File: macra-robot.l

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euslisp 9.31%2Bdfsg-3
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file content (3207 lines) | stat: -rw-r--r-- 470,121 bytes
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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version 
;;
;;
(defclass macra-robot
  :super robot-model
  :slots (sensors sensor0 sensor1 sensor2 sensor3 sensor4 sensor5 sensor6 sensor7 sensor8 sensor9 sensor10 sensor11 sensor12 sensor13 sensor14 sensor15 sensor16 sensor17 sensor18 sensor19 sensor20 sensor21 sensor22 sensor23 sensor24 sensor25 sensor26 sensor27 sensor28 sensor29 sensor30 sensor31 sensor32 sensor33 sensor34 sensor35 sensor36 sensor37
         joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12 joint13 joint14 joint15 joint16 joint17 joint18 joint19 joint20 joint21 ))
(defmethod macra-robot
  (:init
   (&rest args &key (name "macra") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
   (let (c bc
         blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 blink8 blink9 blink10 blink11 blink12 blink13 blink14 blink15 blink16 blink17 blink18 blink19 blink20 blink21 blink22
                 )
     (send-super* :init :name name args)

     ;; definition of link

     ;; definition of :root
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 355.0) (float-vector -5.0 5.0 355.0) (float-vector -5.0 -5.0 355.0) (float-vector 5.0 -5.0 355.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 345.0) (float-vector 5.0 5.0 345.0) (float-vector 5.0 -5.0 345.0) (float-vector -5.0 -5.0 345.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 355.0) (float-vector 5.0 5.0 345.0) (float-vector -5.0 5.0 345.0) (float-vector -5.0 5.0 355.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 355.0) (float-vector 5.0 -5.0 345.0) (float-vector 5.0 5.0 345.0) (float-vector 5.0 5.0 355.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 355.0) (float-vector -5.0 -5.0 345.0) (float-vector 5.0 -5.0 345.0) (float-vector 5.0 -5.0 355.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 355.0) (float-vector -5.0 5.0 345.0) (float-vector -5.0 -5.0 345.0) (float-vector -5.0 -5.0 355.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 29.82 -52.0 -59.0) (float-vector 19.82 -52.0 -59.0) (float-vector 19.82 -62.0 -59.0) (float-vector 29.82 -62.0 -59.0)))
         (instance face :init :vertices (list (float-vector 19.82 -52.0 -69.0) (float-vector 29.82 -52.0 -69.0) (float-vector 29.82 -62.0 -69.0) (float-vector 19.82 -62.0 -69.0)))
         (instance face :init :vertices (list (float-vector 29.82 -52.0 -59.0) (float-vector 29.82 -52.0 -69.0) (float-vector 19.82 -52.0 -69.0) (float-vector 19.82 -52.0 -59.0)))
         (instance face :init :vertices (list (float-vector 29.82 -62.0 -59.0) (float-vector 29.82 -62.0 -69.0) (float-vector 29.82 -52.0 -69.0) (float-vector 29.82 -52.0 -59.0)))
         (instance face :init :vertices (list (float-vector 19.82 -62.0 -59.0) (float-vector 19.82 -62.0 -69.0) (float-vector 29.82 -62.0 -69.0) (float-vector 29.82 -62.0 -59.0)))
         (instance face :init :vertices (list (float-vector 19.82 -52.0 -59.0) (float-vector 19.82 -52.0 -69.0) (float-vector 19.82 -62.0 -69.0) (float-vector 19.82 -62.0 -59.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 29.82 62.0 -59.0) (float-vector 19.82 62.0 -59.0) (float-vector 19.82 52.0 -59.0) (float-vector 29.82 52.0 -59.0)))
         (instance face :init :vertices (list (float-vector 19.82 62.0 -69.0) (float-vector 29.82 62.0 -69.0) (float-vector 29.82 52.0 -69.0) (float-vector 19.82 52.0 -69.0)))
         (instance face :init :vertices (list (float-vector 29.82 62.0 -59.0) (float-vector 29.82 62.0 -69.0) (float-vector 19.82 62.0 -69.0) (float-vector 19.82 62.0 -59.0)))
         (instance face :init :vertices (list (float-vector 29.82 52.0 -59.0) (float-vector 29.82 52.0 -69.0) (float-vector 29.82 62.0 -69.0) (float-vector 29.82 62.0 -59.0)))
         (instance face :init :vertices (list (float-vector 19.82 52.0 -59.0) (float-vector 19.82 52.0 -69.0) (float-vector 29.82 52.0 -69.0) (float-vector 29.82 52.0 -59.0)))
         (instance face :init :vertices (list (float-vector 19.82 62.0 -59.0) (float-vector 19.82 62.0 -69.0) (float-vector 19.82 52.0 -69.0) (float-vector 19.82 52.0 -59.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 8.5 -92.0 175.5) (float-vector -1.5 -92.0 175.5) (float-vector -1.5 -102.0 175.5) (float-vector 8.5 -102.0 175.5)))
         (instance face :init :vertices (list (float-vector -1.5 -92.0 165.5) (float-vector 8.5 -92.0 165.5) (float-vector 8.5 -102.0 165.5) (float-vector -1.5 -102.0 165.5)))
         (instance face :init :vertices (list (float-vector 8.5 -92.0 175.5) (float-vector 8.5 -92.0 165.5) (float-vector -1.5 -92.0 165.5) (float-vector -1.5 -92.0 175.5)))
         (instance face :init :vertices (list (float-vector 8.5 -102.0 175.5) (float-vector 8.5 -102.0 165.5) (float-vector 8.5 -92.0 165.5) (float-vector 8.5 -92.0 175.5)))
         (instance face :init :vertices (list (float-vector -1.5 -102.0 175.5) (float-vector -1.5 -102.0 165.5) (float-vector 8.5 -102.0 165.5) (float-vector 8.5 -102.0 175.5)))
         (instance face :init :vertices (list (float-vector -1.5 -92.0 175.5) (float-vector -1.5 -92.0 165.5) (float-vector -1.5 -102.0 165.5) (float-vector -1.5 -102.0 175.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 8.5 102.0 175.5) (float-vector -1.5 102.0 175.5) (float-vector -1.5 92.0 175.5) (float-vector 8.5 92.0 175.5)))
         (instance face :init :vertices (list (float-vector -1.5 102.0 165.5) (float-vector 8.5 102.0 165.5) (float-vector 8.5 92.0 165.5) (float-vector -1.5 92.0 165.5)))
