 20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0) (float-vector 10.0 30.0 20.0) (float-vector -10.0 30.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 4.5 -7.79423 20.0) (float-vector 0.0 -9.0 20.0) (float-vector -4.5 -7.79423 20.0) (float-vector -7.79423 -4.5 20.0) (float-vector -9.0 2.842171e-14 20.0) (float-vector -7.79423 4.5 20.0) (float-vector -4.5 7.79423 20.0) (float-vector 2.842171e-14 9.0 20.0) (float-vector 4.5 7.79423 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 9.0 0.0 20.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 -10.0 20.0) (float-vector -10.0 -10.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 -10.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector 10.0 30.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.5 -7.79423 -20.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 2.842171e-14 9.0 -20.0) (float-vector -4.5 7.79423 -20.0) (float-vector -7.79423 4.5 -20.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -4.5 -7.79423 -20.0) (float-vector 0.0 -9.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector 9.0 0.0 22.0) (float-vector 9.0 0.0 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 7.79423 4.5 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -20.0) (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 4.5 -22.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 20.0) (float-vector 4.5 7.79423 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 4.5 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 4.5 7.79423 -20.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 9.0 20.0) (float-vector 2.842171e-14 9.0 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 -22.0) (float-vector 2.842171e-14 9.0 -22.0) (float-vector 2.842171e-14 9.0 -20.0) (float-vector 4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 20.0) (float-vector -4.5 7.79423 22.0) (float-vector 2.842171e-14 9.0 22.0) (float-vector 2.842171e-14 9.0 20.0)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 2.842171e-14 9.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 20.0) (float-vector -7.79423 4.5 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -7.79423 4.5 -20.0) (float-vector -4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 2.842171e-14 20.0) (float-vector -9.0 2.842171e-14 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 20.0) (float-vector -7.79423 -4.5 22.0) (float-vector -9.0 2.842171e-14 22.0) (float-vector -9.0 2.842171e-14 20.0)))
         (instance face :init :vertices (list (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -9.0 0.0 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 20.0) (float-vector -4.5 -7.79423 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -7.79423 -4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 0.0 -9.0 20.0) (float-vector 0.0 -9.0 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 -22.0) (float-vector 0.0 -9.0 -22.0) (float-vector 0.0 -9.0 -20.0) (float-vector -4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 20.0) (float-vector 4.5 -7.79423 22.0) (float-vector 0.0 -9.0 22.0) (float-vector 0.0 -9.0 20.0)))
         (instance face :init :vertices (list (float-vector 0.0 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector 0.0 -9.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 7.79423 -4.5 22.0) (float-vector 4.5 -7.79423 22.0) (float-vector 4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 22.0) (float-vector 9.0 0.0 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 2.842171e-14 9.0 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -9.0 2.842171e-14 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector 0.0 -9.0 22.0) (float-vector 4.5 -7.79423 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 22.0) (float-vector 7.79423 -4.5 22.0) (float-vector 7.79423 -4.5 20.0) (float-vector 9.0 0.0 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 -22.0) (float-vector 9.0 0.0 -22.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 0.0 -9.0 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector 2.842171e-14 9.0 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 7.79423 4.5 -22.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 70.0 20.0) (float-vector 10.0 70.0 -8.5) (float-vector 10.0 30.0 -8.5) (float-vector 10.0 30.0 -10.0) (float-vector 10.0 71.5 -10.0) (float-vector 10.0 71.5 21.5) (float-vector 10.0 -10.0 21.5) (float-vector 10.0 -10.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 70.0 -8.5) (float-vector -10.0 70.0 20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 -10.0 21.5) (float-vector -10.0 71.5 21.5) (float-vector -10.0 71.5 -10.0) (float-vector -10.0 30.0 -10.0) (float-vector -10.0 30.0 -8.5)))
         (instance face :init :vertices (list (float-vector 10.0 70.0 20.0) (float-vector -10.0 70.0 20.0) (float-vector -10.0 70.0 -8.5) (float-vector 10.0 70.0 -8.5)))
