File: kuma-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 kuma-robot
  :super robot-model
  :slots (sensors
         joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12 joint13 joint14 joint15 joint16 joint17 joint18 joint19 joint20 joint21 joint22 joint23 joint24 ))
(defmethod kuma-robot
  (:init
   (&rest args &key (name "kuma") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
   (let (c bc
         blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 blink8 blink9 blink10 blink11 blink12 blink13 blink14 blink15 blink16 blink17 blink18 blink19 blink20 blink21 blink22 blink23 blink24 blink25
                 )
     (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 14.4 -23.75 -102.0) (float-vector 14.4 -23.75 -55.0) (float-vector 14.4 -84.25 -55.0) (float-vector 14.4 -84.25 -102.0) (float-vector 14.4 -82.75 -102.0) (float-vector 14.4 -82.75 -56.5) (float-vector 14.4 -25.25 -56.5) (float-vector 14.4 -25.25 -102.0)))
         (instance face :init :vertices (list (float-vector -14.4 -23.75 -55.0) (float-vector -14.4 -84.25 -55.0) (float-vector 14.4 -84.25 -55.0) (float-vector 14.4 -23.75 -55.0)))
         (instance face :init :vertices (list (float-vector -14.4 -23.75 -102.0) (float-vector -14.4 -25.25 -102.0) (float-vector -14.4 -25.25 -56.5) (float-vector -14.4 -82.75 -56.5) (float-vector -14.4 -82.75 -102.0) (float-vector -14.4 -84.25 -102.0) (float-vector -14.4 -84.25 -55.0) (float-vector -14.4 -23.75 -55.0)))
         (instance face :init :vertices (list (float-vector -10.1823 -84.25 -112.182) (float-vector -14.4 -84.25 -102.0) (float-vector -14.4 -82.75 -102.0) (float-vector -10.1823 -82.75 -112.182)))
         (instance face :init :vertices (list (float-vector -10.1823 -23.75 -112.182) (float-vector -10.1823 -25.25 -112.182) (float-vector -14.4 -25.25 -102.0) (float-vector -14.4 -23.75 -102.0)))
         (instance face :init :vertices (list (float-vector 1.323471e-14 -84.25 -116.4) (float-vector -10.1823 -84.25 -112.182) (float-vector -10.1823 -82.75 -112.182) (float-vector 1.311695e-14 -82.75 -116.4)))
         (instance face :init :vertices (list (float-vector 8.485177e-15 -23.75 -116.4) (float-vector 8.602934e-15 -25.25 -116.4) (float-vector -10.1823 -25.25 -112.182) (float-vector -10.1823 -23.75 -112.182)))
         (instance face :init :vertices (list (float-vector 10.1823 -84.25 -112.182) (float-vector 1.323471e-14 -84.25 -116.4) (float-vector 1.311695e-14 -82.75 -116.4) (float-vector 10.1823 -82.75 -112.182)))
         (instance face :init :vertices (list (float-vector 10.1823 -23.75 -112.182) (float-vector 10.1823 -25.25 -112.182) (float-vector 8.602934e-15 -25.25 -116.4) (float-vector 8.485177e-15 -23.75 -116.4)))
         (instance face :init :vertices (list (float-vector 14.4 -84.25 -102.0) (float-vector 14.4 -84.25 -55.0) (float-vector -14.4 -84.25 -55.0) (float-vector -14.4 -84.25 -102.0) (float-vector -10.1823 -84.25 -112.182) (float-vector 1.323471e-14 -84.25 -116.4) (float-vector 10.1823 -84.25 -112.182)))
         (instance face :init :vertices (list (float-vector 10.1823 -23.75 -112.182) (float-vector 8.485177e-15 -23.75 -116.4) (float-vector -10.1823 -23.75 -112.182) (float-vector -14.4 -23.75 -102.0) (float-vector -14.4 -23.75 -55.0) (float-vector 14.4 -23.75 -55.0) (float-vector 14.4 -23.75 -102.0)))
         (instance face :init :vertices (list (float-vector 10.1823 -84.25 -112.182) (float-vector 10.1823 -82.75 -112.182) (float-vector 14.4 -82.75 -102.0) (float-vector 14.4 -84.25 -102.0)))
         (instance face :init :vertices (list (float-vector 14.4 -23.75 -102.0) (float-vector 14.4 -25.25 -102.0) (float-vector 10.1823 -25.25 -112.182) (float-vector 10.1823 -23.75 -112.182)))
         (instance face :init :vertices (list (float-vector 14.4 -82.75 -56.5) (float-vector 14.4 -82.75 -102.0) (float-vector 10.1823 -82.75 -112.182) (float-vector 1.311695e-14 -82.75 -116.4) (float-vector -10.1823 -82.75 -112.182) (float-vector -14.4 -82.75 -102.0) (float-vector -14.4 -82.75 -56.5)))
         (instance face :init :vertices (list (float-vector 14.4 -25.25 -56.5) (float-vector 14.4 -82.75 -56.5) (float-vector -14.4 -82.75 -56.5) (float-vector -14.4 -25.25 -56.5)))
         (instance face :init :vertices (list (float-vector -14.4 -25.25 -56.5) (float-vector -14.4 -25.25 -102.0) (float-vector -10.1823 -25.25 -112.182) (float-vector 8.602934e-15 -25.25 -116.4) (float-vector 10.1823 -25.25 -112.182) (float-vector 14.4 -25.25 -102.0) (float-vector 14.4 -25.25 -56.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 -96.0 166.9) (float-vector 14.4 -96.0 117.1) (float-vector 14.4 -37.0 117.1) (float-vector 14.4 -37.0 166.9)))
         (instance face :init :vertices (list (float-vector 14.4 -37.0 117.1) (float-vector -14.4 -37.0 117.1) (float-vector -14.4 -37.0 166.9) (float-vector 14.4 -37.0 166.9)))
         (instance face :init :vertices (list (float-vector -14.4 -37.0 117.1) (float-vector -14.4 -96.0 117.1) (float-vector -14.4 -96.0 166.9) (float-vector -14.4 -37.0 166.9)))
         (instance face :init :vertices (list (float-vector -14.4 -96.0 166.9) (float-vector 14.4 -96.0 166.9) (float-vector 14.4 -37.0 166.9) (float-vector -14.4 -37.0 166.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 11.6047 -88.7 166.9) (float-vector 6.7 -93.6047 166.9) (float-vector -4.884981e-15 -95.4 166.9) (float-vector -6.7 -93.6047 166.9) (float-vector -11.6047 -88.7 166.9) (float-vector -13.4 -82.0 166.9) (float-vector -11.6047 -75.3 166.9) (float-vector -6.7 -70.3953 166.9) (float-vector 2.620126e-14 -68.6 166.9) (float-vector 6.7 -70.3953 166.9) (float-vector 11.6047 -75.3 166.9) (float-vector 13.4 -82.0 166.9)))
))
         (instance face :init :vertices (list (float-vector -14.4 -96.0 117.1) (float-vector 14.4 -96.0 117.1) (float-vector 14.4 -96.0 166.9) (float-vector -14.4 -96.0 166.9)))
         (instance face :init :vertices (list (float-vector 14.4 -96.0 117.1) (float-vector -14.4 -96.0 117.1) (float-vector -14.4 -37.0 117.1) (float-vector 14.4 -37.0 117.1))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 6.7 -93.6047 117.1) (float-vector 11.6047 -88.7 117.1) (float-vector 13.4 -82.0 117.1) (float-vector 11.6047 -75.3 117.1) (float-vector 6.7 -70.3953 117.1) (float-vector 2.620126e-14 -68.6 117.1) (float-vector -6.7 -70.3953 117.1) (float-vector -11.6047 -75.3 117.1) (float-vector -13.4 -82.0 117.1) (float-vector -11.6047 -88.7 117.1) (float-vector -6.7 -93.6047 117.1) (float-vector -4.884981e-15 -95.4 117.1)))
))
         (instance face :init :vertices (list (float-vector 13.4 -82.0 168.9) (float-vector 13.4 -82.0 166.9) (float-vector 11.6047 -75.3 166.9) (float-vector 11.6047 -75.3 168.9)))
         (instance face :init :vertices (list (float-vector 13.4 -82.0 117.1) (float-vector 13.4 -82.0 115.1) (float-vector 11.6047 -75.3 115.1) (float-vector 11.6047 -75.3 117.1)))
         (instance face :init :vertices (list (float-vector 6.7 -70.3953 166.9) (float-vector 6.7 -70.3953 168.9) (float-vector 11.6047 -75.3 168.9) (float-vector 11.6047 -75.3 166.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -75.3 115.1) (float-vector 6.7 -70.3953 115.1) (float-vector 6.7 -70.3953 117.1) (float-vector 11.6047 -75.3 117.1)))
         (instance face :init :vertices (list (float-vector 2.620126e-14 -68.6 166.9) (float-vector 2.620126e-14 -68.6 168.9) (float-vector 6.7 -70.3953 168.9) (float-vector 6.7 -70.3953 166.9)))
         (instance face :init :vertices (list (float-vector 6.7 -70.3953 115.1) (float-vector 2.620126e-14 -68.6 115.1) (float-vector 2.620126e-14 -68.6 117.1) (float-vector 6.7 -70.3953 117.1)))
         (instance face :init :vertices (list (float-vector -6.7 -70.3953 166.9) (float-vector -6.7 -70.3953 168.9) (float-vector 2.620126e-14 -68.6 168.9) (float-vector 2.620126e-14 -68.6 166.9)))
         (instance face :init :vertices (list (float-vector 2.620126e-14 -68.6 115.1) (float-vector -6.7 -70.3953 115.1) (float-vector -6.7 -70.3953 117.1) (float-vector 2.620126e-14 -68.6 117.1)))
         (instance face :init :vertices (list (float-vector -11.6047 -75.3 166.9) (float-vector -11.6047 -75.3 168.9) (float-vector -6.7 -70.3953 168.9) (float-vector -6.7 -70.3953 166.9)))
         (instance face :init :vertices (list (float-vector -6.7 -70.3953 115.1) (float-vector -11.6047 -75.3 115.1) (float-vector -11.6047 -75.3 117.1) (float-vector -6.7 -70.3953 117.1)))
         (instance face :init :vertices (list (float-vector -13.4 -82.0 166.9) (float-vector -13.4 -82.0 168.9) (float-vector -11.6047 -75.3 168.9) (float-vector -11.6047 -75.3 166.9)))
         (instance face :init :vertices (list (float-vector -11.6047 -75.3 115.1) (float-vector -13.4 -82.0 115.1) (float-vector -13.4 -82.0 117.1) (float-vector -11.6047 -75.3 117.1)))
         (instance face :init :vertices (list (float-vector -11.6047 -88.7 166.9) (float-vector -11.6047 -88.7 168.9) (float-vector -13.4 -82.0 168.9) (float-vector -13.4 -82.0 166.9)))
         (instance face :init :vertices (list (float-vector -13.4 -82.0 115.1) (float-vector -11.6047 -88.7 115.1) (float-vector -11.6047 -88.7 117.1) (float-vector -13.4 -82.0 117.1)))
         (instance face :init :vertices (list (float-vector -6.7 -93.6047 166.9) (float-vector -6.7 -93.6047 168.9) (float-vector -11.6047 -88.7 168.9) (float-vector -11.6047 -88.7 166.9)))
         (instance face :init :vertices (list (float-vector -11.6047 -88.7 115.1) (float-vector -6.7 -93.6047 115.1) (float-vector -6.7 -93.6047 117.1) (float-vector -11.6047 -88.7 117.1)))
         (instance face :init :vertices (list (float-vector -4.884981e-15 -95.4 166.9) (float-vector -4.884981e-15 -95.4 168.9) (float-vector -6.7 -93.6047 168.9) (float-vector -6.7 -93.6047 166.9)))
         (instance face :init :vertices (list (float-vector -6.7 -93.6047 115.1) (float-vector -4.884981e-15 -95.4 115.1) (float-vector -4.884981e-15 -95.4 117.1) (float-vector -6.7 -93.6047 117.1)))
         (instance face :init :vertices (list (float-vector 6.7 -93.6047 166.9) (float-vector 6.7 -93.6047 168.9) (float-vector -4.884981e-15 -95.4 168.9) (float-vector -4.884981e-15 -95.4 166.9)))
         (instance face :init :vertices (list (float-vector -4.884981e-15 -95.4 115.1) (float-vector 6.7 -93.6047 115.1) (float-vector 6.7 -93.6047 117.1) (float-vector -4.884981e-15 -95.4 117.1)))
         (instance face :init :vertices (list (float-vector 11.6047 -88.7 166.9) (float-vector 11.6047 -88.7 168.9) (float-vector 6.7 -93.6047 168.9) (float-vector 6.7 -93.6047 166.9)))
         (instance face :init :vertices (list (float-vector 6.7 -93.6047 115.1) (float-vector 11.6047 -88.7 115.1) (float-vector 11.6047 -88.7 117.1) (float-vector 6.7 -93.6047 117.1)))
         (instance face :init :vertices (list (float-vector 11.6047 -88.7 168.9) (float-vector 13.4 -82.0 168.9) (float-vector 11.6047 -75.3 168.9) (float-vector 6.7 -70.3953 168.9) (float-vector 2.620126e-14 -68.6 168.9) (float-vector -6.7 -70.3953 168.9) (float-vector -11.6047 -75.3 168.9) (float-vector -13.4 -82.0 168.9) (float-vector -11.6047 -88.7 168.9) (float-vector -6.7 -93.6047 168.9) (float-vector -4.884981e-15 -95.4 168.9) (float-vector 6.7 -93.6047 168.9)))
         (instance face :init :vertices (list (float-vector 13.4 -82.0 168.9) (float-vector 11.6047 -88.7 168.9) (float-vector 11.6047 -88.7 166.9) (float-vector 13.4 -82.0 166.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -88.7 115.1) (float-vector 13.4 -82.0 115.1) (float-vector 13.4 -82.0 117.1) (float-vector 11.6047 -88.7 117.1)))
         (instance face :init :vertices (list (float-vector 13.4 -82.0 115.1) (float-vector 11.6047 -88.7 115.1) (float-vector 6.7 -93.6047 115.1) (float-vector -4.884981e-15 -95.4 115.1) (float-vector -6.7 -93.6047 115.1) (float-vector -11.6047 -88.7 115.1) (float-vector -13.4 -82.0 115.1) (float-vector -11.6047 -75.3 115.1) (float-vector -6.7 -70.3953 115.1) (float-vector 2.620126e-14 -68.6 115.1) (float-vector 6.7 -70.3953 115.1) (float-vector 11.6047 -75.3 115.1)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 84.25 -102.0) (float-vector 14.4 84.25 -55.0) (float-vector 14.4 23.75 -55.0) (float-vector 14.4 23.75 -102.0) (float-vector 14.4 25.25 -102.0) (float-vector 14.4 25.25 -56.5) (float-vector 14.4 82.75 -56.5) (float-vector 14.4 82.75 -102.0)))
         (instance face :init :vertices (list (float-vector -14.4 84.25 -55.0) (float-vector -14.4 23.75 -55.0) (float-vector 14.4 23.75 -55.0) (float-vector 14.4 84.25 -55.0)))
         (instance face :init :vertices (list (float-vector -14.4 84.25 -102.0) (float-vector -14.4 82.75 -102.0) (float-vector -14.4 82.75 -56.5) (float-vector -14.4 25.25 -56.5) (float-vector -14.4 25.25 -102.0) (float-vector -14.4 23.75 -102.0) (float-vector -14.4 23.75 -55.0) (float-vector -14.4 84.25 -55.0)))
         (instance face :init :vertices (list (float-vector -10.1823 23.75 -112.182) (float-vector -14.4 23.75 -102.0) (float-vector -14.4 25.25 -102.0) (float-vector -10.1823 25.25 -112.182)))
         (instance face :init :vertices (list (float-vector -10.1823 84.25 -112.182) (float-vector -10.1823 82.75 -112.182) (float-vector -14.4 82.75 -102.0) (float-vector -14.4 84.25 -102.0)))
         (instance face :init :vertices (list (float-vector -1.074611e-14 23.75 -116.4) (float-vector -10.1823 23.75 -112.182) (float-vector -10.1823 25.25 -112.182) (float-vector -1.086387e-14 25.25 -116.4)))
         (instance face :init :vertices (list (float-vector -1.549564e-14 84.25 -116.4) (float-vector -1.537788e-14 82.75 -116.4) (float-vector -10.1823 82.75 -112.182) (float-vector -10.1823 84.25 -112.182)))
         (instance face :init :vertices (list (float-vector 10.1823 23.75 -112.182) (float-vector -1.074611e-14 23.75 -116.4) (float-vector -1.086387e-14 25.25 -116.4) (float-vector 10.1823 25.25 -112.182)))
         (instance face :init :vertices (list (float-vector 10.1823 84.25 -112.182) (float-vector 10.1823 82.75 -112.182) (float-vector -1.537788e-14 82.75 -116.4) (float-vector -1.549564e-14 84.25 -116.4)))
         (instance face :init :vertices (list (float-vector 14.4 23.75 -102.0) (float-vector 14.4 23.75 -55.0) (float-vector -14.4 23.75 -55.0) (float-vector -14.4 23.75 -102.0) (float-vector -10.1823 23.75 -112.182) (float-vector -1.074611e-14 23.75 -116.4) (float-vector 10.1823 23.75 -112.182)))
         (instance face :init :vertices (list (float-vector 10.1823 84.25 -112.182) (float-vector -1.549564e-14 84.25 -116.4) (float-vector -10.1823 84.25 -112.182) (float-vector -14.4 84.25 -102.0) (float-vector -14.4 84.25 -55.0) (float-vector 14.4 84.25 -55.0) (float-vector 14.4 84.25 -102.0)))
         (instance face :init :vertices (list (float-vector 10.1823 23.75 -112.182) (float-vector 10.1823 25.25 -112.182) (float-vector 14.4 25.25 -102.0) (float-vector 14.4 23.75 -102.0)))
         (instance face :init :vertices (list (float-vector 14.4 84.25 -102.0) (float-vector 14.4 82.75 -102.0) (float-vector 10.1823 82.75 -112.182) (float-vector 10.1823 84.25 -112.182)))
         (instance face :init :vertices (list (float-vector 14.4 25.25 -56.5) (float-vector 14.4 25.25 -102.0) (float-vector 10.1823 25.25 -112.182) (float-vector -1.086387e-14 25.25 -116.4) (float-vector -10.1823 25.25 -112.182) (float-vector -14.4 25.25 -102.0) (float-vector -14.4 25.25 -56.5)))
         (instance face :init :vertices (list (float-vector 14.4 82.75 -56.5) (float-vector 14.4 25.25 -56.5) (float-vector -14.4 25.25 -56.5) (float-vector -14.4 82.75 -56.5)))
         (instance face :init :vertices (list (float-vector -14.4 82.75 -56.5) (float-vector -14.4 82.75 -102.0) (float-vector -10.1823 82.75 -112.182) (float-vector -1.537788e-14 82.75 -116.4) (float-vector 10.1823 82.75 -112.182) (float-vector 14.4 82.75 -102.0) (float-vector 14.4 82.75 -56.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 96.0 117.1) (float-vector 14.4 96.0 166.9) (float-vector 14.4 37.0 166.9) (float-vector 14.4 37.0 117.1)))
         (instance face :init :vertices (list (float-vector 14.4 37.0 166.9) (float-vector -14.4 37.0 166.9) (float-vector -14.4 37.0 117.1) (float-vector 14.4 37.0 117.1)))
         (instance face :init :vertices (list (float-vector -14.4 37.0 166.9) (float-vector -14.4 96.0 166.9) (float-vector -14.4 96.0 117.1) (float-vector -14.4 37.0 117.1)))
         (instance face :init :vertices (list (float-vector -14.4 96.0 117.1) (float-vector 14.4 96.0 117.1) (float-vector 14.4 37.0 117.1) (float-vector -14.4 37.0 117.1))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 11.6047 88.7 117.1) (float-vector 6.7 93.6047 117.1) (float-vector -5.030046e-14 95.4 117.1) (float-vector -6.7 93.6047 117.1) (float-vector -11.6047 88.7 117.1) (float-vector -13.4 82.0 117.1) (float-vector -11.6047 75.3 117.1) (float-vector -6.7 70.3953 117.1) (float-vector -7.312627e-15 68.6 117.1) (float-vector 6.7 70.3953 117.1) (float-vector 11.6047 75.3 117.1) (float-vector 13.4 82.0 117.1)))
))
         (instance face :init :vertices (list (float-vector -14.4 96.0 166.9) (float-vector 14.4 96.0 166.9) (float-vector 14.4 96.0 117.1) (float-vector -14.4 96.0 117.1)))
         (instance face :init :vertices (list (float-vector 14.4 96.0 166.9) (float-vector -14.4 96.0 166.9) (float-vector -14.4 37.0 166.9) (float-vector 14.4 37.0 166.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 6.7 93.6047 166.9) (float-vector 11.6047 88.7 166.9) (float-vector 13.4 82.0 166.9) (float-vector 11.6047 75.3 166.9) (float-vector 6.7 70.3953 166.9) (float-vector -1.213886e-15 68.6 166.9) (float-vector -6.7 70.3953 166.9) (float-vector -11.6047 75.3 166.9) (float-vector -13.4 82.0 166.9) (float-vector -11.6047 88.7 166.9) (float-vector -6.7 93.6047 166.9) (float-vector -4.420172e-14 95.4 166.9)))
))
         (instance face :init :vertices (list (float-vector 13.4 82.0 115.1) (float-vector 13.4 82.0 117.1) (float-vector 11.6047 75.3 117.1) (float-vector 11.6047 75.3 115.1)))
         (instance face :init :vertices (list (float-vector 13.4 82.0 166.9) (float-vector 13.4 82.0 168.9) (float-vector 11.6047 75.3 168.9) (float-vector 11.6047 75.3 166.9)))
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         (instance face :init :vertices (list (float-vector 24.0 -72.25 91.0) (float-vector 24.0 -73.75 91.0) (float-vector 24.0 -73.75 115.25) (float-vector 24.0 -72.25 115.25)))
         (instance face :init :vertices (list (float-vector 24.0 -72.25 91.0) (float-vector -24.0 -72.25 91.0) (float-vector -24.0 -73.75 91.0) (float-vector 24.0 -73.75 91.0)))
         (instance face :init :vertices (list (float-vector -24.0 -72.25 91.0) (float-vector -24.0 -72.25 115.25) (float-vector -24.0 -73.75 115.25) (float-vector -24.0 -73.75 91.0)))
         (instance face :init :vertices (list (float-vector 40.0 -72.25 -53.25) (float-vector 40.0 -72.25 115.25) (float-vector 40.0 -73.75 115.25) (float-vector 40.0 -73.75 -53.25)))
         (instance face :init :vertices (list (float-vector -40.0 -73.75 115.25) (float-vector -40.0 -73.75 -53.25) (float-vector 40.0 -73.75 -53.25) (float-vector 40.0 -73.75 115.25) (float-vector 24.0 -73.75 115.25) (float-vector 24.0 -73.75 91.0) (float-vector -24.0 -73.75 91.0) (float-vector -24.0 -73.75 115.25)))
         (instance face :init :vertices (list (float-vector -40.0 -72.25 115.25) (float-vector -40.0 -72.25 -53.25) (float-vector -40.0 -73.75 -53.25) (float-vector -40.0 -73.75 115.25)))
         (instance face :init :vertices (list (float-vector -40.0 -72.25 -53.25) (float-vector -40.0 -72.25 115.25) (float-vector -24.0 -72.25 115.25) (float-vector -24.0 -72.25 91.0) (float-vector 24.0 -72.25 91.0) (float-vector 24.0 -72.25 115.25) (float-vector 40.0 -72.25 115.25) (float-vector 40.0 -72.25 -53.25))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.0 -72.25 75.25) (float-vector 39.0 -72.25 75.25) (float-vector 39.0 -72.25 76.75) (float-vector -7.0 -72.25 76.75)))
))
         (instance face :init :vertices (list (float-vector -7.0 72.25 75.25) (float-vector -7.0 -72.25 75.25) (float-vector -7.0 -72.25 76.75) (float-vector -7.0 72.25 76.75)))
         (instance face :init :vertices (list (float-vector 39.0 -72.25 76.75) (float-vector 39.0 72.25 76.75) (float-vector -7.0 72.25 76.75) (float-vector -7.0 -72.25 76.75)))
         (instance face :init :vertices (list (float-vector 39.0 -72.25 75.25) (float-vector 39.0 72.25 75.25) (float-vector 39.0 72.25 76.75) (float-vector 39.0 -72.25 76.75)))
         (instance face :init :vertices (list (float-vector 39.0 72.25 75.25) (float-vector 39.0 -72.25 75.25) (float-vector -7.0 -72.25 75.25) (float-vector -7.0 72.25 75.25)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -40.0 -48.0 13.0) (float-vector 40.0 -48.0 13.0) (float-vector 40.0 48.0 13.0) (float-vector -40.0 48.0 13.0)))
         (instance face :init :vertices (list (float-vector -40.0 48.0 -3.0) (float-vector -40.0 48.0 7.0) (float-vector -40.0 -48.0 7.0) (float-vector -40.0 -48.0 -3.0)))
         (instance face :init :vertices (list (float-vector -40.0 48.0 7.0) (float-vector 40.0 48.0 7.0) (float-vector 40.0 -48.0 7.0) (float-vector -40.0 -48.0 7.0)))
         (instance face :init :vertices (list (float-vector 40.0 48.0 7.0) (float-vector 40.0 48.0 -3.0) (float-vector 40.0 -48.0 -3.0) (float-vector 40.0 -48.0 7.0)))
         (instance face :init :vertices (list (float-vector -40.0 -48.0 -25.0) (float-vector -40.0 48.0 -25.0) (float-vector 40.0 48.0 -25.0) (float-vector 40.0 -48.0 -25.0)))
         (instance face :init :vertices (list (float-vector -40.0 -48.0 -25.0) (float-vector -40.0 -48.0 -35.0) (float-vector -40.0 48.0 -35.0) (float-vector -40.0 48.0 -25.0)))
         (instance face :init :vertices (list (float-vector 40.0 48.0 -25.0) (float-vector 40.0 48.0 -35.0) (float-vector 40.0 -48.0 -35.0) (float-vector 40.0 -48.0 -25.0)))
         (instance face :init :vertices (list (float-vector -45.0 48.0 -53.0) (float-vector -45.0 48.0 29.0) (float-vector 45.0 48.0 29.0) (float-vector 45.0 48.0 -53.0) (float-vector 40.0 48.0 -53.0) (float-vector 40.0 48.0 -41.0) (float-vector -40.0 48.0 -41.0) (float-vector -40.0 48.0 -53.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -40.0 48.0 -35.0) (float-vector 40.0 48.0 -35.0) (float-vector 40.0 48.0 -25.0) (float-vector -40.0 48.0 -25.0)))
         (instance hole :init :vertices (list (float-vector -40.0 48.0 -19.0) (float-vector 40.0 48.0 -19.0) (float-vector 40.0 48.0 -9.0) (float-vector -40.0 48.0 -9.0)))
         (instance hole :init :vertices (list (float-vector -40.0 48.0 -3.0) (float-vector 40.0 48.0 -3.0) (float-vector 40.0 48.0 7.0) (float-vector -40.0 48.0 7.0)))
         (instance hole :init :vertices (list (float-vector -40.0 48.0 13.0) (float-vector 40.0 48.0 13.0) (float-vector 40.0 48.0 23.0) (float-vector -40.0 48.0 23.0)))
))
         (instance face :init :vertices (list (float-vector -40.0 48.0 -19.0) (float-vector -40.0 -48.0 -19.0) (float-vector 40.0 -48.0 -19.0) (float-vector 40.0 48.0 -19.0)))
         (instance face :init :vertices (list (float-vector -45.0 48.0 -53.0) (float-vector -45.0 -48.0 -53.0) (float-vector -45.0 -48.0 29.0) (float-vector -45.0 48.0 29.0)))
         (instance face :init :vertices (list (float-vector -40.0 -48.0 -35.0) (float-vector 40.0 -48.0 -35.0) (float-vector 40.0 48.0 -35.0) (float-vector -40.0 48.0 -35.0)))
         (instance face :init :vertices (list (float-vector -40.0 -48.0 -3.0) (float-vector 40.0 -48.0 -3.0) (float-vector 40.0 48.0 -3.0) (float-vector -40.0 48.0 -3.0)))
         (instance face :init :vertices (list (float-vector -45.0 -48.0 -53.0) (float-vector -40.0 -48.0 -53.0) (float-vector -40.0 -48.0 -41.0) (float-vector 40.0 -48.0 -41.0) (float-vector 40.0 -48.0 -53.0) (float-vector 45.0 -48.0 -53.0) (float-vector 45.0 -48.0 29.0) (float-vector -45.0 -48.0 29.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -40.0 -48.0 -19.0) (float-vector -40.0 -48.0 -9.0) (float-vector 40.0 -48.0 -9.0) (float-vector 40.0 -48.0 -19.0)))
         (instance hole :init :vertices (list (float-vector 40.0 -48.0 -3.0) (float-vector -40.0 -48.0 -3.0) (float-vector -40.0 -48.0 7.0) (float-vector 40.0 -48.0 7.0)))
         (instance hole :init :vertices (list (float-vector 40.0 -48.0 -35.0) (float-vector -40.0 -48.0 -35.0) (float-vector -40.0 -48.0 -25.0) (float-vector 40.0 -48.0 -25.0)))
         (instance hole :init :vertices (list (float-vector 40.0 -48.0 13.0) (float-vector -40.0 -48.0 13.0) (float-vector -40.0 -48.0 23.0) (float-vector 40.0 -48.0 23.0)))
))
         (instance face :init :vertices (list (float-vector -40.0 48.0 -53.0) (float-vector -40.0 -48.0 -53.0) (float-vector -45.0 -48.0 -53.0) (float-vector -45.0 48.0 -53.0)))
         (instance face :init :vertices (list (float-vector 45.0 -48.0 -53.0) (float-vector 45.0 48.0 -53.0) (float-vector 45.0 48.0 29.0) (float-vector 45.0 -48.0 29.0)))
         (instance face :init :vertices (list (float-vector 40.0 -48.0 -53.0) (float-vector 40.0 48.0 -53.0) (float-vector 45.0 48.0 -53.0) (float-vector 45.0 -48.0 -53.0)))
         (instance face :init :vertices (list (float-vector -40.0 48.0 -41.0) (float-vector -40.0 -48.0 -41.0) (float-vector -40.0 -48.0 -53.0) (float-vector -40.0 48.0 -53.0)))
         (instance face :init :vertices (list (float-vector 40.0 -48.0 -41.0) (float-vector 40.0 48.0 -41.0) (float-vector 40.0 48.0 -53.0) (float-vector 40.0 -48.0 -53.0)))
         (instance face :init :vertices (list (float-vector 40.0 48.0 -41.0) (float-vector 40.0 -48.0 -41.0) (float-vector -40.0 -48.0 -41.0) (float-vector -40.0 48.0 -41.0)))
         (instance face :init :vertices (list (float-vector 40.0 -48.0 -9.0) (float-vector 40.0 48.0 -9.0) (float-vector 40.0 48.0 -19.0) (float-vector 40.0 -48.0 -19.0)))
         (instance face :init :vertices (list (float-vector -40.0 48.0 -9.0) (float-vector -40.0 -48.0 -9.0) (float-vector -40.0 -48.0 -19.0) (float-vector -40.0 48.0 -19.0)))
         (instance face :init :vertices (list (float-vector -40.0 -48.0 -9.0) (float-vector -40.0 48.0 -9.0) (float-vector 40.0 48.0 -9.0) (float-vector 40.0 -48.0 -9.0)))
         (instance face :init :vertices (list (float-vector 40.0 -48.0 23.0) (float-vector 40.0 48.0 23.0) (float-vector 40.0 48.0 13.0) (float-vector 40.0 -48.0 13.0)))
         (instance face :init :vertices (list (float-vector -40.0 48.0 23.0) (float-vector 40.0 48.0 23.0) (float-vector 40.0 -48.0 23.0) (float-vector -40.0 -48.0 23.0)))
         (instance face :init :vertices (list (float-vector -40.0 48.0 13.0) (float-vector -40.0 48.0 23.0) (float-vector -40.0 -48.0 23.0) (float-vector -40.0 -48.0 13.0)))
         (instance face :init :vertices (list (float-vector -45.0 -48.0 29.0) (float-vector 45.0 -48.0 29.0) (float-vector 45.0 48.0 29.0) (float-vector -45.0 48.0 29.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray90)
     (send (elt bc 3) :set-color :gray40)
     (send (elt bc 4) :set-color :gray40)
     (send (elt bc 5) :set-color :grey85)
     (send (elt bc 6) :set-color :green)
     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :weight 1257.09 :centroid (float-vector 0.869026 -2.952002e-14 30.3358) :inertia-tensor #2f((4.576051e+06 2.448502e-10 -14101.4) (2.448502e-10 3.439990e+06 -7.950921e-10) (-14101.4 -7.950921e-10 1.193980e+06))))