         (instance face :init :vertices (list (float-vector 8.5 102.0 175.5) (float-vector 8.5 102.0 165.5) (float-vector -1.5 102.0 165.5) (float-vector -1.5 102.0 175.5)))
         (instance face :init :vertices (list (float-vector 8.5 92.0 175.5) (float-vector 8.5 92.0 165.5) (float-vector 8.5 102.0 165.5) (float-vector 8.5 102.0 175.5)))
         (instance face :init :vertices (list (float-vector -1.5 92.0 175.5) (float-vector -1.5 92.0 165.5) (float-vector 8.5 92.0 165.5) (float-vector 8.5 92.0 175.5)))
         (instance face :init :vertices (list (float-vector -1.5 102.0 175.5) (float-vector -1.5 102.0 165.5) (float-vector -1.5 92.0 165.5) (float-vector -1.5 92.0 175.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 4.20577 65.6 82.5) (float-vector 3.0 65.6 87.0) (float-vector 4.20577 65.6 91.5) (float-vector 7.5 65.6 94.7942) (float-vector 12.0 65.6 96.0) (float-vector 16.5 65.6 94.7942) (float-vector 19.7942 65.6 91.5) (float-vector 21.0 65.6 87.0) (float-vector 19.7942 65.6 82.5) (float-vector 16.5 65.6 79.2058) (float-vector 12.0 65.6 78.0) (float-vector 7.5 65.6 79.2058)))
         (instance face :init :vertices (list (float-vector 3.0 50.0 87.0) (float-vector 4.20577 50.0 82.5) (float-vector 7.5 50.0 79.2058) (float-vector 12.0 50.0 78.0) (float-vector 16.5 50.0 79.2058) (float-vector 19.7942 50.0 82.5) (float-vector 21.0 50.0 87.0) (float-vector 19.7942 50.0 91.5) (float-vector 16.5 50.0 94.7942) (float-vector 12.0 50.0 96.0) (float-vector 7.5 50.0 94.7942) (float-vector 4.20577 50.0 91.5)))
         (instance face :init :vertices (list (float-vector 4.20577 65.6 82.5) (float-vector 4.20577 50.0 82.5) (float-vector 3.0 50.0 87.0) (float-vector 3.0 65.6 87.0)))
         (instance face :init :vertices (list (float-vector 7.5 65.6 79.2058) (float-vector 7.5 50.0 79.2058) (float-vector 4.20577 50.0 82.5) (float-vector 4.20577 65.6 82.5)))
         (instance face :init :vertices (list (float-vector 12.0 65.6 78.0) (float-vector 12.0 50.0 78.0) (float-vector 7.5 50.0 79.2058) (float-vector 7.5 65.6 79.2058)))
         (instance face :init :vertices (list (float-vector 16.5 65.6 79.2058) (float-vector 16.5 50.0 79.2058) (float-vector 12.0 50.0 78.0) (float-vector 12.0 65.6 78.0)))
         (instance face :init :vertices (list (float-vector 19.7942 65.6 82.5) (float-vector 19.7942 50.0 82.5) (float-vector 16.5 50.0 79.2058) (float-vector 16.5 65.6 79.2058)))
         (instance face :init :vertices (list (float-vector 21.0 65.6 87.0) (float-vector 21.0 50.0 87.0) (float-vector 19.7942 50.0 82.5) (float-vector 19.7942 65.6 82.5)))
         (instance face :init :vertices (list (float-vector 19.7942 65.6 91.5) (float-vector 19.7942 50.0 91.5) (float-vector 21.0 50.0 87.0) (float-vector 21.0 65.6 87.0)))
         (instance face :init :vertices (list (float-vector 16.5 65.6 94.7942) (float-vector 16.5 50.0 94.7942) (float-vector 19.7942 50.0 91.5) (float-vector 19.7942 65.6 91.5)))
         (instance face :init :vertices (list (float-vector 12.0 65.6 96.0) (float-vector 12.0 50.0 96.0) (float-vector 16.5 50.0 94.7942) (float-vector 16.5 65.6 94.7942)))
         (instance face :init :vertices (list (float-vector 7.5 65.6 94.7942) (float-vector 7.5 50.0 94.7942) (float-vector 12.0 50.0 96.0) (float-vector 12.0 65.6 96.0)))
         (instance face :init :vertices (list (float-vector 4.20577 65.6 91.5) (float-vector 4.20577 50.0 91.5) (float-vector 7.5 50.0 94.7942) (float-vector 7.5 65.6 94.7942)))
         (instance face :init :vertices (list (float-vector 3.0 65.6 87.0) (float-vector 3.0 50.0 87.0) (float-vector 4.20577 50.0 91.5) (float-vector 4.20577 65.6 91.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 16.5 -65.6 94.7942) (float-vector 12.0 -65.6 96.0) (float-vector 7.5 -65.6 94.7942) (float-vector 4.20577 -65.6 91.5) (float-vector 3.0 -65.6 87.0) (float-vector 4.20577 -65.6 82.5) (float-vector 7.5 -65.6 79.2058) (float-vector 12.0 -65.6 78.0) (float-vector 16.5 -65.6 79.2058) (float-vector 19.7942 -65.6 82.5) (float-vector 21.0 -65.6 87.0) (float-vector 19.7942 -65.6 91.5)))
         (instance face :init :vertices (list (float-vector 12.0 -50.0 96.0) (float-vector 16.5 -50.0 94.7942) (float-vector 19.7942 -50.0 91.5) (float-vector 21.0 -50.0 87.0) (float-vector 19.7942 -50.0 82.5) (float-vector 16.5 -50.0 79.2058) (float-vector 12.0 -50.0 78.0) (float-vector 7.5 -50.0 79.2058) (float-vector 4.20577 -50.0 82.5) (float-vector 3.0 -50.0 87.0) (float-vector 4.20577 -50.0 91.5) (float-vector 7.5 -50.0 94.7942)))
         (instance face :init :vertices (list (float-vector 16.5 -65.6 94.7942) (float-vector 16.5 -50.0 94.7942) (float-vector 12.0 -50.0 96.0) (float-vector 12.0 -65.6 96.0)))
         (instance face :init :vertices (list (float-vector 19.7942 -65.6 91.5) (float-vector 19.7942 -50.0 91.5) (float-vector 16.5 -50.0 94.7942) (float-vector 16.5 -65.6 94.7942)))
         (instance face :init :vertices (list (float-vector 21.0 -65.6 87.0) (float-vector 21.0 -50.0 87.0) (float-vector 19.7942 -50.0 91.5) (float-vector 19.7942 -65.6 91.5)))
         (instance face :init :vertices (list (float-vector 19.7942 -65.6 82.5) (float-vector 19.7942 -50.0 82.5) (float-vector 21.0 -50.0 87.0) (float-vector 21.0 -65.6 87.0)))
         (instance face :init :vertices (list (float-vector 16.5 -65.6 79.2058) (float-vector 16.5 -50.0 79.2058) (float-vector 19.7942 -50.0 82.5) (float-vector 19.7942 -65.6 82.5)))
         (instance face :init :vertices (list (float-vector 12.0 -65.6 78.0) (float-vector 12.0 -50.0 78.0) (float-vector 16.5 -50.0 79.2058) (float-vector 16.5 -65.6 79.2058)))
         (instance face :init :vertices (list (float-vector 7.5 -65.6 79.2058) (float-vector 7.5 -50.0 79.2058) (float-vector 12.0 -50.0 78.0) (float-vector 12.0 -65.6 78.0)))