         (instance face :init :vertices (list (float-vector 10.0 -10.0 20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 70.0 20.0) (float-vector 10.0 70.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 -10.0 21.5) (float-vector -10.0 -10.0 21.5) (float-vector -10.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 71.5 21.5) (float-vector -10.0 71.5 21.5) (float-vector -10.0 -10.0 21.5) (float-vector 10.0 -10.0 21.5)))
         (instance face :init :vertices (list (float-vector 10.0 71.5 -10.0) (float-vector -10.0 71.5 -10.0) (float-vector -10.0 71.5 21.5) (float-vector 10.0 71.5 21.5)))
         (instance face :init :vertices (list (float-vector 10.0 30.0 -10.0) (float-vector -10.0 30.0 -10.0) (float-vector -10.0 71.5 -10.0) (float-vector 10.0 71.5 -10.0)))
         (instance face :init :vertices (list (float-vector 10.0 30.0 -8.5) (float-vector -10.0 30.0 -8.5) (float-vector -10.0 30.0 -10.0) (float-vector 10.0 30.0 -10.0)))
         (instance face :init :vertices (list (float-vector 10.0 70.0 -8.5) (float-vector -10.0 70.0 -8.5) (float-vector -10.0 30.0 -8.5) (float-vector 10.0 30.0 -8.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray50)
     (setq blink8 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-wrist-r :weight 76.5 :centroid (float-vector -3.979039e-13 15.0461 1.5232) :inertia-tensor #2f((19189.5 1.370726e-10 3.909261e-11) (1.370726e-10 10899.6 -524.722) (3.909261e-11 -524.722 12589.9))))

     ;; definition of :head-neck-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -27.5) (float-vector 10.0 20.0 -27.5) (float-vector 10.0 20.0 27.5) (float-vector 10.0 0.0 27.5) (float-vector 10.0 0.0 26.0) (float-vector 10.0 18.5 26.0) (float-vector 10.0 18.5 -26.0) (float-vector 10.0 0.0 -26.0)))
         (instance face :init :vertices (list (float-vector -10.0 20.0 -27.5) (float-vector -10.0 20.0 27.5) (float-vector 10.0 20.0 27.5) (float-vector 10.0 20.0 -27.5)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -27.5) (float-vector -10.0 0.0 -26.0) (float-vector -10.0 18.5 -26.0) (float-vector -10.0 18.5 26.0) (float-vector -10.0 0.0 26.0) (float-vector -10.0 0.0 27.5) (float-vector -10.0 20.0 27.5) (float-vector -10.0 20.0 -27.5)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 27.5) (float-vector -10.0 0.0 27.5) (float-vector -10.0 0.0 26.0) (float-vector -7.07107 -7.07107 26.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -27.5) (float-vector -7.07107 -7.07107 -26.0) (float-vector -10.0 0.0 -26.0) (float-vector -10.0 0.0 -27.5)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 27.5) (float-vector -7.07107 -7.07107 27.5) (float-vector -7.07107 -7.07107 26.0) (float-vector 0.0 -10.0 26.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -27.5) (float-vector 0.0 -10.0 -26.0) (float-vector -7.07107 -7.07107 -26.0) (float-vector -7.07107 -7.07107 -27.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 27.5) (float-vector 0.0 -10.0 27.5) (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 -27.5) (float-vector 7.07107 -7.07107 -26.0) (float-vector 0.0 -10.0 -26.0) (float-vector 0.0 -10.0 -27.5)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 27.5) (float-vector 10.0 20.0 27.5) (float-vector -10.0 20.0 27.5) (float-vector -10.0 0.0 27.5) (float-vector -7.07107 -7.07107 27.5) (float-vector 0.0 -10.0 27.5) (float-vector 7.07107 -7.07107 27.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -27.5) (float-vector 0.0 -10.0 -27.5) (float-vector -7.07107 -7.07107 -27.5) (float-vector -10.0 0.0 -27.5) (float-vector -10.0 20.0 -27.5) (float-vector 10.0 20.0 -27.5) (float-vector 10.0 0.0 -27.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 27.5) (float-vector 7.07107 -7.07107 26.0) (float-vector 10.0 0.0 26.0) (float-vector 10.0 0.0 27.5)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -27.5) (float-vector 10.0 0.0 -26.0) (float-vector 7.07107 -7.07107 -26.0) (float-vector 7.07107 -7.07107 -27.5)))
         (instance face :init :vertices (list (float-vector 10.0 18.5 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) (float-vector -10.0 0.0 26.0) (float-vector -10.0 18.5 26.0)))
         (instance face :init :vertices (list (float-vector 10.0 18.5 -26.0) (float-vector 10.0 18.5 26.0) (float-vector -10.0 18.5 26.0) (float-vector -10.0 18.5 -26.0)))
         (instance face :init :vertices (list (float-vector -10.0 18.5 -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) (float-vector 10.0 0.0 -26.0) (float-vector 10.0 18.5 -26.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -20.0 10.0 30.0) (float-vector 20.0 10.0 30.0) (float-vector 20.0 -30.0 30.0) (float-vector -20.0 -30.0 30.0)))
         (instance face :init :vertices (list (float-vector 20.0 -30.0 30.0) (float-vector 20.0 -30.0 50.0) (float-vector -20.0 -30.0 50.0) (float-vector -20.0 -30.0 30.0)))