     ;; definition of :rleg-crotch-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 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 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 1.421085e-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) (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)))
))
         (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 0.0 13.4 24.9) (float-vector 0.0 13.4 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 6.7 11.6047 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 11.6047 -26.9) (float-vector 1.421085e-14 13.4 -26.9) (float-vector 1.421085e-14 13.4 -24.9) (float-vector 6.7 11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 11.6047 24.9) (float-vector -6.7 11.6047 26.9) (float-vector 0.0 13.4 26.9) (float-vector 0.0 13.4 24.9)))
         (instance face :init :vertices (list (float-vector 1.421085e-14 13.4 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector -6.7 11.6047 -24.9) (float-vector 1.421085e-14 13.4 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 6.7 24.9) (float-vector -11.6047 6.7 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -6.7 11.6047 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 11.6047 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -11.6047 6.7 -24.9) (float-vector -6.7 11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector -13.4 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 -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 -11.6047 -6.7 24.9) (float-vector -11.6047 -6.7 26.9) (float-vector -13.4 0.0 26.9) (float-vector -13.4 0.0 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 -11.6047 -6.7 -24.9) (float-vector -13.4 0.0 -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 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 0.0 13.4 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -13.4 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)))
         (instance face :init :vertices (list (float-vector 13.4 0.0 26.9) (float-vector 11.6047 -6.7 26.9) (float-vector 11.6047 -6.7 24.9) (float-vector 13.4 0.0 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -6.7 -26.9) (float-vector 13.4 0.0 -26.9) (float-vector 13.4 0.0 -24.9) (float-vector 11.6047 -6.7 -24.9)))
         (instance face :init :vertices (list (float-vector 13.4 0.0 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector -1.421085e-14 -13.4 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -13.4 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)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 44.15 65.5285 -24.9) (float-vector 44.15 65.5285 24.9) (float-vector 44.15 6.52851 24.9) (float-vector 44.15 6.52851 -24.9)))
         (instance face :init :vertices (list (float-vector 44.15 6.52851 24.9) (float-vector 15.35 6.52851 24.9) (float-vector 15.35 6.52851 -24.9) (float-vector 44.15 6.52851 -24.9)))
         (instance face :init :vertices (list (float-vector 15.35 6.52851 24.9) (float-vector 15.35 65.5285 24.9) (float-vector 15.35 65.5285 -24.9) (float-vector 15.35 6.52851 -24.9)))
         (instance face :init :vertices (list (float-vector 15.35 65.5285 -24.9) (float-vector 44.15 65.5285 -24.9) (float-vector 44.15 6.52851 -24.9) (float-vector 15.35 6.52851 -24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 41.3547 58.2285 -24.9) (float-vector 36.45 63.1333 -24.9) (float-vector 29.75 64.9285 -24.9) (float-vector 23.05 63.1333 -24.9) (float-vector 18.1453 58.2285 -24.9) (float-vector 16.35 51.5285 -24.9) (float-vector 18.1453 44.8285 -24.9) (float-vector 23.05 39.9238 -24.9) (float-vector 29.75 38.1285 -24.9) (float-vector 36.45 39.9238 -24.9) (float-vector 41.3547 44.8285 -24.9) (float-vector 43.15 51.5285 -24.9)))
))
         (instance face :init :vertices (list (float-vector 15.35 65.5285 24.9) (float-vector 44.15 65.5285 24.9) (float-vector 44.15 65.5285 -24.9) (float-vector 15.35 65.5285 -24.9)))
         (instance face :init :vertices (list (float-vector 44.15 65.5285 24.9) (float-vector 15.35 65.5285 24.9) (float-vector 15.35 6.52851 24.9) (float-vector 44.15 6.52851 24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 36.45 63.1333 24.9) (float-vector 41.3547 58.2285 24.9) (float-vector 43.15 51.5285 24.9) (float-vector 41.3547 44.8285 24.9) (float-vector 36.45 39.9238 24.9) (float-vector 29.75 38.1285 24.9) (float-vector 23.05 39.9238 24.9) (float-vector 18.1453 44.8285 24.9) (float-vector 16.35 51.5285 24.9) (float-vector 18.1453 58.2285 24.9) (float-vector 23.05 63.1333 24.9) (float-vector 29.75 64.9285 24.9)))
))
         (instance face :init :vertices (list (float-vector 43.15 51.5285 -26.9) (float-vector 43.15 51.5285 -24.9) (float-vector 41.3547 44.8285 -24.9) (float-vector 41.3547 44.8285 -26.9)))
         (instance face :init :vertices (list (float-vector 43.15 51.5285 24.9) (float-vector 43.15 51.5285 26.9) (float-vector 41.3547 44.8285 26.9) (float-vector 41.3547 44.8285 24.9)))
         (instance face :init :vertices (list (float-vector 36.45 39.9238 -24.9) (float-vector 36.45 39.9238 -26.9) (float-vector 41.3547 44.8285 -26.9) (float-vector 41.3547 44.8285 -24.9)))
         (instance face :init :vertices (list (float-vector 41.3547 44.8285 26.9) (float-vector 36.45 39.9238 26.9) (float-vector 36.45 39.9238 24.9) (float-vector 41.3547 44.8285 24.9)))
         (instance face :init :vertices (list (float-vector 29.75 38.1285 -24.9) (float-vector 29.75 38.1285 -26.9) (float-vector 36.45 39.9238 -26.9) (float-vector 36.45 39.9238 -24.9)))
         (instance face :init :vertices (list (float-vector 36.45 39.9238 26.9) (float-vector 29.75 38.1285 26.9) (float-vector 29.75 38.1285 24.9) (float-vector 36.45 39.9238 24.9)))
         (instance face :init :vertices (list (float-vector 23.05 39.9238 -24.9) (float-vector 23.05 39.9238 -26.9) (float-vector 29.75 38.1285 -26.9) (float-vector 29.75 38.1285 -24.9)))
         (instance face :init :vertices (list (float-vector 29.75 38.1285 26.9) (float-vector 23.05 39.9238 26.9) (float-vector 23.05 39.9238 24.9) (float-vector 29.75 38.1285 24.9)))
         (instance face :init :vertices (list (float-vector 18.1453 44.8285 -24.9) (float-vector 18.1453 44.8285 -26.9) (float-vector 23.05 39.9238 -26.9) (float-vector 23.05 39.9238 -24.9)))
         (instance face :init :vertices (list (float-vector 23.05 39.9238 26.9) (float-vector 18.1453 44.8285 26.9) (float-vector 18.1453 44.8285 24.9) (float-vector 23.05 39.9238 24.9)))
         (instance face :init :vertices (list (float-vector 16.35 51.5285 -24.9) (float-vector 16.35 51.5285 -26.9) (float-vector 18.1453 44.8285 -26.9) (float-vector 18.1453 44.8285 -24.9)))
         (instance face :init :vertices (list (float-vector 18.1453 44.8285 26.9) (float-vector 16.35 51.5285 26.9) (float-vector 16.35 51.5285 24.9) (float-vector 18.1453 44.8285 24.9)))
         (instance face :init :vertices (list (float-vector 18.1453 58.2285 -24.9) (float-vector 18.1453 58.2285 -26.9) (float-vector 16.35 51.5285 -26.9) (float-vector 16.35 51.5285 -24.9)))
         (instance face :init :vertices (list (float-vector 16.35 51.5285 26.9) (float-vector 18.1453 58.2285 26.9) (float-vector 18.1453 58.2285 24.9) (float-vector 16.35 51.5285 24.9)))
         (instance face :init :vertices (list (float-vector 23.05 63.1333 -24.9) (float-vector 23.05 63.1333 -26.9) (float-vector 18.1453 58.2285 -26.9) (float-vector 18.1453 58.2285 -24.9)))
         (instance face :init :vertices (list (float-vector 18.1453 58.2285 26.9) (float-vector 23.05 63.1333 26.9) (float-vector 23.05 63.1333 24.9) (float-vector 18.1453 58.2285 24.9)))
         (instance face :init :vertices (list (float-vector 29.75 64.9285 -24.9) (float-vector 29.75 64.9285 -26.9) (float-vector 23.05 63.1333 -26.9) (float-vector 23.05 63.1333 -24.9)))
         (instance face :init :vertices (list (float-vector 23.05 63.1333 26.9) (float-vector 29.75 64.9285 26.9) (float-vector 29.75 64.9285 24.9) (float-vector 23.05 63.1333 24.9)))
         (instance face :init :vertices (list (float-vector 36.45 63.1333 -24.9) (float-vector 36.45 63.1333 -26.9) (float-vector 29.75 64.9285 -26.9) (float-vector 29.75 64.9285 -24.9)))
         (instance face :init :vertices (list (float-vector 29.75 64.9285 26.9) (float-vector 36.45 63.1333 26.9) (float-vector 36.45 63.1333 24.9) (float-vector 29.75 64.9285 24.9)))
         (instance face :init :vertices (list (float-vector 41.3547 58.2285 -24.9) (float-vector 41.3547 58.2285 -26.9) (float-vector 36.45 63.1333 -26.9) (float-vector 36.45 63.1333 -24.9)))
         (instance face :init :vertices (list (float-vector 36.45 63.1333 26.9) (float-vector 41.3547 58.2285 26.9) (float-vector 41.3547 58.2285 24.9) (float-vector 36.45 63.1333 24.9)))
         (instance face :init :vertices (list (float-vector 41.3547 58.2285 -26.9) (float-vector 43.15 51.5285 -26.9) (float-vector 41.3547 44.8285 -26.9) (float-vector 36.45 39.9238 -26.9) (float-vector 29.75 38.1285 -26.9) (float-vector 23.05 39.9238 -26.9) (float-vector 18.1453 44.8285 -26.9) (float-vector 16.35 51.5285 -26.9) (float-vector 18.1453 58.2285 -26.9) (float-vector 23.05 63.1333 -26.9) (float-vector 29.75 64.9285 -26.9) (float-vector 36.45 63.1333 -26.9)))
         (instance face :init :vertices (list (float-vector 43.15 51.5285 -26.9) (float-vector 41.3547 58.2285 -26.9) (float-vector 41.3547 58.2285 -24.9) (float-vector 43.15 51.5285 -24.9)))
         (instance face :init :vertices (list (float-vector 41.3547 58.2285 26.9) (float-vector 43.15 51.5285 26.9) (float-vector 43.15 51.5285 24.9) (float-vector 41.3547 58.2285 24.9)))
         (instance face :init :vertices (list (float-vector 43.15 51.5285 26.9) (float-vector 41.3547 58.2285 26.9) (float-vector 36.45 63.1333 26.9) (float-vector 29.75 64.9285 26.9) (float-vector 23.05 63.1333 26.9) (float-vector 18.1453 58.2285 26.9) (float-vector 16.35 51.5285 26.9) (float-vector 18.1453 44.8285 26.9) (float-vector 23.05 39.9238 26.9) (float-vector 29.75 38.1285 26.9) (float-vector 36.45 39.9238 26.9) (float-vector 41.3547 44.8285 26.9)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (setq blink16 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-crotch-p :weight 214 :centroid (float-vector 14.875 25.7643 1.257730e-15) :inertia-tensor #2f((1.305737e+05 -33898.9 7.207513e-12) (-33898.9 1.063699e+05 5.159919e-12) (7.207513e-12 5.159919e-12 1.484888e+05))))

     ;; definition of :rleg-knee-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 -1.421085e-14 -30.25) (float-vector 14.4 29.5 -30.25) (float-vector 14.4 29.5 30.25) (float-vector 14.4 0.0 30.25) (float-vector 14.4 0.0 28.75) (float-vector 14.4 28.0 28.75) (float-vector 14.4 28.0 -28.75) (float-vector 14.4 -1.421085e-14 -28.75)))
         (instance face :init :vertices (list (float-vector -14.4 29.5 -30.25) (float-vector -14.4 29.5 30.25) (float-vector 14.4 29.5 30.25) (float-vector 14.4 29.5 -30.25)))
         (instance face :init :vertices (list (float-vector -14.4 0.0 -30.25) (float-vector -14.4 0.0 -28.75) (float-vector -14.4 28.0 -28.75) (float-vector -14.4 28.0 28.75) (float-vector -14.4 0.0 28.75) (float-vector -14.4 0.0 30.25) (float-vector -14.4 29.5 30.25) (float-vector -14.4 29.5 -30.25)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 30.25) (float-vector -14.4 0.0 30.25) (float-vector -14.4 0.0 28.75) (float-vector -10.1823 -10.1823 28.75)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 -30.25) (float-vector -10.1823 -10.1823 -28.75) (float-vector -14.4 0.0 -28.75) (float-vector -14.4 0.0 -30.25)))
         (instance face :init :vertices (list (float-vector 1.577722e-30 -14.4 30.25) (float-vector -10.1823 -10.1823 30.25) (float-vector -10.1823 -10.1823 28.75) (float-vector -1.577722e-30 -14.4 28.75)))
         (instance face :init :vertices (list (float-vector -9.466331e-30 -14.4 -30.25) (float-vector -1.262177e-29 -14.4 -28.75) (float-vector -10.1823 -10.1823 -28.75) (float-vector -10.1823 -10.1823 -30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 30.25) (float-vector 1.577722e-30 -14.4 30.25) (float-vector -1.577722e-30 -14.4 28.75) (float-vector 10.1823 -10.1823 28.75)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -30.25) (float-vector 10.1823 -10.1823 -28.75) (float-vector -1.262177e-29 -14.4 -28.75) (float-vector -9.466331e-30 -14.4 -30.25)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 30.25) (float-vector 14.4 29.5 30.25) (float-vector -14.4 29.5 30.25) (float-vector -14.4 0.0 30.25) (float-vector -10.1823 -10.1823 30.25) (float-vector 1.577722e-30 -14.4 30.25) (float-vector 10.1823 -10.1823 30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -30.25) (float-vector -9.466331e-30 -14.4 -30.25) (float-vector -10.1823 -10.1823 -30.25) (float-vector -14.4 0.0 -30.25) (float-vector -14.4 29.5 -30.25) (float-vector 14.4 29.5 -30.25) (float-vector 14.4 -1.421085e-14 -30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 30.25) (float-vector 10.1823 -10.1823 28.75) (float-vector 14.4 0.0 28.75) (float-vector 14.4 0.0 30.25)))
         (instance face :init :vertices (list (float-vector 14.4 -1.421085e-14 -30.25) (float-vector 14.4 -1.421085e-14 -28.75) (float-vector 10.1823 -10.1823 -28.75) (float-vector 10.1823 -10.1823 -30.25)))
         (instance face :init :vertices (list (float-vector 14.4 28.0 28.75) (float-vector 14.4 0.0 28.75) (float-vector 10.1823 -10.1823 28.75) (float-vector -1.577722e-30 -14.4 28.75) (float-vector -10.1823 -10.1823 28.75) (float-vector -14.4 0.0 28.75) (float-vector -14.4 28.0 28.75)))
         (instance face :init :vertices (list (float-vector 14.4 28.0 -28.75) (float-vector 14.4 28.0 28.75) (float-vector -14.4 28.0 28.75) (float-vector -14.4 28.0 -28.75)))
         (instance face :init :vertices (list (float-vector -14.4 28.0 -28.75) (float-vector -14.4 0.0 -28.75) (float-vector -10.1823 -10.1823 -28.75) (float-vector -1.262177e-29 -14.4 -28.75) (float-vector 10.1823 -10.1823 -28.75) (float-vector 14.4 -1.421085e-14 -28.75) (float-vector 14.4 28.0 -28.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 59.0 30.25) (float-vector 14.4 29.5 30.25) (float-vector 14.4 29.5 -30.25) (float-vector 14.4 59.0 -30.25) (float-vector 14.4 59.0 -28.75) (float-vector 14.4 31.0 -28.75) (float-vector 14.4 31.0 28.75) (float-vector 14.4 59.0 28.75)))
         (instance face :init :vertices (list (float-vector -14.4 29.5 30.25) (float-vector -14.4 29.5 -30.25) (float-vector 14.4 29.5 -30.25) (float-vector 14.4 29.5 30.25)))
         (instance face :init :vertices (list (float-vector -14.4 59.0 30.25) (float-vector -14.4 59.0 28.75) (float-vector -14.4 31.0 28.75) (float-vector -14.4 31.0 -28.75) (float-vector -14.4 59.0 -28.75) (float-vector -14.4 59.0 -30.25) (float-vector -14.4 29.5 -30.25) (float-vector -14.4 29.5 30.25)))
         (instance face :init :vertices (list (float-vector -10.1823 69.1823 -30.25) (float-vector -14.4 59.0 -30.25) (float-vector -14.4 59.0 -28.75) (float-vector -10.1823 69.1823 -28.75)))
         (instance face :init :vertices (list (float-vector -10.1823 69.1823 30.25) (float-vector -10.1823 69.1823 28.75) (float-vector -14.4 59.0 28.75) (float-vector -14.4 59.0 30.25)))
         (instance face :init :vertices (list (float-vector 3.025358e-15 73.4 -30.25) (float-vector -10.1823 69.1823 -30.25) (float-vector -10.1823 69.1823 -28.75) (float-vector 3.524958e-15 73.4 -28.75)))
         (instance face :init :vertices (list (float-vector 2.317591e-14 73.4 30.25) (float-vector 2.267631e-14 73.4 28.75) (float-vector -10.1823 69.1823 28.75) (float-vector -10.1823 69.1823 30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 69.1823 -30.25) (float-vector 3.025358e-15 73.4 -30.25) (float-vector 3.524958e-15 73.4 -28.75) (float-vector 10.1823 69.1823 -28.75)))
         (instance face :init :vertices (list (float-vector 10.1823 69.1823 30.25) (float-vector 10.1823 69.1823 28.75) (float-vector 2.267631e-14 73.4 28.75) (float-vector 2.317591e-14 73.4 30.25)))
         (instance face :init :vertices (list (float-vector 14.4 59.0 -30.25) (float-vector 14.4 29.5 -30.25) (float-vector -14.4 29.5 -30.25) (float-vector -14.4 59.0 -30.25) (float-vector -10.1823 69.1823 -30.25) (float-vector 3.025358e-15 73.4 -30.25) (float-vector 10.1823 69.1823 -30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 69.1823 30.25) (float-vector 2.317591e-14 73.4 30.25) (float-vector -10.1823 69.1823 30.25) (float-vector -14.4 59.0 30.25) (float-vector -14.4 29.5 30.25) (float-vector 14.4 29.5 30.25) (float-vector 14.4 59.0 30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 69.1823 -30.25) (float-vector 10.1823 69.1823 -28.75) (float-vector 14.4 59.0 -28.75) (float-vector 14.4 59.0 -30.25)))
         (instance face :init :vertices (list (float-vector 14.4 59.0 30.25) (float-vector 14.4 59.0 28.75) (float-vector 10.1823 69.1823 28.75) (float-vector 10.1823 69.1823 30.25)))
         (instance face :init :vertices (list (float-vector 14.4 31.0 -28.75) (float-vector 14.4 59.0 -28.75) (float-vector 10.1823 69.1823 -28.75) (float-vector 3.524958e-15 73.4 -28.75) (float-vector -10.1823 69.1823 -28.75) (float-vector -14.4 59.0 -28.75) (float-vector -14.4 31.0 -28.75)))
         (instance face :init :vertices (list (float-vector 14.4 31.0 28.75) (float-vector 14.4 31.0 -28.75) (float-vector -14.4 31.0 -28.75) (float-vector -14.4 31.0 28.75)))
         (instance face :init :vertices (list (float-vector -14.4 31.0 28.75) (float-vector -14.4 59.0 28.75) (float-vector -10.1823 69.1823 28.75) (float-vector 2.267631e-14 73.4 28.75) (float-vector 10.1823 69.1823 28.75) (float-vector 14.4 59.0 28.75) (float-vector 14.4 31.0 28.75)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink17 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-knee-p :weight 31.9278 :centroid (float-vector 5.817746e-14 29.5 -2.215070e-14) :inertia-tensor #2f((30768.1 -3.687885e-12 -2.931709e-12) (-3.687885e-12 22018.0 -2.136347e-13) (-2.931709e-12 -2.136347e-13 13163.7))))

     ;; 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 -4.263256e-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 8.187895e-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 -6.911138e-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 6.911138e-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 2.201017e-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 -7.466250e-15 26.9) (float-vector 13.4 -6.911138e-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 6.911138e-15 -24.9) (float-vector 13.4 7.466250e-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 0.0 13.4 24.9) (float-vector 0.0 13.4 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 6.7 11.6047 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 11.6047 -26.9) (float-vector 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 0.0 13.4 26.9) (float-vector 0.0 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 8.187895e-15 24.9) (float-vector -13.4 7.632783e-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 -11.6047 6.7 -26.9) (float-vector -13.4 2.256528e-14 -26.9) (float-vector -13.4 2.201017e-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 7.632783e-15 26.9) (float-vector -13.4 8.187895e-15 24.9)))
         (instance face :init :vertices (list (float-vector -13.4 2.256528e-14 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -13.4 2.201017e-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 -4.263256e-14 -13.4 24.9) (float-vector -4.263256e-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 -4.263256e-14 -13.4 26.9) (float-vector -4.263256e-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 -7.466250e-15 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 0.0 13.4 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -13.4 7.632783e-15 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -4.263256e-14 -13.4 26.9) (float-vector 6.7 -11.6047 26.9)))
         (instance face :init :vertices (list (float-vector 13.4 -7.466250e-15 26.9) (float-vector 11.6047 -6.7 26.9) (float-vector 11.6047 -6.7 24.9) (float-vector 13.4 -6.911138e-15 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -6.7 -26.9) (float-vector 13.4 7.466250e-15 -26.9) (float-vector 13.4 6.911138e-15 -24.9) (float-vector 11.6047 -6.7 -24.9)))
         (instance face :init :vertices (list (float-vector 13.4 7.466250e-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 2.256528e-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 -41.5 -14.75 -5.5) (float-vector -15.5 -14.75 -5.5) (float-vector -15.5 45.75 -5.5) (float-vector -41.5 45.75 -5.5) (float-vector -41.5 44.25 -5.5) (float-vector -17.0 44.25 -5.5) (float-vector -17.0 -13.25 -5.5) (float-vector -41.5 -13.25 -5.5)))
         (instance face :init :vertices (list (float-vector -15.5 -14.75 -25.5) (float-vector -15.5 45.75 -25.5) (float-vector -15.5 45.75 -5.5) (float-vector -15.5 -14.75 -5.5)))
         (instance face :init :vertices (list (float-vector -41.5 -14.75 -25.5) (float-vector -41.5 -13.25 -25.5) (float-vector -17.0 -13.25 -25.5) (float-vector -17.0 44.25 -25.5) (float-vector -41.5 44.25 -25.5) (float-vector -41.5 45.75 -25.5) (float-vector -15.5 45.75 -25.5) (float-vector -15.5 -14.75 -25.5)))
         (instance face :init :vertices (list (float-vector -48.5711 45.75 -22.5711) (float-vector -41.5 45.75 -25.5) (float-vector -41.5 44.25 -25.5) (float-vector -48.5711 44.25 -22.5711)))
         (instance face :init :vertices (list (float-vector -48.5711 -14.75 -22.5711) (float-vector -48.5711 -13.25 -22.5711) (float-vector -41.5 -13.25 -25.5) (float-vector -41.5 -14.75 -25.5)))
         (instance face :init :vertices (list (float-vector -51.5 45.75 -15.5) (float-vector -48.5711 45.75 -22.5711) (float-vector -48.5711 44.25 -22.5711) (float-vector -51.5 44.25 -15.5)))
         (instance face :init :vertices (list (float-vector -51.5 -14.75 -15.5) (float-vector -51.5 -13.25 -15.5) (float-vector -48.5711 -13.25 -22.5711) (float-vector -48.5711 -14.75 -22.5711)))
         (instance face :init :vertices (list (float-vector -48.5711 45.75 -8.42893) (float-vector -51.5 45.75 -15.5) (float-vector -51.5 44.25 -15.5) (float-vector -48.5711 44.25 -8.42893)))
         (instance face :init :vertices (list (float-vector -48.5711 -14.75 -8.42893) (float-vector -48.5711 -13.25 -8.42893) (float-vector -51.5 -13.25 -15.5) (float-vector -51.5 -14.75 -15.5)))
         (instance face :init :vertices (list (float-vector -41.5 45.75 -5.5) (float-vector -15.5 45.75 -5.5) (float-vector -15.5 45.75 -25.5) (float-vector -41.5 45.75 -25.5) (float-vector -48.5711 45.75 -22.5711) (float-vector -51.5 45.75 -15.5) (float-vector -48.5711 45.75 -8.42893)))
         (instance face :init :vertices (list (float-vector -48.5711 -14.75 -8.42893) (float-vector -51.5 -14.75 -15.5) (float-vector -48.5711 -14.75 -22.5711) (float-vector -41.5 -14.75 -25.5) (float-vector -15.5 -14.75 -25.5) (float-vector -15.5 -14.75 -5.5) (float-vector -41.5 -14.75 -5.5)))
         (instance face :init :vertices (list (float-vector -48.5711 45.75 -8.42893) (float-vector -48.5711 44.25 -8.42893) (float-vector -41.5 44.25 -5.5) (float-vector -41.5 45.75 -5.5)))
         (instance face :init :vertices (list (float-vector -41.5 -14.75 -5.5) (float-vector -41.5 -13.25 -5.5) (float-vector -48.5711 -13.25 -8.42893) (float-vector -48.5711 -14.75 -8.42893)))
         (instance face :init :vertices (list (float-vector -17.0 44.25 -5.5) (float-vector -41.5 44.25 -5.5) (float-vector -48.5711 44.25 -8.42893) (float-vector -51.5 44.25 -15.5) (float-vector -48.5711 44.25 -22.5711) (float-vector -41.5 44.25 -25.5) (float-vector -17.0 44.25 -25.5)))
         (instance face :init :vertices (list (float-vector -17.0 -13.25 -5.5) (float-vector -17.0 44.25 -5.5) (float-vector -17.0 44.25 -25.5) (float-vector -17.0 -13.25 -25.5)))
         (instance face :init :vertices (list (float-vector -17.0 -13.25 -25.5) (float-vector -41.5 -13.25 -25.5) (float-vector -48.5711 -13.25 -22.5711) (float-vector -51.5 -13.25 -15.5) (float-vector -48.5711 -13.25 -8.42893) (float-vector -41.5 -13.25 -5.5) (float-vector -17.0 -13.25 -5.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray90)
     (setq blink18 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-ankle-p :weight 117.015 :centroid (float-vector -2.11831 15.1481 -1.3266) :inertia-tensor #2f((61634.6 87.2373 -3513.22) (87.2373 38952.3 54.6329) (-3513.22 54.6329 51291.5))))

     ;; 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 -2.486900e-14 -13.4 24.9) (float-vector -6.7 -11.6047 24.9) (float-vector -11.6047 -6.7 24.9) (float-vector -13.4 1.421085e-14 24.9) (float-vector -11.6047 6.7 24.9) (float-vector -6.7 11.6047 24.9) (float-vector 7.105427e-15 13.4 24.9) (float-vector 6.7 11.6047 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 13.4 0.0 24.9)))
))
         (instance face :init :vertices (list (float-vector -14.4 -14.0 -24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 -14.0 24.9) (float-vector -14.4 -14.0 24.9)))
         (instance face :init :vertices (list (float-vector 14.4 -14.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector 14.4 45.0 -24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 6.7 -11.6047 -24.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 13.4 0.0 -24.9) (float-vector 11.6047 6.7 -24.9) (float-vector 6.7 11.6047 -24.9) (float-vector 7.105427e-15 13.4 -24.9) (float-vector -6.7 11.6047 -24.9) (float-vector -11.6047 6.7 -24.9) (float-vector -13.4 1.421085e-14 -24.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -2.486900e-14 -13.4 -24.9)))
))
         (instance face :init :vertices (list (float-vector 13.4 0.0 26.9) (float-vector 13.4 0.0 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 11.6047 6.7 26.9)))
         (instance face :init :vertices (list (float-vector 13.4 0.0 -24.9) (float-vector 13.4 0.0 -26.9) (float-vector 11.6047 6.7 -26.9) (float-vector 11.6047 6.7 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 11.6047 24.9) (float-vector 6.7 11.6047 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 11.6047 6.7 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 6.7 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 6.7 11.6047 -24.9) (float-vector 11.6047 6.7 -24.9)))
         (instance face :init :vertices (list (float-vector 7.105427e-15 13.4 24.9) (float-vector 7.105427e-15 13.4 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 6.7 11.6047 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 11.6047 -26.9) (float-vector 7.105427e-15 13.4 -26.9) (float-vector 7.105427e-15 13.4 -24.9) (float-vector 6.7 11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 11.6047 24.9) (float-vector -6.7 11.6047 26.9) (float-vector 7.105427e-15 13.4 26.9) (float-vector 7.105427e-15 13.4 24.9)))
         (instance face :init :vertices (list (float-vector 7.105427e-15 13.4 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector -6.7 11.6047 -24.9) (float-vector 7.105427e-15 13.4 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 6.7 24.9) (float-vector -11.6047 6.7 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -6.7 11.6047 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 11.6047 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -11.6047 6.7 -24.9) (float-vector -6.7 11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector -13.4 1.421085e-14 24.9) (float-vector -13.4 1.421085e-14 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -11.6047 6.7 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 6.7 -26.9) (float-vector -13.4 1.421085e-14 -26.9) (float-vector -13.4 1.421085e-14 -24.9) (float-vector -11.6047 6.7 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 -6.7 24.9) (float-vector -11.6047 -6.7 26.9) (float-vector -13.4 1.421085e-14 26.9) (float-vector -13.4 1.421085e-14 24.9)))
         (instance face :init :vertices (list (float-vector -13.4 1.421085e-14 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -13.4 1.421085e-14 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 -11.6047 24.9) (float-vector -6.7 -11.6047 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -11.6047 -6.7 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 -6.7 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -11.6047 -6.7 -24.9)))
         (instance face :init :vertices (list (float-vector -2.486900e-14 -13.4 24.9) (float-vector -2.486900e-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 -2.486900e-14 -13.4 -26.9) (float-vector -2.486900e-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 -2.486900e-14 -13.4 26.9) (float-vector -2.486900e-14 -13.4 24.9)))
         (instance face :init :vertices (list (float-vector -2.486900e-14 -13.4 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector 6.7 -11.6047 -24.9) (float-vector -2.486900e-14 -13.4 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 11.6047 -6.7 26.9) (float-vector 6.7 -11.6047 26.9) (float-vector 6.7 -11.6047 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 -11.6047 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 6.7 -11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -6.7 26.9) (float-vector 13.4 0.0 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 7.105427e-15 13.4 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -13.4 1.421085e-14 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -2.486900e-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 -2.486900e-14 -13.4 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -13.4 1.421085e-14 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector 7.105427e-15 13.4 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 11.6047 6.7 -26.9)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 15.0 43.5 -84.0) (float-vector 15.0 -12.5 -84.0) (float-vector 15.0 -24.5 -57.5) (float-vector 15.0 -24.5 6.5) (float-vector 15.0 -12.5 33.0) (float-vector 15.0 43.5 33.0) (float-vector 15.0 55.5 6.5) (float-vector 15.0 55.5 -57.5)))
         (instance face :init :vertices (list (float-vector 26.0 -12.5 -84.0) (float-vector 26.0 43.5 -84.0) (float-vector 26.0 55.5 -57.5) (float-vector 26.0 55.5 6.5) (float-vector 26.0 43.5 33.0) (float-vector 26.0 -12.5 33.0) (float-vector 26.0 -24.5 6.5) (float-vector 26.0 -24.5 -57.5)))
         (instance face :init :vertices (list (float-vector 15.0 43.5 -84.0) (float-vector 26.0 43.5 -84.0) (float-vector 26.0 -12.5 -84.0) (float-vector 15.0 -12.5 -84.0)))
         (instance face :init :vertices (list (float-vector 15.0 55.5 -57.5) (float-vector 26.0 55.5 -57.5) (float-vector 26.0 43.5 -84.0) (float-vector 15.0 43.5 -84.0)))
         (instance face :init :vertices (list (float-vector 15.0 55.5 6.5) (float-vector 26.0 55.5 6.5) (float-vector 26.0 55.5 -57.5) (float-vector 15.0 55.5 -57.5)))
         (instance face :init :vertices (list (float-vector 15.0 43.5 33.0) (float-vector 26.0 43.5 33.0) (float-vector 26.0 55.5 6.5) (float-vector 15.0 55.5 6.5)))
         (instance face :init :vertices (list (float-vector 15.0 -12.5 33.0) (float-vector 26.0 -12.5 33.0) (float-vector 26.0 43.5 33.0) (float-vector 15.0 43.5 33.0)))
         (instance face :init :vertices (list (float-vector 15.0 -24.5 6.5) (float-vector 26.0 -24.5 6.5) (float-vector 26.0 -12.5 33.0) (float-vector 15.0 -12.5 33.0)))
         (instance face :init :vertices (list (float-vector 15.0 -24.5 -57.5) (float-vector 26.0 -24.5 -57.5) (float-vector 26.0 -24.5 6.5) (float-vector 15.0 -24.5 6.5)))
         (instance face :init :vertices (list (float-vector 15.0 -12.5 -84.0) (float-vector 26.0 -12.5 -84.0) (float-vector 26.0 -24.5 -57.5) (float-vector 15.0 -24.5 -57.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -9.5 -36.5) (float-vector 10.0 40.5 -36.5) (float-vector -22.0 29.0 -36.5) (float-vector -22.0 2.0 -36.5)))
         (instance face :init :vertices (list (float-vector 10.0 40.5 -66.5) (float-vector 10.0 -9.5 -66.5) (float-vector -22.0 2.0 -66.5) (float-vector -22.0 29.0 -66.5)))
         (instance face :init :vertices (list (float-vector 10.0 -9.5 -36.5) (float-vector 10.0 -9.5 -66.5) (float-vector 10.0 40.5 -66.5) (float-vector 10.0 40.5 -36.5)))
         (instance face :init :vertices (list (float-vector -22.0 2.0 -36.5) (float-vector -22.0 2.0 -66.5) (float-vector 10.0 -9.5 -66.5) (float-vector 10.0 -9.5 -36.5)))
         (instance face :init :vertices (list (float-vector -22.0 29.0 -36.5) (float-vector -22.0 29.0 -66.5) (float-vector -22.0 2.0 -66.5) (float-vector -22.0 2.0 -36.5)))
         (instance face :init :vertices (list (float-vector 10.0 40.5 -36.5) (float-vector 10.0 40.5 -66.5) (float-vector -22.0 29.0 -66.5) (float-vector -22.0 29.0 -36.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :brown)
     (send (elt bc 2) :set-color :red)
     (setq blink19 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-ankle-r :weight 262.0 :centroid (float-vector -1.65651 15.3428 -29.4752) :inertia-tensor #2f((2.575436e+05 103.046 -14008.1) (103.046 2.174469e+05 1220.11) (-14008.1 1220.11 82416.1))))