         (instance face :init :vertices (list (float-vector 4.20577 -65.6 82.5) (float-vector 4.20577 -50.0 82.5) (float-vector 7.5 -50.0 79.2058) (float-vector 7.5 -65.6 79.2058)))
         (instance face :init :vertices (list (float-vector 3.0 -65.6 87.0) (float-vector 3.0 -50.0 87.0) (float-vector 4.20577 -50.0 82.5) (float-vector 4.20577 -65.6 82.5)))
         (instance face :init :vertices (list (float-vector 4.20577 -65.6 91.5) (float-vector 4.20577 -50.0 91.5) (float-vector 3.0 -50.0 87.0) (float-vector 3.0 -65.6 87.0)))
         (instance face :init :vertices (list (float-vector 7.5 -65.6 94.7942) (float-vector 7.5 -50.0 94.7942) (float-vector 4.20577 -50.0 91.5) (float-vector 4.20577 -65.6 91.5)))
         (instance face :init :vertices (list (float-vector 12.0 -65.6 96.0) (float-vector 12.0 -50.0 96.0) (float-vector 7.5 -50.0 94.7942) (float-vector 7.5 -65.6 94.7942)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -18.8 52.5 6.09423) (float-vector -18.8 57.0 7.3) (float-vector -18.8 61.5 6.09423) (float-vector -18.8 64.7942 2.8) (float-vector -18.8 66.0 -1.7) (float-vector -18.8 64.7942 -6.2) (float-vector -18.8 61.5 -9.49423) (float-vector -18.8 57.0 -10.7) (float-vector -18.8 52.5 -9.49423) (float-vector -18.8 49.2058 -6.2) (float-vector -18.8 48.0 -1.7) (float-vector -18.8 49.2058 2.8)))
         (instance face :init :vertices (list (float-vector -3.2 57.0 7.3) (float-vector -3.2 52.5 6.09423) (float-vector -3.2 49.2058 2.8) (float-vector -3.2 48.0 -1.7) (float-vector -3.2 49.2058 -6.2) (float-vector -3.2 52.5 -9.49423) (float-vector -3.2 57.0 -10.7) (float-vector -3.2 61.5 -9.49423) (float-vector -3.2 64.7942 -6.2) (float-vector -3.2 66.0 -1.7) (float-vector -3.2 64.7942 2.8) (float-vector -3.2 61.5 6.09423)))
         (instance face :init :vertices (list (float-vector -18.8 52.5 6.09423) (float-vector -3.2 52.5 6.09423) (float-vector -3.2 57.0 7.3) (float-vector -18.8 57.0 7.3)))
         (instance face :init :vertices (list (float-vector -18.8 49.2058 2.8) (float-vector -3.2 49.2058 2.8) (float-vector -3.2 52.5 6.09423) (float-vector -18.8 52.5 6.09423)))
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         (instance face :init :vertices (list (float-vector -18.8 61.5 -9.49423) (float-vector -3.2 61.5 -9.49423) (float-vector -3.2 57.0 -10.7) (float-vector -18.8 57.0 -10.7)))
         (instance face :init :vertices (list (float-vector -18.8 64.7942 -6.2) (float-vector -3.2 64.7942 -6.2) (float-vector -3.2 61.5 -9.49423) (float-vector -18.8 61.5 -9.49423)))
         (instance face :init :vertices (list (float-vector -18.8 66.0 -1.7) (float-vector -3.2 66.0 -1.7) (float-vector -3.2 64.7942 -6.2) (float-vector -18.8 64.7942 -6.2)))
         (instance face :init :vertices (list (float-vector -18.8 64.7942 2.8) (float-vector -3.2 64.7942 2.8) (float-vector -3.2 66.0 -1.7) (float-vector -18.8 66.0 -1.7)))
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       ))
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector -3.2 9.0 20.0) (float-vector -3.2 7.79423 24.5) (float-vector -3.2 4.5 27.7942) (float-vector -3.2 -1.509903e-14 29.0) (float-vector -3.2 -4.5 27.7942) (float-vector -3.2 -7.79423 24.5) (float-vector -3.2 -9.0 20.0) (float-vector -3.2 -7.79423 15.5) (float-vector -3.2 -4.5 12.2058) (float-vector -3.2 5.329071e-15 11.0) (float-vector -3.2 4.5 12.2058) (float-vector -3.2 7.79423 15.5)))
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         (instance face :init :vertices (list (float-vector -18.8 -4.5 27.7942) (float-vector -3.2 -4.5 27.7942) (float-vector -3.2 -1.509903e-14 29.0) (float-vector -18.8 -1.509903e-14 29.0)))
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         (instance face :init :vertices (list (float-vector -31.95 -74.5708 85.1) (float-vector -27.1604 -74.5708 67.225) (float-vector 3.8 -84.15 85.1)))
         (instance face :init :vertices (list (float-vector -27.1604 -74.5708 67.225) (float-vector -14.075 -74.5708 54.1396) (float-vector 3.8 -84.15 85.1)))
         (instance face :init :vertices (list (float-vector -14.075 -74.5708 54.1396) (float-vector 3.8 -74.5708 49.35) (float-vector 3.8 -84.15 85.1)))
         (instance face :init :vertices (list (float-vector 3.8 -74.5708 49.35) (float-vector 21.675 -74.5708 54.1396) (float-vector 3.8 -84.15 85.1)))
         (instance face :init :vertices (list (float-vector 21.675 -74.5708 54.1396) (float-vector 34.7604 -74.5708 67.225) (float-vector 3.8 -84.15 85.1)))
       ))
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector 33.008 101.416 -22.75) (float-vector 18.55 101.416 -37.208) (float-vector -1.2 112.0 -3.0)))
         (instance face :init :vertices (list (float-vector 18.55 101.416 -37.208) (float-vector -1.2 101.416 -42.5) (float-vector -1.2 112.0 -3.0)))
         (instance face :init :vertices (list (float-vector -1.2 101.416 -42.5) (float-vector -20.95 101.416 -37.208) (float-vector -1.2 112.0 -3.0)))
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         (instance face :init :vertices (list (float-vector -1.2 101.416 36.5) (float-vector 18.55 101.416 31.208) (float-vector -1.2 112.0 -3.0)))
         (instance face :init :vertices (list (float-vector 18.55 101.416 31.208) (float-vector 33.008 101.416 16.75) (float-vector -1.2 112.0 -3.0)))
         (instance face :init :vertices (list (float-vector 33.008 101.416 16.75) (float-vector 38.3 101.416 -3.0) (float-vector -1.2 112.0 -3.0)))
         (instance face :init :vertices (list (float-vector 58.05 72.5 -37.208) (float-vector 33.008 101.416 -22.75) (float-vector 38.3 101.416 -3.0) (float-vector 67.216 72.5 -3.0)))
         (instance face :init :vertices (list (float-vector 33.008 72.5 -62.25) (float-vector 18.55 101.416 -37.208) (float-vector 33.008 101.416 -22.75) (float-vector 58.05 72.5 -37.208)))