         (instance face :init :vertices (list (float-vector 20.0 -30.0 50.0) (float-vector 20.0 10.0 50.0) (float-vector -20.0 10.0 50.0) (float-vector -20.0 -30.0 50.0)))
         (instance face :init :vertices (list (float-vector -20.0 10.0 50.0) (float-vector -20.0 10.0 30.0) (float-vector -20.0 -30.0 30.0) (float-vector -20.0 -30.0 50.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -20.0 4.5 32.2058) (float-vector -20.0 7.79423 35.5) (float-vector -20.0 9.0 40.0) (float-vector -20.0 7.79423 44.5) (float-vector -20.0 4.5 47.7942) (float-vector -20.0 -1.421085e-14 49.0) (float-vector -20.0 -4.5 47.7942) (float-vector -20.0 -7.79423 44.5) (float-vector -20.0 -9.0 40.0) (float-vector -20.0 -7.79423 35.5) (float-vector -20.0 -4.5 32.2058) (float-vector -20.0 -4.440892e-15 31.0)))
))
         (instance face :init :vertices (list (float-vector 20.0 10.0 50.0) (float-vector 20.0 10.0 30.0) (float-vector -20.0 10.0 30.0) (float-vector -20.0 10.0 50.0)))
         (instance face :init :vertices (list (float-vector 20.0 10.0 30.0) (float-vector 20.0 10.0 50.0) (float-vector 20.0 -30.0 50.0) (float-vector 20.0 -30.0 30.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 20.0 7.79423 35.5) (float-vector 20.0 4.5 32.2058) (float-vector 20.0 4.440892e-15 31.0) (float-vector 20.0 -4.5 32.2058) (float-vector 20.0 -7.79423 35.5) (float-vector 20.0 -9.0 40.0) (float-vector 20.0 -7.79423 44.5) (float-vector 20.0 -4.5 47.7942) (float-vector 20.0 -5.329071e-15 49.0) (float-vector 20.0 4.5 47.7942) (float-vector 20.0 7.79423 44.5) (float-vector 20.0 9.0 40.0)))
))
         (instance face :init :vertices (list (float-vector -22.0 -4.884981e-15 31.0) (float-vector -20.0 -4.440892e-15 31.0) (float-vector -20.0 -4.5 32.2058) (float-vector -22.0 -4.5 32.2058)))
         (instance face :init :vertices (list (float-vector 20.0 4.440892e-15 31.0) (float-vector 22.0 4.884981e-15 31.0) (float-vector 22.0 -4.5 32.2058) (float-vector 20.0 -4.5 32.2058)))
         (instance face :init :vertices (list (float-vector -20.0 -7.79423 35.5) (float-vector -22.0 -7.79423 35.5) (float-vector -22.0 -4.5 32.2058) (float-vector -20.0 -4.5 32.2058)))
         (instance face :init :vertices (list (float-vector 22.0 -4.5 32.2058) (float-vector 22.0 -7.79423 35.5) (float-vector 20.0 -7.79423 35.5) (float-vector 20.0 -4.5 32.2058)))
         (instance face :init :vertices (list (float-vector -20.0 -9.0 40.0) (float-vector -22.0 -9.0 40.0) (float-vector -22.0 -7.79423 35.5) (float-vector -20.0 -7.79423 35.5)))
         (instance face :init :vertices (list (float-vector 22.0 -7.79423 35.5) (float-vector 22.0 -9.0 40.0) (float-vector 20.0 -9.0 40.0) (float-vector 20.0 -7.79423 35.5)))
         (instance face :init :vertices (list (float-vector -20.0 -7.79423 44.5) (float-vector -22.0 -7.79423 44.5) (float-vector -22.0 -9.0 40.0) (float-vector -20.0 -9.0 40.0)))
         (instance face :init :vertices (list (float-vector 22.0 -9.0 40.0) (float-vector 22.0 -7.79423 44.5) (float-vector 20.0 -7.79423 44.5) (float-vector 20.0 -9.0 40.0)))
         (instance face :init :vertices (list (float-vector -20.0 -4.5 47.7942) (float-vector -22.0 -4.5 47.7942) (float-vector -22.0 -7.79423 44.5) (float-vector -20.0 -7.79423 44.5)))
         (instance face :init :vertices (list (float-vector 22.0 -7.79423 44.5) (float-vector 22.0 -4.5 47.7942) (float-vector 20.0 -4.5 47.7942) (float-vector 20.0 -7.79423 44.5)))
         (instance face :init :vertices (list (float-vector -20.0 -1.421085e-14 49.0) (float-vector -22.0 -1.465494e-14 49.0) (float-vector -22.0 -4.5 47.7942) (float-vector -20.0 -4.5 47.7942)))
         (instance face :init :vertices (list (float-vector 22.0 -4.5 47.7942) (float-vector 22.0 -4.884981e-15 49.0) (float-vector 20.0 -5.329071e-15 49.0) (float-vector 20.0 -4.5 47.7942)))
         (instance face :init :vertices (list (float-vector -20.0 4.5 47.7942) (float-vector -22.0 4.5 47.7942) (float-vector -22.0 -1.465494e-14 49.0) (float-vector -20.0 -1.421085e-14 49.0)))
         (instance face :init :vertices (list (float-vector 22.0 -4.884981e-15 49.0) (float-vector 22.0 4.5 47.7942) (float-vector 20.0 4.5 47.7942) (float-vector 20.0 -5.329071e-15 49.0)))
         (instance face :init :vertices (list (float-vector -20.0 7.79423 44.5) (float-vector -22.0 7.79423 44.5) (float-vector -22.0 4.5 47.7942) (float-vector -20.0 4.5 47.7942)))
         (instance face :init :vertices (list (float-vector 22.0 4.5 47.7942) (float-vector 22.0 7.79423 44.5) (float-vector 20.0 7.79423 44.5) (float-vector 20.0 4.5 47.7942)))
         (instance face :init :vertices (list (float-vector -20.0 9.0 40.0) (float-vector -22.0 9.0 40.0) (float-vector -22.0 7.79423 44.5) (float-vector -20.0 7.79423 44.5)))
         (instance face :init :vertices (list (float-vector 22.0 7.79423 44.5) (float-vector 22.0 9.0 40.0) (float-vector 20.0 9.0 40.0) (float-vector 20.0 7.79423 44.5)))