     ;; definition of :rarm-collar-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 0.0 -30.25) (float-vector 14.4 29.0 -30.25) (float-vector 14.4 29.0 30.25) (float-vector 14.4 0.0 30.25) (float-vector 14.4 0.0 28.75) (float-vector 14.4 27.5 28.75) (float-vector 14.4 27.5 -28.75) (float-vector 14.4 0.0 -28.75)))
         (instance face :init :vertices (list (float-vector -14.4 29.0 -30.25) (float-vector -14.4 29.0 30.25) (float-vector 14.4 29.0 30.25) (float-vector 14.4 29.0 -30.25)))
         (instance face :init :vertices (list (float-vector -14.4 0.0 -30.25) (float-vector -14.4 0.0 -28.75) (float-vector -14.4 27.5 -28.75) (float-vector -14.4 27.5 28.75) (float-vector -14.4 0.0 28.75) (float-vector -14.4 0.0 30.25) (float-vector -14.4 29.0 30.25) (float-vector -14.4 29.0 -30.25)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 30.25) (float-vector -14.4 0.0 30.25) (float-vector -14.4 0.0 28.75) (float-vector -10.1823 -10.1823 28.75)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 -30.25) (float-vector -10.1823 -10.1823 -28.75) (float-vector -14.4 0.0 -28.75) (float-vector -14.4 0.0 -30.25)))
         (instance face :init :vertices (list (float-vector 0.0 -14.4 30.25) (float-vector -10.1823 -10.1823 30.25) (float-vector -10.1823 -10.1823 28.75) (float-vector 0.0 -14.4 28.75)))
         (instance face :init :vertices (list (float-vector 0.0 -14.4 -30.25) (float-vector 0.0 -14.4 -28.75) (float-vector -10.1823 -10.1823 -28.75) (float-vector -10.1823 -10.1823 -30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 30.25) (float-vector 0.0 -14.4 30.25) (float-vector 0.0 -14.4 28.75) (float-vector 10.1823 -10.1823 28.75)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -30.25) (float-vector 10.1823 -10.1823 -28.75) (float-vector 0.0 -14.4 -28.75) (float-vector 0.0 -14.4 -30.25)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 30.25) (float-vector 14.4 29.0 30.25) (float-vector -14.4 29.0 30.25) (float-vector -14.4 0.0 30.25) (float-vector -10.1823 -10.1823 30.25) (float-vector 0.0 -14.4 30.25) (float-vector 10.1823 -10.1823 30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -30.25) (float-vector 0.0 -14.4 -30.25) (float-vector -10.1823 -10.1823 -30.25) (float-vector -14.4 0.0 -30.25) (float-vector -14.4 29.0 -30.25) (float-vector 14.4 29.0 -30.25) (float-vector 14.4 0.0 -30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 30.25) (float-vector 10.1823 -10.1823 28.75) (float-vector 14.4 0.0 28.75) (float-vector 14.4 0.0 30.25)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 -30.25) (float-vector 14.4 0.0 -28.75) (float-vector 10.1823 -10.1823 -28.75) (float-vector 10.1823 -10.1823 -30.25)))
         (instance face :init :vertices (list (float-vector 14.4 27.5 28.75) (float-vector 14.4 0.0 28.75) (float-vector 10.1823 -10.1823 28.75) (float-vector 0.0 -14.4 28.75) (float-vector -10.1823 -10.1823 28.75) (float-vector -14.4 0.0 28.75) (float-vector -14.4 27.5 28.75)))
         (instance face :init :vertices (list (float-vector 14.4 27.5 -28.75) (float-vector 14.4 27.5 28.75) (float-vector -14.4 27.5 28.75) (float-vector -14.4 27.5 -28.75)))
         (instance face :init :vertices (list (float-vector -14.4 27.5 -28.75) (float-vector -14.4 0.0 -28.75) (float-vector -10.1823 -10.1823 -28.75) (float-vector 0.0 -14.4 -28.75) (float-vector 10.1823 -10.1823 -28.75) (float-vector 14.4 0.0 -28.75) (float-vector 14.4 27.5 -28.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -14.0 86.9 10.4) (float-vector -14.0 37.1 10.4) (float-vector 45.0 37.1 10.4) (float-vector 45.0 86.9 10.4)))
         (instance face :init :vertices (list (float-vector 45.0 37.1 10.4) (float-vector 45.0 37.1 -18.4) (float-vector 45.0 86.9 -18.4) (float-vector 45.0 86.9 10.4)))
         (instance face :init :vertices (list (float-vector 45.0 37.1 -18.4) (float-vector -14.0 37.1 -18.4) (float-vector -14.0 86.9 -18.4) (float-vector 45.0 86.9 -18.4)))
         (instance face :init :vertices (list (float-vector -14.0 86.9 -18.4) (float-vector -14.0 86.9 10.4) (float-vector 45.0 86.9 10.4) (float-vector 45.0 86.9 -18.4))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -6.7 86.9 7.60474) (float-vector -11.6047 86.9 2.7) (float-vector -13.4 86.9 -4.0) (float-vector -11.6047 86.9 -10.7) (float-vector -6.7 86.9 -15.6047) (float-vector 2.664535e-16 86.9 -17.4) (float-vector 6.7 86.9 -15.6047) (float-vector 11.6047 86.9 -10.7) (float-vector 13.4 86.9 -4.0) (float-vector 11.6047 86.9 2.7) (float-vector 6.7 86.9 7.60474) (float-vector -2.375877e-14 86.9 9.4)))
))
         (instance face :init :vertices (list (float-vector -14.0 37.1 -18.4) (float-vector -14.0 37.1 10.4) (float-vector -14.0 86.9 10.4) (float-vector -14.0 86.9 -18.4)))
         (instance face :init :vertices (list (float-vector -14.0 37.1 10.4) (float-vector -14.0 37.1 -18.4) (float-vector 45.0 37.1 -18.4) (float-vector 45.0 37.1 10.4))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -11.6047 37.1 2.7) (float-vector -6.7 37.1 7.60474) (float-vector -1.270095e-14 37.1 9.4) (float-vector 6.7 37.1 7.60474) (float-vector 11.6047 37.1 2.7) (float-vector 13.4 37.1 -4.0) (float-vector 11.6047 37.1 -10.7) (float-vector 6.7 37.1 -15.6047) (float-vector 1.132427e-14 37.1 -17.4) (float-vector -6.7 37.1 -15.6047) (float-vector -11.6047 37.1 -10.7) (float-vector -13.4 37.1 -4.0)))
))
         (instance face :init :vertices (list (float-vector -2.420286e-14 88.9 9.4) (float-vector -2.375877e-14 86.9 9.4) (float-vector 6.7 86.9 7.60474) (float-vector 6.7 88.9 7.60474)))
         (instance face :init :vertices (list (float-vector -1.270095e-14 37.1 9.4) (float-vector -1.225686e-14 35.1 9.4) (float-vector 6.7 35.1 7.60474) (float-vector 6.7 37.1 7.60474)))
         (instance face :init :vertices (list (float-vector 11.6047 86.9 2.7) (float-vector 11.6047 88.9 2.7) (float-vector 6.7 88.9 7.60474) (float-vector 6.7 86.9 7.60474)))
         (instance face :init :vertices (list (float-vector 6.7 35.1 7.60474) (float-vector 11.6047 35.1 2.7) (float-vector 11.6047 37.1 2.7) (float-vector 6.7 37.1 7.60474)))
         (instance face :init :vertices (list (float-vector 13.4 86.9 -4.0) (float-vector 13.4 88.9 -4.0) (float-vector 11.6047 88.9 2.7) (float-vector 11.6047 86.9 2.7)))
         (instance face :init :vertices (list (float-vector 11.6047 35.1 2.7) (float-vector 13.4 35.1 -4.0) (float-vector 13.4 37.1 -4.0) (float-vector 11.6047 37.1 2.7)))
         (instance face :init :vertices (list (float-vector 11.6047 86.9 -10.7) (float-vector 11.6047 88.9 -10.7) (float-vector 13.4 88.9 -4.0) (float-vector 13.4 86.9 -4.0)))
         (instance face :init :vertices (list (float-vector 13.4 35.1 -4.0) (float-vector 11.6047 35.1 -10.7) (float-vector 11.6047 37.1 -10.7) (float-vector 13.4 37.1 -4.0)))
         (instance face :init :vertices (list (float-vector 6.7 86.9 -15.6047) (float-vector 6.7 88.9 -15.6047) (float-vector 11.6047 88.9 -10.7) (float-vector 11.6047 86.9 -10.7)))
         (instance face :init :vertices (list (float-vector 11.6047 35.1 -10.7) (float-vector 6.7 35.1 -15.6047) (float-vector 6.7 37.1 -15.6047) (float-vector 11.6047 37.1 -10.7)))
         (instance face :init :vertices (list (float-vector 2.664535e-16 86.9 -17.4) (float-vector -1.776357e-16 88.9 -17.4) (float-vector 6.7 88.9 -15.6047) (float-vector 6.7 86.9 -15.6047)))
         (instance face :init :vertices (list (float-vector 6.7 35.1 -15.6047) (float-vector 1.176836e-14 35.1 -17.4) (float-vector 1.132427e-14 37.1 -17.4) (float-vector 6.7 37.1 -15.6047)))
         (instance face :init :vertices (list (float-vector -6.7 86.9 -15.6047) (float-vector -6.7 88.9 -15.6047) (float-vector -1.776357e-16 88.9 -17.4) (float-vector 2.664535e-16 86.9 -17.4)))
         (instance face :init :vertices (list (float-vector 1.176836e-14 35.1 -17.4) (float-vector -6.7 35.1 -15.6047) (float-vector -6.7 37.1 -15.6047) (float-vector 1.132427e-14 37.1 -17.4)))
         (instance face :init :vertices (list (float-vector -11.6047 86.9 -10.7) (float-vector -11.6047 88.9 -10.7) (float-vector -6.7 88.9 -15.6047) (float-vector -6.7 86.9 -15.6047)))
         (instance face :init :vertices (list (float-vector -6.7 35.1 -15.6047) (float-vector -11.6047 35.1 -10.7) (float-vector -11.6047 37.1 -10.7) (float-vector -6.7 37.1 -15.6047)))
         (instance face :init :vertices (list (float-vector -13.4 86.9 -4.0) (float-vector -13.4 88.9 -4.0) (float-vector -11.6047 88.9 -10.7) (float-vector -11.6047 86.9 -10.7)))
         (instance face :init :vertices (list (float-vector -11.6047 35.1 -10.7) (float-vector -13.4 35.1 -4.0) (float-vector -13.4 37.1 -4.0) (float-vector -11.6047 37.1 -10.7)))
         (instance face :init :vertices (list (float-vector -11.6047 86.9 2.7) (float-vector -11.6047 88.9 2.7) (float-vector -13.4 88.9 -4.0) (float-vector -13.4 86.9 -4.0)))
         (instance face :init :vertices (list (float-vector -13.4 35.1 -4.0) (float-vector -11.6047 35.1 2.7) (float-vector -11.6047 37.1 2.7) (float-vector -13.4 37.1 -4.0)))
         (instance face :init :vertices (list (float-vector -6.7 86.9 7.60474) (float-vector -6.7 88.9 7.60474) (float-vector -11.6047 88.9 2.7) (float-vector -11.6047 86.9 2.7)))
         (instance face :init :vertices (list (float-vector -11.6047 35.1 2.7) (float-vector -6.7 35.1 7.60474) (float-vector -6.7 37.1 7.60474) (float-vector -11.6047 37.1 2.7)))
         (instance face :init :vertices (list (float-vector -6.7 88.9 7.60474) (float-vector -2.420286e-14 88.9 9.4) (float-vector 6.7 88.9 7.60474) (float-vector 11.6047 88.9 2.7) (float-vector 13.4 88.9 -4.0) (float-vector 11.6047 88.9 -10.7) (float-vector 6.7 88.9 -15.6047) (float-vector -1.776357e-16 88.9 -17.4) (float-vector -6.7 88.9 -15.6047) (float-vector -11.6047 88.9 -10.7) (float-vector -13.4 88.9 -4.0) (float-vector -11.6047 88.9 2.7)))
         (instance face :init :vertices (list (float-vector -2.420286e-14 88.9 9.4) (float-vector -6.7 88.9 7.60474) (float-vector -6.7 86.9 7.60474) (float-vector -2.375877e-14 86.9 9.4)))
         (instance face :init :vertices (list (float-vector -6.7 35.1 7.60474) (float-vector -1.225686e-14 35.1 9.4) (float-vector -1.270095e-14 37.1 9.4) (float-vector -6.7 37.1 7.60474)))
         (instance face :init :vertices (list (float-vector -1.225686e-14 35.1 9.4) (float-vector -6.7 35.1 7.60474) (float-vector -11.6047 35.1 2.7) (float-vector -13.4 35.1 -4.0) (float-vector -11.6047 35.1 -10.7) (float-vector -6.7 35.1 -15.6047) (float-vector 1.176836e-14 35.1 -17.4) (float-vector 6.7 35.1 -15.6047) (float-vector 11.6047 35.1 -10.7) (float-vector 13.4 35.1 -4.0) (float-vector 11.6047 35.1 2.7) (float-vector 6.7 35.1 7.60474)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink8 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-collar-y :weight 122.847 :centroid (float-vector 13.1653 56.2308 -3.484) :inertia-tensor #2f((70247.8 -9330.64 834.534) (-9330.64 52708.5 2469.22) (834.534 2469.22 88114.8))))

     ;; definition of :rarm-shoulder-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 0.0 -30.25) (float-vector 14.4 26.0 -30.25) (float-vector 14.4 26.0 30.25) (float-vector 14.4 0.0 30.25) (float-vector 14.4 0.0 28.75) (float-vector 14.4 24.5 28.75) (float-vector 14.4 24.5 -28.75) (float-vector 14.4 0.0 -28.75)))
         (instance face :init :vertices (list (float-vector -14.4 26.0 -30.25) (float-vector -14.4 26.0 30.25) (float-vector 14.4 26.0 30.25) (float-vector 14.4 26.0 -30.25)))
         (instance face :init :vertices (list (float-vector -14.4 -5.684342e-14 -30.25) (float-vector -14.4 -5.684342e-14 -28.75) (float-vector -14.4 24.5 -28.75) (float-vector -14.4 24.5 28.75) (float-vector -14.4 0.0 28.75) (float-vector -14.4 0.0 30.25) (float-vector -14.4 26.0 30.25) (float-vector -14.4 26.0 -30.25)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 30.25) (float-vector -14.4 0.0 30.25) (float-vector -14.4 0.0 28.75) (float-vector -10.1823 -10.1823 28.75)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 -30.25) (float-vector -10.1823 -10.1823 -28.75) (float-vector -14.4 -5.684342e-14 -28.75) (float-vector -14.4 -5.684342e-14 -30.25)))
         (instance face :init :vertices (list (float-vector 0.0 -14.4 30.25) (float-vector -10.1823 -10.1823 30.25) (float-vector -10.1823 -10.1823 28.75) (float-vector 0.0 -14.4 28.75)))
         (instance face :init :vertices (list (float-vector 0.0 -14.4 -30.25) (float-vector 0.0 -14.4 -28.75) (float-vector -10.1823 -10.1823 -28.75) (float-vector -10.1823 -10.1823 -30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 30.25) (float-vector 0.0 -14.4 30.25) (float-vector 0.0 -14.4 28.75) (float-vector 10.1823 -10.1823 28.75)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -30.25) (float-vector 10.1823 -10.1823 -28.75) (float-vector 0.0 -14.4 -28.75) (float-vector 0.0 -14.4 -30.25)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 30.25) (float-vector 14.4 26.0 30.25) (float-vector -14.4 26.0 30.25) (float-vector -14.4 0.0 30.25) (float-vector -10.1823 -10.1823 30.25) (float-vector 0.0 -14.4 30.25) (float-vector 10.1823 -10.1823 30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -30.25) (float-vector 0.0 -14.4 -30.25) (float-vector -10.1823 -10.1823 -30.25) (float-vector -14.4 -5.684342e-14 -30.25) (float-vector -14.4 26.0 -30.25) (float-vector 14.4 26.0 -30.25) (float-vector 14.4 0.0 -30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 30.25) (float-vector 10.1823 -10.1823 28.75) (float-vector 14.4 0.0 28.75) (float-vector 14.4 0.0 30.25)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 -30.25) (float-vector 14.4 0.0 -28.75) (float-vector 10.1823 -10.1823 -28.75) (float-vector 10.1823 -10.1823 -30.25)))
         (instance face :init :vertices (list (float-vector 14.4 24.5 28.75) (float-vector 14.4 0.0 28.75) (float-vector 10.1823 -10.1823 28.75) (float-vector 0.0 -14.4 28.75) (float-vector -10.1823 -10.1823 28.75) (float-vector -14.4 0.0 28.75) (float-vector -14.4 24.5 28.75)))
         (instance face :init :vertices (list (float-vector 14.4 24.5 -28.75) (float-vector 14.4 24.5 28.75) (float-vector -14.4 24.5 28.75) (float-vector -14.4 24.5 -28.75)))
         (instance face :init :vertices (list (float-vector -14.4 24.5 -28.75) (float-vector -14.4 -5.684342e-14 -28.75) (float-vector -10.1823 -10.1823 -28.75) (float-vector 0.0 -14.4 -28.75) (float-vector 10.1823 -10.1823 -28.75) (float-vector 14.4 0.0 -28.75) (float-vector 14.4 24.5 -28.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 32.0 17.0) (float-vector -10.0 72.0 17.0) (float-vector -10.0 72.0 -23.0) (float-vector -10.0 32.0 -23.0)))
         (instance face :init :vertices (list (float-vector -10.0 72.0 -23.0) (float-vector 10.0 72.0 -23.0) (float-vector 10.0 32.0 -23.0) (float-vector -10.0 32.0 -23.0)))
         (instance face :init :vertices (list (float-vector 10.0 72.0 -23.0) (float-vector 10.0 72.0 17.0) (float-vector 10.0 32.0 17.0) (float-vector 10.0 32.0 -23.0)))
         (instance face :init :vertices (list (float-vector 10.0 32.0 17.0) (float-vector -10.0 32.0 17.0) (float-vector -10.0 32.0 -23.0) (float-vector 10.0 32.0 -23.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 32.0 11.5) (float-vector -4.5 32.0 14.7942) (float-vector -3.989870e-15 32.0 16.0) (float-vector 4.5 32.0 14.7942) (float-vector 7.79423 32.0 11.5) (float-vector 9.0 32.0 7.0) (float-vector 7.79423 32.0 2.5) (float-vector 4.5 32.0 -0.794229) (float-vector -2.300489e-14 32.0 -2.0) (float-vector -4.5 32.0 -0.794229) (float-vector -7.79423 32.0 2.5) (float-vector -9.0 32.0 7.0)))
))
         (instance face :init :vertices (list (float-vector 10.0 72.0 17.0) (float-vector -10.0 72.0 17.0) (float-vector -10.0 32.0 17.0) (float-vector 10.0 32.0 17.0)))
         (instance face :init :vertices (list (float-vector -10.0 72.0 17.0) (float-vector 10.0 72.0 17.0) (float-vector 10.0 72.0 -23.0) (float-vector -10.0 72.0 -23.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 72.0 14.7942) (float-vector -7.79423 72.0 11.5) (float-vector -9.0 72.0 7.0) (float-vector -7.79423 72.0 2.5) (float-vector -4.5 72.0 -0.794229) (float-vector -3.242545e-14 72.0 -2.0) (float-vector 4.5 72.0 -0.794229) (float-vector 7.79423 72.0 2.5) (float-vector 9.0 72.0 7.0) (float-vector 7.79423 72.0 11.5) (float-vector 4.5 72.0 14.7942) (float-vector -1.341042e-14 72.0 16.0)))
))
         (instance face :init :vertices (list (float-vector -9.0 30.0 7.0) (float-vector -9.0 32.0 7.0) (float-vector -7.79423 32.0 2.5) (float-vector -7.79423 30.0 2.5)))
         (instance face :init :vertices (list (float-vector -9.0 72.0 7.0) (float-vector -9.0 74.0 7.0) (float-vector -7.79423 74.0 2.5) (float-vector -7.79423 72.0 2.5)))
         (instance face :init :vertices (list (float-vector -4.5 32.0 -0.794229) (float-vector -4.5 30.0 -0.794229) (float-vector -7.79423 30.0 2.5) (float-vector -7.79423 32.0 2.5)))
         (instance face :init :vertices (list (float-vector -7.79423 74.0 2.5) (float-vector -4.5 74.0 -0.794229) (float-vector -4.5 72.0 -0.794229) (float-vector -7.79423 72.0 2.5)))
         (instance face :init :vertices (list (float-vector -2.300489e-14 32.0 -2.0) (float-vector -2.253386e-14 30.0 -2.0) (float-vector -4.5 30.0 -0.794229) (float-vector -4.5 32.0 -0.794229)))
         (instance face :init :vertices (list (float-vector -4.5 74.0 -0.794229) (float-vector -3.289647e-14 74.0 -2.0) (float-vector -3.242545e-14 72.0 -2.0) (float-vector -4.5 72.0 -0.794229)))
         (instance face :init :vertices (list (float-vector 4.5 32.0 -0.794229) (float-vector 4.5 30.0 -0.794229) (float-vector -2.253386e-14 30.0 -2.0) (float-vector -2.300489e-14 32.0 -2.0)))
         (instance face :init :vertices (list (float-vector -3.289647e-14 74.0 -2.0) (float-vector 4.5 74.0 -0.794229) (float-vector 4.5 72.0 -0.794229) (float-vector -3.242545e-14 72.0 -2.0)))
         (instance face :init :vertices (list (float-vector 7.79423 32.0 2.5) (float-vector 7.79423 30.0 2.5) (float-vector 4.5 30.0 -0.794229) (float-vector 4.5 32.0 -0.794229)))
         (instance face :init :vertices (list (float-vector 4.5 74.0 -0.794229) (float-vector 7.79423 74.0 2.5) (float-vector 7.79423 72.0 2.5) (float-vector 4.5 72.0 -0.794229)))
         (instance face :init :vertices (list (float-vector 9.0 32.0 7.0) (float-vector 9.0 30.0 7.0) (float-vector 7.79423 30.0 2.5) (float-vector 7.79423 32.0 2.5)))
         (instance face :init :vertices (list (float-vector 7.79423 74.0 2.5) (float-vector 9.0 74.0 7.0) (float-vector 9.0 72.0 7.0) (float-vector 7.79423 72.0 2.5)))
         (instance face :init :vertices (list (float-vector 7.79423 32.0 11.5) (float-vector 7.79423 30.0 11.5) (float-vector 9.0 30.0 7.0) (float-vector 9.0 32.0 7.0)))
         (instance face :init :vertices (list (float-vector 9.0 74.0 7.0) (float-vector 7.79423 74.0 11.5) (float-vector 7.79423 72.0 11.5) (float-vector 9.0 72.0 7.0)))
         (instance face :init :vertices (list (float-vector 4.5 32.0 14.7942) (float-vector 4.5 30.0 14.7942) (float-vector 7.79423 30.0 11.5) (float-vector 7.79423 32.0 11.5)))
         (instance face :init :vertices (list (float-vector 7.79423 74.0 11.5) (float-vector 4.5 74.0 14.7942) (float-vector 4.5 72.0 14.7942) (float-vector 7.79423 72.0 11.5)))
         (instance face :init :vertices (list (float-vector -3.989870e-15 32.0 16.0) (float-vector -3.518842e-15 30.0 16.0) (float-vector 4.5 30.0 14.7942) (float-vector 4.5 32.0 14.7942)))
         (instance face :init :vertices (list (float-vector 4.5 74.0 14.7942) (float-vector -1.388145e-14 74.0 16.0) (float-vector -1.341042e-14 72.0 16.0) (float-vector 4.5 72.0 14.7942)))
         (instance face :init :vertices (list (float-vector -4.5 32.0 14.7942) (float-vector -4.5 30.0 14.7942) (float-vector -3.518842e-15 30.0 16.0) (float-vector -3.989870e-15 32.0 16.0)))
         (instance face :init :vertices (list (float-vector -1.388145e-14 74.0 16.0) (float-vector -4.5 74.0 14.7942) (float-vector -4.5 72.0 14.7942) (float-vector -1.341042e-14 72.0 16.0)))
         (instance face :init :vertices (list (float-vector -7.79423 32.0 11.5) (float-vector -7.79423 30.0 11.5) (float-vector -4.5 30.0 14.7942) (float-vector -4.5 32.0 14.7942)))
         (instance face :init :vertices (list (float-vector -4.5 74.0 14.7942) (float-vector -7.79423 74.0 11.5) (float-vector -7.79423 72.0 11.5) (float-vector -4.5 72.0 14.7942)))
         (instance face :init :vertices (list (float-vector -7.79423 30.0 11.5) (float-vector -9.0 30.0 7.0) (float-vector -7.79423 30.0 2.5) (float-vector -4.5 30.0 -0.794229) (float-vector -2.253386e-14 30.0 -2.0) (float-vector 4.5 30.0 -0.794229) (float-vector 7.79423 30.0 2.5) (float-vector 9.0 30.0 7.0) (float-vector 7.79423 30.0 11.5) (float-vector 4.5 30.0 14.7942) (float-vector -3.518842e-15 30.0 16.0) (float-vector -4.5 30.0 14.7942)))
         (instance face :init :vertices (list (float-vector -9.0 30.0 7.0) (float-vector -7.79423 30.0 11.5) (float-vector -7.79423 32.0 11.5) (float-vector -9.0 32.0 7.0)))
         (instance face :init :vertices (list (float-vector -7.79423 74.0 11.5) (float-vector -9.0 74.0 7.0) (float-vector -9.0 72.0 7.0) (float-vector -7.79423 72.0 11.5)))
         (instance face :init :vertices (list (float-vector -9.0 74.0 7.0) (float-vector -7.79423 74.0 11.5) (float-vector -4.5 74.0 14.7942) (float-vector -1.388145e-14 74.0 16.0) (float-vector 4.5 74.0 14.7942) (float-vector 7.79423 74.0 11.5) (float-vector 9.0 74.0 7.0) (float-vector 7.79423 74.0 2.5) (float-vector 4.5 74.0 -0.794229) (float-vector -3.289647e-14 74.0 -2.0) (float-vector -4.5 74.0 -0.794229) (float-vector -7.79423 74.0 2.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink9 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-shoulder-p :weight 68.1474 :centroid (float-vector -1.151955e-15 43.8818 -2.10391) :inertia-tensor #2f((41662.5 2.775218e-11 -4.210071e-12) (2.775218e-11 19161.4 1163.95) (-4.210071e-12 1163.95 28128.4))))