         (instance face :init :vertices (list (float-vector -1.2 72.5 -71.416) (float-vector -1.2 101.416 -42.5) (float-vector 18.55 101.416 -37.208) (float-vector 33.008 72.5 -62.25)))
         (instance face :init :vertices (list (float-vector -35.408 72.5 -62.25) (float-vector -20.95 101.416 -37.208) (float-vector -1.2 101.416 -42.5) (float-vector -1.2 72.5 -71.416)))
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         (instance face :init :vertices (list (float-vector -60.45 72.5 31.208) (float-vector -35.408 101.416 16.75) (float-vector -40.7 101.416 -3.0) (float-vector -69.616 72.5 -3.0)))
         (instance face :init :vertices (list (float-vector -35.408 72.5 56.25) (float-vector -20.95 101.416 31.208) (float-vector -35.408 101.416 16.75) (float-vector -60.45 72.5 31.208)))
         (instance face :init :vertices (list (float-vector -1.2 72.5 65.416) (float-vector -1.2 101.416 36.5) (float-vector -20.95 101.416 31.208) (float-vector -35.408 72.5 56.25)))
         (instance face :init :vertices (list (float-vector 33.008 72.5 56.25) (float-vector 18.55 101.416 31.208) (float-vector -1.2 101.416 36.5) (float-vector -1.2 72.5 65.416)))
         (instance face :init :vertices (list (float-vector 58.05 72.5 31.208) (float-vector 33.008 101.416 16.75) (float-vector 18.55 101.416 31.208) (float-vector 33.008 72.5 56.25)))
         (instance face :init :vertices (list (float-vector 67.216 72.5 -3.0) (float-vector 38.3 101.416 -3.0) (float-vector 33.008 101.416 16.75) (float-vector 58.05 72.5 31.208)))
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         (instance face :init :vertices (list (float-vector 38.3 33.0 -71.416) (float-vector 33.008 72.5 -62.25) (float-vector 58.05 72.5 -37.208) (float-vector 67.216 33.0 -42.5)))
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         (instance face :init :vertices (list (float-vector -40.7 33.0 -71.416) (float-vector -35.408 72.5 -62.25) (float-vector -1.2 72.5 -71.416) (float-vector -1.2 33.0 -82.0)))
         (instance face :init :vertices (list (float-vector -69.616 33.0 -42.5) (float-vector -60.45 72.5 -37.208) (float-vector -35.408 72.5 -62.25) (float-vector -40.7 33.0 -71.416)))
         (instance face :init :vertices (list (float-vector -80.2 33.0 -3.0) (float-vector -69.616 72.5 -3.0) (float-vector -60.45 72.5 -37.208) (float-vector -69.616 33.0 -42.5)))
         (instance face :init :vertices (list (float-vector -69.616 33.0 36.5) (float-vector -60.45 72.5 31.208) (float-vector -69.616 72.5 -3.0) (float-vector -80.2 33.0 -3.0)))
         (instance face :init :vertices (list (float-vector -40.7 33.0 65.416) (float-vector -35.408 72.5 56.25) (float-vector -60.45 72.5 31.208) (float-vector -69.616 33.0 36.5)))
         (instance face :init :vertices (list (float-vector -1.2 33.0 76.0) (float-vector -1.2 72.5 65.416) (float-vector -35.408 72.5 56.25) (float-vector -40.7 33.0 65.416)))
         (instance face :init :vertices (list (float-vector 38.3 33.0 65.416) (float-vector 33.008 72.5 56.25) (float-vector -1.2 72.5 65.416) (float-vector -1.2 33.0 76.0)))
         (instance face :init :vertices (list (float-vector 67.216 33.0 36.5) (float-vector 58.05 72.5 31.208) (float-vector 33.008 72.5 56.25) (float-vector 38.3 33.0 65.416)))
         (instance face :init :vertices (list (float-vector 77.8 33.0 -3.0) (float-vector 67.216 72.5 -3.0) (float-vector 58.05 72.5 31.208) (float-vector 67.216 33.0 36.5)))
         (instance face :init :vertices (list (float-vector 67.216 -33.0 -42.5) (float-vector 67.216 33.0 -42.5) (float-vector 77.8 33.0 -3.0) (float-vector 77.8 -33.0 -3.0)))
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         (instance face :init :vertices (list (float-vector -40.7 -33.0 -71.416) (float-vector -40.7 33.0 -71.416) (float-vector -1.2 33.0 -82.0) (float-vector -1.2 -33.0 -82.0)))
         (instance face :init :vertices (list (float-vector -69.616 -33.0 -42.5) (float-vector -69.616 33.0 -42.5) (float-vector -40.7 33.0 -71.416) (float-vector -40.7 -33.0 -71.416)))
         (instance face :init :vertices (list (float-vector -80.2 -33.0 -3.0) (float-vector -80.2 33.0 -3.0) (float-vector -69.616 33.0 -42.5) (float-vector -69.616 -33.0 -42.5)))
         (instance face :init :vertices (list (float-vector -69.616 -33.0 36.5) (float-vector -69.616 33.0 36.5) (float-vector -80.2 33.0 -3.0) (float-vector -80.2 -33.0 -3.0)))
         (instance face :init :vertices (list (float-vector -40.7 -33.0 65.416) (float-vector -40.7 33.0 65.416) (float-vector -69.616 33.0 36.5) (float-vector -69.616 -33.0 36.5)))
         (instance face :init :vertices (list (float-vector -1.2 -33.0 76.0) (float-vector -1.2 33.0 76.0) (float-vector -40.7 33.0 65.416) (float-vector -40.7 -33.0 65.416)))
         (instance face :init :vertices (list (float-vector 38.3 -33.0 65.416) (float-vector 38.3 33.0 65.416) (float-vector -1.2 33.0 76.0) (float-vector -1.2 -33.0 76.0)))
         (instance face :init :vertices (list (float-vector 67.216 -33.0 36.5) (float-vector 67.216 33.0 36.5) (float-vector 38.3 33.0 65.416) (float-vector 38.3 -33.0 65.416)))
         (instance face :init :vertices (list (float-vector 77.8 -33.0 -3.0) (float-vector 77.8 33.0 -3.0) (float-vector 67.216 33.0 36.5) (float-vector 67.216 -33.0 36.5)))
         (instance face :init :vertices (list (float-vector 58.05 -72.5 -37.208) (float-vector 67.216 -33.0 -42.5) (float-vector 77.8 -33.0 -3.0) (float-vector 67.216 -72.5 -3.0)))
         (instance face :init :vertices (list (float-vector 33.008 -72.5 -62.25) (float-vector 38.3 -33.0 -71.416) (float-vector 67.216 -33.0 -42.5) (float-vector 58.05 -72.5 -37.208)))