         (instance face :init :vertices (list (float-vector -20.0 7.79423 35.5) (float-vector -22.0 7.79423 35.5) (float-vector -22.0 9.0 40.0) (float-vector -20.0 9.0 40.0)))
         (instance face :init :vertices (list (float-vector 22.0 9.0 40.0) (float-vector 22.0 7.79423 35.5) (float-vector 20.0 7.79423 35.5) (float-vector 20.0 9.0 40.0)))
         (instance face :init :vertices (list (float-vector -20.0 4.5 32.2058) (float-vector -22.0 4.5 32.2058) (float-vector -22.0 7.79423 35.5) (float-vector -20.0 7.79423 35.5)))
         (instance face :init :vertices (list (float-vector 22.0 7.79423 35.5) (float-vector 22.0 4.5 32.2058) (float-vector 20.0 4.5 32.2058) (float-vector 20.0 7.79423 35.5)))
         (instance face :init :vertices (list (float-vector -22.0 4.5 32.2058) (float-vector -22.0 -4.884981e-15 31.0) (float-vector -22.0 -4.5 32.2058) (float-vector -22.0 -7.79423 35.5) (float-vector -22.0 -9.0 40.0) (float-vector -22.0 -7.79423 44.5) (float-vector -22.0 -4.5 47.7942) (float-vector -22.0 -1.465494e-14 49.0) (float-vector -22.0 4.5 47.7942) (float-vector -22.0 7.79423 44.5) (float-vector -22.0 9.0 40.0) (float-vector -22.0 7.79423 35.5)))
         (instance face :init :vertices (list (float-vector -22.0 -4.884981e-15 31.0) (float-vector -22.0 4.5 32.2058) (float-vector -20.0 4.5 32.2058) (float-vector -20.0 -4.440892e-15 31.0)))
         (instance face :init :vertices (list (float-vector 22.0 4.5 32.2058) (float-vector 22.0 4.884981e-15 31.0) (float-vector 20.0 4.440892e-15 31.0) (float-vector 20.0 4.5 32.2058)))
         (instance face :init :vertices (list (float-vector 22.0 4.884981e-15 31.0) (float-vector 22.0 4.5 32.2058) (float-vector 22.0 7.79423 35.5) (float-vector 22.0 9.0 40.0) (float-vector 22.0 7.79423 44.5) (float-vector 22.0 4.5 47.7942) (float-vector 22.0 -4.884981e-15 49.0) (float-vector 22.0 -4.5 47.7942) (float-vector 22.0 -7.79423 44.5) (float-vector 22.0 -9.0 40.0) (float-vector 22.0 -7.79423 35.5) (float-vector 22.0 -4.5 32.2058)))
       ))
       ))
     (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 :head-neck-y :weight 73.0975 :centroid (float-vector -5.315331e-15 -7.0743 35.2953) :inertia-tensor #2f((31520.0 -2.442725e-13 -9.970608e-13) (-2.442725e-13 27262.7 6787.73) (-9.970608e-13 6787.73 22030.4))))

     ;; definition of :head-neck-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -27.5) (float-vector 10.0 34.0 -27.5) (float-vector 10.0 34.0 27.5) (float-vector 10.0 0.0 27.5) (float-vector 10.0 0.0 26.0) (float-vector 10.0 32.5 26.0) (float-vector 10.0 32.5 -26.0) (float-vector 10.0 0.0 -26.0)))
         (instance face :init :vertices (list (float-vector -10.0 34.0 -27.5) (float-vector -10.0 34.0 27.5) (float-vector 10.0 34.0 27.5) (float-vector 10.0 34.0 -27.5)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -27.5) (float-vector -10.0 0.0 -26.0) (float-vector -10.0 32.5 -26.0) (float-vector -10.0 32.5 26.0) (float-vector -10.0 0.0 26.0) (float-vector -10.0 0.0 27.5) (float-vector -10.0 34.0 27.5) (float-vector -10.0 34.0 -27.5)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 27.5) (float-vector -10.0 0.0 27.5) (float-vector -10.0 0.0 26.0) (float-vector -7.07107 -7.07107 26.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -27.5) (float-vector -7.07107 -7.07107 -26.0) (float-vector -10.0 0.0 -26.0) (float-vector -10.0 0.0 -27.5)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 27.5) (float-vector -7.07107 -7.07107 27.5) (float-vector -7.07107 -7.07107 26.0) (float-vector 0.0 -10.0 26.0)))
         (instance face :init :vertices (list (float-vector 6.310887e-30 -10.0 -27.5) (float-vector 0.0 -10.0 -26.0) (float-vector -7.07107 -7.07107 -26.0) (float-vector -7.07107 -7.07107 -27.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 27.5) (float-vector 0.0 -10.0 27.5) (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 -27.5) (float-vector 7.07107 -7.07107 -26.0) (float-vector 0.0 -10.0 -26.0) (float-vector 6.310887e-30 -10.0 -27.5)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 27.5) (float-vector 10.0 34.0 27.5) (float-vector -10.0 34.0 27.5) (float-vector -10.0 0.0 27.5) (float-vector -7.07107 -7.07107 27.5) (float-vector 0.0 -10.0 27.5) (float-vector 7.07107 -7.07107 27.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -27.5) (float-vector 6.310887e-30 -10.0 -27.5) (float-vector -7.07107 -7.07107 -27.5) (float-vector -10.0 0.0 -27.5) (float-vector -10.0 34.0 -27.5) (float-vector 10.0 34.0 -27.5) (float-vector 10.0 0.0 -27.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 27.5) (float-vector 7.07107 -7.07107 26.0) (float-vector 10.0 0.0 26.0) (float-vector 10.0 0.0 27.5)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -27.5) (float-vector 10.0 0.0 -26.0) (float-vector 7.07107 -7.07107 -26.0) (float-vector 7.07107 -7.07107 -27.5)))
         (instance face :init :vertices (list (float-vector 10.0 32.5 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) (float-vector -10.0 0.0 26.0) (float-vector -10.0 32.5 26.0)))