     ;; definition of :rarm-elbow-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -22.75) (float-vector 10.0 26.5 -22.75) (float-vector 10.0 26.5 22.75) (float-vector 10.0 -2.842171e-14 22.75) (float-vector 10.0 -2.842171e-14 21.75) (float-vector 10.0 25.5 21.75) (float-vector 10.0 25.5 -21.75) (float-vector 10.0 0.0 -21.75)))
         (instance face :init :vertices (list (float-vector -10.0 26.5 -22.75) (float-vector -10.0 26.5 22.75) (float-vector 10.0 26.5 22.75) (float-vector 10.0 26.5 -22.75)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -22.75) (float-vector -10.0 0.0 -21.75) (float-vector -10.0 25.5 -21.75) (float-vector -10.0 25.5 21.75) (float-vector -10.0 -2.842171e-14 21.75) (float-vector -10.0 -2.842171e-14 22.75) (float-vector -10.0 26.5 22.75) (float-vector -10.0 26.5 -22.75)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 22.75) (float-vector -10.0 -2.842171e-14 22.75) (float-vector -10.0 -2.842171e-14 21.75) (float-vector -7.07107 -7.07107 21.75)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -22.75) (float-vector -7.07107 -7.07107 -21.75) (float-vector -10.0 0.0 -21.75) (float-vector -10.0 0.0 -22.75)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 22.75) (float-vector -7.07107 -7.07107 22.75) (float-vector -7.07107 -7.07107 21.75) (float-vector 2.524355e-29 -10.0 21.75)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -22.75) (float-vector 2.524355e-29 -10.0 -21.75) (float-vector -7.07107 -7.07107 -21.75) (float-vector -7.07107 -7.07107 -22.75)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 22.75) (float-vector 0.0 -10.0 22.75) (float-vector 2.524355e-29 -10.0 21.75) (float-vector 7.07107 -7.07107 21.75)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -22.75) (float-vector 7.07107 -7.07107 -21.75) (float-vector 2.524355e-29 -10.0 -21.75) (float-vector 0.0 -10.0 -22.75)))
         (instance face :init :vertices (list (float-vector 10.0 -2.842171e-14 22.75) (float-vector 10.0 26.5 22.75) (float-vector -10.0 26.5 22.75) (float-vector -10.0 -2.842171e-14 22.75) (float-vector -7.07107 -7.07107 22.75) (float-vector 0.0 -10.0 22.75) (float-vector 7.07107 -7.07107 22.75)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -22.75) (float-vector 0.0 -10.0 -22.75) (float-vector -7.07107 -7.07107 -22.75) (float-vector -10.0 0.0 -22.75) (float-vector -10.0 26.5 -22.75) (float-vector 10.0 26.5 -22.75) (float-vector 10.0 0.0 -22.75)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 22.75) (float-vector 7.07107 -7.07107 21.75) (float-vector 10.0 -2.842171e-14 21.75) (float-vector 10.0 -2.842171e-14 22.75)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -22.75) (float-vector 10.0 0.0 -21.75) (float-vector 7.07107 -7.07107 -21.75) (float-vector 7.07107 -7.07107 -22.75)))
         (instance face :init :vertices (list (float-vector 10.0 25.5 21.75) (float-vector 10.0 -2.842171e-14 21.75) (float-vector 7.07107 -7.07107 21.75) (float-vector 2.524355e-29 -10.0 21.75) (float-vector -7.07107 -7.07107 21.75) (float-vector -10.0 -2.842171e-14 21.75) (float-vector -10.0 25.5 21.75)))
         (instance face :init :vertices (list (float-vector 10.0 25.5 -21.75) (float-vector 10.0 25.5 21.75) (float-vector -10.0 25.5 21.75) (float-vector -10.0 25.5 -21.75)))
         (instance face :init :vertices (list (float-vector -10.0 25.5 -21.75) (float-vector -10.0 0.0 -21.75) (float-vector -7.07107 -7.07107 -21.75) (float-vector 2.524355e-29 -10.0 -21.75) (float-vector 7.07107 -7.07107 -21.75) (float-vector 10.0 0.0 -21.75) (float-vector 10.0 25.5 -21.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 -24.25 -50.0) (float-vector -10.0 -24.25 -23.5) (float-vector -10.0 24.25 -23.5) (float-vector -10.0 24.25 -50.0) (float-vector -10.0 23.25 -50.0) (float-vector -10.0 23.25 -24.5) (float-vector -10.0 -23.25 -24.5) (float-vector -10.0 -23.25 -50.0)))
         (instance face :init :vertices (list (float-vector 10.0 -24.25 -23.5) (float-vector 10.0 24.25 -23.5) (float-vector -10.0 24.25 -23.5) (float-vector -10.0 -24.25 -23.5)))
         (instance face :init :vertices (list (float-vector 10.0 -24.25 -50.0) (float-vector 10.0 -23.25 -50.0) (float-vector 10.0 -23.25 -24.5) (float-vector 10.0 23.25 -24.5) (float-vector 10.0 23.25 -50.0) (float-vector 10.0 24.25 -50.0) (float-vector 10.0 24.25 -23.5) (float-vector 10.0 -24.25 -23.5)))
         (instance face :init :vertices (list (float-vector 7.07107 24.25 -57.0711) (float-vector 10.0 24.25 -50.0) (float-vector 10.0 23.25 -50.0) (float-vector 7.07107 23.25 -57.0711)))
         (instance face :init :vertices (list (float-vector 7.07107 -24.25 -57.0711) (float-vector 7.07107 -23.25 -57.0711) (float-vector 10.0 -23.25 -50.0) (float-vector 10.0 -24.25 -50.0)))
         (instance face :init :vertices (list (float-vector -3.807474e-15 24.25 -60.0) (float-vector 7.07107 24.25 -57.0711) (float-vector 7.07107 23.25 -57.0711) (float-vector -3.650465e-15 23.25 -60.0)))
         (instance face :init :vertices (list (float-vector 3.807474e-15 -24.25 -60.0) (float-vector 3.650465e-15 -23.25 -60.0) (float-vector 7.07107 -23.25 -57.0711) (float-vector 7.07107 -24.25 -57.0711)))
         (instance face :init :vertices (list (float-vector -7.07107 24.25 -57.0711) (float-vector -3.807474e-15 24.25 -60.0) (float-vector -3.650465e-15 23.25 -60.0) (float-vector -7.07107 23.25 -57.0711)))
         (instance face :init :vertices (list (float-vector -7.07107 -24.25 -57.0711) (float-vector -7.07107 -23.25 -57.0711) (float-vector 3.650465e-15 -23.25 -60.0) (float-vector 3.807474e-15 -24.25 -60.0)))
         (instance face :init :vertices (list (float-vector -10.0 24.25 -50.0) (float-vector -10.0 24.25 -23.5) (float-vector 10.0 24.25 -23.5) (float-vector 10.0 24.25 -50.0) (float-vector 7.07107 24.25 -57.0711) (float-vector -3.807474e-15 24.25 -60.0) (float-vector -7.07107 24.25 -57.0711)))
         (instance face :init :vertices (list (float-vector -7.07107 -24.25 -57.0711) (float-vector 3.807474e-15 -24.25 -60.0) (float-vector 7.07107 -24.25 -57.0711) (float-vector 10.0 -24.25 -50.0) (float-vector 10.0 -24.25 -23.5) (float-vector -10.0 -24.25 -23.5) (float-vector -10.0 -24.25 -50.0)))
         (instance face :init :vertices (list (float-vector -7.07107 24.25 -57.0711) (float-vector -7.07107 23.25 -57.0711) (float-vector -10.0 23.25 -50.0) (float-vector -10.0 24.25 -50.0)))
         (instance face :init :vertices (list (float-vector -10.0 -24.25 -50.0) (float-vector -10.0 -23.25 -50.0) (float-vector -7.07107 -23.25 -57.0711) (float-vector -7.07107 -24.25 -57.0711)))
         (instance face :init :vertices (list (float-vector -10.0 23.25 -24.5) (float-vector -10.0 23.25 -50.0) (float-vector -7.07107 23.25 -57.0711) (float-vector -3.650465e-15 23.25 -60.0) (float-vector 7.07107 23.25 -57.0711) (float-vector 10.0 23.25 -50.0) (float-vector 10.0 23.25 -24.5)))
         (instance face :init :vertices (list (float-vector -10.0 -23.25 -24.5) (float-vector -10.0 23.25 -24.5) (float-vector 10.0 23.25 -24.5) (float-vector 10.0 -23.25 -24.5)))
         (instance face :init :vertices (list (float-vector 10.0 -23.25 -24.5) (float-vector 10.0 -23.25 -50.0) (float-vector 7.07107 -23.25 -57.0711) (float-vector 3.650465e-15 -23.25 -60.0) (float-vector -7.07107 -23.25 -57.0711) (float-vector -10.0 -23.25 -50.0) (float-vector -10.0 -23.25 -24.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink10 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-elbow-y :weight 12.1114 :centroid (float-vector -2.985148e-14 7.92007 -17.0666) :inertia-tensor #2f((10591.6 -8.940558e-13 -6.765724e-13) (-8.940558e-13 6869.11 -1637.07) (-6.765724e-13 -1637.07 4529.92))))

     ;; 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 -1.509903e-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 5.329071e-15 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 5.684342e-14 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 5.329071e-15 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 -1.509903e-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 5.684342e-14 -20.0) (float-vector 9.0 5.684342e-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 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 5.329071e-15 9.0 20.0) (float-vector 5.329071e-15 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 5.329071e-15 9.0 -22.0) (float-vector 5.329071e-15 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 5.329071e-15 9.0 22.0) (float-vector 5.329071e-15 9.0 20.0)))
         (instance face :init :vertices (list (float-vector 5.329071e-15 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 5.329071e-15 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 -1.509903e-14 -9.0 20.0) (float-vector -1.509903e-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 -1.509903e-14 -9.0 -22.0) (float-vector -1.509903e-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 -1.509903e-14 -9.0 22.0) (float-vector -1.509903e-14 -9.0 20.0)))
         (instance face :init :vertices (list (float-vector -1.509903e-14 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector -1.509903e-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 5.329071e-15 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 -1.509903e-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 5.684342e-14 -22.0) (float-vector 9.0 5.684342e-14 -20.0) (float-vector 7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 5.684342e-14 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector -1.509903e-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 5.329071e-15 9.0 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 7.79423 4.5 -22.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (setq blink11 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-elbow-p :weight 53 :centroid (float-vector -2.709395e-15 9.7052 -2.842171e-14) :inertia-tensor #2f((14133.3 -1.487897e-26 -3.306438e-27) (-1.487897e-26 8833.33 -1.926588e-25) (-3.306438e-27 -1.926588e-25 8833.33))))

     ;; definition of :lleg-crotch-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 -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 0.0 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 -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) (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 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 -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 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 -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 -11.6047 -6.7 24.9) (float-vector -11.6047 -6.7 26.9) (float-vector -13.4 0.0 26.9) (float-vector -13.4 0.0 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 -11.6047 -6.7 -24.9) (float-vector -13.4 0.0 -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 -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 -2.842171e-14 -13.4 26.9) (float-vector -2.842171e-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 0.0 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 -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 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)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 44.15 65.5285 -24.9) (float-vector 44.15 65.5285 24.9) (float-vector 44.15 6.52851 24.9) (float-vector 44.15 6.52851 -24.9)))
         (instance face :init :vertices (list (float-vector 44.15 6.52851 24.9) (float-vector 15.35 6.52851 24.9) (float-vector 15.35 6.52851 -24.9) (float-vector 44.15 6.52851 -24.9)))
         (instance face :init :vertices (list (float-vector 15.35 6.52851 24.9) (float-vector 15.35 65.5285 24.9) (float-vector 15.35 65.5285 -24.9) (float-vector 15.35 6.52851 -24.9)))
         (instance face :init :vertices (list (float-vector 15.35 65.5285 -24.9) (float-vector 44.15 65.5285 -24.9) (float-vector 44.15 6.52851 -24.9) (float-vector 15.35 6.52851 -24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 41.3547 58.2285 -24.9) (float-vector 36.45 63.1333 -24.9) (float-vector 29.75 64.9285 -24.9) (float-vector 23.05 63.1333 -24.9) (float-vector 18.1453 58.2285 -24.9) (float-vector 16.35 51.5285 -24.9) (float-vector 18.1453 44.8285 -24.9) (float-vector 23.05 39.9238 -24.9) (float-vector 29.75 38.1285 -24.9) (float-vector 36.45 39.9238 -24.9) (float-vector 41.3547 44.8285 -24.9) (float-vector 43.15 51.5285 -24.9)))
))
         (instance face :init :vertices (list (float-vector 15.35 65.5285 24.9) (float-vector 44.15 65.5285 24.9) (float-vector 44.15 65.5285 -24.9) (float-vector 15.35 65.5285 -24.9)))
         (instance face :init :vertices (list (float-vector 44.15 65.5285 24.9) (float-vector 15.35 65.5285 24.9) (float-vector 15.35 6.52851 24.9) (float-vector 44.15 6.52851 24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 36.45 63.1333 24.9) (float-vector 41.3547 58.2285 24.9) (float-vector 43.15 51.5285 24.9) (float-vector 41.3547 44.8285 24.9) (float-vector 36.45 39.9238 24.9) (float-vector 29.75 38.1285 24.9) (float-vector 23.05 39.9238 24.9) (float-vector 18.1453 44.8285 24.9) (float-vector 16.35 51.5285 24.9) (float-vector 18.1453 58.2285 24.9) (float-vector 23.05 63.1333 24.9) (float-vector 29.75 64.9285 24.9)))
))
         (instance face :init :vertices (list (float-vector 43.15 51.5285 -26.9) (float-vector 43.15 51.5285 -24.9) (float-vector 41.3547 44.8285 -24.9) (float-vector 41.3547 44.8285 -26.9)))
         (instance face :init :vertices (list (float-vector 43.15 51.5285 24.9) (float-vector 43.15 51.5285 26.9) (float-vector 41.3547 44.8285 26.9) (float-vector 41.3547 44.8285 24.9)))
         (instance face :init :vertices (list (float-vector 36.45 39.9238 -24.9) (float-vector 36.45 39.9238 -26.9) (float-vector 41.3547 44.8285 -26.9) (float-vector 41.3547 44.8285 -24.9)))
         (instance face :init :vertices (list (float-vector 41.3547 44.8285 26.9) (float-vector 36.45 39.9238 26.9) (float-vector 36.45 39.9238 24.9) (float-vector 41.3547 44.8285 24.9)))
         (instance face :init :vertices (list (float-vector 29.75 38.1285 -24.9) (float-vector 29.75 38.1285 -26.9) (float-vector 36.45 39.9238 -26.9) (float-vector 36.45 39.9238 -24.9)))
         (instance face :init :vertices (list (float-vector 36.45 39.9238 26.9) (float-vector 29.75 38.1285 26.9) (float-vector 29.75 38.1285 24.9) (float-vector 36.45 39.9238 24.9)))
         (instance face :init :vertices (list (float-vector 23.05 39.9238 -24.9) (float-vector 23.05 39.9238 -26.9) (float-vector 29.75 38.1285 -26.9) (float-vector 29.75 38.1285 -24.9)))
         (instance face :init :vertices (list (float-vector 29.75 38.1285 26.9) (float-vector 23.05 39.9238 26.9) (float-vector 23.05 39.9238 24.9) (float-vector 29.75 38.1285 24.9)))
         (instance face :init :vertices (list (float-vector 18.1453 44.8285 -24.9) (float-vector 18.1453 44.8285 -26.9) (float-vector 23.05 39.9238 -26.9) (float-vector 23.05 39.9238 -24.9)))
         (instance face :init :vertices (list (float-vector 23.05 39.9238 26.9) (float-vector 18.1453 44.8285 26.9) (float-vector 18.1453 44.8285 24.9) (float-vector 23.05 39.9238 24.9)))
         (instance face :init :vertices (list (float-vector 16.35 51.5285 -24.9) (float-vector 16.35 51.5285 -26.9) (float-vector 18.1453 44.8285 -26.9) (float-vector 18.1453 44.8285 -24.9)))
         (instance face :init :vertices (list (float-vector 18.1453 44.8285 26.9) (float-vector 16.35 51.5285 26.9) (float-vector 16.35 51.5285 24.9) (float-vector 18.1453 44.8285 24.9)))
         (instance face :init :vertices (list (float-vector 18.1453 58.2285 -24.9) (float-vector 18.1453 58.2285 -26.9) (float-vector 16.35 51.5285 -26.9) (float-vector 16.35 51.5285 -24.9)))
         (instance face :init :vertices (list (float-vector 16.35 51.5285 26.9) (float-vector 18.1453 58.2285 26.9) (float-vector 18.1453 58.2285 24.9) (float-vector 16.35 51.5285 24.9)))
         (instance face :init :vertices (list (float-vector 23.05 63.1333 -24.9) (float-vector 23.05 63.1333 -26.9) (float-vector 18.1453 58.2285 -26.9) (float-vector 18.1453 58.2285 -24.9)))
         (instance face :init :vertices (list (float-vector 18.1453 58.2285 26.9) (float-vector 23.05 63.1333 26.9) (float-vector 23.05 63.1333 24.9) (float-vector 18.1453 58.2285 24.9)))
         (instance face :init :vertices (list (float-vector 29.75 64.9285 -24.9) (float-vector 29.75 64.9285 -26.9) (float-vector 23.05 63.1333 -26.9) (float-vector 23.05 63.1333 -24.9)))
         (instance face :init :vertices (list (float-vector 23.05 63.1333 26.9) (float-vector 29.75 64.9285 26.9) (float-vector 29.75 64.9285 24.9) (float-vector 23.05 63.1333 24.9)))
         (instance face :init :vertices (list (float-vector 36.45 63.1333 -24.9) (float-vector 36.45 63.1333 -26.9) (float-vector 29.75 64.9285 -26.9) (float-vector 29.75 64.9285 -24.9)))
         (instance face :init :vertices (list (float-vector 29.75 64.9285 26.9) (float-vector 36.45 63.1333 26.9) (float-vector 36.45 63.1333 24.9) (float-vector 29.75 64.9285 24.9)))
         (instance face :init :vertices (list (float-vector 41.3547 58.2285 -24.9) (float-vector 41.3547 58.2285 -26.9) (float-vector 36.45 63.1333 -26.9) (float-vector 36.45 63.1333 -24.9)))
         (instance face :init :vertices (list (float-vector 36.45 63.1333 26.9) (float-vector 41.3547 58.2285 26.9) (float-vector 41.3547 58.2285 24.9) (float-vector 36.45 63.1333 24.9)))
         (instance face :init :vertices (list (float-vector 41.3547 58.2285 -26.9) (float-vector 43.15 51.5285 -26.9) (float-vector 41.3547 44.8285 -26.9) (float-vector 36.45 39.9238 -26.9) (float-vector 29.75 38.1285 -26.9) (float-vector 23.05 39.9238 -26.9) (float-vector 18.1453 44.8285 -26.9) (float-vector 16.35 51.5285 -26.9) (float-vector 18.1453 58.2285 -26.9) (float-vector 23.05 63.1333 -26.9) (float-vector 29.75 64.9285 -26.9) (float-vector 36.45 63.1333 -26.9)))
         (instance face :init :vertices (list (float-vector 43.15 51.5285 -26.9) (float-vector 41.3547 58.2285 -26.9) (float-vector 41.3547 58.2285 -24.9) (float-vector 43.15 51.5285 -24.9)))
         (instance face :init :vertices (list (float-vector 41.3547 58.2285 26.9) (float-vector 43.15 51.5285 26.9) (float-vector 43.15 51.5285 24.9) (float-vector 41.3547 58.2285 24.9)))
         (instance face :init :vertices (list (float-vector 43.15 51.5285 26.9) (float-vector 41.3547 58.2285 26.9) (float-vector 36.45 63.1333 26.9) (float-vector 29.75 64.9285 26.9) (float-vector 23.05 63.1333 26.9) (float-vector 18.1453 58.2285 26.9) (float-vector 16.35 51.5285 26.9) (float-vector 18.1453 44.8285 26.9) (float-vector 23.05 39.9238 26.9) (float-vector 29.75 38.1285 26.9) (float-vector 36.45 39.9238 26.9) (float-vector 41.3547 44.8285 26.9)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (setq blink12 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-crotch-p :weight 214 :centroid (float-vector 14.875 25.7643 1.257730e-15) :inertia-tensor #2f((1.305737e+05 -33898.9 7.207513e-12) (-33898.9 1.063699e+05 5.159919e-12) (7.207513e-12 5.159919e-12 1.484888e+05))))

     ;; definition of :lleg-knee-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 0.0 -30.25) (float-vector 14.4 29.5 -30.25) (float-vector 14.4 29.5 30.25) (float-vector 14.4 0.0 30.25) (float-vector 14.4 0.0 28.75) (float-vector 14.4 28.0 28.75) (float-vector 14.4 28.0 -28.75) (float-vector 14.4 0.0 -28.75)))
         (instance face :init :vertices (list (float-vector -14.4 29.5 -30.25) (float-vector -14.4 29.5 30.25) (float-vector 14.4 29.5 30.25) (float-vector 14.4 29.5 -30.25)))
         (instance face :init :vertices (list (float-vector -14.4 0.0 -30.25) (float-vector -14.4 0.0 -28.75) (float-vector -14.4 28.0 -28.75) (float-vector -14.4 28.0 28.75) (float-vector -14.4 1.421085e-14 28.75) (float-vector -14.4 1.421085e-14 30.25) (float-vector -14.4 29.5 30.25) (float-vector -14.4 29.5 -30.25)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 30.25) (float-vector -14.4 1.421085e-14 30.25) (float-vector -14.4 1.421085e-14 28.75) (float-vector -10.1823 -10.1823 28.75)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 -30.25) (float-vector -10.1823 -10.1823 -28.75) (float-vector -14.4 0.0 -28.75) (float-vector -14.4 0.0 -30.25)))
         (instance face :init :vertices (list (float-vector 0.0 -14.4 30.25) (float-vector -10.1823 -10.1823 30.25) (float-vector -10.1823 -10.1823 28.75) (float-vector 3.155444e-30 -14.4 28.75)))
         (instance face :init :vertices (list (float-vector -6.310887e-30 -14.4 -30.25) (float-vector -6.310887e-30 -14.4 -28.75) (float-vector -10.1823 -10.1823 -28.75) (float-vector -10.1823 -10.1823 -30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 30.25) (float-vector 0.0 -14.4 30.25) (float-vector 3.155444e-30 -14.4 28.75) (float-vector 10.1823 -10.1823 28.75)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -30.25) (float-vector 10.1823 -10.1823 -28.75) (float-vector -6.310887e-30 -14.4 -28.75) (float-vector -6.310887e-30 -14.4 -30.25)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 30.25) (float-vector 14.4 29.5 30.25) (float-vector -14.4 29.5 30.25) (float-vector -14.4 1.421085e-14 30.25) (float-vector -10.1823 -10.1823 30.25) (float-vector 0.0 -14.4 30.25) (float-vector 10.1823 -10.1823 30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -30.25) (float-vector -6.310887e-30 -14.4 -30.25) (float-vector -10.1823 -10.1823 -30.25) (float-vector -14.4 0.0 -30.25) (float-vector -14.4 29.5 -30.25) (float-vector 14.4 29.5 -30.25) (float-vector 14.4 0.0 -30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 30.25) (float-vector 10.1823 -10.1823 28.75) (float-vector 14.4 0.0 28.75) (float-vector 14.4 0.0 30.25)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 -30.25) (float-vector 14.4 0.0 -28.75) (float-vector 10.1823 -10.1823 -28.75) (float-vector 10.1823 -10.1823 -30.25)))
         (instance face :init :vertices (list (float-vector 14.4 28.0 28.75) (float-vector 14.4 0.0 28.75) (float-vector 10.1823 -10.1823 28.75) (float-vector 3.155444e-30 -14.4 28.75) (float-vector -10.1823 -10.1823 28.75) (float-vector -14.4 1.421085e-14 28.75) (float-vector -14.4 28.0 28.75)))
         (instance face :init :vertices (list (float-vector 14.4 28.0 -28.75) (float-vector 14.4 28.0 28.75) (float-vector -14.4 28.0 28.75) (float-vector -14.4 28.0 -28.75)))
         (instance face :init :vertices (list (float-vector -14.4 28.0 -28.75) (float-vector -14.4 0.0 -28.75) (float-vector -10.1823 -10.1823 -28.75) (float-vector -6.310887e-30 -14.4 -28.75) (float-vector 10.1823 -10.1823 -28.75) (float-vector 14.4 0.0 -28.75) (float-vector 14.4 28.0 -28.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 59.0 30.25) (float-vector 14.4 29.5 30.25) (float-vector 14.4 29.5 -30.25) (float-vector 14.4 59.0 -30.25) (float-vector 14.4 59.0 -28.75) (float-vector 14.4 31.0 -28.75) (float-vector 14.4 31.0 28.75) (float-vector 14.4 59.0 28.75)))
         (instance face :init :vertices (list (float-vector -14.4 29.5 30.25) (float-vector -14.4 29.5 -30.25) (float-vector 14.4 29.5 -30.25) (float-vector 14.4 29.5 30.25)))
         (instance face :init :vertices (list (float-vector -14.4 59.0 30.25) (float-vector -14.4 59.0 28.75) (float-vector -14.4 31.0 28.75) (float-vector -14.4 31.0 -28.75) (float-vector -14.4 59.0 -28.75) (float-vector -14.4 59.0 -30.25) (float-vector -14.4 29.5 -30.25) (float-vector -14.4 29.5 30.25)))
         (instance face :init :vertices (list (float-vector -10.1823 69.1823 -30.25) (float-vector -14.4 59.0 -30.25) (float-vector -14.4 59.0 -28.75) (float-vector -10.1823 69.1823 -28.75)))
         (instance face :init :vertices (list (float-vector -10.1823 69.1823 30.25) (float-vector -10.1823 69.1823 28.75) (float-vector -14.4 59.0 28.75) (float-vector -14.4 59.0 30.25)))
         (instance face :init :vertices (list (float-vector 3.025358e-15 73.4 -30.25) (float-vector -10.1823 69.1823 -30.25) (float-vector -10.1823 69.1823 -28.75) (float-vector 3.524958e-15 73.4 -28.75)))
         (instance face :init :vertices (list (float-vector 2.317591e-14 73.4 30.25) (float-vector 2.267631e-14 73.4 28.75) (float-vector -10.1823 69.1823 28.75) (float-vector -10.1823 69.1823 30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 69.1823 -30.25) (float-vector 3.025358e-15 73.4 -30.25) (float-vector 3.524958e-15 73.4 -28.75) (float-vector 10.1823 69.1823 -28.75)))
         (instance face :init :vertices (list (float-vector 10.1823 69.1823 30.25) (float-vector 10.1823 69.1823 28.75) (float-vector 2.267631e-14 73.4 28.75) (float-vector 2.317591e-14 73.4 30.25)))
         (instance face :init :vertices (list (float-vector 14.4 59.0 -30.25) (float-vector 14.4 29.5 -30.25) (float-vector -14.4 29.5 -30.25) (float-vector -14.4 59.0 -30.25) (float-vector -10.1823 69.1823 -30.25) (float-vector 3.025358e-15 73.4 -30.25) (float-vector 10.1823 69.1823 -30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 69.1823 30.25) (float-vector 2.317591e-14 73.4 30.25) (float-vector -10.1823 69.1823 30.25) (float-vector -14.4 59.0 30.25) (float-vector -14.4 29.5 30.25) (float-vector 14.4 29.5 30.25) (float-vector 14.4 59.0 30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 69.1823 -30.25) (float-vector 10.1823 69.1823 -28.75) (float-vector 14.4 59.0 -28.75) (float-vector 14.4 59.0 -30.25)))
         (instance face :init :vertices (list (float-vector 14.4 59.0 30.25) (float-vector 14.4 59.0 28.75) (float-vector 10.1823 69.1823 28.75) (float-vector 10.1823 69.1823 30.25)))
         (instance face :init :vertices (list (float-vector 14.4 31.0 -28.75) (float-vector 14.4 59.0 -28.75) (float-vector 10.1823 69.1823 -28.75) (float-vector 3.524958e-15 73.4 -28.75) (float-vector -10.1823 69.1823 -28.75) (float-vector -14.4 59.0 -28.75) (float-vector -14.4 31.0 -28.75)))
         (instance face :init :vertices (list (float-vector 14.4 31.0 28.75) (float-vector 14.4 31.0 -28.75) (float-vector -14.4 31.0 -28.75) (float-vector -14.4 31.0 28.75)))
         (instance face :init :vertices (list (float-vector -14.4 31.0 28.75) (float-vector -14.4 59.0 28.75) (float-vector -10.1823 69.1823 28.75) (float-vector 2.267631e-14 73.4 28.75) (float-vector 10.1823 69.1823 28.75) (float-vector 14.4 59.0 28.75) (float-vector 14.4 31.0 28.75)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink13 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-knee-p :weight 31.9278 :centroid (float-vector 5.817746e-14 29.5 -2.215070e-14) :inertia-tensor #2f((30768.1 -3.687885e-12 -2.931709e-12) (-3.687885e-12 22018.0 -2.136347e-13) (-2.931709e-12 -2.136347e-13 13163.7))))

     ;; 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 -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 8.187895e-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 -6.911138e-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 6.911138e-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 2.201017e-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)))
))
         (instance face :init :vertices (list (float-vector 13.4 -7.466250e-15 26.9) (float-vector 13.4 -6.911138e-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 6.911138e-15 -24.9) (float-vector 13.4 7.466250e-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 8.187895e-15 24.9) (float-vector -13.4 7.632783e-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 -11.6047 6.7 -26.9) (float-vector -13.4 2.256528e-14 -26.9) (float-vector -13.4 2.201017e-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 7.632783e-15 26.9) (float-vector -13.4 8.187895e-15 24.9)))
         (instance face :init :vertices (list (float-vector -13.4 2.256528e-14 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -13.4 2.201017e-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 -1.421085e-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 -2.842171e-14 -13.4 26.9) (float-vector -2.842171e-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 11.6047 -6.7 26.9) (float-vector 13.4 -7.466250e-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 7.632783e-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)))
         (instance face :init :vertices (list (float-vector 13.4 -7.466250e-15 26.9) (float-vector 11.6047 -6.7 26.9) (float-vector 11.6047 -6.7 24.9) (float-vector 13.4 -6.911138e-15 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -6.7 -26.9) (float-vector 13.4 7.466250e-15 -26.9) (float-vector 13.4 6.911138e-15 -24.9) (float-vector 11.6047 -6.7 -24.9)))
         (instance face :init :vertices (list (float-vector 13.4 7.466250e-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 2.256528e-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 -41.5 45.75 5.5) (float-vector -15.5 45.75 5.5) (float-vector -15.5 -14.75 5.5) (float-vector -41.5 -14.75 5.5) (float-vector -41.5 -13.25 5.5) (float-vector -17.0 -13.25 5.5) (float-vector -17.0 44.25 5.5) (float-vector -41.5 44.25 5.5)))
         (instance face :init :vertices (list (float-vector -15.5 45.75 25.5) (float-vector -15.5 -14.75 25.5) (float-vector -15.5 -14.75 5.5) (float-vector -15.5 45.75 5.5)))
         (instance face :init :vertices (list (float-vector -41.5 45.75 25.5) (float-vector -41.5 44.25 25.5) (float-vector -17.0 44.25 25.5) (float-vector -17.0 -13.25 25.5) (float-vector -41.5 -13.25 25.5) (float-vector -41.5 -14.75 25.5) (float-vector -15.5 -14.75 25.5) (float-vector -15.5 45.75 25.5)))
         (instance face :init :vertices (list (float-vector -48.5711 -14.75 22.5711) (float-vector -41.5 -14.75 25.5) (float-vector -41.5 -13.25 25.5) (float-vector -48.5711 -13.25 22.5711)))
         (instance face :init :vertices (list (float-vector -48.5711 45.75 22.5711) (float-vector -48.5711 44.25 22.5711) (float-vector -41.5 44.25 25.5) (float-vector -41.5 45.75 25.5)))
         (instance face :init :vertices (list (float-vector -51.5 -14.75 15.5) (float-vector -48.5711 -14.75 22.5711) (float-vector -48.5711 -13.25 22.5711) (float-vector -51.5 -13.25 15.5)))
         (instance face :init :vertices (list (float-vector -51.5 45.75 15.5) (float-vector -51.5 44.25 15.5) (float-vector -48.5711 44.25 22.5711) (float-vector -48.5711 45.75 22.5711)))
         (instance face :init :vertices (list (float-vector -48.5711 -14.75 8.42893) (float-vector -51.5 -14.75 15.5) (float-vector -51.5 -13.25 15.5) (float-vector -48.5711 -13.25 8.42893)))
         (instance face :init :vertices (list (float-vector -48.5711 45.75 8.42893) (float-vector -48.5711 44.25 8.42893) (float-vector -51.5 44.25 15.5) (float-vector -51.5 45.75 15.5)))
         (instance face :init :vertices (list (float-vector -41.5 -14.75 5.5) (float-vector -15.5 -14.75 5.5) (float-vector -15.5 -14.75 25.5) (float-vector -41.5 -14.75 25.5) (float-vector -48.5711 -14.75 22.5711) (float-vector -51.5 -14.75 15.5) (float-vector -48.5711 -14.75 8.42893)))
         (instance face :init :vertices (list (float-vector -48.5711 45.75 8.42893) (float-vector -51.5 45.75 15.5) (float-vector -48.5711 45.75 22.5711) (float-vector -41.5 45.75 25.5) (float-vector -15.5 45.75 25.5) (float-vector -15.5 45.75 5.5) (float-vector -41.5 45.75 5.5)))
         (instance face :init :vertices (list (float-vector -48.5711 -14.75 8.42893) (float-vector -48.5711 -13.25 8.42893) (float-vector -41.5 -13.25 5.5) (float-vector -41.5 -14.75 5.5)))
         (instance face :init :vertices (list (float-vector -41.5 45.75 5.5) (float-vector -41.5 44.25 5.5) (float-vector -48.5711 44.25 8.42893) (float-vector -48.5711 45.75 8.42893)))
         (instance face :init :vertices (list (float-vector -17.0 -13.25 5.5) (float-vector -41.5 -13.25 5.5) (float-vector -48.5711 -13.25 8.42893) (float-vector -51.5 -13.25 15.5) (float-vector -48.5711 -13.25 22.5711) (float-vector -41.5 -13.25 25.5) (float-vector -17.0 -13.25 25.5)))
         (instance face :init :vertices (list (float-vector -17.0 44.25 5.5) (float-vector -17.0 -13.25 5.5) (float-vector -17.0 -13.25 25.5) (float-vector -17.0 44.25 25.5)))
         (instance face :init :vertices (list (float-vector -17.0 44.25 25.5) (float-vector -41.5 44.25 25.5) (float-vector -48.5711 44.25 22.5711) (float-vector -51.5 44.25 15.5) (float-vector -48.5711 44.25 8.42893) (float-vector -41.5 44.25 5.5) (float-vector -17.0 44.25 5.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray90)
     (setq blink14 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-ankle-p :weight 117.015 :centroid (float-vector -2.11831 15.1481 1.3266) :inertia-tensor #2f((61634.6 87.2373 3513.22) (87.2373 38952.3 -54.6329) (3513.22 -54.6329 51291.5))))