         (instance face :init :vertices (list (float-vector -1.2 -72.5 -71.416) (float-vector -1.2 -33.0 -82.0) (float-vector 38.3 -33.0 -71.416) (float-vector 33.008 -72.5 -62.25)))
         (instance face :init :vertices (list (float-vector -35.408 -72.5 -62.25) (float-vector -40.7 -33.0 -71.416) (float-vector -1.2 -33.0 -82.0) (float-vector -1.2 -72.5 -71.416)))
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         (instance face :init :vertices (list (float-vector -69.616 -72.5 -3.0) (float-vector -80.2 -33.0 -3.0) (float-vector -69.616 -33.0 -42.5) (float-vector -60.45 -72.5 -37.208)))
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         (instance face :init :vertices (list (float-vector -1.2 -72.5 65.416) (float-vector -1.2 -33.0 76.0) (float-vector -40.7 -33.0 65.416) (float-vector -35.408 -72.5 56.25)))
         (instance face :init :vertices (list (float-vector 33.008 -72.5 56.25) (float-vector 38.3 -33.0 65.416) (float-vector -1.2 -33.0 76.0) (float-vector -1.2 -72.5 65.416)))
         (instance face :init :vertices (list (float-vector 58.05 -72.5 31.208) (float-vector 67.216 -33.0 36.5) (float-vector 38.3 -33.0 65.416) (float-vector 33.008 -72.5 56.25)))
         (instance face :init :vertices (list (float-vector 67.216 -72.5 -3.0) (float-vector 77.8 -33.0 -3.0) (float-vector 67.216 -33.0 36.5) (float-vector 58.05 -72.5 31.208)))
         (instance face :init :vertices (list (float-vector 33.008 -101.416 -22.75) (float-vector 58.05 -72.5 -37.208) (float-vector 67.216 -72.5 -3.0) (float-vector 38.3 -101.416 -3.0)))
         (instance face :init :vertices (list (float-vector 18.55 -101.416 -37.208) (float-vector 33.008 -72.5 -62.25) (float-vector 58.05 -72.5 -37.208) (float-vector 33.008 -101.416 -22.75)))
         (instance face :init :vertices (list (float-vector -1.2 -101.416 -42.5) (float-vector -1.2 -72.5 -71.416) (float-vector 33.008 -72.5 -62.25) (float-vector 18.55 -101.416 -37.208)))
         (instance face :init :vertices (list (float-vector -20.95 -101.416 -37.208) (float-vector -35.408 -72.5 -62.25) (float-vector -1.2 -72.5 -71.416) (float-vector -1.2 -101.416 -42.5)))
         (instance face :init :vertices (list (float-vector -35.408 -101.416 -22.75) (float-vector -60.45 -72.5 -37.208) (float-vector -35.408 -72.5 -62.25) (float-vector -20.95 -101.416 -37.208)))
         (instance face :init :vertices (list (float-vector -40.7 -101.416 -3.0) (float-vector -69.616 -72.5 -3.0) (float-vector -60.45 -72.5 -37.208) (float-vector -35.408 -101.416 -22.75)))
         (instance face :init :vertices (list (float-vector -35.408 -101.416 16.75) (float-vector -60.45 -72.5 31.208) (float-vector -69.616 -72.5 -3.0) (float-vector -40.7 -101.416 -3.0)))
         (instance face :init :vertices (list (float-vector -20.95 -101.416 31.208) (float-vector -35.408 -72.5 56.25) (float-vector -60.45 -72.5 31.208) (float-vector -35.408 -101.416 16.75)))
         (instance face :init :vertices (list (float-vector -1.2 -101.416 36.5) (float-vector -1.2 -72.5 65.416) (float-vector -35.408 -72.5 56.25) (float-vector -20.95 -101.416 31.208)))
         (instance face :init :vertices (list (float-vector 18.55 -101.416 31.208) (float-vector 33.008 -72.5 56.25) (float-vector -1.2 -72.5 65.416) (float-vector -1.2 -101.416 36.5)))
         (instance face :init :vertices (list (float-vector 33.008 -101.416 16.75) (float-vector 58.05 -72.5 31.208) (float-vector 33.008 -72.5 56.25) (float-vector 18.55 -101.416 31.208)))
         (instance face :init :vertices (list (float-vector 38.3 -101.416 -3.0) (float-vector 67.216 -72.5 -3.0) (float-vector 58.05 -72.5 31.208) (float-vector 33.008 -101.416 16.75)))
         (instance face :init :vertices (list (float-vector 33.008 -101.416 -22.75) (float-vector 38.3 -101.416 -3.0) (float-vector -1.2 -112.0 -3.0)))
         (instance face :init :vertices (list (float-vector 38.3 -101.416 -3.0) (float-vector 33.008 -101.416 16.75) (float-vector -1.2 -112.0 -3.0)))
         (instance face :init :vertices (list (float-vector 33.008 -101.416 16.75) (float-vector 18.55 -101.416 31.208) (float-vector -1.2 -112.0 -3.0)))
         (instance face :init :vertices (list (float-vector 18.55 -101.416 31.208) (float-vector -1.2 -101.416 36.5) (float-vector -1.2 -112.0 -3.0)))
         (instance face :init :vertices (list (float-vector -1.2 -101.416 36.5) (float-vector -20.95 -101.416 31.208) (float-vector -1.2 -112.0 -3.0)))
         (instance face :init :vertices (list (float-vector -20.95 -101.416 31.208) (float-vector -35.408 -101.416 16.75) (float-vector -1.2 -112.0 -3.0)))
         (instance face :init :vertices (list (float-vector -35.408 -101.416 16.75) (float-vector -40.7 -101.416 -3.0) (float-vector -1.2 -112.0 -3.0)))
         (instance face :init :vertices (list (float-vector -40.7 -101.416 -3.0) (float-vector -35.408 -101.416 -22.75) (float-vector -1.2 -112.0 -3.0)))
         (instance face :init :vertices (list (float-vector -35.408 -101.416 -22.75) (float-vector -20.95 -101.416 -37.208) (float-vector -1.2 -112.0 -3.0)))
         (instance face :init :vertices (list (float-vector -20.95 -101.416 -37.208) (float-vector -1.2 -101.416 -42.5) (float-vector -1.2 -112.0 -3.0)))
         (instance face :init :vertices (list (float-vector -1.2 -101.416 -42.5) (float-vector 18.55 -101.416 -37.208) (float-vector -1.2 -112.0 -3.0)))
         (instance face :init :vertices (list (float-vector 18.55 -101.416 -37.208) (float-vector 33.008 -101.416 -22.75) (float-vector -1.2 -112.0 -3.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color (list))
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray40)
     (send (elt bc 3) :set-color :gray40)
     (send (elt bc 4) :set-color :gray40)