         (instance face :init :vertices (list (float-vector 10.0 32.5 -26.0) (float-vector 10.0 32.5 26.0) (float-vector -10.0 32.5 26.0) (float-vector -10.0 32.5 -26.0)))
         (instance face :init :vertices (list (float-vector -10.0 32.5 -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) (float-vector 10.0 0.0 -26.0) (float-vector 10.0 32.5 -26.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 28.0 55.0 1.0) (float-vector 27.0 55.0 1.0) (float-vector 27.0 55.0 -1.0) (float-vector 28.0 55.0 -1.0)))
         (instance face :init :vertices (list (float-vector 28.0 53.0 1.0) (float-vector 27.0 53.0 1.0) (float-vector 27.0 55.0 1.0) (float-vector 28.0 55.0 1.0)))
         (instance face :init :vertices (list (float-vector 28.0 53.0 -1.0) (float-vector 27.0 53.0 -1.0) (float-vector 27.0 53.0 1.0) (float-vector 28.0 53.0 1.0)))
         (instance face :init :vertices (list (float-vector 27.0 53.0 -1.0) (float-vector 27.0 55.0 -1.0) (float-vector 27.0 55.0 1.0) (float-vector 27.0 53.0 1.0)))
         (instance face :init :vertices (list (float-vector 27.0 55.0 -1.0) (float-vector 27.0 53.0 -1.0) (float-vector 28.0 53.0 -1.0) (float-vector 28.0 55.0 -1.0)))
         (instance face :init :vertices (list (float-vector 27.0 71.5 -17.5) (float-vector 27.0 71.5 17.5) (float-vector 27.0 36.5 17.5) (float-vector 27.0 36.5 -17.5)))
         (instance face :init :vertices (list (float-vector 27.0 71.5 -17.5) (float-vector -25.0 71.5 -17.5) (float-vector -25.0 71.5 17.5) (float-vector 27.0 71.5 17.5)))
         (instance face :init :vertices (list (float-vector -25.0 71.5 -17.5) (float-vector -25.0 36.5 -17.5) (float-vector -25.0 36.5 17.5) (float-vector -25.0 71.5 17.5)))
         (instance face :init :vertices (list (float-vector -25.0 36.5 17.5) (float-vector 27.0 36.5 17.5) (float-vector 27.0 71.5 17.5) (float-vector -25.0 71.5 17.5)))
         (instance face :init :vertices (list (float-vector -25.0 36.5 -17.5) (float-vector 27.0 36.5 -17.5) (float-vector 27.0 36.5 17.5) (float-vector -25.0 36.5 17.5)))
         (instance face :init :vertices (list (float-vector 27.0 36.5 -17.5) (float-vector -25.0 36.5 -17.5) (float-vector -25.0 71.5 -17.5) (float-vector 27.0 71.5 -17.5)))
         (instance face :init :vertices (list (float-vector 54.5 54.0 -15.0) (float-vector 28.0 54.0 -15.0) (float-vector 28.0 61.5 -12.9904) (float-vector 54.5 61.5 -12.9904)))
         (instance face :init :vertices (list (float-vector 28.0 61.5 -12.9904) (float-vector 28.0 66.9904 -7.5) (float-vector 54.5 66.9904 -7.5) (float-vector 54.5 61.5 -12.9904)))
         (instance face :init :vertices (list (float-vector 28.0 66.9904 -7.5) (float-vector 28.0 69.0 1.611999e-14) (float-vector 54.5 69.0 2.444148e-14) (float-vector 54.5 66.9904 -7.5)))
         (instance face :init :vertices (list (float-vector 28.0 69.0 1.611999e-14) (float-vector 28.0 66.9904 7.5) (float-vector 54.5 66.9904 7.5) (float-vector 54.5 69.0 2.444148e-14)))
         (instance face :init :vertices (list (float-vector 28.0 66.9904 7.5) (float-vector 28.0 61.5 12.9904) (float-vector 54.5 61.5 12.9904) (float-vector 54.5 66.9904 7.5)))
         (instance face :init :vertices (list (float-vector 28.0 61.5 12.9904) (float-vector 28.0 54.0 15.0) (float-vector 54.5 54.0 15.0) (float-vector 54.5 61.5 12.9904)))
         (instance face :init :vertices (list (float-vector 28.0 54.0 15.0) (float-vector 28.0 46.5 12.9904) (float-vector 54.5 46.5 12.9904) (float-vector 54.5 54.0 15.0)))
         (instance face :init :vertices (list (float-vector 28.0 46.5 12.9904) (float-vector 28.0 41.0096 7.5) (float-vector 54.5 41.0096 7.5) (float-vector 54.5 46.5 12.9904)))
         (instance face :init :vertices (list (float-vector 28.0 41.0096 7.5) (float-vector 28.0 39.0 3.788036e-14) (float-vector 54.5 39.0 4.620185e-14) (float-vector 54.5 41.0096 7.5)))
         (instance face :init :vertices (list (float-vector 28.0 39.0 3.788036e-14) (float-vector 28.0 41.0096 -7.5) (float-vector 54.5 41.0096 -7.5) (float-vector 54.5 39.0 4.620185e-14)))
         (instance face :init :vertices (list (float-vector 28.0 41.0096 -7.5) (float-vector 28.0 46.5 -12.9904) (float-vector 54.5 46.5 -12.9904) (float-vector 54.5 41.0096 -7.5)))
         (instance face :init :vertices (list (float-vector 54.5 46.5 -12.9904) (float-vector 54.5 54.0 -15.0) (float-vector 54.5 61.5 -12.9904) (float-vector 54.5 66.9904 -7.5) (float-vector 54.5 69.0 2.444148e-14) (float-vector 54.5 66.9904 7.5) (float-vector 54.5 61.5 12.9904) (float-vector 54.5 54.0 15.0) (float-vector 54.5 46.5 12.9904) (float-vector 54.5 41.0096 7.5) (float-vector 54.5 39.0 4.620185e-14) (float-vector 54.5 41.0096 -7.5)))
         (instance face :init :vertices (list (float-vector 28.0 46.5 -12.9904) (float-vector 28.0 54.0 -15.0) (float-vector 54.5 54.0 -15.0) (float-vector 54.5 46.5 -12.9904)))