     ;; 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 -2.131628e-14 -13.4 24.9) (float-vector -6.7 -11.6047 24.9) (float-vector -11.6047 -6.7 24.9) (float-vector -13.4 1.421085e-14 24.9) (float-vector -11.6047 6.7 24.9) (float-vector -6.7 11.6047 24.9) (float-vector 7.105427e-15 13.4 24.9) (float-vector 6.7 11.6047 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 13.4 0.0 24.9)))
))
         (instance face :init :vertices (list (float-vector -14.4 -14.0 -24.9) (float-vector 14.4 -14.0 -24.9) (float-vector 14.4 -14.0 24.9) (float-vector -14.4 -14.0 24.9)))
         (instance face :init :vertices (list (float-vector 14.4 -14.0 -24.9) (float-vector -14.4 -14.0 -24.9) (float-vector -14.4 45.0 -24.9) (float-vector 14.4 45.0 -24.9))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 6.7 -11.6047 -24.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 13.4 0.0 -24.9) (float-vector 11.6047 6.7 -24.9) (float-vector 6.7 11.6047 -24.9) (float-vector 7.105427e-15 13.4 -24.9) (float-vector -6.7 11.6047 -24.9) (float-vector -11.6047 6.7 -24.9) (float-vector -13.4 1.421085e-14 -24.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -2.131628e-14 -13.4 -24.9)))
))
         (instance face :init :vertices (list (float-vector 13.4 0.0 26.9) (float-vector 13.4 0.0 24.9) (float-vector 11.6047 6.7 24.9) (float-vector 11.6047 6.7 26.9)))
         (instance face :init :vertices (list (float-vector 13.4 0.0 -24.9) (float-vector 13.4 0.0 -26.9) (float-vector 11.6047 6.7 -26.9) (float-vector 11.6047 6.7 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 11.6047 24.9) (float-vector 6.7 11.6047 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 11.6047 6.7 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 6.7 -26.9) (float-vector 6.7 11.6047 -26.9) (float-vector 6.7 11.6047 -24.9) (float-vector 11.6047 6.7 -24.9)))
         (instance face :init :vertices (list (float-vector 7.105427e-15 13.4 24.9) (float-vector 7.105427e-15 13.4 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 6.7 11.6047 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 11.6047 -26.9) (float-vector 1.065814e-14 13.4 -26.9) (float-vector 7.105427e-15 13.4 -24.9) (float-vector 6.7 11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 11.6047 24.9) (float-vector -6.7 11.6047 26.9) (float-vector 7.105427e-15 13.4 26.9) (float-vector 7.105427e-15 13.4 24.9)))
         (instance face :init :vertices (list (float-vector 1.065814e-14 13.4 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector -6.7 11.6047 -24.9) (float-vector 7.105427e-15 13.4 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 6.7 24.9) (float-vector -11.6047 6.7 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -6.7 11.6047 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 11.6047 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -11.6047 6.7 -24.9) (float-vector -6.7 11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector -13.4 1.421085e-14 24.9) (float-vector -13.4 1.421085e-14 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -11.6047 6.7 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 6.7 -26.9) (float-vector -13.4 1.421085e-14 -26.9) (float-vector -13.4 1.421085e-14 -24.9) (float-vector -11.6047 6.7 -24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 -6.7 24.9) (float-vector -11.6047 -6.7 26.9) (float-vector -13.4 1.421085e-14 26.9) (float-vector -13.4 1.421085e-14 24.9)))
         (instance face :init :vertices (list (float-vector -13.4 1.421085e-14 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -11.6047 -6.7 -24.9) (float-vector -13.4 1.421085e-14 -24.9)))
         (instance face :init :vertices (list (float-vector -6.7 -11.6047 24.9) (float-vector -6.7 -11.6047 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -11.6047 -6.7 24.9)))
         (instance face :init :vertices (list (float-vector -11.6047 -6.7 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -6.7 -11.6047 -24.9) (float-vector -11.6047 -6.7 -24.9)))
         (instance face :init :vertices (list (float-vector -2.131628e-14 -13.4 24.9) (float-vector -2.131628e-14 -13.4 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -6.7 -11.6047 24.9)))
         (instance face :init :vertices (list (float-vector -6.7 -11.6047 -26.9) (float-vector -2.131628e-14 -13.4 -26.9) (float-vector -2.131628e-14 -13.4 -24.9) (float-vector -6.7 -11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector 6.7 -11.6047 24.9) (float-vector 6.7 -11.6047 26.9) (float-vector -2.131628e-14 -13.4 26.9) (float-vector -2.131628e-14 -13.4 24.9)))
         (instance face :init :vertices (list (float-vector -2.131628e-14 -13.4 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector 6.7 -11.6047 -24.9) (float-vector -2.131628e-14 -13.4 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -6.7 24.9) (float-vector 11.6047 -6.7 26.9) (float-vector 6.7 -11.6047 26.9) (float-vector 6.7 -11.6047 24.9)))
         (instance face :init :vertices (list (float-vector 6.7 -11.6047 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 11.6047 -6.7 -24.9) (float-vector 6.7 -11.6047 -24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -6.7 26.9) (float-vector 13.4 0.0 26.9) (float-vector 11.6047 6.7 26.9) (float-vector 6.7 11.6047 26.9) (float-vector 7.105427e-15 13.4 26.9) (float-vector -6.7 11.6047 26.9) (float-vector -11.6047 6.7 26.9) (float-vector -13.4 1.421085e-14 26.9) (float-vector -11.6047 -6.7 26.9) (float-vector -6.7 -11.6047 26.9) (float-vector -2.131628e-14 -13.4 26.9) (float-vector 6.7 -11.6047 26.9)))
         (instance face :init :vertices (list (float-vector 13.4 0.0 26.9) (float-vector 11.6047 -6.7 26.9) (float-vector 11.6047 -6.7 24.9) (float-vector 13.4 0.0 24.9)))
         (instance face :init :vertices (list (float-vector 11.6047 -6.7 -26.9) (float-vector 13.4 0.0 -26.9) (float-vector 13.4 0.0 -24.9) (float-vector 11.6047 -6.7 -24.9)))
         (instance face :init :vertices (list (float-vector 13.4 0.0 -26.9) (float-vector 11.6047 -6.7 -26.9) (float-vector 6.7 -11.6047 -26.9) (float-vector -2.131628e-14 -13.4 -26.9) (float-vector -6.7 -11.6047 -26.9) (float-vector -11.6047 -6.7 -26.9) (float-vector -13.4 1.421085e-14 -26.9) (float-vector -11.6047 6.7 -26.9) (float-vector -6.7 11.6047 -26.9) (float-vector 1.065814e-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 15.0 -12.5 84.0) (float-vector 15.0 43.5 84.0) (float-vector 15.0 55.5 57.5) (float-vector 15.0 55.5 -6.5) (float-vector 15.0 43.5 -33.0) (float-vector 15.0 -12.5 -33.0) (float-vector 15.0 -24.5 -6.5) (float-vector 15.0 -24.5 57.5)))
         (instance face :init :vertices (list (float-vector 26.0 43.5 84.0) (float-vector 26.0 -12.5 84.0) (float-vector 26.0 -24.5 57.5) (float-vector 26.0 -24.5 -6.5) (float-vector 26.0 -12.5 -33.0) (float-vector 26.0 43.5 -33.0) (float-vector 26.0 55.5 -6.5) (float-vector 26.0 55.5 57.5)))
         (instance face :init :vertices (list (float-vector 15.0 -12.5 84.0) (float-vector 26.0 -12.5 84.0) (float-vector 26.0 43.5 84.0) (float-vector 15.0 43.5 84.0)))
         (instance face :init :vertices (list (float-vector 15.0 -24.5 57.5) (float-vector 26.0 -24.5 57.5) (float-vector 26.0 -12.5 84.0) (float-vector 15.0 -12.5 84.0)))
         (instance face :init :vertices (list (float-vector 15.0 -24.5 -6.5) (float-vector 26.0 -24.5 -6.5) (float-vector 26.0 -24.5 57.5) (float-vector 15.0 -24.5 57.5)))
         (instance face :init :vertices (list (float-vector 15.0 -12.5 -33.0) (float-vector 26.0 -12.5 -33.0) (float-vector 26.0 -24.5 -6.5) (float-vector 15.0 -24.5 -6.5)))
         (instance face :init :vertices (list (float-vector 15.0 43.5 -33.0) (float-vector 26.0 43.5 -33.0) (float-vector 26.0 -12.5 -33.0) (float-vector 15.0 -12.5 -33.0)))
         (instance face :init :vertices (list (float-vector 15.0 55.5 -6.5) (float-vector 26.0 55.5 -6.5) (float-vector 26.0 43.5 -33.0) (float-vector 15.0 43.5 -33.0)))
         (instance face :init :vertices (list (float-vector 15.0 55.5 57.5) (float-vector 26.0 55.5 57.5) (float-vector 26.0 55.5 -6.5) (float-vector 15.0 55.5 -6.5)))
         (instance face :init :vertices (list (float-vector 15.0 43.5 84.0) (float-vector 26.0 43.5 84.0) (float-vector 26.0 55.5 57.5) (float-vector 15.0 55.5 57.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 40.5 36.5) (float-vector 10.0 -9.5 36.5) (float-vector -22.0 2.0 36.5) (float-vector -22.0 29.0 36.5)))
         (instance face :init :vertices (list (float-vector 10.0 -9.5 66.5) (float-vector 10.0 40.5 66.5) (float-vector -22.0 29.0 66.5) (float-vector -22.0 2.0 66.5)))
         (instance face :init :vertices (list (float-vector 10.0 40.5 36.5) (float-vector 10.0 40.5 66.5) (float-vector 10.0 -9.5 66.5) (float-vector 10.0 -9.5 36.5)))
         (instance face :init :vertices (list (float-vector -22.0 29.0 36.5) (float-vector -22.0 29.0 66.5) (float-vector 10.0 40.5 66.5) (float-vector 10.0 40.5 36.5)))
         (instance face :init :vertices (list (float-vector -22.0 2.0 36.5) (float-vector -22.0 2.0 66.5) (float-vector -22.0 29.0 66.5) (float-vector -22.0 29.0 36.5)))
         (instance face :init :vertices (list (float-vector 10.0 -9.5 36.5) (float-vector 10.0 -9.5 66.5) (float-vector -22.0 2.0 66.5) (float-vector -22.0 2.0 36.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :brown)
     (send (elt bc 2) :set-color :red)
     (setq blink15 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-ankle-r :weight 262.0 :centroid (float-vector -1.65651 15.3428 29.4752) :inertia-tensor #2f((2.575436e+05 103.046 14008.1) (103.046 2.174469e+05 -1220.11) (14008.1 -1220.11 82416.1))))

     ;; definition of :larm-collar-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 0.0 -30.25) (float-vector 14.4 29.0 -30.25) (float-vector 14.4 29.0 30.25) (float-vector 14.4 0.0 30.25) (float-vector 14.4 0.0 28.75) (float-vector 14.4 27.5 28.75) (float-vector 14.4 27.5 -28.75) (float-vector 14.4 0.0 -28.75)))
         (instance face :init :vertices (list (float-vector -14.4 29.0 -30.25) (float-vector -14.4 29.0 30.25) (float-vector 14.4 29.0 30.25) (float-vector 14.4 29.0 -30.25)))
         (instance face :init :vertices (list (float-vector -14.4 0.0 -30.25) (float-vector -14.4 0.0 -28.75) (float-vector -14.4 27.5 -28.75) (float-vector -14.4 27.5 28.75) (float-vector -14.4 0.0 28.75) (float-vector -14.4 0.0 30.25) (float-vector -14.4 29.0 30.25) (float-vector -14.4 29.0 -30.25)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 30.25) (float-vector -14.4 0.0 30.25) (float-vector -14.4 0.0 28.75) (float-vector -10.1823 -10.1823 28.75)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 -30.25) (float-vector -10.1823 -10.1823 -28.75) (float-vector -14.4 0.0 -28.75) (float-vector -14.4 0.0 -30.25)))
         (instance face :init :vertices (list (float-vector 0.0 -14.4 30.25) (float-vector -10.1823 -10.1823 30.25) (float-vector -10.1823 -10.1823 28.75) (float-vector 0.0 -14.4 28.75)))
         (instance face :init :vertices (list (float-vector 6.310887e-30 -14.4 -30.25) (float-vector 6.310887e-30 -14.4 -28.75) (float-vector -10.1823 -10.1823 -28.75) (float-vector -10.1823 -10.1823 -30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 30.25) (float-vector 0.0 -14.4 30.25) (float-vector 0.0 -14.4 28.75) (float-vector 10.1823 -10.1823 28.75)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -30.25) (float-vector 10.1823 -10.1823 -28.75) (float-vector 6.310887e-30 -14.4 -28.75) (float-vector 6.310887e-30 -14.4 -30.25)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 30.25) (float-vector 14.4 29.0 30.25) (float-vector -14.4 29.0 30.25) (float-vector -14.4 0.0 30.25) (float-vector -10.1823 -10.1823 30.25) (float-vector 0.0 -14.4 30.25) (float-vector 10.1823 -10.1823 30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -30.25) (float-vector 6.310887e-30 -14.4 -30.25) (float-vector -10.1823 -10.1823 -30.25) (float-vector -14.4 0.0 -30.25) (float-vector -14.4 29.0 -30.25) (float-vector 14.4 29.0 -30.25) (float-vector 14.4 0.0 -30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 30.25) (float-vector 10.1823 -10.1823 28.75) (float-vector 14.4 0.0 28.75) (float-vector 14.4 0.0 30.25)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 -30.25) (float-vector 14.4 0.0 -28.75) (float-vector 10.1823 -10.1823 -28.75) (float-vector 10.1823 -10.1823 -30.25)))
         (instance face :init :vertices (list (float-vector 14.4 27.5 28.75) (float-vector 14.4 0.0 28.75) (float-vector 10.1823 -10.1823 28.75) (float-vector 0.0 -14.4 28.75) (float-vector -10.1823 -10.1823 28.75) (float-vector -14.4 0.0 28.75) (float-vector -14.4 27.5 28.75)))
         (instance face :init :vertices (list (float-vector 14.4 27.5 -28.75) (float-vector 14.4 27.5 28.75) (float-vector -14.4 27.5 28.75) (float-vector -14.4 27.5 -28.75)))
         (instance face :init :vertices (list (float-vector -14.4 27.5 -28.75) (float-vector -14.4 0.0 -28.75) (float-vector -10.1823 -10.1823 -28.75) (float-vector 6.310887e-30 -14.4 -28.75) (float-vector 10.1823 -10.1823 -28.75) (float-vector 14.4 0.0 -28.75) (float-vector 14.4 27.5 -28.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -14.0 37.1 -10.4) (float-vector -14.0 86.9 -10.4) (float-vector 45.0 86.9 -10.4) (float-vector 45.0 37.1 -10.4)))
         (instance face :init :vertices (list (float-vector 45.0 86.9 -10.4) (float-vector 45.0 86.9 18.4) (float-vector 45.0 37.1 18.4) (float-vector 45.0 37.1 -10.4)))
         (instance face :init :vertices (list (float-vector 45.0 86.9 18.4) (float-vector -14.0 86.9 18.4) (float-vector -14.0 37.1 18.4) (float-vector 45.0 37.1 18.4)))
         (instance face :init :vertices (list (float-vector -14.0 37.1 18.4) (float-vector -14.0 37.1 -10.4) (float-vector 45.0 37.1 -10.4) (float-vector 45.0 37.1 18.4))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -6.7 37.1 -7.60474) (float-vector -11.6047 37.1 -2.7) (float-vector -13.4 37.1 4.0) (float-vector -11.6047 37.1 10.7) (float-vector -6.7 37.1 15.6047) (float-vector 3.453536e-15 37.1 17.4) (float-vector 6.7 37.1 15.6047) (float-vector 11.6047 37.1 10.7) (float-vector 13.4 37.1 4.0) (float-vector 11.6047 37.1 -2.7) (float-vector 6.7 37.1 -7.60474) (float-vector -1.133884e-14 37.1 -9.4)))
))
         (instance face :init :vertices (list (float-vector -14.0 86.9 18.4) (float-vector -14.0 86.9 -10.4) (float-vector -14.0 37.1 -10.4) (float-vector -14.0 37.1 18.4)))
         (instance face :init :vertices (list (float-vector -14.0 86.9 -10.4) (float-vector -14.0 86.9 18.4) (float-vector 45.0 86.9 18.4) (float-vector 45.0 86.9 -10.4))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -11.6047 86.9 -2.7) (float-vector -6.7 86.9 -7.60474) (float-vector -1.686775e-14 86.9 -9.4) (float-vector 6.7 86.9 -7.60474) (float-vector 11.6047 86.9 -2.7) (float-vector 13.4 86.9 4.0) (float-vector 11.6047 86.9 10.7) (float-vector 6.7 86.9 15.6047) (float-vector -2.075374e-15 86.9 17.4) (float-vector -6.7 86.9 15.6047) (float-vector -11.6047 86.9 10.7) (float-vector -13.4 86.9 4.0)))
))
         (instance face :init :vertices (list (float-vector -1.111680e-14 35.1 -9.4) (float-vector -1.133884e-14 37.1 -9.4) (float-vector 6.7 37.1 -7.60474) (float-vector 6.7 35.1 -7.60474)))
         (instance face :init :vertices (list (float-vector -1.686775e-14 86.9 -9.4) (float-vector -1.708980e-14 88.9 -9.4) (float-vector 6.7 88.9 -7.60474) (float-vector 6.7 86.9 -7.60474)))
         (instance face :init :vertices (list (float-vector 11.6047 37.1 -2.7) (float-vector 11.6047 35.1 -2.7) (float-vector 6.7 35.1 -7.60474) (float-vector 6.7 37.1 -7.60474)))
         (instance face :init :vertices (list (float-vector 6.7 88.9 -7.60474) (float-vector 11.6047 88.9 -2.7) (float-vector 11.6047 86.9 -2.7) (float-vector 6.7 86.9 -7.60474)))
         (instance face :init :vertices (list (float-vector 13.4 37.1 4.0) (float-vector 13.4 35.1 4.0) (float-vector 11.6047 35.1 -2.7) (float-vector 11.6047 37.1 -2.7)))
         (instance face :init :vertices (list (float-vector 11.6047 88.9 -2.7) (float-vector 13.4 88.9 4.0) (float-vector 13.4 86.9 4.0) (float-vector 11.6047 86.9 -2.7)))
         (instance face :init :vertices (list (float-vector 11.6047 37.1 10.7) (float-vector 11.6047 35.1 10.7) (float-vector 13.4 35.1 4.0) (float-vector 13.4 37.1 4.0)))
         (instance face :init :vertices (list (float-vector 13.4 88.9 4.0) (float-vector 11.6047 88.9 10.7) (float-vector 11.6047 86.9 10.7) (float-vector 13.4 86.9 4.0)))
         (instance face :init :vertices (list (float-vector 6.7 37.1 15.6047) (float-vector 6.7 35.1 15.6047) (float-vector 11.6047 35.1 10.7) (float-vector 11.6047 37.1 10.7)))
         (instance face :init :vertices (list (float-vector 11.6047 88.9 10.7) (float-vector 6.7 88.9 15.6047) (float-vector 6.7 86.9 15.6047) (float-vector 11.6047 86.9 10.7)))
         (instance face :init :vertices (list (float-vector 3.453536e-15 37.1 17.4) (float-vector 3.675581e-15 35.1 17.4) (float-vector 6.7 35.1 15.6047) (float-vector 6.7 37.1 15.6047)))
         (instance face :init :vertices (list (float-vector 6.7 88.9 15.6047) (float-vector -2.297419e-15 88.9 17.4) (float-vector -2.075374e-15 86.9 17.4) (float-vector 6.7 86.9 15.6047)))
         (instance face :init :vertices (list (float-vector -6.7 37.1 15.6047) (float-vector -6.7 35.1 15.6047) (float-vector 3.675581e-15 35.1 17.4) (float-vector 3.453536e-15 37.1 17.4)))
         (instance face :init :vertices (list (float-vector -2.297419e-15 88.9 17.4) (float-vector -6.7 88.9 15.6047) (float-vector -6.7 86.9 15.6047) (float-vector -2.075374e-15 86.9 17.4)))
         (instance face :init :vertices (list (float-vector -11.6047 37.1 10.7) (float-vector -11.6047 35.1 10.7) (float-vector -6.7 35.1 15.6047) (float-vector -6.7 37.1 15.6047)))
         (instance face :init :vertices (list (float-vector -6.7 88.9 15.6047) (float-vector -11.6047 88.9 10.7) (float-vector -11.6047 86.9 10.7) (float-vector -6.7 86.9 15.6047)))
         (instance face :init :vertices (list (float-vector -13.4 37.1 4.0) (float-vector -13.4 35.1 4.0) (float-vector -11.6047 35.1 10.7) (float-vector -11.6047 37.1 10.7)))
         (instance face :init :vertices (list (float-vector -11.6047 88.9 10.7) (float-vector -13.4 88.9 4.0) (float-vector -13.4 86.9 4.0) (float-vector -11.6047 86.9 10.7)))
         (instance face :init :vertices (list (float-vector -11.6047 37.1 -2.7) (float-vector -11.6047 35.1 -2.7) (float-vector -13.4 35.1 4.0) (float-vector -13.4 37.1 4.0)))
         (instance face :init :vertices (list (float-vector -13.4 88.9 4.0) (float-vector -11.6047 88.9 -2.7) (float-vector -11.6047 86.9 -2.7) (float-vector -13.4 86.9 4.0)))
         (instance face :init :vertices (list (float-vector -6.7 37.1 -7.60474) (float-vector -6.7 35.1 -7.60474) (float-vector -11.6047 35.1 -2.7) (float-vector -11.6047 37.1 -2.7)))
         (instance face :init :vertices (list (float-vector -11.6047 88.9 -2.7) (float-vector -6.7 88.9 -7.60474) (float-vector -6.7 86.9 -7.60474) (float-vector -11.6047 86.9 -2.7)))
         (instance face :init :vertices (list (float-vector -6.7 35.1 -7.60474) (float-vector -1.111680e-14 35.1 -9.4) (float-vector 6.7 35.1 -7.60474) (float-vector 11.6047 35.1 -2.7) (float-vector 13.4 35.1 4.0) (float-vector 11.6047 35.1 10.7) (float-vector 6.7 35.1 15.6047) (float-vector 3.675581e-15 35.1 17.4) (float-vector -6.7 35.1 15.6047) (float-vector -11.6047 35.1 10.7) (float-vector -13.4 35.1 4.0) (float-vector -11.6047 35.1 -2.7)))
         (instance face :init :vertices (list (float-vector -1.111680e-14 35.1 -9.4) (float-vector -6.7 35.1 -7.60474) (float-vector -6.7 37.1 -7.60474) (float-vector -1.133884e-14 37.1 -9.4)))
         (instance face :init :vertices (list (float-vector -6.7 88.9 -7.60474) (float-vector -1.708980e-14 88.9 -9.4) (float-vector -1.686775e-14 86.9 -9.4) (float-vector -6.7 86.9 -7.60474)))
         (instance face :init :vertices (list (float-vector -1.708980e-14 88.9 -9.4) (float-vector -6.7 88.9 -7.60474) (float-vector -11.6047 88.9 -2.7) (float-vector -13.4 88.9 4.0) (float-vector -11.6047 88.9 10.7) (float-vector -6.7 88.9 15.6047) (float-vector -2.297419e-15 88.9 17.4) (float-vector 6.7 88.9 15.6047) (float-vector 11.6047 88.9 10.7) (float-vector 13.4 88.9 4.0) (float-vector 11.6047 88.9 -2.7) (float-vector 6.7 88.9 -7.60474)))
       ))
       ))
     (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-collar-y :weight 122.847 :centroid (float-vector 13.1653 56.2308 3.484) :inertia-tensor #2f((70247.8 -9330.64 -834.534) (-9330.64 52708.5 -2469.22) (-834.534 -2469.22 88114.8))))

     ;; definition of :larm-shoulder-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.4 0.0 -30.25) (float-vector 14.4 26.0 -30.25) (float-vector 14.4 26.0 30.25) (float-vector 14.4 -5.684342e-14 30.25) (float-vector 14.4 0.0 28.75) (float-vector 14.4 24.5 28.75) (float-vector 14.4 24.5 -28.75) (float-vector 14.4 0.0 -28.75)))
         (instance face :init :vertices (list (float-vector -14.4 26.0 -30.25) (float-vector -14.4 26.0 30.25) (float-vector 14.4 26.0 30.25) (float-vector 14.4 26.0 -30.25)))
         (instance face :init :vertices (list (float-vector -14.4 0.0 -30.25) (float-vector -14.4 0.0 -28.75) (float-vector -14.4 24.5 -28.75) (float-vector -14.4 24.5 28.75) (float-vector -14.4 -5.684342e-14 28.75) (float-vector -14.4 -5.684342e-14 30.25) (float-vector -14.4 26.0 30.25) (float-vector -14.4 26.0 -30.25)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 30.25) (float-vector -14.4 -5.684342e-14 30.25) (float-vector -14.4 -5.684342e-14 28.75) (float-vector -10.1823 -10.1823 28.75)))
         (instance face :init :vertices (list (float-vector -10.1823 -10.1823 -30.25) (float-vector -10.1823 -10.1823 -28.75) (float-vector -14.4 0.0 -28.75) (float-vector -14.4 0.0 -30.25)))
         (instance face :init :vertices (list (float-vector 0.0 -14.4 30.25) (float-vector -10.1823 -10.1823 30.25) (float-vector -10.1823 -10.1823 28.75) (float-vector 1.262177e-29 -14.4 28.75)))
         (instance face :init :vertices (list (float-vector 0.0 -14.4 -30.25) (float-vector 0.0 -14.4 -28.75) (float-vector -10.1823 -10.1823 -28.75) (float-vector -10.1823 -10.1823 -30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 30.25) (float-vector 0.0 -14.4 30.25) (float-vector 1.262177e-29 -14.4 28.75) (float-vector 10.1823 -10.1823 28.75)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -30.25) (float-vector 10.1823 -10.1823 -28.75) (float-vector 0.0 -14.4 -28.75) (float-vector 0.0 -14.4 -30.25)))
         (instance face :init :vertices (list (float-vector 14.4 -5.684342e-14 30.25) (float-vector 14.4 26.0 30.25) (float-vector -14.4 26.0 30.25) (float-vector -14.4 -5.684342e-14 30.25) (float-vector -10.1823 -10.1823 30.25) (float-vector 0.0 -14.4 30.25) (float-vector 10.1823 -10.1823 30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 -30.25) (float-vector 0.0 -14.4 -30.25) (float-vector -10.1823 -10.1823 -30.25) (float-vector -14.4 0.0 -30.25) (float-vector -14.4 26.0 -30.25) (float-vector 14.4 26.0 -30.25) (float-vector 14.4 0.0 -30.25)))
         (instance face :init :vertices (list (float-vector 10.1823 -10.1823 30.25) (float-vector 10.1823 -10.1823 28.75) (float-vector 14.4 0.0 28.75) (float-vector 14.4 -5.684342e-14 30.25)))
         (instance face :init :vertices (list (float-vector 14.4 0.0 -30.25) (float-vector 14.4 0.0 -28.75) (float-vector 10.1823 -10.1823 -28.75) (float-vector 10.1823 -10.1823 -30.25)))
         (instance face :init :vertices (list (float-vector 14.4 24.5 28.75) (float-vector 14.4 0.0 28.75) (float-vector 10.1823 -10.1823 28.75) (float-vector 1.262177e-29 -14.4 28.75) (float-vector -10.1823 -10.1823 28.75) (float-vector -14.4 -5.684342e-14 28.75) (float-vector -14.4 24.5 28.75)))
         (instance face :init :vertices (list (float-vector 14.4 24.5 -28.75) (float-vector 14.4 24.5 28.75) (float-vector -14.4 24.5 28.75) (float-vector -14.4 24.5 -28.75)))
         (instance face :init :vertices (list (float-vector -14.4 24.5 -28.75) (float-vector -14.4 0.0 -28.75) (float-vector -10.1823 -10.1823 -28.75) (float-vector 0.0 -14.4 -28.75) (float-vector 10.1823 -10.1823 -28.75) (float-vector 14.4 0.0 -28.75) (float-vector 14.4 24.5 -28.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 72.0 -17.0) (float-vector -10.0 32.0 -17.0) (float-vector -10.0 32.0 23.0) (float-vector -10.0 72.0 23.0)))
         (instance face :init :vertices (list (float-vector -10.0 32.0 23.0) (float-vector 10.0 32.0 23.0) (float-vector 10.0 72.0 23.0) (float-vector -10.0 72.0 23.0)))
         (instance face :init :vertices (list (float-vector 10.0 32.0 23.0) (float-vector 10.0 32.0 -17.0) (float-vector 10.0 72.0 -17.0) (float-vector 10.0 72.0 23.0)))
         (instance face :init :vertices (list (float-vector 10.0 72.0 -17.0) (float-vector -10.0 72.0 -17.0) (float-vector -10.0 72.0 23.0) (float-vector 10.0 72.0 23.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 72.0 -11.5) (float-vector -4.5 72.0 -14.7942) (float-vector -8.283306e-15 72.0 -16.0) (float-vector 4.5 72.0 -14.7942) (float-vector 7.79423 72.0 -11.5) (float-vector 9.0 72.0 -7.0) (float-vector 7.79423 72.0 -2.5) (float-vector 4.5 72.0 0.794229) (float-vector -3.632792e-14 72.0 2.0) (float-vector -4.5 72.0 0.794229) (float-vector -7.79423 72.0 -2.5) (float-vector -9.0 72.0 -7.0)))
))
         (instance face :init :vertices (list (float-vector 10.0 32.0 -17.0) (float-vector -10.0 32.0 -17.0) (float-vector -10.0 72.0 -17.0) (float-vector 10.0 72.0 -17.0)))
         (instance face :init :vertices (list (float-vector -10.0 32.0 -17.0) (float-vector 10.0 32.0 -17.0) (float-vector 10.0 32.0 23.0) (float-vector -10.0 32.0 23.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 32.0 -14.7942) (float-vector -7.79423 32.0 -11.5) (float-vector -9.0 32.0 -7.0) (float-vector -7.79423 32.0 -2.5) (float-vector -4.5 32.0 0.794229) (float-vector -2.813201e-14 32.0 2.0) (float-vector 4.5 32.0 0.794229) (float-vector 7.79423 32.0 -2.5) (float-vector 9.0 32.0 -7.0) (float-vector 7.79423 32.0 -11.5) (float-vector 4.5 32.0 -14.7942) (float-vector -8.739824e-17 32.0 -16.0)))
))
         (instance face :init :vertices (list (float-vector -9.0 74.0 -7.0) (float-vector -9.0 72.0 -7.0) (float-vector -7.79423 72.0 -2.5) (float-vector -7.79423 74.0 -2.5)))
         (instance face :init :vertices (list (float-vector -9.0 32.0 -7.0) (float-vector -9.0 30.0 -7.0) (float-vector -7.79423 30.0 -2.5) (float-vector -7.79423 32.0 -2.5)))
         (instance face :init :vertices (list (float-vector -4.5 72.0 0.794229) (float-vector -4.5 74.0 0.794229) (float-vector -7.79423 74.0 -2.5) (float-vector -7.79423 72.0 -2.5)))
         (instance face :init :vertices (list (float-vector -7.79423 30.0 -2.5) (float-vector -4.5 30.0 0.794229) (float-vector -4.5 32.0 0.794229) (float-vector -7.79423 32.0 -2.5)))
         (instance face :init :vertices (list (float-vector -3.632792e-14 72.0 2.0) (float-vector -3.673771e-14 74.0 2.0) (float-vector -4.5 74.0 0.794229) (float-vector -4.5 72.0 0.794229)))
         (instance face :init :vertices (list (float-vector -4.5 30.0 0.794229) (float-vector -2.772221e-14 30.0 2.0) (float-vector -2.813201e-14 32.0 2.0) (float-vector -4.5 32.0 0.794229)))
         (instance face :init :vertices (list (float-vector 4.5 72.0 0.794229) (float-vector 4.5 74.0 0.794229) (float-vector -3.673771e-14 74.0 2.0) (float-vector -3.632792e-14 72.0 2.0)))
         (instance face :init :vertices (list (float-vector -2.772221e-14 30.0 2.0) (float-vector 4.5 30.0 0.794229) (float-vector 4.5 32.0 0.794229) (float-vector -2.813201e-14 32.0 2.0)))
         (instance face :init :vertices (list (float-vector 7.79423 72.0 -2.5) (float-vector 7.79423 74.0 -2.5) (float-vector 4.5 74.0 0.794229) (float-vector 4.5 72.0 0.794229)))
         (instance face :init :vertices (list (float-vector 4.5 30.0 0.794229) (float-vector 7.79423 30.0 -2.5) (float-vector 7.79423 32.0 -2.5) (float-vector 4.5 32.0 0.794229)))
         (instance face :init :vertices (list (float-vector 9.0 72.0 -7.0) (float-vector 9.0 74.0 -7.0) (float-vector 7.79423 74.0 -2.5) (float-vector 7.79423 72.0 -2.5)))
         (instance face :init :vertices (list (float-vector 7.79423 30.0 -2.5) (float-vector 9.0 30.0 -7.0) (float-vector 9.0 32.0 -7.0) (float-vector 7.79423 32.0 -2.5)))
         (instance face :init :vertices (list (float-vector 7.79423 72.0 -11.5) (float-vector 7.79423 74.0 -11.5) (float-vector 9.0 74.0 -7.0) (float-vector 9.0 72.0 -7.0)))
         (instance face :init :vertices (list (float-vector 9.0 30.0 -7.0) (float-vector 7.79423 30.0 -11.5) (float-vector 7.79423 32.0 -11.5) (float-vector 9.0 32.0 -7.0)))
         (instance face :init :vertices (list (float-vector 4.5 72.0 -14.7942) (float-vector 4.5 74.0 -14.7942) (float-vector 7.79423 74.0 -11.5) (float-vector 7.79423 72.0 -11.5)))
         (instance face :init :vertices (list (float-vector 7.79423 30.0 -11.5) (float-vector 4.5 30.0 -14.7942) (float-vector 4.5 32.0 -14.7942) (float-vector 7.79423 32.0 -11.5)))
         (instance face :init :vertices (list (float-vector -8.283306e-15 72.0 -16.0) (float-vector -8.693102e-15 74.0 -16.0) (float-vector 4.5 74.0 -14.7942) (float-vector 4.5 72.0 -14.7942)))
         (instance face :init :vertices (list (float-vector 4.5 30.0 -14.7942) (float-vector 3.223972e-16 30.0 -16.0) (float-vector -8.739824e-17 32.0 -16.0) (float-vector 4.5 32.0 -14.7942)))
         (instance face :init :vertices (list (float-vector -4.5 72.0 -14.7942) (float-vector -4.5 74.0 -14.7942) (float-vector -8.693102e-15 74.0 -16.0) (float-vector -8.283306e-15 72.0 -16.0)))
         (instance face :init :vertices (list (float-vector 3.223972e-16 30.0 -16.0) (float-vector -4.5 30.0 -14.7942) (float-vector -4.5 32.0 -14.7942) (float-vector -8.739824e-17 32.0 -16.0)))
         (instance face :init :vertices (list (float-vector -7.79423 72.0 -11.5) (float-vector -7.79423 74.0 -11.5) (float-vector -4.5 74.0 -14.7942) (float-vector -4.5 72.0 -14.7942)))
         (instance face :init :vertices (list (float-vector -4.5 30.0 -14.7942) (float-vector -7.79423 30.0 -11.5) (float-vector -7.79423 32.0 -11.5) (float-vector -4.5 32.0 -14.7942)))
         (instance face :init :vertices (list (float-vector -7.79423 74.0 -11.5) (float-vector -9.0 74.0 -7.0) (float-vector -7.79423 74.0 -2.5) (float-vector -4.5 74.0 0.794229) (float-vector -3.673771e-14 74.0 2.0) (float-vector 4.5 74.0 0.794229) (float-vector 7.79423 74.0 -2.5) (float-vector 9.0 74.0 -7.0) (float-vector 7.79423 74.0 -11.5) (float-vector 4.5 74.0 -14.7942) (float-vector -8.693102e-15 74.0 -16.0) (float-vector -4.5 74.0 -14.7942)))
         (instance face :init :vertices (list (float-vector -9.0 74.0 -7.0) (float-vector -7.79423 74.0 -11.5) (float-vector -7.79423 72.0 -11.5) (float-vector -9.0 72.0 -7.0)))
         (instance face :init :vertices (list (float-vector -7.79423 30.0 -11.5) (float-vector -9.0 30.0 -7.0) (float-vector -9.0 32.0 -7.0) (float-vector -7.79423 32.0 -11.5)))
         (instance face :init :vertices (list (float-vector -9.0 30.0 -7.0) (float-vector -7.79423 30.0 -11.5) (float-vector -4.5 30.0 -14.7942) (float-vector 3.223972e-16 30.0 -16.0) (float-vector 4.5 30.0 -14.7942) (float-vector 7.79423 30.0 -11.5) (float-vector 9.0 30.0 -7.0) (float-vector 7.79423 30.0 -2.5) (float-vector 4.5 30.0 0.794229) (float-vector -2.772221e-14 30.0 2.0) (float-vector -4.5 30.0 0.794229) (float-vector -7.79423 30.0 -2.5)))
       ))
       ))
     (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-p :weight 68.1474 :centroid (float-vector -1.241506e-14 43.8818 2.10391) :inertia-tensor #2f((41662.5 3.216230e-11 3.116494e-12) (3.216230e-11 19161.4 -1163.95) (3.116494e-12 -1163.95 28128.4))))