     (send (elt bc 5) :set-color :gray40)
     (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 :gray40)
     (send (elt bc 12) :set-color :gray40)
     (send (elt bc 13) :set-color :gray40)
     (send (elt bc 14) :set-color :gray40)
     (send (elt bc 15) :set-color :gray40)
     (send (elt bc 16) :set-color :gray40)
     (send (elt bc 17) :set-color :gray40)
     (send (elt bc 18) :set-color :gray40)
     (send (elt bc 19) :set-color :darkgreen)
     (send (elt bc 20) :set-color :darkgreen)
     (send (elt bc 21) :set-color :darkgreen)
     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :weight 2106 :centroid (float-vector 0.0 -1.425526e-16 -1.421085e-16) :inertia-tensor #2f((0.166667 0.0 0.0) (0.0 0.166667 0.0) (0.0 0.0 0.166667))))

     ;; definition of :arm-shoulder-p-1
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (setq blink17 (instance bodyset-link :init (make-cascoords) :bodies bc :name :arm-shoulder-p-1 :weight 174 :centroid (float-vector 0.0 1.333569e-17 2.775558e-17) :inertia-tensor #2f((1.649890e-31 2.964394e-323 2.964394e-323) (1.976263e-323 1.340447e-31 -6.440430e-32) (1.976263e-323 -6.440430e-32 3.094425e-32))))

     ;; definition of :arm-shoulder-r-1
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (setq blink18 (instance bodyset-link :init (make-cascoords) :bodies bc :name :arm-shoulder-r-1 :weight 33 :centroid (float-vector 0.0 1.333569e-17 2.775558e-17) :inertia-tensor #2f((3.129101e-32 2.964394e-323 2.964394e-323) (1.976263e-323 2.542228e-32 -1.221461e-32) (1.976263e-323 -1.221461e-32 5.868738e-33))))

     ;; definition of :arm-upperarm-1
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -3.89423 42.1 -85.4) (float-vector -5.1 42.1 -80.9) (float-vector -3.89423 42.1 -76.4) (float-vector -0.6 42.1 -73.1058) (float-vector 3.9 42.1 -71.9) (float-vector 8.4 42.1 -73.1058) (float-vector 11.6942 42.1 -76.4) (float-vector 12.9 42.1 -80.9) (float-vector 11.6942 42.1 -85.4) (float-vector 8.4 42.1 -88.6942) (float-vector 3.9 42.1 -89.9) (float-vector -0.6 42.1 -88.6942)))
         (instance face :init :vertices (list (float-vector -5.1 26.5 -80.9) (float-vector -3.89423 26.5 -85.4) (float-vector -0.6 26.5 -88.6942) (float-vector 3.9 26.5 -89.9) (float-vector 8.4 26.5 -88.6942) (float-vector 11.6942 26.5 -85.4) (float-vector 12.9 26.5 -80.9) (float-vector 11.6942 26.5 -76.4) (float-vector 8.4 26.5 -73.1058) (float-vector 3.9 26.5 -71.9) (float-vector -0.6 26.5 -73.1058) (float-vector -3.89423 26.5 -76.4)))
         (instance face :init :vertices (list (float-vector -3.89423 42.1 -85.4) (float-vector -3.89423 26.5 -85.4) (float-vector -5.1 26.5 -80.9) (float-vector -5.1 42.1 -80.9)))
         (instance face :init :vertices (list (float-vector -0.6 42.1 -88.6942) (float-vector -0.6 26.5 -88.6942) (float-vector -3.89423 26.5 -85.4) (float-vector -3.89423 42.1 -85.4)))
         (instance face :init :vertices (list (float-vector 3.9 42.1 -89.9) (float-vector 3.9 26.5 -89.9) (float-vector -0.6 26.5 -88.6942) (float-vector -0.6 42.1 -88.6942)))
         (instance face :init :vertices (list (float-vector 8.4 42.1 -88.6942) (float-vector 8.4 26.5 -88.6942) (float-vector 3.9 26.5 -89.9) (float-vector 3.9 42.1 -89.9)))
         (instance face :init :vertices (list (float-vector 11.6942 42.1 -85.4) (float-vector 11.6942 26.5 -85.4) (float-vector 8.4 26.5 -88.6942) (float-vector 8.4 42.1 -88.6942)))
         (instance face :init :vertices (list (float-vector 12.9 42.1 -80.9) (float-vector 12.9 26.5 -80.9) (float-vector 11.6942 26.5 -85.4) (float-vector 11.6942 42.1 -85.4)))
         (instance face :init :vertices (list (float-vector 11.6942 42.1 -76.4) (float-vector 11.6942 26.5 -76.4) (float-vector 12.9 26.5 -80.9) (float-vector 12.9 42.1 -80.9)))
         (instance face :init :vertices (list (float-vector 8.4 42.1 -73.1058) (float-vector 8.4 26.5 -73.1058) (float-vector 11.6942 26.5 -76.4) (float-vector 11.6942 42.1 -76.4)))
         (instance face :init :vertices (list (float-vector 3.9 42.1 -71.9) (float-vector 3.9 26.5 -71.9) (float-vector 8.4 26.5 -73.1058) (float-vector 8.4 42.1 -73.1058)))
         (instance face :init :vertices (list (float-vector -0.6 42.1 -73.1058) (float-vector -0.6 26.5 -73.1058) (float-vector 3.9 26.5 -71.9) (float-vector 3.9 42.1 -71.9)))
         (instance face :init :vertices (list (float-vector -3.89423 42.1 -76.4) (float-vector -3.89423 26.5 -76.4) (float-vector -0.6 26.5 -73.1058) (float-vector -0.6 42.1 -73.1058)))
         (instance face :init :vertices (list (float-vector -5.1 42.1 -80.9) (float-vector -5.1 26.5 -80.9) (float-vector -3.89423 26.5 -76.4) (float-vector -3.89423 42.1 -76.4)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -30.0 12.7942 -85.0) (float-vector -30.0 14.0 -89.5) (float-vector -30.0 12.7942 -94.0) (float-vector -30.0 9.5 -97.2942) (float-vector -30.0 5.0 -98.5) (float-vector -30.0 0.5 -97.2942) (float-vector -30.0 -2.79423 -94.0) (float-vector -30.0 -4.0 -89.5) (float-vector -30.0 -2.79423 -85.0) (float-vector -30.0 0.5 -81.7058) (float-vector -30.0 5.0 -80.5) (float-vector -30.0 9.5 -81.7058)))
         (instance face :init :vertices (list (float-vector -14.4 14.0 -89.5) (float-vector -14.4 12.7942 -85.0) (float-vector -14.4 9.5 -81.7058) (float-vector -14.4 5.0 -80.5) (float-vector -14.4 0.5 -81.7058) (float-vector -14.4 -2.79423 -85.0) (float-vector -14.4 -4.0 -89.5) (float-vector -14.4 -2.79423 -94.0) (float-vector -14.4 0.5 -97.2942) (float-vector -14.4 5.0 -98.5) (float-vector -14.4 9.5 -97.2942) (float-vector -14.4 12.7942 -94.0)))
         (instance face :init :vertices (list (float-vector -30.0 12.7942 -85.0) (float-vector -14.4 12.7942 -85.0) (float-vector -14.4 14.0 -89.5) (float-vector -30.0 14.0 -89.5)))