         (instance face :init :vertices (list (float-vector 28.0 55.0 -1.0) (float-vector 28.0 53.0 -1.0) (float-vector 28.0 53.0 1.0) (float-vector 28.0 55.0 1.0)))
         (instance face :init :vertices (list (float-vector 28.0 54.0 -15.0) (float-vector 28.0 46.5 -12.9904) (float-vector 28.0 41.0096 -7.5) (float-vector 28.0 39.0 3.788036e-14) (float-vector 28.0 41.0096 7.5) (float-vector 28.0 46.5 12.9904) (float-vector 28.0 54.0 15.0) (float-vector 28.0 61.5 12.9904) (float-vector 28.0 66.9904 7.5) (float-vector 28.0 69.0 1.611999e-14) (float-vector 28.0 66.9904 -7.5) (float-vector 28.0 61.5 -12.9904)))
       ))
       ))
     (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 :head-neck-p :weight 180.866 :centroid (float-vector 9.23351 52.0225 1.415438e-15) :inertia-tensor #2f((50959.1 5774.26 -3.533859e-11) (5774.26 2.152514e+05 8.635560e-12) (-3.533859e-11 8.635560e-12 2.228294e+05))))

     ;; definition of assoc
     (send blink11 :newcoords (make-coords :pos (float-vector -55.0 16.0 -15.5) :rot #2f((1.0 1.373831e-16 3.336446e-16) (3.336446e-16 2.220446e-16 -1.0) (-1.373831e-16 1.0 2.220446e-16))))
     (send blink10 :assoc blink11)
     (send blink10 :newcoords (make-coords :pos (float-vector -3.216871e-14 70.0 -1.5) :rot #2f((0.0 1.0 -3.140185e-16) (-1.0 0.0 1.570092e-16) (1.570092e-16 3.140185e-16 1.0))))
     (send blink16 :assoc blink10)
     (send blink16 :newcoords (make-coords :pos (float-vector -4.546363e-14 91.0 2.842171e-14) :rot #2f((1.0 2.220446e-16 -6.661338e-16) (-2.220446e-16 1.0 -4.440892e-16) (6.661338e-16 4.440892e-16 1.0))))
     (send blink9 :assoc blink16)
     (send blink9 :newcoords (make-coords :pos (float-vector 0.0 0.0 -49.0) :rot #2f((-0.866025 5.551115e-17 -0.5) (0.5 1.665335e-16 -0.866025) (5.551115e-17 -1.0 -1.665335e-16))))
     (send blink22 :assoc blink9)
     (send blink17 :newcoords (make-coords :pos (float-vector 0.0 95.0 -7.5) :rot #2f((1.0 0.0 0.0) (0.0 1.0 -2.220446e-16) (0.0 2.220446e-16 1.0))))
     (send blink18 :assoc blink17)
     (send blink18 :newcoords (make-coords :pos (float-vector -1.0 -2.449294e-16 -49.0) :rot #2f((1.0 1.570092e-16 -1.570092e-16) (1.570092e-16 -3.330669e-16 1.0) (1.570092e-16 -1.0 -3.330669e-16))))
     (send blink19 :assoc blink18)
     (send blink19 :newcoords (make-coords :pos (float-vector 0.0 54.5 1.210143e-14) :rot #2f((1.0 2.501848e-16 -2.208430e-16) (-2.208430e-16 -3.330669e-16 -1.0) (-2.501848e-16 1.0 -3.330669e-16))))
     (send blink20 :assoc blink19)
     (send blink20 :newcoords (make-coords :pos (float-vector 0.0 -5.684342e-14 46.5) :rot #2f((-2.220446e-16 -7.850462e-17 1.0) (-7.850462e-17 -1.0 -7.850462e-17) (1.0 -7.850462e-17 2.220446e-16))))
     (send blink21 :assoc blink20)
     (send blink14 :newcoords (make-coords :pos (float-vector -55.0 16.0 15.5) :rot #2f((1.0 2.551400e-16 -9.813078e-17) (9.813078e-17 -2.220446e-16 1.0) (2.551400e-16 -1.0 -2.220446e-16))))
     (send blink15 :assoc blink14)
     (send blink15 :newcoords (make-coords :pos (float-vector -1.917910e-14 70.0 -1.5) :rot #2f((-2.220446e-16 1.0 -6.280370e-16) (-1.0 -2.220446e-16 3.140185e-16) (3.140185e-16 6.280370e-16 1.0))))
     (send blink1 :assoc blink15)
     (send blink1 :newcoords (make-coords :pos (float-vector -3.488463e-14 91.0 0.0) :rot #2f((1.0 -1.110223e-16 -7.771561e-16) (1.110223e-16 1.0 -4.314083e-32) (7.771561e-16 -4.314083e-32 1.0))))
     (send blink2 :assoc blink1)
     (send blink2 :newcoords (make-coords :pos (float-vector -3.552714e-15 0.0 49.0) :rot #2f((-0.866025 -5.551115e-17 0.5) (0.5 -1.665335e-16 0.866025) (5.551115e-17 1.0 1.665335e-16))))
     (send blink3 :assoc blink2)
     (send blink8 :newcoords (make-coords :pos (float-vector 0.0 95.0 7.5) :rot #2f((1.0 9.860761e-32 -4.440892e-16) (9.860761e-32 1.0 4.440892e-16) (4.440892e-16 -4.440892e-16 1.0))))
     (send blink7 :assoc blink8)
     (send blink7 :newcoords (make-coords :pos (float-vector 1.0 2.449294e-16 49.0) :rot #2f((1.0 2.355139e-16 3.140185e-16) (3.140185e-16 3.697785e-32 -1.0) (-2.355139e-16 1.0 -3.697785e-32))))
     (send blink6 :assoc blink7)
     (send blink6 :newcoords (make-coords :pos (float-vector 2.842171e-14 54.5 -2.420286e-14) :rot #2f((1.0 3.665192e-16 -2.615177e-16) (2.615177e-16 -2.220446e-16 1.0) (3.665192e-16 -1.0 -2.220446e-16))))
     (send blink5 :assoc blink6)
     (send blink5 :newcoords (make-coords :pos (float-vector 0.0 5.684342e-14 -46.5) :rot #2f((0.0 0.0 -1.0) (3.140185e-16 -1.0 0.0) (-1.0 -3.140185e-16 0.0))))
     (send blink4 :assoc blink5)
     (send blink12 :newcoords (make-coords :pos (float-vector -2.449294e-15 0.0 40.0) :rot #2f((1.110223e-16 -1.110223e-16 -1.0) (-1.0 -3.330669e-16 -1.110223e-16) (-3.330669e-16 1.0 -1.110223e-16))))
     (send blink13 :assoc blink12)