     ;; definition of :larm-elbow-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -22.75) (float-vector 10.0 26.5 -22.75) (float-vector 10.0 26.5 22.75) (float-vector 10.0 0.0 22.75) (float-vector 10.0 0.0 21.75) (float-vector 10.0 25.5 21.75) (float-vector 10.0 25.5 -21.75) (float-vector 10.0 0.0 -21.75)))
         (instance face :init :vertices (list (float-vector -10.0 26.5 -22.75) (float-vector -10.0 26.5 22.75) (float-vector 10.0 26.5 22.75) (float-vector 10.0 26.5 -22.75)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -22.75) (float-vector -10.0 0.0 -21.75) (float-vector -10.0 25.5 -21.75) (float-vector -10.0 25.5 21.75) (float-vector -10.0 0.0 21.75) (float-vector -10.0 0.0 22.75) (float-vector -10.0 26.5 22.75) (float-vector -10.0 26.5 -22.75)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 22.75) (float-vector -10.0 0.0 22.75) (float-vector -10.0 0.0 21.75) (float-vector -7.07107 -7.07107 21.75)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -22.75) (float-vector -7.07107 -7.07107 -21.75) (float-vector -10.0 0.0 -21.75) (float-vector -10.0 0.0 -22.75)))
         (instance face :init :vertices (list (float-vector 6.310887e-30 -10.0 22.75) (float-vector -7.07107 -7.07107 22.75) (float-vector -7.07107 -7.07107 21.75) (float-vector 0.0 -10.0 21.75)))
         (instance face :init :vertices (list (float-vector 6.310887e-30 -10.0 -22.75) (float-vector 0.0 -10.0 -21.75) (float-vector -7.07107 -7.07107 -21.75) (float-vector -7.07107 -7.07107 -22.75)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 22.75) (float-vector 6.310887e-30 -10.0 22.75) (float-vector 0.0 -10.0 21.75) (float-vector 7.07107 -7.07107 21.75)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -22.75) (float-vector 7.07107 -7.07107 -21.75) (float-vector 0.0 -10.0 -21.75) (float-vector 6.310887e-30 -10.0 -22.75)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 22.75) (float-vector 10.0 26.5 22.75) (float-vector -10.0 26.5 22.75) (float-vector -10.0 0.0 22.75) (float-vector -7.07107 -7.07107 22.75) (float-vector 6.310887e-30 -10.0 22.75) (float-vector 7.07107 -7.07107 22.75)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -22.75) (float-vector 6.310887e-30 -10.0 -22.75) (float-vector -7.07107 -7.07107 -22.75) (float-vector -10.0 0.0 -22.75) (float-vector -10.0 26.5 -22.75) (float-vector 10.0 26.5 -22.75) (float-vector 10.0 0.0 -22.75)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 22.75) (float-vector 7.07107 -7.07107 21.75) (float-vector 10.0 0.0 21.75) (float-vector 10.0 0.0 22.75)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -22.75) (float-vector 10.0 0.0 -21.75) (float-vector 7.07107 -7.07107 -21.75) (float-vector 7.07107 -7.07107 -22.75)))
         (instance face :init :vertices (list (float-vector 10.0 25.5 21.75) (float-vector 10.0 0.0 21.75) (float-vector 7.07107 -7.07107 21.75) (float-vector 0.0 -10.0 21.75) (float-vector -7.07107 -7.07107 21.75) (float-vector -10.0 0.0 21.75) (float-vector -10.0 25.5 21.75)))
         (instance face :init :vertices (list (float-vector 10.0 25.5 -21.75) (float-vector 10.0 25.5 21.75) (float-vector -10.0 25.5 21.75) (float-vector -10.0 25.5 -21.75)))
         (instance face :init :vertices (list (float-vector -10.0 25.5 -21.75) (float-vector -10.0 0.0 -21.75) (float-vector -7.07107 -7.07107 -21.75) (float-vector 0.0 -10.0 -21.75) (float-vector 7.07107 -7.07107 -21.75) (float-vector 10.0 0.0 -21.75) (float-vector 10.0 25.5 -21.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 24.25 50.0) (float-vector -10.0 24.25 23.5) (float-vector -10.0 -24.25 23.5) (float-vector -10.0 -24.25 50.0) (float-vector -10.0 -23.25 50.0) (float-vector -10.0 -23.25 24.5) (float-vector -10.0 23.25 24.5) (float-vector -10.0 23.25 50.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.25 23.5) (float-vector 10.0 -24.25 23.5) (float-vector -10.0 -24.25 23.5) (float-vector -10.0 24.25 23.5)))
         (instance face :init :vertices (list (float-vector 10.0 24.25 50.0) (float-vector 10.0 23.25 50.0) (float-vector 10.0 23.25 24.5) (float-vector 10.0 -23.25 24.5) (float-vector 10.0 -23.25 50.0) (float-vector 10.0 -24.25 50.0) (float-vector 10.0 -24.25 23.5) (float-vector 10.0 24.25 23.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -24.25 57.0711) (float-vector 10.0 -24.25 50.0) (float-vector 10.0 -23.25 50.0) (float-vector 7.07107 -23.25 57.0711)))
         (instance face :init :vertices (list (float-vector 7.07107 24.25 57.0711) (float-vector 7.07107 23.25 57.0711) (float-vector 10.0 23.25 50.0) (float-vector 10.0 24.25 50.0)))
         (instance face :init :vertices (list (float-vector -2.928083e-15 -24.25 60.0) (float-vector 7.07107 -24.25 57.0711) (float-vector 7.07107 -23.25 57.0711) (float-vector -3.085092e-15 -23.25 60.0)))
         (instance face :init :vertices (list (float-vector -1.054303e-14 24.25 60.0) (float-vector -1.038602e-14 23.25 60.0) (float-vector 7.07107 23.25 57.0711) (float-vector 7.07107 24.25 57.0711)))
         (instance face :init :vertices (list (float-vector -7.07107 -24.25 57.0711) (float-vector -2.928083e-15 -24.25 60.0) (float-vector -3.085092e-15 -23.25 60.0) (float-vector -7.07107 -23.25 57.0711)))
         (instance face :init :vertices (list (float-vector -7.07107 24.25 57.0711) (float-vector -7.07107 23.25 57.0711) (float-vector -1.038602e-14 23.25 60.0) (float-vector -1.054303e-14 24.25 60.0)))
         (instance face :init :vertices (list (float-vector -10.0 -24.25 50.0) (float-vector -10.0 -24.25 23.5) (float-vector 10.0 -24.25 23.5) (float-vector 10.0 -24.25 50.0) (float-vector 7.07107 -24.25 57.0711) (float-vector -2.928083e-15 -24.25 60.0) (float-vector -7.07107 -24.25 57.0711)))
         (instance face :init :vertices (list (float-vector -7.07107 24.25 57.0711) (float-vector -1.054303e-14 24.25 60.0) (float-vector 7.07107 24.25 57.0711) (float-vector 10.0 24.25 50.0) (float-vector 10.0 24.25 23.5) (float-vector -10.0 24.25 23.5) (float-vector -10.0 24.25 50.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -24.25 57.0711) (float-vector -7.07107 -23.25 57.0711) (float-vector -10.0 -23.25 50.0) (float-vector -10.0 -24.25 50.0)))
         (instance face :init :vertices (list (float-vector -10.0 24.25 50.0) (float-vector -10.0 23.25 50.0) (float-vector -7.07107 23.25 57.0711) (float-vector -7.07107 24.25 57.0711)))
         (instance face :init :vertices (list (float-vector -10.0 -23.25 24.5) (float-vector -10.0 -23.25 50.0) (float-vector -7.07107 -23.25 57.0711) (float-vector -3.085092e-15 -23.25 60.0) (float-vector 7.07107 -23.25 57.0711) (float-vector 10.0 -23.25 50.0) (float-vector 10.0 -23.25 24.5)))
         (instance face :init :vertices (list (float-vector -10.0 23.25 24.5) (float-vector -10.0 -23.25 24.5) (float-vector 10.0 -23.25 24.5) (float-vector 10.0 23.25 24.5)))
         (instance face :init :vertices (list (float-vector 10.0 23.25 24.5) (float-vector 10.0 23.25 50.0) (float-vector 7.07107 23.25 57.0711) (float-vector -1.038602e-14 23.25 60.0) (float-vector -7.07107 23.25 57.0711) (float-vector -10.0 23.25 50.0) (float-vector -10.0 23.25 24.5)))
       ))
       ))
     (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-elbow-y :weight 12.1114 :centroid (float-vector -1.360616e-14 7.92007 17.0666) :inertia-tensor #2f((10591.6 -2.499421e-13 9.398054e-13) (-2.499421e-13 6869.11 1637.07) (9.398054e-13 1637.07 4529.92))))

     ;; 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 -1.509903e-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 5.329071e-15 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 5.329071e-15 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 -1.509903e-14 -9.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector 9.0 -5.684342e-14 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 5.329071e-15 9.0 20.0) (float-vector 5.329071e-15 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 5.329071e-15 9.0 -22.0) (float-vector 5.329071e-15 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 5.329071e-15 9.0 22.0) (float-vector 5.329071e-15 9.0 20.0)))
         (instance face :init :vertices (list (float-vector 5.329071e-15 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 5.329071e-15 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 -1.509903e-14 -9.0 20.0) (float-vector -1.509903e-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 -1.509903e-14 -9.0 -22.0) (float-vector -1.509903e-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 -1.509903e-14 -9.0 22.0) (float-vector -1.509903e-14 -9.0 20.0)))
         (instance face :init :vertices (list (float-vector -1.509903e-14 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector -1.509903e-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 -5.684342e-14 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 5.329071e-15 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 -1.509903e-14 -9.0 22.0) (float-vector 4.5 -7.79423 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 -5.684342e-14 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 -1.509903e-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 5.329071e-15 9.0 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 7.79423 4.5 -22.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (setq blink7 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-elbow-p :weight 53 :centroid (float-vector -9.881964e-15 9.7052 2.842171e-14) :inertia-tensor #2f((14133.3 -3.324825e-26 1.329930e-26) (-3.324825e-26 8833.33 1.070326e-25) (1.329930e-26 1.070326e-25 8833.33))))

     ;; definition of :head-neck-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 24.0 24.0) (float-vector 10.0 24.0 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -25.0) (float-vector -10.0 25.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 24.0 -24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector -10.0 25.0 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)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 25.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 24.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 -24.0) (float-vector 10.0 24.0 24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 24.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 24.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 24.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 20.0 70.0) (float-vector 10.0 -20.0 70.0) (float-vector 10.0 -20.0 30.0) (float-vector 10.0 20.0 30.0)))
         (instance face :init :vertices (list (float-vector 10.0 -20.0 30.0) (float-vector -10.0 -20.0 30.0) (float-vector -10.0 20.0 30.0) (float-vector 10.0 20.0 30.0)))
         (instance face :init :vertices (list (float-vector -10.0 -20.0 30.0) (float-vector -10.0 -20.0 70.0) (float-vector -10.0 20.0 70.0) (float-vector -10.0 20.0 30.0)))
         (instance face :init :vertices (list (float-vector -10.0 20.0 70.0) (float-vector 10.0 20.0 70.0) (float-vector 10.0 20.0 30.0) (float-vector -10.0 20.0 30.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 7.79423 20.0 64.5) (float-vector 4.5 20.0 67.7942) (float-vector -1.509903e-14 20.0 69.0) (float-vector -4.5 20.0 67.7942) (float-vector -7.79423 20.0 64.5) (float-vector -9.0 20.0 60.0) (float-vector -7.79423 20.0 55.5) (float-vector -4.5 20.0 52.2058) (float-vector 5.329071e-15 20.0 51.0) (float-vector 4.5 20.0 52.2058) (float-vector 7.79423 20.0 55.5) (float-vector 9.0 20.0 60.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -20.0 70.0) (float-vector 10.0 -20.0 70.0) (float-vector 10.0 20.0 70.0) (float-vector -10.0 20.0 70.0)))
         (instance face :init :vertices (list (float-vector 10.0 -20.0 70.0) (float-vector -10.0 -20.0 70.0) (float-vector -10.0 -20.0 30.0) (float-vector 10.0 -20.0 30.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.5 -20.0 67.7942) (float-vector 7.79423 -20.0 64.5) (float-vector 9.0 -20.0 60.0) (float-vector 7.79423 -20.0 55.5) (float-vector 4.5 -20.0 52.2058) (float-vector 5.329071e-15 -20.0 51.0) (float-vector -4.5 -20.0 52.2058) (float-vector -7.79423 -20.0 55.5) (float-vector -9.0 -20.0 60.0) (float-vector -7.79423 -20.0 64.5) (float-vector -4.5 -20.0 67.7942) (float-vector -1.509903e-14 -20.0 69.0)))
))
         (instance face :init :vertices (list (float-vector 9.0 22.0 60.0) (float-vector 9.0 20.0 60.0) (float-vector 7.79423 20.0 55.5) (float-vector 7.79423 22.0 55.5)))
         (instance face :init :vertices (list (float-vector 9.0 -20.0 60.0) (float-vector 9.0 -22.0 60.0) (float-vector 7.79423 -22.0 55.5) (float-vector 7.79423 -20.0 55.5)))
         (instance face :init :vertices (list (float-vector 4.5 20.0 52.2058) (float-vector 4.5 22.0 52.2058) (float-vector 7.79423 22.0 55.5) (float-vector 7.79423 20.0 55.5)))
         (instance face :init :vertices (list (float-vector 7.79423 -22.0 55.5) (float-vector 4.5 -22.0 52.2058) (float-vector 4.5 -20.0 52.2058) (float-vector 7.79423 -20.0 55.5)))
         (instance face :init :vertices (list (float-vector 5.329071e-15 20.0 51.0) (float-vector 5.329071e-15 22.0 51.0) (float-vector 4.5 22.0 52.2058) (float-vector 4.5 20.0 52.2058)))
         (instance face :init :vertices (list (float-vector 4.5 -22.0 52.2058) (float-vector 5.329071e-15 -22.0 51.0) (float-vector 5.329071e-15 -20.0 51.0) (float-vector 4.5 -20.0 52.2058)))
         (instance face :init :vertices (list (float-vector -4.5 20.0 52.2058) (float-vector -4.5 22.0 52.2058) (float-vector 5.329071e-15 22.0 51.0) (float-vector 5.329071e-15 20.0 51.0)))
         (instance face :init :vertices (list (float-vector 5.329071e-15 -22.0 51.0) (float-vector -4.5 -22.0 52.2058) (float-vector -4.5 -20.0 52.2058) (float-vector 5.329071e-15 -20.0 51.0)))
         (instance face :init :vertices (list (float-vector -7.79423 20.0 55.5) (float-vector -7.79423 22.0 55.5) (float-vector -4.5 22.0 52.2058) (float-vector -4.5 20.0 52.2058)))
         (instance face :init :vertices (list (float-vector -4.5 -22.0 52.2058) (float-vector -7.79423 -22.0 55.5) (float-vector -7.79423 -20.0 55.5) (float-vector -4.5 -20.0 52.2058)))
         (instance face :init :vertices (list (float-vector -9.0 20.0 60.0) (float-vector -9.0 22.0 60.0) (float-vector -7.79423 22.0 55.5) (float-vector -7.79423 20.0 55.5)))
         (instance face :init :vertices (list (float-vector -7.79423 -22.0 55.5) (float-vector -9.0 -22.0 60.0) (float-vector -9.0 -20.0 60.0) (float-vector -7.79423 -20.0 55.5)))
         (instance face :init :vertices (list (float-vector -7.79423 20.0 64.5) (float-vector -7.79423 22.0 64.5) (float-vector -9.0 22.0 60.0) (float-vector -9.0 20.0 60.0)))
         (instance face :init :vertices (list (float-vector -9.0 -22.0 60.0) (float-vector -7.79423 -22.0 64.5) (float-vector -7.79423 -20.0 64.5) (float-vector -9.0 -20.0 60.0)))
         (instance face :init :vertices (list (float-vector -4.5 20.0 67.7942) (float-vector -4.5 22.0 67.7942) (float-vector -7.79423 22.0 64.5) (float-vector -7.79423 20.0 64.5)))
         (instance face :init :vertices (list (float-vector -7.79423 -22.0 64.5) (float-vector -4.5 -22.0 67.7942) (float-vector -4.5 -20.0 67.7942) (float-vector -7.79423 -20.0 64.5)))
         (instance face :init :vertices (list (float-vector -1.509903e-14 20.0 69.0) (float-vector -1.509903e-14 22.0 69.0) (float-vector -4.5 22.0 67.7942) (float-vector -4.5 20.0 67.7942)))
         (instance face :init :vertices (list (float-vector -4.5 -22.0 67.7942) (float-vector -1.509903e-14 -22.0 69.0) (float-vector -1.509903e-14 -20.0 69.0) (float-vector -4.5 -20.0 67.7942)))
         (instance face :init :vertices (list (float-vector 4.5 20.0 67.7942) (float-vector 4.5 22.0 67.7942) (float-vector -1.509903e-14 22.0 69.0) (float-vector -1.509903e-14 20.0 69.0)))
         (instance face :init :vertices (list (float-vector -1.509903e-14 -22.0 69.0) (float-vector 4.5 -22.0 67.7942) (float-vector 4.5 -20.0 67.7942) (float-vector -1.509903e-14 -20.0 69.0)))
         (instance face :init :vertices (list (float-vector 7.79423 20.0 64.5) (float-vector 7.79423 22.0 64.5) (float-vector 4.5 22.0 67.7942) (float-vector 4.5 20.0 67.7942)))
         (instance face :init :vertices (list (float-vector 4.5 -22.0 67.7942) (float-vector 7.79423 -22.0 64.5) (float-vector 7.79423 -20.0 64.5) (float-vector 4.5 -20.0 67.7942)))
         (instance face :init :vertices (list (float-vector 7.79423 22.0 64.5) (float-vector 9.0 22.0 60.0) (float-vector 7.79423 22.0 55.5) (float-vector 4.5 22.0 52.2058) (float-vector 5.329071e-15 22.0 51.0) (float-vector -4.5 22.0 52.2058) (float-vector -7.79423 22.0 55.5) (float-vector -9.0 22.0 60.0) (float-vector -7.79423 22.0 64.5) (float-vector -4.5 22.0 67.7942) (float-vector -1.509903e-14 22.0 69.0) (float-vector 4.5 22.0 67.7942)))
         (instance face :init :vertices (list (float-vector 9.0 22.0 60.0) (float-vector 7.79423 22.0 64.5) (float-vector 7.79423 20.0 64.5) (float-vector 9.0 20.0 60.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -22.0 64.5) (float-vector 9.0 -22.0 60.0) (float-vector 9.0 -20.0 60.0) (float-vector 7.79423 -20.0 64.5)))
         (instance face :init :vertices (list (float-vector 9.0 -22.0 60.0) (float-vector 7.79423 -22.0 64.5) (float-vector 4.5 -22.0 67.7942) (float-vector -1.509903e-14 -22.0 69.0) (float-vector -4.5 -22.0 67.7942) (float-vector -7.79423 -22.0 64.5) (float-vector -9.0 -22.0 60.0) (float-vector -7.79423 -22.0 55.5) (float-vector -4.5 -22.0 52.2058) (float-vector 5.329071e-15 -22.0 51.0) (float-vector 4.5 -22.0 52.2058) (float-vector 7.79423 -22.0 55.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-neck-y :weight 59.0557 :centroid (float-vector -6.041445e-16 1.59479 45.1375) :inertia-tensor #2f((32548.9 -9.015615e-15 2.798172e-14) (-9.015615e-15 25359.7 4251.1) (2.798172e-14 4251.1 11126.3))))

     ;; definition of :head-neck-r
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 24.0 24.0) (float-vector 10.0 24.0 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -25.0) (float-vector -10.0 25.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 24.0 -24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector -1.942890e-15 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -1.887379e-15 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 8.326673e-16 -10.0 -25.0) (float-vector 7.771561e-16 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector -1.942890e-15 -10.0 25.0) (float-vector -1.887379e-15 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.771561e-16 -10.0 -24.0) (float-vector 8.326673e-16 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -1.942890e-15 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 8.326673e-16 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 25.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector -1.887379e-15 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 24.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 -24.0) (float-vector 10.0 24.0 24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 24.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 24.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 7.771561e-16 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 24.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 25.0 65.0 -10.0) (float-vector 25.0 25.0 -10.0) (float-vector -25.0 25.0 -10.0) (float-vector -25.0 65.0 -10.0) (float-vector -24.0 65.0 -10.0) (float-vector -24.0 26.0 -10.0) (float-vector 24.0 26.0 -10.0) (float-vector 24.0 65.0 -10.0)))
         (instance face :init :vertices (list (float-vector 25.0 25.0 10.0) (float-vector -25.0 25.0 10.0) (float-vector -25.0 25.0 -10.0) (float-vector 25.0 25.0 -10.0)))
         (instance face :init :vertices (list (float-vector 25.0 65.0 10.0) (float-vector 24.0 65.0 10.0) (float-vector 24.0 26.0 10.0) (float-vector -24.0 26.0 10.0) (float-vector -24.0 65.0 10.0) (float-vector -25.0 65.0 10.0) (float-vector -25.0 25.0 10.0) (float-vector 25.0 25.0 10.0)))
         (instance face :init :vertices (list (float-vector -25.0 72.0711 7.07107) (float-vector -25.0 65.0 10.0) (float-vector -24.0 65.0 10.0) (float-vector -24.0 72.0711 7.07107)))
         (instance face :init :vertices (list (float-vector 25.0 72.0711 7.07107) (float-vector 24.0 72.0711 7.07107) (float-vector 24.0 65.0 10.0) (float-vector 25.0 65.0 10.0)))
         (instance face :init :vertices (list (float-vector -25.0 75.0 -1.977557e-14) (float-vector -25.0 72.0711 7.07107) (float-vector -24.0 72.0711 7.07107) (float-vector -24.0 75.0 -1.982067e-14)))
         (instance face :init :vertices (list (float-vector 25.0 75.0 -2.203052e-14) (float-vector 24.0 75.0 -2.198542e-14) (float-vector 24.0 72.0711 7.07107) (float-vector 25.0 72.0711 7.07107)))
         (instance face :init :vertices (list (float-vector -25.0 72.0711 -7.07107) (float-vector -25.0 75.0 -1.977557e-14) (float-vector -24.0 75.0 -1.982067e-14) (float-vector -24.0 72.0711 -7.07107)))
         (instance face :init :vertices (list (float-vector 25.0 72.0711 -7.07107) (float-vector 24.0 72.0711 -7.07107) (float-vector 24.0 75.0 -2.198542e-14) (float-vector 25.0 75.0 -2.203052e-14)))
         (instance face :init :vertices (list (float-vector -25.0 65.0 -10.0) (float-vector -25.0 25.0 -10.0) (float-vector -25.0 25.0 10.0) (float-vector -25.0 65.0 10.0) (float-vector -25.0 72.0711 7.07107) (float-vector -25.0 75.0 -1.977557e-14) (float-vector -25.0 72.0711 -7.07107)))
         (instance face :init :vertices (list (float-vector 25.0 72.0711 -7.07107) (float-vector 25.0 75.0 -2.203052e-14) (float-vector 25.0 72.0711 7.07107) (float-vector 25.0 65.0 10.0) (float-vector 25.0 25.0 10.0) (float-vector 25.0 25.0 -10.0) (float-vector 25.0 65.0 -10.0)))
         (instance face :init :vertices (list (float-vector -25.0 72.0711 -7.07107) (float-vector -24.0 72.0711 -7.07107) (float-vector -24.0 65.0 -10.0) (float-vector -25.0 65.0 -10.0)))
         (instance face :init :vertices (list (float-vector 25.0 65.0 -10.0) (float-vector 24.0 65.0 -10.0) (float-vector 24.0 72.0711 -7.07107) (float-vector 25.0 72.0711 -7.07107)))
         (instance face :init :vertices (list (float-vector -24.0 26.0 -10.0) (float-vector -24.0 65.0 -10.0) (float-vector -24.0 72.0711 -7.07107) (float-vector -24.0 75.0 -1.982067e-14) (float-vector -24.0 72.0711 7.07107) (float-vector -24.0 65.0 10.0) (float-vector -24.0 26.0 10.0)))
         (instance face :init :vertices (list (float-vector 24.0 26.0 -10.0) (float-vector -24.0 26.0 -10.0) (float-vector -24.0 26.0 10.0) (float-vector 24.0 26.0 10.0)))
         (instance face :init :vertices (list (float-vector 24.0 26.0 10.0) (float-vector 24.0 65.0 10.0) (float-vector 24.0 72.0711 7.07107) (float-vector 24.0 75.0 -2.198542e-14) (float-vector 24.0 72.0711 -7.07107) (float-vector 24.0 65.0 -10.0) (float-vector 24.0 26.0 -10.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-neck-r :weight 13.7314 :centroid (float-vector -7.229442e-16 29.6685 1.068514e-14) :inertia-tensor #2f((7858.01 1.742818e-12 -3.904882e-27) (1.742818e-12 6584.3 1.881230e-12) (-3.904882e-27 1.881230e-12 8776.55))))