         (instance face :init :vertices (list (float-vector -30.0 9.5 -81.7058) (float-vector -14.4 9.5 -81.7058) (float-vector -14.4 12.7942 -85.0) (float-vector -30.0 12.7942 -85.0)))
         (instance face :init :vertices (list (float-vector -30.0 5.0 -80.5) (float-vector -14.4 5.0 -80.5) (float-vector -14.4 9.5 -81.7058) (float-vector -30.0 9.5 -81.7058)))
         (instance face :init :vertices (list (float-vector -30.0 0.5 -81.7058) (float-vector -14.4 0.5 -81.7058) (float-vector -14.4 5.0 -80.5) (float-vector -30.0 5.0 -80.5)))
         (instance face :init :vertices (list (float-vector -30.0 -2.79423 -85.0) (float-vector -14.4 -2.79423 -85.0) (float-vector -14.4 0.5 -81.7058) (float-vector -30.0 0.5 -81.7058)))
         (instance face :init :vertices (list (float-vector -30.0 -4.0 -89.5) (float-vector -14.4 -4.0 -89.5) (float-vector -14.4 -2.79423 -85.0) (float-vector -30.0 -2.79423 -85.0)))
         (instance face :init :vertices (list (float-vector -30.0 -2.79423 -94.0) (float-vector -14.4 -2.79423 -94.0) (float-vector -14.4 -4.0 -89.5) (float-vector -30.0 -4.0 -89.5)))
         (instance face :init :vertices (list (float-vector -30.0 0.5 -97.2942) (float-vector -14.4 0.5 -97.2942) (float-vector -14.4 -2.79423 -94.0) (float-vector -30.0 -2.79423 -94.0)))
         (instance face :init :vertices (list (float-vector -30.0 5.0 -98.5) (float-vector -14.4 5.0 -98.5) (float-vector -14.4 0.5 -97.2942) (float-vector -30.0 0.5 -97.2942)))
         (instance face :init :vertices (list (float-vector -30.0 9.5 -97.2942) (float-vector -14.4 9.5 -97.2942) (float-vector -14.4 5.0 -98.5) (float-vector -30.0 5.0 -98.5)))
         (instance face :init :vertices (list (float-vector -30.0 12.7942 -94.0) (float-vector -14.4 12.7942 -94.0) (float-vector -14.4 9.5 -97.2942) (float-vector -30.0 9.5 -97.2942)))
         (instance face :init :vertices (list (float-vector -30.0 14.0 -89.5) (float-vector -14.4 14.0 -89.5) (float-vector -14.4 12.7942 -94.0) (float-vector -30.0 12.7942 -94.0)))
       ))
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector 12.9 -16.5 -80.9) (float-vector 11.6942 -16.5 -85.4) (float-vector 8.4 -16.5 -88.6942) (float-vector 3.9 -16.5 -89.9) (float-vector -0.6 -16.5 -88.6942) (float-vector -3.89423 -16.5 -85.4) (float-vector -5.1 -16.5 -80.9) (float-vector -3.89423 -16.5 -76.4) (float-vector -0.6 -16.5 -73.1058) (float-vector 3.9 -16.5 -71.9) (float-vector 8.4 -16.5 -73.1058) (float-vector 11.6942 -16.5 -76.4)))
         (instance face :init :vertices (list (float-vector 11.6942 -32.1 -85.4) (float-vector 11.6942 -16.5 -85.4) (float-vector 12.9 -16.5 -80.9) (float-vector 12.9 -32.1 -80.9)))
         (instance face :init :vertices (list (float-vector 8.4 -32.1 -88.6942) (float-vector 8.4 -16.5 -88.6942) (float-vector 11.6942 -16.5 -85.4) (float-vector 11.6942 -32.1 -85.4)))
         (instance face :init :vertices (list (float-vector 3.9 -32.1 -89.9) (float-vector 3.9 -16.5 -89.9) (float-vector 8.4 -16.5 -88.6942) (float-vector 8.4 -32.1 -88.6942)))
         (instance face :init :vertices (list (float-vector -0.6 -32.1 -88.6942) (float-vector -0.6 -16.5 -88.6942) (float-vector 3.9 -16.5 -89.9) (float-vector 3.9 -32.1 -89.9)))
         (instance face :init :vertices (list (float-vector -3.89423 -32.1 -85.4) (float-vector -3.89423 -16.5 -85.4) (float-vector -0.6 -16.5 -88.6942) (float-vector -0.6 -32.1 -88.6942)))
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         (instance face :init :vertices (list (float-vector -3.89423 -32.1 -76.4) (float-vector -3.89423 -16.5 -76.4) (float-vector -5.1 -16.5 -80.9) (float-vector -5.1 -32.1 -80.9)))
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         (instance face :init :vertices (list (float-vector 8.4 -32.1 -73.1058) (float-vector 8.4 -16.5 -73.1058) (float-vector 3.9 -16.5 -71.9) (float-vector 3.9 -32.1 -71.9)))
         (instance face :init :vertices (list (float-vector 11.6942 -32.1 -76.4) (float-vector 11.6942 -16.5 -76.4) (float-vector 8.4 -16.5 -73.1058) (float-vector 8.4 -32.1 -73.1058)))
         (instance face :init :vertices (list (float-vector 12.9 -32.1 -80.9) (float-vector 12.9 -16.5 -80.9) (float-vector 11.6942 -16.5 -76.4) (float-vector 11.6942 -32.1 -76.4)))
       ))
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector 8.3 9.5 -90.0942) (float-vector 23.9 9.5 -90.0942) (float-vector 23.9 5.0 -91.3) (float-vector 8.3 5.0 -91.3)))
         (instance face :init :vertices (list (float-vector 8.3 12.7942 -86.8) (float-vector 23.9 12.7942 -86.8) (float-vector 23.9 9.5 -90.0942) (float-vector 8.3 9.5 -90.0942)))
         (instance face :init :vertices (list (float-vector 8.3 14.0 -82.3) (float-vector 23.9 14.0 -82.3) (float-vector 23.9 12.7942 -86.8) (float-vector 8.3 12.7942 -86.8)))
         (instance face :init :vertices (list (float-vector 8.3 12.7942 -77.8) (float-vector 23.9 12.7942 -77.8) (float-vector 23.9 14.0 -82.3) (float-vector 8.3 14.0 -82.3)))
         (instance face :init :vertices (list (float-vector 8.3 9.5 -74.5058) (float-vector 23.9 9.5 -74.5058) (float-vector 23.9 12.7942 -77.8) (float-vector 8.3 12.7942 -77.8)))
         (instance face :init :vertices (list (float-vector 8.3 5.0 -73.3) (float-vector 23.9 5.0 -73.3) (float-vector 23.9 9.5 -74.5058) (float-vector 8.3 9.5 -74.5058)))
         (instance face :init :vertices (list (float-vector 8.3 0.5 -74.5058) (float-vector 23.9 0.5 -74.5058) (float-vector 23.9 5.0 -73.3) (float-vector 8.3 5.0 -73.3)))
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       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector -11.2528 -14.3503 -109.091) (float-vector -19.4903 -6.11275 -109.091) (float-vector 0.0 5.14 -115.121)))