     (send blink13 :newcoords (make-coords :pos (float-vector 0.0 0.0 0.0) :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 blink13)
     (send blink4 :newcoords (make-coords :pos (float-vector -2.220446e-14 100.0 22.5) :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 blink0 :assoc blink4)
     (send blink3 :newcoords (make-coords :pos (float-vector -1.221245e-14 55.0 -21.0) :rot #2f((0.866025 -0.5 2.465190e-32) (-0.5 -0.866025 -1.224647e-16) (6.123234e-17 1.060575e-16 -1.0))))
     (send blink0 :assoc blink3)
     (send blink21 :newcoords (make-coords :pos (float-vector 2.220446e-14 -100.0 22.5) :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 blink0 :assoc blink21)
     (send blink22 :newcoords (make-coords :pos (float-vector 1.221245e-14 -55.0 -21.0) :rot #2f((0.866025 -0.5 0.0) (0.5 0.866025 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink22)
     (send self :assoc blink0)

     ;; definition of end-coords

     ;; definition of head-end-coords
     (setq head-end-coords
       (make-cascoords
	:coords (send (send blink12 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 5.995204e-15 54.0 5.995204e-15) :rot #2f((2.220446e-16 -7.850462e-17 1.0) (-7.850462e-17 1.0 7.850462e-17) (-1.0 -7.850462e-17 2.220446e-16))))))
     (send blink12 :assoc head-end-coords)

     ;; definition of larm-end-coords
     (setq larm-end-coords
       (make-cascoords
	:coords (send (send blink8 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -10.0 50.0 5.0) :rot #2f((1.110223e-16 1.0 -3.330669e-16) (-1.110223e-16 -3.330669e-16 -1.0) (-1.0 1.110223e-16 1.110223e-16))))))
     (send blink8 :assoc larm-end-coords)

     ;; definition of lleg-end-coords
     (setq lleg-end-coords
       (make-cascoords
	:coords (send (send blink14 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -21.0 15.5 35.0) :rot #2f((2.220446e-16 2.220446e-16 1.0) (-1.0 2.220446e-16 2.220446e-16) (-2.220446e-16 -1.0 2.220446e-16))))))
     (send blink14 :assoc lleg-end-coords)

     ;; definition of rarm-end-coords
     (setq rarm-end-coords
       (make-cascoords
	:coords (send (send blink17 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -10.0 50.0 -5.0) :rot #2f((0.0 -1.0 0.0) (0.0 0.0 -1.0) (1.0 0.0 0.0))))))
     (send blink17 :assoc rarm-end-coords)

     ;; definition of rleg-end-coords
     (setq rleg-end-coords
       (make-cascoords
	:coords (send (send blink11 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -21.0 15.5 -35.0) :rot #2f((3.330669e-16 -1.110223e-16 1.0) (1.0 3.330669e-16 -3.330669e-16) (-3.330669e-16 1.0 1.110223e-16))))))
     (send blink11 :assoc rleg-end-coords)

     ;; definition of joint

     ;; definition of :head-neck-y
     (setq joint12 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink13 :name :head-neck-y :axis :-z
			     :min  -87.4 :max  102.1 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :head-neck-p
     (setq joint11 (instance rotational-joint :init
			     :parent-link blink13 :child-link blink12 :name :head-neck-p :axis :-z
			     :min  -84.2 :max   52.6 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-shoulder-p
     (setq joint3 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink4 :name :larm-shoulder-p :axis :-z
			     :min  -45.5 :max  122.5 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-shoulder-r
     (setq joint4 (instance rotational-joint :init
			     :parent-link blink4 :child-link blink5 :name :larm-shoulder-r :axis :-z
			     :min -140.7 :max   10.6 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-shoulder-y
     (setq joint5 (instance rotational-joint :init
			     :parent-link blink5 :child-link blink6 :name :larm-shoulder-y :axis :-z
			     :min  -89.9 :max  102.4 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-elbow-p
     (setq joint6 (instance rotational-joint :init
			     :parent-link blink6 :child-link blink7 :name :larm-elbow-p :axis :-z
			     :min  -70.4 :max  104.4 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-wrist-r
     (setq joint7 (instance rotational-joint :init
			     :parent-link blink7 :child-link blink8 :name :larm-wrist-r :axis :-z
			     :min  -45.0 :max  135.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-crotch-y
     (setq joint2 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink3 :name :lleg-crotch-y :axis :-z
			     :min  -59.1 :max   35.6 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-crotch-p
     (setq joint1 (instance rotational-joint :init
			     :parent-link blink3 :child-link blink2 :name :lleg-crotch-p :axis :-z
			     :min  -40.5 :max  144.3 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-knee-p
     (setq joint0 (instance rotational-joint :init
			     :parent-link blink2 :child-link blink1 :name :lleg-knee-p :axis :-z
			     :min -170.6 :max   25.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-ankle-p
     (setq joint14 (instance rotational-joint :init