     ;; definition of :head-neck-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 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 8.437695e-15 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 -5.329071e-15 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 1.332268e-15 -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 1.509903e-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)))
))
         (instance face :init :vertices (list (float-vector 9.0 -5.662137e-15 22.0) (float-vector 9.0 -5.329071e-15 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 1.332268e-15 -20.0) (float-vector 9.0 1.665335e-15 -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)))
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         (instance face :init :vertices (list (float-vector -91.0 -45.0 -58.5) (float-vector -59.0 -45.0 -58.5) (float-vector -59.0 -45.0 -21.5) (float-vector -91.0 -45.0 -21.5)))
         (instance face :init :vertices (list (float-vector -91.0 -43.0 -58.5) (float-vector -59.0 -43.0 -58.5) (float-vector -59.0 -45.0 -58.5) (float-vector -91.0 -45.0 -58.5)))
         (instance face :init :vertices (list (float-vector -91.0 -43.0 -21.5) (float-vector -59.0 -43.0 -21.5) (float-vector -59.0 -43.0 -58.5) (float-vector -91.0 -43.0 -58.5)))
         (instance face :init :vertices (list (float-vector -91.0 -45.0 -21.5) (float-vector -59.0 -45.0 -21.5) (float-vector -59.0 -43.0 -21.5) (float-vector -91.0 -43.0 -21.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -91.0 -45.0 21.5) (float-vector -91.0 -45.0 58.5) (float-vector -91.0 -43.0 58.5) (float-vector -91.0 -43.0 21.5)))
         (instance face :init :vertices (list (float-vector -59.0 -45.0 58.5) (float-vector -59.0 -45.0 21.5) (float-vector -59.0 -43.0 21.5) (float-vector -59.0 -43.0 58.5)))
         (instance face :init :vertices (list (float-vector -91.0 -45.0 21.5) (float-vector -59.0 -45.0 21.5) (float-vector -59.0 -45.0 58.5) (float-vector -91.0 -45.0 58.5)))
         (instance face :init :vertices (list (float-vector -91.0 -43.0 21.5) (float-vector -59.0 -43.0 21.5) (float-vector -59.0 -45.0 21.5) (float-vector -91.0 -45.0 21.5)))
         (instance face :init :vertices (list (float-vector -91.0 -43.0 58.5) (float-vector -59.0 -43.0 58.5) (float-vector -59.0 -43.0 21.5) (float-vector -91.0 -43.0 21.5)))
         (instance face :init :vertices (list (float-vector -91.0 -45.0 58.5) (float-vector -59.0 -45.0 58.5) (float-vector -59.0 -43.0 58.5) (float-vector -91.0 -43.0 58.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -75.0 -72.0 -45.75) (float-vector -75.0 -54.0 -45.75) (float-vector -72.125 -54.0 -44.9796) (float-vector -72.125 -72.0 -44.9796)))
         (instance face :init :vertices (list (float-vector -70.0204 -54.0 -42.875) (float-vector -70.0204 -72.0 -42.875) (float-vector -72.125 -72.0 -44.9796) (float-vector -72.125 -54.0 -44.9796)))
         (instance face :init :vertices (list (float-vector -69.25 -54.0 -40.0) (float-vector -69.25 -72.0 -40.0) (float-vector -70.0204 -72.0 -42.875) (float-vector -70.0204 -54.0 -42.875)))
         (instance face :init :vertices (list (float-vector -70.0204 -54.0 -37.125) (float-vector -70.0204 -72.0 -37.125) (float-vector -69.25 -72.0 -40.0) (float-vector -69.25 -54.0 -40.0)))
         (instance face :init :vertices (list (float-vector -72.125 -54.0 -35.0204) (float-vector -72.125 -72.0 -35.0204) (float-vector -70.0204 -72.0 -37.125) (float-vector -70.0204 -54.0 -37.125)))
         (instance face :init :vertices (list (float-vector -75.0 -54.0 -34.25) (float-vector -75.0 -72.0 -34.25) (float-vector -72.125 -72.0 -35.0204) (float-vector -72.125 -54.0 -35.0204)))
         (instance face :init :vertices (list (float-vector -77.875 -54.0 -35.0204) (float-vector -77.875 -72.0 -35.0204) (float-vector -75.0 -72.0 -34.25) (float-vector -75.0 -54.0 -34.25)))
         (instance face :init :vertices (list (float-vector -79.9796 -54.0 -37.125) (float-vector -79.9796 -72.0 -37.125) (float-vector -77.875 -72.0 -35.0204) (float-vector -77.875 -54.0 -35.0204)))
         (instance face :init :vertices (list (float-vector -80.75 -54.0 -40.0) (float-vector -80.75 -72.0 -40.0) (float-vector -79.9796 -72.0 -37.125) (float-vector -79.9796 -54.0 -37.125)))
         (instance face :init :vertices (list (float-vector -79.9796 -54.0 -42.875) (float-vector -79.9796 -72.0 -42.875) (float-vector -80.75 -72.0 -40.0) (float-vector -80.75 -54.0 -40.0)))
         (instance face :init :vertices (list (float-vector -77.875 -54.0 -44.9796) (float-vector -77.875 -72.0 -44.9796) (float-vector -79.9796 -72.0 -42.875) (float-vector -79.9796 -54.0 -42.875)))
         (instance face :init :vertices (list (float-vector -77.875 -72.0 -44.9796) (float-vector -75.0 -72.0 -45.75) (float-vector -72.125 -72.0 -44.9796) (float-vector -70.0204 -72.0 -42.875) (float-vector -69.25 -72.0 -40.0) (float-vector -70.0204 -72.0 -37.125) (float-vector -72.125 -72.0 -35.0204) (float-vector -75.0 -72.0 -34.25) (float-vector -77.875 -72.0 -35.0204) (float-vector -79.9796 -72.0 -37.125) (float-vector -80.75 -72.0 -40.0) (float-vector -79.9796 -72.0 -42.875)))
         (instance face :init :vertices (list (float-vector -75.0 -72.0 -45.75) (float-vector -77.875 -72.0 -44.9796) (float-vector -77.875 -54.0 -44.9796) (float-vector -75.0 -54.0 -45.75)))
         (instance face :init :vertices (list (float-vector -68.5 -44.0 -33.5) (float-vector -68.5 -44.0 -46.5) (float-vector -81.5 -44.0 -46.5) (float-vector -81.5 -44.0 -33.5)))
         (instance face :init :vertices (list (float-vector -81.5 -54.0 -33.5) (float-vector -68.5 -54.0 -33.5) (float-vector -68.5 -44.0 -33.5) (float-vector -81.5 -44.0 -33.5)))
         (instance face :init :vertices (list (float-vector -68.5 -44.0 -46.5) (float-vector -68.5 -54.0 -46.5) (float-vector -81.5 -54.0 -46.5) (float-vector -81.5 -44.0 -46.5)))
         (instance face :init :vertices (list (float-vector -81.5 -54.0 -46.5) (float-vector -81.5 -54.0 -33.5) (float-vector -81.5 -44.0 -33.5) (float-vector -81.5 -44.0 -46.5)))
         (instance face :init :vertices (list (float-vector -68.5 -54.0 -46.5) (float-vector -68.5 -54.0 -33.5) (float-vector -81.5 -54.0 -33.5) (float-vector -81.5 -54.0 -46.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -77.875 -54.0 -44.9796) (float-vector -79.9796 -54.0 -42.875) (float-vector -80.75 -54.0 -40.0) (float-vector -79.9796 -54.0 -37.125) (float-vector -77.875 -54.0 -35.0204) (float-vector -75.0 -54.0 -34.25) (float-vector -72.125 -54.0 -35.0204) (float-vector -70.0204 -54.0 -37.125) (float-vector -69.25 -54.0 -40.0) (float-vector -70.0204 -54.0 -42.875) (float-vector -72.125 -54.0 -44.9796) (float-vector -75.0 -54.0 -45.75)))
))
         (instance face :init :vertices (list (float-vector -68.5 -54.0 -33.5) (float-vector -68.5 -54.0 -46.5) (float-vector -68.5 -44.0 -46.5) (float-vector -68.5 -44.0 -33.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -75.0 -72.0 34.25) (float-vector -75.0 -54.0 34.25) (float-vector -72.125 -54.0 35.0204) (float-vector -72.125 -72.0 35.0204)))
         (instance face :init :vertices (list (float-vector -70.0204 -54.0 37.125) (float-vector -70.0204 -72.0 37.125) (float-vector -72.125 -72.0 35.0204) (float-vector -72.125 -54.0 35.0204)))
         (instance face :init :vertices (list (float-vector -69.25 -54.0 40.0) (float-vector -69.25 -72.0 40.0) (float-vector -70.0204 -72.0 37.125) (float-vector -70.0204 -54.0 37.125)))
         (instance face :init :vertices (list (float-vector -70.0204 -54.0 42.875) (float-vector -70.0204 -72.0 42.875) (float-vector -69.25 -72.0 40.0) (float-vector -69.25 -54.0 40.0)))
         (instance face :init :vertices (list (float-vector -72.125 -54.0 44.9796) (float-vector -72.125 -72.0 44.9796) (float-vector -70.0204 -72.0 42.875) (float-vector -70.0204 -54.0 42.875)))
         (instance face :init :vertices (list (float-vector -75.0 -54.0 45.75) (float-vector -75.0 -72.0 45.75) (float-vector -72.125 -72.0 44.9796) (float-vector -72.125 -54.0 44.9796)))
         (instance face :init :vertices (list (float-vector -77.875 -54.0 44.9796) (float-vector -77.875 -72.0 44.9796) (float-vector -75.0 -72.0 45.75) (float-vector -75.0 -54.0 45.75)))
         (instance face :init :vertices (list (float-vector -79.9796 -54.0 42.875) (float-vector -79.9796 -72.0 42.875) (float-vector -77.875 -72.0 44.9796) (float-vector -77.875 -54.0 44.9796)))
         (instance face :init :vertices (list (float-vector -80.75 -54.0 40.0) (float-vector -80.75 -72.0 40.0) (float-vector -79.9796 -72.0 42.875) (float-vector -79.9796 -54.0 42.875)))
         (instance face :init :vertices (list (float-vector -79.9796 -54.0 37.125) (float-vector -79.9796 -72.0 37.125) (float-vector -80.75 -72.0 40.0) (float-vector -80.75 -54.0 40.0)))
         (instance face :init :vertices (list (float-vector -77.875 -54.0 35.0204) (float-vector -77.875 -72.0 35.0204) (float-vector -79.9796 -72.0 37.125) (float-vector -79.9796 -54.0 37.125)))
         (instance face :init :vertices (list (float-vector -77.875 -72.0 35.0204) (float-vector -75.0 -72.0 34.25) (float-vector -72.125 -72.0 35.0204) (float-vector -70.0204 -72.0 37.125) (float-vector -69.25 -72.0 40.0) (float-vector -70.0204 -72.0 42.875) (float-vector -72.125 -72.0 44.9796) (float-vector -75.0 -72.0 45.75) (float-vector -77.875 -72.0 44.9796) (float-vector -79.9796 -72.0 42.875) (float-vector -80.75 -72.0 40.0) (float-vector -79.9796 -72.0 37.125)))
         (instance face :init :vertices (list (float-vector -75.0 -72.0 34.25) (float-vector -77.875 -72.0 35.0204) (float-vector -77.875 -54.0 35.0204) (float-vector -75.0 -54.0 34.25)))
         (instance face :init :vertices (list (float-vector -68.5 -44.0 46.5) (float-vector -68.5 -44.0 33.5) (float-vector -81.5 -44.0 33.5) (float-vector -81.5 -44.0 46.5)))
         (instance face :init :vertices (list (float-vector -81.5 -54.0 46.5) (float-vector -68.5 -54.0 46.5) (float-vector -68.5 -44.0 46.5) (float-vector -81.5 -44.0 46.5)))
         (instance face :init :vertices (list (float-vector -68.5 -44.0 33.5) (float-vector -68.5 -54.0 33.5) (float-vector -81.5 -54.0 33.5) (float-vector -81.5 -44.0 33.5)))
         (instance face :init :vertices (list (float-vector -81.5 -54.0 33.5) (float-vector -81.5 -54.0 46.5) (float-vector -81.5 -44.0 46.5) (float-vector -81.5 -44.0 33.5)))
         (instance face :init :vertices (list (float-vector -68.5 -54.0 33.5) (float-vector -68.5 -54.0 46.5) (float-vector -81.5 -54.0 46.5) (float-vector -81.5 -54.0 33.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -77.875 -54.0 35.0204) (float-vector -79.9796 -54.0 37.125) (float-vector -80.75 -54.0 40.0) (float-vector -79.9796 -54.0 42.875) (float-vector -77.875 -54.0 44.9796) (float-vector -75.0 -54.0 45.75) (float-vector -72.125 -54.0 44.9796) (float-vector -70.0204 -54.0 42.875) (float-vector -69.25 -54.0 40.0) (float-vector -70.0204 -54.0 37.125) (float-vector -72.125 -54.0 35.0204) (float-vector -75.0 -54.0 34.25)))
))
         (instance face :init :vertices (list (float-vector -68.5 -54.0 46.5) (float-vector -68.5 -54.0 33.5) (float-vector -68.5 -44.0 33.5) (float-vector -68.5 -44.0 46.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :brown)
     (send (elt bc 2) :set-color :snow)
     (send (elt bc 3) :set-color :gray40)
     (send (elt bc 4) :set-color :brown)
     (send (elt bc 5) :set-color :brown)
     (send (elt bc 6) :set-color :gray40)
     (send (elt bc 7) :set-color :gray40)
     (send (elt bc 8) :set-color :gray40)
     (send (elt bc 9) :set-color :gray40)
     (send (elt bc 10) :set-color :gray40)
     (send (elt bc 11) :set-color (list))
     (send (elt bc 12) :set-color (list))
     (send (elt bc 13) :set-color (list))
     (send (elt bc 14) :set-color (list))
     (send (elt bc 15) :set-color :snow)
     (send (elt bc 16) :set-color :snow)
     (send (elt bc 17) :set-color :black)
     (send (elt bc 18) :set-color :black)
     (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-neck-p :weight 389 :centroid (float-vector -31.7075 -5.80964 -0.701799) :inertia-tensor #2f((1.616429e+05 -1.100683e+05 21480.1) (-1.100683e+05 7.767874e+05 -9770.16) (21480.1 -9770.16 8.799451e+05))))

     ;; definition of :head-auricle
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -20.0) (float-vector 10.0 15.0 -20.0) (float-vector 10.0 15.0 20.0) (float-vector 10.0 0.0 20.0) (float-vector 10.0 0.0 19.0) (float-vector 10.0 14.0 19.0) (float-vector 10.0 14.0 -19.0) (float-vector 10.0 0.0 -19.0)))
         (instance face :init :vertices (list (float-vector -10.0 15.0 -20.0) (float-vector -10.0 15.0 20.0) (float-vector 10.0 15.0 20.0) (float-vector 10.0 15.0 -20.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -20.0) (float-vector -10.0 0.0 -19.0) (float-vector -10.0 14.0 -19.0) (float-vector -10.0 14.0 19.0) (float-vector -10.0 0.0 19.0) (float-vector -10.0 0.0 20.0) (float-vector -10.0 15.0 20.0) (float-vector -10.0 15.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 20.0) (float-vector -10.0 0.0 20.0) (float-vector -10.0 0.0 19.0) (float-vector -7.07107 -7.07107 19.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -20.0) (float-vector -7.07107 -7.07107 -19.0) (float-vector -10.0 0.0 -19.0) (float-vector -10.0 0.0 -20.0)))
         (instance face :init :vertices (list (float-vector 1.776357e-15 -10.0 20.0) (float-vector -7.07107 -7.07107 20.0) (float-vector -7.07107 -7.07107 19.0) (float-vector 1.776357e-15 -10.0 19.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -20.0) (float-vector 0.0 -10.0 -19.0) (float-vector -7.07107 -7.07107 -19.0) (float-vector -7.07107 -7.07107 -20.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 20.0) (float-vector 1.776357e-15 -10.0 20.0) (float-vector 1.776357e-15 -10.0 19.0) (float-vector 7.07107 -7.07107 19.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -20.0) (float-vector 7.07107 -7.07107 -19.0) (float-vector 0.0 -10.0 -19.0) (float-vector 0.0 -10.0 -20.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 20.0) (float-vector 10.0 15.0 20.0) (float-vector -10.0 15.0 20.0) (float-vector -10.0 0.0 20.0) (float-vector -7.07107 -7.07107 20.0) (float-vector 1.776357e-15 -10.0 20.0) (float-vector 7.07107 -7.07107 20.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -20.0) (float-vector 0.0 -10.0 -20.0) (float-vector -7.07107 -7.07107 -20.0) (float-vector -10.0 0.0 -20.0) (float-vector -10.0 15.0 -20.0) (float-vector 10.0 15.0 -20.0) (float-vector 10.0 0.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 20.0) (float-vector 7.07107 -7.07107 19.0) (float-vector 10.0 0.0 19.0) (float-vector 10.0 0.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -20.0) (float-vector 10.0 0.0 -19.0) (float-vector 7.07107 -7.07107 -19.0) (float-vector 7.07107 -7.07107 -20.0)))
         (instance face :init :vertices (list (float-vector 10.0 14.0 19.0) (float-vector 10.0 0.0 19.0) (float-vector 7.07107 -7.07107 19.0) (float-vector 1.776357e-15 -10.0 19.0) (float-vector -7.07107 -7.07107 19.0) (float-vector -10.0 0.0 19.0) (float-vector -10.0 14.0 19.0)))
         (instance face :init :vertices (list (float-vector 10.0 14.0 -19.0) (float-vector 10.0 14.0 19.0) (float-vector -10.0 14.0 19.0) (float-vector -10.0 14.0 -19.0)))
         (instance face :init :vertices (list (float-vector -10.0 14.0 -19.0) (float-vector -10.0 0.0 -19.0) (float-vector -7.07107 -7.07107 -19.0) (float-vector 0.0 -10.0 -19.0) (float-vector 7.07107 -7.07107 -19.0) (float-vector 10.0 0.0 -19.0) (float-vector 10.0 14.0 -19.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -5.0 37.5848 55.0516) (float-vector -2.5 36.6299 53.5066) (float-vector -2.5 36.6299 66.4934) (float-vector -5.0 37.5848 64.9484)))
         (instance face :init :vertices (list (float-vector -5.0 37.5848 55.0516) (float-vector -5.0 37.5848 64.9484) (float-vector -11.395 35.1421 68.9007) (float-vector -12.2891 34.8006 69.4533) (float-vector -20.2957 31.7423 64.5049) (float-vector -20.2957 31.7423 63.3998) (float-vector -20.2957 31.7423 56.6002) (float-vector -20.2957 31.7423 55.4951) (float-vector -12.2891 34.8006 50.5467) (float-vector -11.395 35.1421 51.0993)))
         (instance face :init :vertices (list (float-vector -2.5 15.0 37.4152) (float-vector -2.5 30.2957 43.2577) (float-vector -8.39976 30.2957 43.2577) (float-vector -9.5049 30.2957 43.2577) (float-vector -14.4533 22.2891 40.1994) (float-vector -13.9007 21.395 39.8579) (float-vector -9.94836 15.0 37.4152)))
         (instance face :init :vertices (list (float-vector -2.5 -0.295694 43.2577) (float-vector -2.5 15.0 37.4152) (float-vector -9.94836 15.0 37.4152) (float-vector -13.9007 8.60499 39.8579) (float-vector -14.4533 7.71091 40.1994) (float-vector -9.5049 -0.295694 43.2577) (float-vector -8.39976 -0.295694 43.2577)))
         (instance face :init :vertices (list (float-vector -9.5049 -0.295694 43.2577) (float-vector -14.4533 7.71091 40.1994) (float-vector -21.7423 10.4951 44.7043) (float-vector -24.8006 5.54674 52.7109) (float-vector -20.2957 -1.74234 55.4951) (float-vector -12.2891 -4.8006 50.5467)))
         (instance face :init :vertices (list (float-vector -12.2891 34.8006 50.5467) (float-vector -20.2957 31.7423 55.4951) (float-vector -24.8006 24.4533 52.7109) (float-vector -21.7423 19.5049 44.7043) (float-vector -14.4533 22.2891 40.1994) (float-vector -9.5049 30.2957 43.2577)))
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         (instance face :init :vertices (list (float-vector -21.9952 -3.6026 -43.7775) (float-vector -21.9952 -3.6026 -36.2225) (float-vector -27.3801 5.11035 -32.8944) (float-vector -30.0942 9.50183 -40.0) (float-vector -27.3801 5.11035 -47.1056)))
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         (instance face :init :vertices (list (float-vector -12.1056 -7.38012 -49.8897) (float-vector -13.099 -7.00066 -50.5036) (float-vector -10.0054 -1.99522 -58.6026) (float-vector -8.77751 -1.99522 -58.6026)))
         (instance face :init :vertices (list (float-vector -2.5 -9.13928 -32.9567) (float-vector -2.5 -9.13928 -47.0433) (float-vector -2.5 -1.99522 -58.6026) (float-vector -2.5 15.0 -65.0942) (float-vector -2.5 31.9952 -58.6026) (float-vector -2.5 39.1393 -47.0433) (float-vector -2.5 39.1393 -32.9567) (float-vector -2.5 31.9952 -21.3974) (float-vector -2.5 15.0 -14.9058) (float-vector -2.5 -1.99522 -21.3974))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -2.5 -6.62986 -33.5066) (float-vector -2.5 -0.295694 -23.2577) (float-vector -2.5 15.0 -17.4152) (float-vector -2.5 30.2957 -23.2577) (float-vector -2.5 36.6299 -33.5066) (float-vector -2.5 36.6299 -46.4934) (float-vector -2.5 30.2957 -56.7423) (float-vector -2.5 15.0 -62.5848) (float-vector -2.5 -0.295694 -56.7423) (float-vector -2.5 -6.62986 -46.4934)))
))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :brown)
     (send (elt bc 2) :set-color :brown)
     (setq blink25 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-auricle :weight 4.43568 :centroid (float-vector -3.197442e-14 8.75429 1.403322e-13) :inertia-tensor #2f((1432.54 3.967041e-14 -1.116506e-13) (3.967041e-14 1301.37 6.866577e-14) (-1.116506e-13 6.866577e-14 426.885))))

     ;; definition of :head-cheek
     (setq bc (list
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         (instance face :init :vertices (list (float-vector 10.1026 -33.9768 86.1361) (float-vector 16.1129 -37.6913 76.4113) (float-vector 19.0507 -30.0 71.6578) (float-vector 16.1129 -22.3087 76.4113) (float-vector 10.1026 -26.0232 86.1361)))
         (instance face :init :vertices (list (float-vector 16.1129 -37.6913 76.4113) (float-vector 10.1026 -33.9768 86.1361) (float-vector 10.1026 -35.5302 86.1361) (float-vector 15.6328 -38.9481 77.188)))
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         (instance face :init :vertices (list (float-vector 12.1361 -48.1026 69.9768) (float-vector 2.41133 -54.1129 73.6913) (float-vector -2.34216 -57.0507 66.0) (float-vector 2.41133 -54.1129 58.3087) (float-vector 12.1361 -48.1026 62.0232)))
         (instance face :init :vertices (list (float-vector 16.1129 -37.6913 55.5887) (float-vector 10.1026 -33.9768 45.8639) (float-vector 10.1026 -26.0232 45.8639) (float-vector 16.1129 -22.3087 55.5887) (float-vector 19.0507 -30.0 60.3422)))
         (instance face :init :vertices (list (float-vector 10.1026 -33.9768 45.8639) (float-vector 16.1129 -37.6913 55.5887) (float-vector 15.6328 -38.9481 54.812) (float-vector 10.1026 -35.5302 45.8639)))
         (instance face :init :vertices (list (float-vector -4.02322 -50.1361 47.8974) (float-vector -0.308693 -40.4113 41.8871) (float-vector 0.948055 -41.188 42.3672) (float-vector -2.4698 -50.1361 47.8974)))
         (instance face :init :vertices (list (float-vector -0.308693 -40.4113 41.8871) (float-vector -4.02322 -50.1361 47.8974) (float-vector -11.9768 -50.1361 47.8974) (float-vector -15.6913 -40.4113 41.8871) (float-vector -8.0 -35.6578 38.9493)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :brown)
     (send (elt bc 2) :set-color :brown)
     (setq blink24 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-cheek :weight 1.59492 :centroid (float-vector 6.622258e-12 7.64798 1.247003e-12) :inertia-tensor #2f((270.339 -1.785112e-16 -1.283314e-23) (-1.785112e-16 239.136 -1.597251e-24) (-1.283314e-23 -1.597251e-24 57.7859))))

     ;; definition of :head-mouth
     (setq bc (list
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector -7.5 15.0 -19.0) (float-vector -7.5 15.0 19.0) (float-vector 7.5 15.0 19.0) (float-vector 7.5 15.0 -19.0)))
         (instance face :init :vertices (list (float-vector -7.5 7.888609e-31 -19.0) (float-vector -7.5 7.888609e-31 -18.0) (float-vector -7.5 14.0 -18.0) (float-vector -7.5 14.0 18.0) (float-vector -7.5 3.944305e-31 18.0) (float-vector -7.5 3.944305e-31 19.0) (float-vector -7.5 15.0 19.0) (float-vector -7.5 15.0 -19.0)))
         (instance face :init :vertices (list (float-vector -5.3033 -5.3033 19.0) (float-vector -7.5 3.944305e-31 19.0) (float-vector -7.5 3.944305e-31 18.0) (float-vector -5.3033 -5.3033 18.0)))
         (instance face :init :vertices (list (float-vector -5.3033 -5.3033 -19.0) (float-vector -5.3033 -5.3033 -18.0) (float-vector -7.5 7.888609e-31 -18.0) (float-vector -7.5 7.888609e-31 -19.0)))
         (instance face :init :vertices (list (float-vector 0.0 -7.5 19.0) (float-vector -5.3033 -5.3033 19.0) (float-vector -5.3033 -5.3033 18.0) (float-vector 0.0 -7.5 18.0)))
         (instance face :init :vertices (list (float-vector 0.0 -7.5 -19.0) (float-vector 0.0 -7.5 -18.0) (float-vector -5.3033 -5.3033 -18.0) (float-vector -5.3033 -5.3033 -19.0)))
         (instance face :init :vertices (list (float-vector 5.3033 -5.3033 19.0) (float-vector 0.0 -7.5 19.0) (float-vector 0.0 -7.5 18.0) (float-vector 5.3033 -5.3033 18.0)))
         (instance face :init :vertices (list (float-vector 5.3033 -5.3033 -19.0) (float-vector 5.3033 -5.3033 -18.0) (float-vector 0.0 -7.5 -18.0) (float-vector 0.0 -7.5 -19.0)))
         (instance face :init :vertices (list (float-vector 7.5 3.944305e-31 19.0) (float-vector 7.5 15.0 19.0) (float-vector -7.5 15.0 19.0) (float-vector -7.5 3.944305e-31 19.0) (float-vector -5.3033 -5.3033 19.0) (float-vector 0.0 -7.5 19.0) (float-vector 5.3033 -5.3033 19.0)))
         (instance face :init :vertices (list (float-vector 5.3033 -5.3033 -19.0) (float-vector 0.0 -7.5 -19.0) (float-vector -5.3033 -5.3033 -19.0) (float-vector -7.5 7.888609e-31 -19.0) (float-vector -7.5 15.0 -19.0) (float-vector 7.5 15.0 -19.0) (float-vector 7.5 7.888609e-31 -19.0)))
         (instance face :init :vertices (list (float-vector 5.3033 -5.3033 19.0) (float-vector 5.3033 -5.3033 18.0) (float-vector 7.5 3.944305e-31 18.0) (float-vector 7.5 3.944305e-31 19.0)))
         (instance face :init :vertices (list (float-vector 7.5 7.888609e-31 -19.0) (float-vector 7.5 7.888609e-31 -18.0) (float-vector 5.3033 -5.3033 -18.0) (float-vector 5.3033 -5.3033 -19.0)))
         (instance face :init :vertices (list (float-vector 7.5 14.0 18.0) (float-vector 7.5 3.944305e-31 18.0) (float-vector 5.3033 -5.3033 18.0) (float-vector 0.0 -7.5 18.0) (float-vector -5.3033 -5.3033 18.0) (float-vector -7.5 3.944305e-31 18.0) (float-vector -7.5 14.0 18.0)))
         (instance face :init :vertices (list (float-vector 7.5 14.0 -18.0) (float-vector 7.5 14.0 18.0) (float-vector -7.5 14.0 18.0) (float-vector -7.5 14.0 -18.0)))
         (instance face :init :vertices (list (float-vector -7.5 14.0 -18.0) (float-vector -7.5 7.888609e-31 -18.0) (float-vector -5.3033 -5.3033 -18.0) (float-vector 0.0 -7.5 -18.0) (float-vector 5.3033 -5.3033 -18.0) (float-vector 7.5 7.888609e-31 -18.0) (float-vector 7.5 14.0 -18.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (setq blink23 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-mouth :weight 3.10257 :centroid (float-vector 1.904255e-12 9.33329 3.497479e-14) :inertia-tensor #2f((876.37 5.293779e-17 -1.505179e-25) (5.293779e-17 778.627 -2.842171e-14) (-1.505179e-25 -2.842171e-14 214.089))))

     ;; definition of :head-rhino-muscle
     (setq bc (list
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         (instance face :init :vertices (list (float-vector -10.0 12.0 -15.0) (float-vector -10.0 12.0 15.0) (float-vector 10.0 12.0 15.0) (float-vector 10.0 12.0 -15.0)))
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         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 15.0) (float-vector -10.0 7.105427e-15 15.0) (float-vector -10.0 7.105427e-15 14.0) (float-vector -7.07107 -7.07107 14.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -15.0) (float-vector -7.07107 -7.07107 -14.0) (float-vector -10.0 7.105427e-15 -14.0) (float-vector -10.0 7.105427e-15 -15.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 15.0) (float-vector -7.07107 -7.07107 15.0) (float-vector -7.07107 -7.07107 14.0) (float-vector 0.0 -10.0 14.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -15.0) (float-vector 0.0 -10.0 -14.0) (float-vector -7.07107 -7.07107 -14.0) (float-vector -7.07107 -7.07107 -15.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 15.0) (float-vector 0.0 -10.0 15.0) (float-vector 0.0 -10.0 14.0) (float-vector 7.07107 -7.07107 14.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -15.0) (float-vector 7.07107 -7.07107 -14.0) (float-vector 0.0 -10.0 -14.0) (float-vector 0.0 -10.0 -15.0)))
         (instance face :init :vertices (list (float-vector 10.0 -7.105427e-15 15.0) (float-vector 10.0 12.0 15.0) (float-vector -10.0 12.0 15.0) (float-vector -10.0 7.105427e-15 15.0) (float-vector -7.07107 -7.07107 15.0) (float-vector 0.0 -10.0 15.0) (float-vector 7.07107 -7.07107 15.0)))
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         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 15.0) (float-vector 7.07107 -7.07107 14.0) (float-vector 10.0 -7.105427e-15 14.0) (float-vector 10.0 -7.105427e-15 15.0)))
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         (instance face :init :vertices (list (float-vector 19.4107 35.1414 11.2527) (float-vector 21.1442 30.6032 8.4479) (float-vector 24.8558 30.6032 8.4479) (float-vector 26.5893 35.1414 11.2527) (float-vector 23.0 37.3597 12.6237)))
         (instance face :init :vertices (list (float-vector 21.1442 30.6032 8.4479) (float-vector 19.4107 35.1414 11.2527) (float-vector 18.8242 34.7789 11.0287) (float-vector 20.4192 30.6032 8.4479)))
         (instance face :init :vertices (list (float-vector 32.3968 31.5521 -1.85583) (float-vector 27.8586 28.7473 -3.58928) (float-vector 28.2211 28.9713 -4.17576) (float-vector 32.3968 31.5521 -2.58076)))
         (instance face :init :vertices (list (float-vector 13.6032 48.4479 -1.85583) (float-vector 18.1414 51.2527 -3.58928) (float-vector 17.7789 51.0287 -4.17576) (float-vector 13.6032 48.4479 -2.58076)))
         (instance face :init :vertices (list (float-vector 27.8586 28.7473 3.58928) (float-vector 32.3968 31.5521 1.85583) (float-vector 32.3968 31.5521 2.58076) (float-vector 28.2211 28.9713 4.17576)))
         (instance face :init :vertices (list (float-vector 32.3968 31.5521 1.85583) (float-vector 27.8586 28.7473 3.58928) (float-vector 25.6403 27.3763 1.223073e-15) (float-vector 27.8586 28.7473 -3.58928) (float-vector 32.3968 31.5521 -1.85583)))
         (instance face :init :vertices (list (float-vector 18.1414 28.7473 3.58928) (float-vector 13.6032 31.5521 1.85583) (float-vector 13.6032 31.5521 -1.85583) (float-vector 18.1414 28.7473 -3.58928) (float-vector 20.3597 27.3763 -4.046077e-16)))
         (instance face :init :vertices (list (float-vector 13.6032 31.5521 1.85583) (float-vector 18.1414 28.7473 3.58928) (float-vector 17.7789 28.9713 4.17576) (float-vector 13.6032 31.5521 2.58076)))
         (instance face :init :vertices (list (float-vector 14.5521 38.1442 9.39685) (float-vector 11.7473 36.4107 4.85862) (float-vector 11.9713 35.8242 5.22109) (float-vector 14.5521 37.4192 9.39685)))
         (instance face :init :vertices (list (float-vector 14.5521 41.8558 9.39685) (float-vector 11.7473 43.5893 4.85862) (float-vector 10.3763 40.0 2.64033) (float-vector 11.7473 36.4107 4.85862) (float-vector 14.5521 38.1442 9.39685)))
         (instance face :init :vertices (list (float-vector 11.7473 43.5893 4.85862) (float-vector 14.5521 41.8558 9.39685) (float-vector 14.5521 42.5808 9.39685) (float-vector 11.9713 44.1758 5.22109)))
         (instance face :init :vertices (list (float-vector 18.1414 51.2527 3.58928) (float-vector 13.6032 48.4479 1.85583) (float-vector 13.6032 48.4479 2.58076) (float-vector 17.7789 51.0287 4.17576)))
         (instance face :init :vertices (list (float-vector 13.6032 48.4479 1.85583) (float-vector 18.1414 51.2527 3.58928) (float-vector 20.3597 52.6237 -6.010638e-15) (float-vector 18.1414 51.2527 -3.58928) (float-vector 13.6032 48.4479 -1.85583)))
         (instance face :init :vertices (list (float-vector 11.7473 43.5893 -4.85862) (float-vector 14.5521 41.8558 -9.39685) (float-vector 14.5521 38.1442 -9.39685) (float-vector 11.7473 36.4107 -4.85862) (float-vector 10.3763 40.0 -2.64033)))
         (instance face :init :vertices (list (float-vector 14.5521 41.8558 -9.39685) (float-vector 11.7473 43.5893 -4.85862) (float-vector 11.9713 44.1758 -5.22109) (float-vector 14.5521 42.5808 -9.39685)))
         (instance face :init :vertices (list (float-vector 21.1442 49.3968 -8.4479) (float-vector 19.4107 44.8586 -11.2527) (float-vector 18.8242 45.2211 -11.0287) (float-vector 20.4192 49.3968 -8.4479)))
         (instance face :init :vertices (list (float-vector 19.4107 44.8586 -11.2527) (float-vector 21.1442 49.3968 -8.4479) (float-vector 24.8558 49.3968 -8.4479) (float-vector 26.5893 44.8586 -11.2527) (float-vector 23.0 42.6403 -12.6237)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :black)
     (setq blink22 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-rhino-muscle :weight 3.57168 :centroid (float-vector 3.467449e-12 6.18511 8.369932e-14) :inertia-tensor #2f((709.088 -4.520322e-15 -8.664452e-25) (-4.520322e-15 651.058 -1.421085e-14) (-8.664452e-25 -1.421085e-14 296.142))))