			     :parent-link blink1 :child-link blink15 :name :lleg-ankle-p :axis :-z
			     :min  -87.1 :max   80.2 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-ankle-r
     (setq joint13 (instance rotational-joint :init
			     :parent-link blink15 :child-link blink14 :name :lleg-ankle-r :axis :-z
			     :min  -25.5 :max   85.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-shoulder-p
     (setq joint20 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink21 :name :rarm-shoulder-p :axis :-z
			     :min  -39.6 :max  147.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-shoulder-r
     (setq joint19 (instance rotational-joint :init
			     :parent-link blink21 :child-link blink20 :name :rarm-shoulder-r :axis :-z
			     :min -139.6 :max   16.1 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-shoulder-y
     (setq joint18 (instance rotational-joint :init
			     :parent-link blink20 :child-link blink19 :name :rarm-shoulder-y :axis :-z
			     :min  -90.0 :max   91.9 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-elbow-p
     (setq joint17 (instance rotational-joint :init
			     :parent-link blink19 :child-link blink18 :name :rarm-elbow-p :axis :-z
			     :min -101.3 :max   89.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-wrist-r
     (setq joint16 (instance rotational-joint :init
			     :parent-link blink18 :child-link blink17 :name :rarm-wrist-r :axis :-z
			     :min  -45.0 :max  135.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-crotch-y
     (setq joint21 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink22 :name :rleg-crotch-y :axis :-z
			     :min  -60.3 :max   40.7 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-crotch-p
     (setq joint8 (instance rotational-joint :init
			     :parent-link blink22 :child-link blink9 :name :rleg-crotch-p :axis :-z
			     :min  -40.5 :max  144.3 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-knee-p
     (setq joint15 (instance rotational-joint :init
			     :parent-link blink9 :child-link blink16 :name :rleg-knee-p :axis :-z
			     :min -170.6 :max   25.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-ankle-p
     (setq joint9 (instance rotational-joint :init
			     :parent-link blink16 :child-link blink10 :name :rleg-ankle-p :axis :-z
			     :min  -87.1 :max   80.2 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-ankle-r
     (setq joint10 (instance rotational-joint :init
			     :parent-link blink10 :child-link blink11 :name :rleg-ankle-r :axis :-z
			     :min  -19.4 :max  112.6 :max-joint-velocity 5 :max-joint-torque 100))

     (setq head-root-link blink13)
     (setq head (list blink13 blink12))
     (setq larm-root-link blink4)
     (setq larm (list blink4 blink5 blink6 blink7 blink8))
     (setq lleg-root-link blink3)
     (setq lleg (list blink3 blink2 blink1 blink15 blink14))
     (setq rarm-root-link blink21)
     (setq rarm (list blink21 blink20 blink19 blink18 blink17))
     (setq rleg-root-link blink22)
     (setq rleg (list blink22 blink9 blink16 blink10 blink11))

     ;; 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))
     (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))
     ;; 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))

  (:head-neck-y (&rest args) (forward-message-to joint12 args))
  (:head-neck-p (&rest args) (forward-message-to joint11 args))
  (:larm-shoulder-p (&rest args) (forward-message-to joint3 args))
  (:larm-shoulder-r (&rest args) (forward-message-to joint4 args))
  (:larm-shoulder-y (&rest args) (forward-message-to joint5 args))
  (:larm-elbow-p (&rest args) (forward-message-to joint6 args))
  (:larm-wrist-r (&rest args) (forward-message-to joint7 args))
  (:lleg-crotch-y (&rest args) (forward-message-to joint2 args))
  (:lleg-crotch-p (&rest args) (forward-message-to joint1 args))
  (:lleg-knee-p (&rest args) (forward-message-to joint0 args))
  (:lleg-ankle-p (&rest args) (forward-message-to joint14 args))
  (:lleg-ankle-r (&rest args) (forward-message-to joint13 args))
  (:rarm-shoulder-p (&rest args) (forward-message-to joint20 args))
  (:rarm-shoulder-r (&rest args) (forward-message-to joint19 args))
  (:rarm-shoulder-y (&rest args) (forward-message-to joint18 args))
  (:rarm-elbow-p (&rest args) (forward-message-to joint17 args))
  (:rarm-wrist-r (&rest args) (forward-message-to joint16 args))
  (:rleg-crotch-y (&rest args) (forward-message-to joint21 args))
  (:rleg-crotch-p (&rest args) (forward-message-to joint8 args))
  (:rleg-knee-p (&rest args) (forward-message-to joint15 args))
  (:rleg-ankle-p (&rest args) (forward-message-to joint9 args))
  (:rleg-ankle-r (&rest args) (forward-message-to joint10 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 ikuo-haru (&rest args) (instance* ikuo-haru-robot :init args))
;; (format *error-output* "(instance ikuo-haru-robot :init) for generating model~%")