     ;; definition of :head-forehead
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 7.5 1.577722e-30 -19.0) (float-vector 7.5 15.0 -19.0) (float-vector 7.5 15.0 19.0) (float-vector 7.5 0.0 19.0) (float-vector 7.5 0.0 18.0) (float-vector 7.5 14.0 18.0) (float-vector 7.5 14.0 -18.0) (float-vector 7.5 -1.577722e-30 -18.0)))
         (instance face :init :vertices (list (float-vector -7.5 15.0 -19.0) (float-vector -7.5 15.0 19.0) (float-vector 7.5 15.0 19.0) (float-vector 7.5 15.0 -19.0)))
         (instance face :init :vertices (list (float-vector -7.5 1.577722e-30 -19.0) (float-vector -7.5 1.577722e-30 -18.0) (float-vector -7.5 14.0 -18.0) (float-vector -7.5 14.0 18.0) (float-vector -7.5 0.0 18.0) (float-vector -7.5 0.0 19.0) (float-vector -7.5 15.0 19.0) (float-vector -7.5 15.0 -19.0)))
         (instance face :init :vertices (list (float-vector -5.3033 -5.3033 19.0) (float-vector -7.5 0.0 19.0) (float-vector -7.5 0.0 18.0) (float-vector -5.3033 -5.3033 18.0)))
         (instance face :init :vertices (list (float-vector -5.3033 -5.3033 -19.0) (float-vector -5.3033 -5.3033 -18.0) (float-vector -7.5 1.577722e-30 -18.0) (float-vector -7.5 1.577722e-30 -19.0)))
         (instance face :init :vertices (list (float-vector 0.0 -7.5 19.0) (float-vector -5.3033 -5.3033 19.0) (float-vector -5.3033 -5.3033 18.0) (float-vector 0.0 -7.5 18.0)))
         (instance face :init :vertices (list (float-vector 0.0 -7.5 -19.0) (float-vector 0.0 -7.5 -18.0) (float-vector -5.3033 -5.3033 -18.0) (float-vector -5.3033 -5.3033 -19.0)))
         (instance face :init :vertices (list (float-vector 5.3033 -5.3033 19.0) (float-vector 0.0 -7.5 19.0) (float-vector 0.0 -7.5 18.0) (float-vector 5.3033 -5.3033 18.0)))
         (instance face :init :vertices (list (float-vector 5.3033 -5.3033 -19.0) (float-vector 5.3033 -5.3033 -18.0) (float-vector 0.0 -7.5 -18.0) (float-vector 0.0 -7.5 -19.0)))
         (instance face :init :vertices (list (float-vector 7.5 0.0 19.0) (float-vector 7.5 15.0 19.0) (float-vector -7.5 15.0 19.0) (float-vector -7.5 0.0 19.0) (float-vector -5.3033 -5.3033 19.0) (float-vector 0.0 -7.5 19.0) (float-vector 5.3033 -5.3033 19.0)))
         (instance face :init :vertices (list (float-vector 5.3033 -5.3033 -19.0) (float-vector 0.0 -7.5 -19.0) (float-vector -5.3033 -5.3033 -19.0) (float-vector -7.5 1.577722e-30 -19.0) (float-vector -7.5 15.0 -19.0) (float-vector 7.5 15.0 -19.0) (float-vector 7.5 1.577722e-30 -19.0)))
         (instance face :init :vertices (list (float-vector 5.3033 -5.3033 19.0) (float-vector 5.3033 -5.3033 18.0) (float-vector 7.5 0.0 18.0) (float-vector 7.5 0.0 19.0)))
         (instance face :init :vertices (list (float-vector 7.5 1.577722e-30 -19.0) (float-vector 7.5 -1.577722e-30 -18.0) (float-vector 5.3033 -5.3033 -18.0) (float-vector 5.3033 -5.3033 -19.0)))
         (instance face :init :vertices (list (float-vector 7.5 14.0 18.0) (float-vector 7.5 0.0 18.0) (float-vector 5.3033 -5.3033 18.0) (float-vector 0.0 -7.5 18.0) (float-vector -5.3033 -5.3033 18.0) (float-vector -7.5 0.0 18.0) (float-vector -7.5 14.0 18.0)))
         (instance face :init :vertices (list (float-vector 7.5 14.0 -18.0) (float-vector 7.5 14.0 18.0) (float-vector -7.5 14.0 18.0) (float-vector -7.5 14.0 -18.0)))
         (instance face :init :vertices (list (float-vector -7.5 14.0 -18.0) (float-vector -7.5 1.577722e-30 -18.0) (float-vector -5.3033 -5.3033 -18.0) (float-vector 0.0 -7.5 -18.0) (float-vector 5.3033 -5.3033 -18.0) (float-vector 7.5 -1.577722e-30 -18.0) (float-vector 7.5 14.0 -18.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (setq blink21 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-forehead :weight 3.10257 :centroid (float-vector 1.626820e-15 9.33329 1.494456e-16) :inertia-tensor #2f((876.37 5.293780e-17 5.112918e-29) (5.293780e-17 778.627 -2.842171e-14) (5.112918e-29 -2.842171e-14 214.089))))

     ;; definition of :head-orbicular-muscle
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -20.0) (float-vector 10.0 23.0 -20.0) (float-vector 10.0 23.0 20.0) (float-vector 10.0 7.105427e-15 20.0) (float-vector 10.0 7.105427e-15 19.0) (float-vector 10.0 22.0 19.0) (float-vector 10.0 22.0 -19.0) (float-vector 10.0 0.0 -19.0)))
         (instance face :init :vertices (list (float-vector -10.0 23.0 -20.0) (float-vector -10.0 23.0 20.0) (float-vector 10.0 23.0 20.0) (float-vector 10.0 23.0 -20.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -20.0) (float-vector -10.0 0.0 -19.0) (float-vector -10.0 22.0 -19.0) (float-vector -10.0 22.0 19.0) (float-vector -10.0 7.105427e-15 19.0) (float-vector -10.0 7.105427e-15 20.0) (float-vector -10.0 23.0 20.0) (float-vector -10.0 23.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 20.0) (float-vector -10.0 7.105427e-15 20.0) (float-vector -10.0 7.105427e-15 19.0) (float-vector -7.07107 -7.07107 19.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -20.0) (float-vector -7.07107 -7.07107 -19.0) (float-vector -10.0 0.0 -19.0) (float-vector -10.0 0.0 -20.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 20.0) (float-vector -7.07107 -7.07107 20.0) (float-vector -7.07107 -7.07107 19.0) (float-vector 0.0 -10.0 19.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -20.0) (float-vector 0.0 -10.0 -19.0) (float-vector -7.07107 -7.07107 -19.0) (float-vector -7.07107 -7.07107 -20.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 20.0) (float-vector 0.0 -10.0 20.0) (float-vector 0.0 -10.0 19.0) (float-vector 7.07107 -7.07107 19.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -20.0) (float-vector 7.07107 -7.07107 -19.0) (float-vector 0.0 -10.0 -19.0) (float-vector 0.0 -10.0 -20.0)))
         (instance face :init :vertices (list (float-vector 10.0 7.105427e-15 20.0) (float-vector 10.0 23.0 20.0) (float-vector -10.0 23.0 20.0) (float-vector -10.0 7.105427e-15 20.0) (float-vector -7.07107 -7.07107 20.0) (float-vector 0.0 -10.0 20.0) (float-vector 7.07107 -7.07107 20.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -20.0) (float-vector 0.0 -10.0 -20.0) (float-vector -7.07107 -7.07107 -20.0) (float-vector -10.0 0.0 -20.0) (float-vector -10.0 23.0 -20.0) (float-vector 10.0 23.0 -20.0) (float-vector 10.0 0.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 20.0) (float-vector 7.07107 -7.07107 19.0) (float-vector 10.0 7.105427e-15 19.0) (float-vector 10.0 7.105427e-15 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -20.0) (float-vector 10.0 0.0 -19.0) (float-vector 7.07107 -7.07107 -19.0) (float-vector 7.07107 -7.07107 -20.0)))
         (instance face :init :vertices (list (float-vector 10.0 22.0 19.0) (float-vector 10.0 7.105427e-15 19.0) (float-vector 7.07107 -7.07107 19.0) (float-vector 0.0 -10.0 19.0) (float-vector -7.07107 -7.07107 19.0) (float-vector -10.0 7.105427e-15 19.0) (float-vector -10.0 22.0 19.0)))
         (instance face :init :vertices (list (float-vector 10.0 22.0 -19.0) (float-vector 10.0 22.0 19.0) (float-vector -10.0 22.0 19.0) (float-vector -10.0 22.0 -19.0)))
         (instance face :init :vertices (list (float-vector -10.0 22.0 -19.0) (float-vector -10.0 0.0 -19.0) (float-vector -7.07107 -7.07107 -19.0) (float-vector 0.0 -10.0 -19.0) (float-vector 7.07107 -7.07107 -19.0) (float-vector 10.0 0.0 -19.0) (float-vector 10.0 22.0 -19.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -22.013 1.0 -50.5146) (float-vector -5.0 -9.51462 -57.013) (float-vector -15.5146 -16.013 -40.0)))
         (instance face :init :vertices (list (float-vector -22.013 1.0 -29.4854) (float-vector -15.5146 18.013 -40.0) (float-vector -22.013 1.0 -50.5146)))
         (instance face :init :vertices (list (float-vector -15.5146 -16.013 -40.0) (float-vector -4.0 -16.013 -40.0) (float-vector -4.0 -10.1327 -24.605) (float-vector -5.0 -9.51462 -22.987)))
         (instance face :init :vertices (list (float-vector -22.013 1.0 -29.4854) (float-vector -22.013 1.0 -50.5146) (float-vector -15.5146 -16.013 -40.0)))
         (instance face :init :vertices (list (float-vector -22.013 1.0 -29.4854) (float-vector -15.5146 -16.013 -40.0) (float-vector -5.0 -9.51462 -22.987)))
         (instance face :init :vertices (list (float-vector -5.0 11.5146 -22.987) (float-vector -22.013 1.0 -29.4854) (float-vector -5.0 -9.51462 -22.987)))
         (instance face :init :vertices (list (float-vector -5.0 -9.51462 -22.987) (float-vector -4.0 -10.1327 -24.605) (float-vector -4.0 -8.89659 -23.3689)))
         (instance face :init :vertices (list (float-vector -5.0 11.5146 -22.987) (float-vector -5.0 -9.51462 -22.987) (float-vector -4.0 -8.89659 -23.3689) (float-vector -4.0 10.8966 -23.3689)))
         (instance face :init :vertices (list (float-vector -5.0 11.5146 -22.987) (float-vector -4.0 10.8966 -23.3689) (float-vector -4.0 12.1327 -24.605)))
         (instance face :init :vertices (list (float-vector -15.5146 18.013 -40.0) (float-vector -22.013 1.0 -29.4854) (float-vector -5.0 11.5146 -22.987)))
         (instance face :init :vertices (list (float-vector -15.5146 18.013 -40.0) (float-vector -5.0 11.5146 -22.987) (float-vector -4.0 12.1327 -24.605) (float-vector -4.0 18.013 -40.0)))
         (instance face :init :vertices (list (float-vector -5.0 11.5146 -57.013) (float-vector -22.013 1.0 -50.5146) (float-vector -15.5146 18.013 -40.0)))
         (instance face :init :vertices (list (float-vector -5.0 11.5146 -57.013) (float-vector -15.5146 18.013 -40.0) (float-vector -4.0 18.013 -40.0) (float-vector -4.0 12.1327 -55.395)))
         (instance face :init :vertices (list (float-vector -5.0 11.5146 -57.013) (float-vector -4.0 12.1327 -55.395) (float-vector -4.0 10.8966 -56.6311)))
         (instance face :init :vertices (list (float-vector -5.0 -9.51462 -57.013) (float-vector -22.013 1.0 -50.5146) (float-vector -5.0 11.5146 -57.013)))
         (instance face :init :vertices (list (float-vector -5.0 -9.51462 -57.013) (float-vector -5.0 11.5146 -57.013) (float-vector -4.0 10.8966 -56.6311) (float-vector -4.0 -8.89659 -56.6311)))
         (instance face :init :vertices (list (float-vector -5.0 -9.51462 -57.013) (float-vector -4.0 -8.89659 -56.6311) (float-vector -4.0 -10.1327 -55.395)))
         (instance face :init :vertices (list (float-vector -4.0 -10.1327 -55.395) (float-vector -4.0 -16.013 -40.0) (float-vector -15.5146 -16.013 -40.0) (float-vector -5.0 -9.51462 -57.013)))
         (instance face :init :vertices (list (float-vector -4.0 -10.1327 -55.395) (float-vector -4.0 -8.89659 -56.6311) (float-vector -4.0 10.8966 -56.6311) (float-vector -4.0 12.1327 -55.395) (float-vector -4.0 18.013 -40.0) (float-vector -4.0 12.1327 -24.605) (float-vector -4.0 10.8966 -23.3689) (float-vector -4.0 -8.89659 -23.3689) (float-vector -4.0 -10.1327 -24.605) (float-vector -4.0 -16.013 -40.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -22.013 1.0 29.4854) (float-vector -5.0 -9.51462 22.987) (float-vector -15.5146 -16.013 40.0)))
         (instance face :init :vertices (list (float-vector -22.013 1.0 50.5146) (float-vector -15.5146 18.013 40.0) (float-vector -22.013 1.0 29.4854)))
         (instance face :init :vertices (list (float-vector -15.5146 -16.013 40.0) (float-vector -4.0 -16.013 40.0) (float-vector -4.0 -10.1327 55.395) (float-vector -5.0 -9.51462 57.013)))
         (instance face :init :vertices (list (float-vector -22.013 1.0 50.5146) (float-vector -22.013 1.0 29.4854) (float-vector -15.5146 -16.013 40.0)))
         (instance face :init :vertices (list (float-vector -22.013 1.0 50.5146) (float-vector -15.5146 -16.013 40.0) (float-vector -5.0 -9.51462 57.013)))
         (instance face :init :vertices (list (float-vector -5.0 11.5146 57.013) (float-vector -22.013 1.0 50.5146) (float-vector -5.0 -9.51462 57.013)))
         (instance face :init :vertices (list (float-vector -5.0 -9.51462 57.013) (float-vector -4.0 -10.1327 55.395) (float-vector -4.0 -8.89659 56.6311)))
         (instance face :init :vertices (list (float-vector -5.0 11.5146 57.013) (float-vector -5.0 -9.51462 57.013) (float-vector -4.0 -8.89659 56.6311) (float-vector -4.0 10.8966 56.6311)))
         (instance face :init :vertices (list (float-vector -5.0 11.5146 57.013) (float-vector -4.0 10.8966 56.6311) (float-vector -4.0 12.1327 55.395)))
         (instance face :init :vertices (list (float-vector -15.5146 18.013 40.0) (float-vector -22.013 1.0 50.5146) (float-vector -5.0 11.5146 57.013)))
         (instance face :init :vertices (list (float-vector -15.5146 18.013 40.0) (float-vector -5.0 11.5146 57.013) (float-vector -4.0 12.1327 55.395) (float-vector -4.0 18.013 40.0)))
         (instance face :init :vertices (list (float-vector -5.0 11.5146 22.987) (float-vector -22.013 1.0 29.4854) (float-vector -15.5146 18.013 40.0)))
         (instance face :init :vertices (list (float-vector -5.0 11.5146 22.987) (float-vector -15.5146 18.013 40.0) (float-vector -4.0 18.013 40.0) (float-vector -4.0 12.1327 24.605)))
         (instance face :init :vertices (list (float-vector -5.0 11.5146 22.987) (float-vector -4.0 12.1327 24.605) (float-vector -4.0 10.8966 23.3689)))
         (instance face :init :vertices (list (float-vector -5.0 -9.51462 22.987) (float-vector -22.013 1.0 29.4854) (float-vector -5.0 11.5146 22.987)))
         (instance face :init :vertices (list (float-vector -5.0 -9.51462 22.987) (float-vector -5.0 11.5146 22.987) (float-vector -4.0 10.8966 23.3689) (float-vector -4.0 -8.89659 23.3689)))
         (instance face :init :vertices (list (float-vector -5.0 -9.51462 22.987) (float-vector -4.0 -8.89659 23.3689) (float-vector -4.0 -10.1327 24.605)))
         (instance face :init :vertices (list (float-vector -4.0 -10.1327 24.605) (float-vector -4.0 -16.013 40.0) (float-vector -15.5146 -16.013 40.0) (float-vector -5.0 -9.51462 22.987)))
         (instance face :init :vertices (list (float-vector -4.0 -10.1327 24.605) (float-vector -4.0 -8.89659 23.3689) (float-vector -4.0 10.8966 23.3689) (float-vector -4.0 12.1327 24.605) (float-vector -4.0 18.013 40.0) (float-vector -4.0 12.1327 55.395) (float-vector -4.0 10.8966 56.6311) (float-vector -4.0 -8.89659 56.6311) (float-vector -4.0 -10.1327 55.395) (float-vector -4.0 -16.013 40.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :brown)
     (send (elt bc 2) :set-color :brown)
     (setq blink20 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-orbicular-muscle :weight 5.29968 :centroid (float-vector 8.981260e-12 13.5222 -3.033500e-13) :inertia-tensor #2f((2096.15 -7.785855e-15 1.390965e-23) (-7.785855e-15 1658.78 2.842171e-14) (1.390965e-23 2.842171e-14 790.681))))

     ;; definition of assoc
     (send blink19 :newcoords (make-coords :pos (float-vector -41.5 15.5 -15.5) :rot #2f((-1.0 -2.158877e-16 9.813078e-17) (9.813078e-17 -2.220446e-16 1.0) (-2.158877e-16 1.0 2.220446e-16))))
     (send blink18 :assoc blink19)
     (send blink18 :newcoords (make-coords :pos (float-vector 1.577722e-30 59.0 1.421085e-14) :rot #2f((4.440892e-16 -1.0 3.732745e-17) (-1.0 -4.440892e-16 -2.355139e-16) (2.355139e-16 -3.732745e-17 -1.0))))
     (send blink17 :assoc blink18)
     (send blink17 :newcoords (make-coords :pos (float-vector 29.75 51.5285 0.0) :rot #2f((-0.866025 0.5 1.954281e-16) (0.5 0.866025 -1.673035e-16) (-2.528974e-16 -4.717508e-17 -1.0))))
     (send blink16 :assoc blink17)
     (send blink11 :newcoords (make-coords :pos (float-vector 1.471962e-15 2.842171e-14 -50.0) :rot #2f((1.0 -1.570092e-16 -1.570092e-16) (1.570092e-16 4.440892e-16 1.0) (-1.570092e-16 -1.0 4.440892e-16))))
     (send blink10 :assoc blink11)
     (send blink10 :newcoords (make-coords :pos (float-vector -2.714495e-14 52.0 7.0) :rot #2f((1.0 2.943923e-16 -1.766354e-16) (-1.766354e-16 7.216450e-16 -1.0) (-2.943923e-16 1.0 7.216450e-16))))
     (send blink9 :assoc blink10)
     (send blink9 :newcoords (make-coords :pos (float-vector -1.376677e-14 62.0 -4.0) :rot #2f((1.0 2.355139e-16 -3.925231e-16) (3.925231e-16 2.220446e-16 1.0) (2.355139e-16 -1.0 2.220446e-16))))
     (send blink8 :assoc blink9)
     (send blink15 :newcoords (make-coords :pos (float-vector -41.5 15.5 15.5) :rot #2f((-1.0 2.551400e-16 -5.887847e-17) (5.887847e-17 -2.220446e-16 -1.0) (-2.551400e-16 -1.0 2.220446e-16))))
     (send blink14 :assoc blink15)
     (send blink14 :newcoords (make-coords :pos (float-vector 0.0 59.0 1.421085e-14) :rot #2f((4.440892e-16 -1.0 3.732745e-17) (-1.0 -4.440892e-16 -2.355139e-16) (2.355139e-16 -3.732745e-17 -1.0))))
     (send blink13 :assoc blink14)
     (send blink13 :newcoords (make-coords :pos (float-vector 29.75 51.5285 0.0) :rot #2f((-0.866025 0.5 1.954281e-16) (0.5 0.866025 -1.673035e-16) (-2.528974e-16 -4.717508e-17 -1.0))))
     (send blink12 :assoc blink13)
     (send blink7 :newcoords (make-coords :pos (float-vector -5.058527e-15 0.0 50.0) :rot #2f((1.0 -7.395571e-32 1.570092e-16) (1.570092e-16 -2.220446e-16 -1.0) (9.860761e-32 1.0 -2.220446e-16))))
     (send blink6 :assoc blink7)
     (send blink6 :newcoords (make-coords :pos (float-vector -2.636780e-14 52.0 -7.0) :rot #2f((1.0 6.653251e-17 -2.474860e-16) (2.474860e-16 -2.220446e-16 1.0) (6.653251e-17 -1.0 -2.220446e-16))))
     (send blink5 :assoc blink6)
     (send blink5 :newcoords (make-coords :pos (float-vector -1.425662e-14 62.0 4.0) :rot #2f((1.0 9.577691e-17 1.570092e-16) (1.570092e-16 2.220446e-16 -1.0) (-9.577691e-17 1.0 2.220446e-16))))
     (send blink4 :assoc blink5)
     (send blink20 :newcoords (make-coords :pos (float-vector -75.0 -56.0 2.551030e-15) :rot #2f((1.0 0.0 0.0) (0.0 1.0 -4.440892e-16) (0.0 4.440892e-16 1.0))))
     (send blink3 :assoc blink20)
     (send blink21 :newcoords (make-coords :pos (float-vector 125.0 3.637813e-14 -3.552714e-14) :rot #2f((-1.0 4.440892e-16 4.440892e-16) (-4.440892e-16 -1.0 -4.440892e-16) (4.440892e-16 -4.440892e-16 1.0))))
     (send blink3 :assoc blink21)
     (send blink22 :newcoords (make-coords :pos (float-vector -35.0 -55.0 -6.217705e-15) :rot #2f((-1.0 -2.465190e-32 2.220446e-16) (-2.465190e-32 -1.0 -2.220446e-16) (2.220446e-16 -2.220446e-16 1.0))))
     (send blink3 :assoc blink22)
     (send blink23 :newcoords (make-coords :pos (float-vector -5.0 -1.455125e-15 -6.661338e-15) :rot #2f((-1.0 4.440892e-16 4.440892e-16) (-4.440892e-16 -1.0 -4.440892e-16) (4.440892e-16 -4.440892e-16 1.0))))
     (send blink3 :assoc blink23)
     (send blink24 :newcoords (make-coords :pos (float-vector -12.0 -30.0 -23.0) :rot #2f((1.0 0.0 4.440892e-16) (0.0 1.0 0.0) (-4.440892e-16 0.0 1.0))))
     (send blink3 :assoc blink24)
     (send blink25 :newcoords (make-coords :pos (float-vector -100.0 10.0 10.0) :rot #2f((-2.220446e-16 -1.0 1.570092e-16) (-1.0 2.220446e-16 3.140185e-16) (-3.140185e-16 -1.570092e-16 -1.0))))
     (send blink3 :assoc blink25)
     (send blink3 :newcoords (make-coords :pos (float-vector 7.960204e-15 65.0 -1.443290e-14) :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 blink2 :assoc blink3)
     (send blink2 :newcoords (make-coords :pos (float-vector 0.0 0.0 60.0) :rot #2f((-1.0 0.0 0.0) (0.0 2.220446e-16 1.0) (0.0 1.0 -2.220446e-16))))
     (send blink1 :assoc blink2)
     (send blink1 :newcoords (make-coords :pos (float-vector 0.0 0.0 97.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink1)
     (send blink4 :newcoords (make-coords :pos (float-vector -1.820766e-14 82.0 142.0) :rot #2f((-1.0 -4.440892e-16 -1.224647e-16) (-4.440892e-16 1.0 -3.951857e-32) (1.224647e-16 1.486667e-32 -1.0))))
     (send blink0 :assoc blink4)
     (send blink12 :newcoords (make-coords :pos (float-vector -1.199041e-14 54.0 -102.0) :rot #2f((-0.866025 0.5 1.110223e-16) (-5.551115e-17 1.110223e-16 -1.0) (-0.5 -0.866025 -1.110223e-16))))
     (send blink0 :assoc blink12)
     (send blink8 :newcoords (make-coords :pos (float-vector 1.820766e-14 -82.0 142.0) :rot #2f((-1.0 0.0 0.0) (0.0 -1.0 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink8)
     (send blink16 :newcoords (make-coords :pos (float-vector 1.199041e-14 -54.0 -102.0) :rot #2f((-0.866025 0.5 1.110223e-16) (-5.551115e-17 1.110223e-16 -1.0) (-0.5 -0.866025 -1.110223e-16))))
     (send blink0 :assoc blink16)
     (send self :assoc blink0)

     ;; definition of end-coords

     ;; definition of head-end-coords
     (setq head-end-coords
       (make-cascoords
	:coords (send (send blink3 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -75.0 -1.593903e-14 8.881784e-15) :rot #2f((-3.330669e-16 1.766354e-16 -1.0) (3.336446e-16 -1.0 -1.766354e-16) (-1.0 -3.336446e-16 3.330669e-16))))))
     (send blink3 :assoc head-end-coords)

     ;; definition of joint

     ;; definition of :head-neck-y
     (setq joint0 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink1 :name :head-neck-y :axis :z 
			     :min  -95.0 :max   77.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :head-neck-r
     (setq joint1 (instance rotational-joint :init
			     :parent-link blink1 :child-link blink2 :name :head-neck-r :axis :-z
			     :min  -87.0 :max   85.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :head-neck-p
     (setq joint2 (instance rotational-joint :init
			     :parent-link blink2 :child-link blink3 :name :head-neck-p :axis :z 
			     :min  -44.0 :max  129.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :head-orbicular-muscle
     (setq joint19 (instance rotational-joint :init
			     :parent-link blink3 :child-link blink20 :name :head-orbicular-muscle :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :head-forehead
     (setq joint20 (instance rotational-joint :init
			     :parent-link blink3 :child-link blink21 :name :head-forehead :axis :-z
			     :min  -89.0 :max   64.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :head-rhino-muscle
     (setq joint21 (instance rotational-joint :init
			     :parent-link blink3 :child-link blink22 :name :head-rhino-muscle :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :head-mouth
     (setq joint22 (instance rotational-joint :init
			     :parent-link blink3 :child-link blink23 :name :head-mouth :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :head-cheek
     (setq joint23 (instance rotational-joint :init
			     :parent-link blink3 :child-link blink24 :name :head-cheek :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :head-auricle
     (setq joint24 (instance rotational-joint :init
			     :parent-link blink3 :child-link blink25 :name :head-auricle :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-collar-y
     (setq joint3 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink4 :name :larm-collar-y :axis :-z
			     :min  -70.0 :max  100.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-shoulder-p
     (setq joint4 (instance rotational-joint :init
			     :parent-link blink4 :child-link blink5 :name :larm-shoulder-p :axis :-z
			     :min  -70.0 :max  100.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-elbow-y
     (setq joint5 (instance rotational-joint :init
			     :parent-link blink5 :child-link blink6 :name :larm-elbow-y :axis :-z
			     :min  -70.0 :max  100.0 :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  -70.0 :max  100.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-crotch-p
     (setq joint11 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink12 :name :lleg-crotch-p :axis :-z
			     :min -167.0 :max   17.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-knee-p
     (setq joint12 (instance rotational-joint :init
			     :parent-link blink12 :child-link blink13 :name :lleg-knee-p :axis :z 
			     :min -167.0 :max   17.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-ankle-p
     (setq joint13 (instance rotational-joint :init
			     :parent-link blink13 :child-link blink14 :name :lleg-ankle-p :axis :-z
			     :min -167.0 :max   17.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-ankle-r
     (setq joint14 (instance rotational-joint :init
			     :parent-link blink14 :child-link blink15 :name :lleg-ankle-r :axis :z 
			     :min -167.0 :max   17.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-collar-y
     (setq joint7 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink8 :name :rarm-collar-y :axis :-z
			     :min  -76.0 :max   95.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-shoulder-p
     (setq joint8 (instance rotational-joint :init
			     :parent-link blink8 :child-link blink9 :name :rarm-shoulder-p :axis :-z
			     :min  -76.0 :max   95.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-elbow-y
     (setq joint9 (instance rotational-joint :init
			     :parent-link blink9 :child-link blink10 :name :rarm-elbow-y :axis :-z
			     :min  -76.0 :max   95.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-elbow-p
     (setq joint10 (instance rotational-joint :init
			     :parent-link blink10 :child-link blink11 :name :rarm-elbow-p :axis :-z
			     :min  -76.0 :max   95.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-crotch-p
     (setq joint15 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink16 :name :rleg-crotch-p :axis :-z
			     :min -166.0 :max   15.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-knee-p
     (setq joint16 (instance rotational-joint :init
			     :parent-link blink16 :child-link blink17 :name :rleg-knee-p :axis :z 
			     :min -166.0 :max   15.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-ankle-p
     (setq joint17 (instance rotational-joint :init
			     :parent-link blink17 :child-link blink18 :name :rleg-ankle-p :axis :-z
			     :min -166.0 :max   15.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-ankle-r
     (setq joint18 (instance rotational-joint :init
			     :parent-link blink18 :child-link blink19 :name :rleg-ankle-r :axis :z 
			     :min -166.0 :max   15.0 :max-joint-velocity 5 :max-joint-torque 100))

     (setq head-root-link blink1)
     (setq head (list blink1 blink2 blink3 blink20 blink21 blink22 blink23 blink24 blink25))
     (setq larm-root-link blink4)
     (setq larm (list blink4 blink5 blink6 blink7))
     (setq lleg-root-link blink12)
     (setq lleg (list blink12 blink13 blink14 blink15))
     (setq rarm-root-link blink8)
     (setq rarm (list blink8 blink9 blink10 blink11))
     (setq rleg-root-link blink16)
     (setq rleg (list blink16 blink17 blink18 blink19))

     ;; init-ending 
     (setq links (list blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 blink8 blink9 blink10 blink11 blink12 blink13 blink14 blink15 blink16 blink17 blink18 blink19 blink20 blink21 blink22 blink23 blink24 blink25))
     (setq joint-list (list joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12 joint13 joint14 joint15 joint16 joint17 joint18 joint19 joint20 joint21 joint22 joint23 joint24))
     ;; 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 joint0 args))
  (:head-neck-r (&rest args) (forward-message-to joint1 args))
  (:head-neck-p (&rest args) (forward-message-to joint2 args))
  (:head-orbicular-muscle (&rest args) (forward-message-to joint19 args))
  (:head-forehead (&rest args) (forward-message-to joint20 args))
  (:head-rhino-muscle (&rest args) (forward-message-to joint21 args))
  (:head-mouth (&rest args) (forward-message-to joint22 args))
  (:head-cheek (&rest args) (forward-message-to joint23 args))
  (:head-auricle (&rest args) (forward-message-to joint24 args))
  (:larm-collar-y (&rest args) (forward-message-to joint3 args))
  (:larm-shoulder-p (&rest args) (forward-message-to joint4 args))
  (:larm-elbow-y (&rest args) (forward-message-to joint5 args))
  (:larm-elbow-p (&rest args) (forward-message-to joint6 args))
  (:lleg-crotch-p (&rest args) (forward-message-to joint11 args))
  (:lleg-knee-p (&rest args) (forward-message-to joint12 args))
  (:lleg-ankle-p (&rest args) (forward-message-to joint13 args))
  (:lleg-ankle-r (&rest args) (forward-message-to joint14 args))
  (:rarm-collar-y (&rest args) (forward-message-to joint7 args))
  (:rarm-shoulder-p (&rest args) (forward-message-to joint8 args))
  (:rarm-elbow-y (&rest args) (forward-message-to joint9 args))
  (:rarm-elbow-p (&rest args) (forward-message-to joint10 args))
  (:rleg-crotch-p (&rest args) (forward-message-to joint15 args))
  (:rleg-knee-p (&rest args) (forward-message-to joint16 args))
  (:rleg-ankle-p (&rest args) (forward-message-to joint17 args))
  (:rleg-ankle-r (&rest args) (forward-message-to joint18 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 kuma (&rest args) (instance* kuma-robot :init args))
;; (format *error-output* "(instance kuma-robot :init) for generating model~%")