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         (instance face :init :vertices (list (float-vector -11.2527 24.6303 -109.091) (float-vector 2.131628e-14 27.6455 -109.091) (float-vector 0.0 5.14 -115.121)))
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         (instance face :init :vertices (list (float-vector -33.7582 24.6303 -92.6155) (float-vector -19.4903 16.3928 -109.091) (float-vector -22.5055 5.14 -109.091) (float-vector -38.9807 5.14 -92.6155)))
         (instance face :init :vertices (list (float-vector -19.4903 38.8983 -92.6155) (float-vector -11.2527 24.6303 -109.091) (float-vector -19.4903 16.3928 -109.091) (float-vector -33.7582 24.6303 -92.6155)))
         (instance face :init :vertices (list (float-vector 3.685940e-14 44.1207 -92.6155) (float-vector 2.131628e-14 27.6455 -109.091) (float-vector -11.2527 24.6303 -109.091) (float-vector -19.4903 38.8983 -92.6155)))
         (instance face :init :vertices (list (float-vector 19.4903 38.8983 -92.6155) (float-vector 11.2527 24.6303 -109.091) (float-vector 2.131628e-14 27.6455 -109.091) (float-vector 3.685940e-14 44.1207 -92.6155)))
         (instance face :init :vertices (list (float-vector 33.7582 24.6303 -92.6155) (float-vector 19.4903 16.3928 -109.091) (float-vector 11.2527 24.6303 -109.091) (float-vector 19.4903 38.8983 -92.6155)))
         (instance face :init :vertices (list (float-vector 38.9807 5.14 -92.6155) (float-vector 22.5055 5.14 -109.091) (float-vector 19.4903 16.3928 -109.091) (float-vector 33.7582 24.6303 -92.6155)))
         (instance face :init :vertices (list (float-vector 38.9807 -17.3655 -70.11) (float-vector 33.7582 -14.3503 -92.6155) (float-vector 38.9807 5.14 -92.6155) (float-vector 45.011 5.14 -70.11)))
         (instance face :init :vertices (list (float-vector 22.5055 -33.8407 -70.11) (float-vector 19.4903 -28.6183 -92.6155) (float-vector 33.7582 -14.3503 -92.6155) (float-vector 38.9807 -17.3655 -70.11)))
         (instance face :init :vertices (list (float-vector -2.482459e-13 -39.871 -70.11) (float-vector -2.149392e-13 -33.8407 -92.6155) (float-vector 19.4903 -28.6183 -92.6155) (float-vector 22.5055 -33.8407 -70.11)))
         (instance face :init :vertices (list (float-vector -22.5055 -33.8407 -70.11) (float-vector -19.4903 -28.6182 -92.6155) (float-vector -2.149392e-13 -33.8407 -92.6155) (float-vector -2.482459e-13 -39.871 -70.11)))
         (instance face :init :vertices (list (float-vector -38.9807 -17.3655 -70.11) (float-vector -33.7583 -14.3503 -92.6155) (float-vector -19.4903 -28.6182 -92.6155) (float-vector -22.5055 -33.8407 -70.11)))
         (instance face :init :vertices (list (float-vector -45.011 5.14 -70.11) (float-vector -38.9807 5.14 -92.6155) (float-vector -33.7583 -14.3503 -92.6155) (float-vector -38.9807 -17.3655 -70.11)))
         (instance face :init :vertices (list (float-vector -38.9807 27.6455 -70.11) (float-vector -33.7582 24.6303 -92.6155) (float-vector -38.9807 5.14 -92.6155) (float-vector -45.011 5.14 -70.11)))
         (instance face :init :vertices (list (float-vector -22.5055 44.1207 -70.11) (float-vector -19.4903 38.8983 -92.6155) (float-vector -33.7582 24.6303 -92.6155) (float-vector -38.9807 27.6455 -70.11)))
         (instance face :init :vertices (list (float-vector 4.263256e-14 50.151 -70.11) (float-vector 3.685940e-14 44.1207 -92.6155) (float-vector -19.4903 38.8983 -92.6155) (float-vector -22.5055 44.1207 -70.11)))
         (instance face :init :vertices (list (float-vector 22.5055 44.1207 -70.11) (float-vector 19.4903 38.8983 -92.6155) (float-vector 3.685940e-14 44.1207 -92.6155) (float-vector 4.263256e-14 50.151 -70.11)))
         (instance face :init :vertices (list (float-vector 38.9807 27.6455 -70.11) (float-vector 33.7582 24.6303 -92.6155) (float-vector 19.4903 38.8983 -92.6155) (float-vector 22.5055 44.1207 -70.11)))
         (instance face :init :vertices (list (float-vector 45.011 5.14 -70.11) (float-vector 38.9807 5.14 -92.6155) (float-vector 33.7582 24.6303 -92.6155) (float-vector 38.9807 27.6455 -70.11)))
         (instance face :init :vertices (list (float-vector 38.9807 -17.3655 9.89) (float-vector 38.9807 -17.3655 -70.11) (float-vector 45.011 5.14 -70.11) (float-vector 45.011 5.14 9.89)))
         (instance face :init :vertices (list (float-vector 22.5055 -33.8407 9.89) (float-vector 22.5055 -33.8407 -70.11) (float-vector 38.9807 -17.3655 -70.11) (float-vector 38.9807 -17.3655 9.89)))
         (instance face :init :vertices (list (float-vector -2.482459e-13 -39.871 9.89) (float-vector -2.482459e-13 -39.871 -70.11) (float-vector 22.5055 -33.8407 -70.11) (float-vector 22.5055 -33.8407 9.89)))
         (instance face :init :vertices (list (float-vector -22.5055 -33.8407 9.89) (float-vector -22.5055 -33.8407 -70.11) (float-vector -2.482459e-13 -39.871 -70.11) (float-vector -2.482459e-13 -39.871 9.89)))
         (instance face :init :vertices (list (float-vector -38.9807 -17.3655 9.89) (float-vector -38.9807 -17.3655 -70.11) (float-vector -22.5055 -33.8407 -70.11) (float-vector -22.5055 -33.8407 9.89)))
         (instance face :init :vertices (list (float-vector -45.011 5.14 9.89) (float-vector -45.011 5.14 -70.11) (float-vector -38.9807 -17.3655 -70.11) (float-vector -38.9807 -17.3655 9.89)))
         (instance face :init :vertices (list (float-vector -38.9807 27.6455 9.89) (float-vector -38.9807 27.6455 -70.11) (float-vector -45.011 5.14 -70.11) (float-vector -45.011 5.14 9.89)))
         (instance face :init :vertices (list (float-vector -22.5055 44.1207 9.89) (float-vector -22.5055 44.1207 -70.11) (float-vector -38.9807 27.6455 -70.11) (float-vector -38.9807 27.6455 9.89)))
         (instance face :init :vertices (list (float-vector 4.263256e-14 50.151 9.89) (float-vector 4.263256e-14 50.151 -70.11) (float-vector -22.5055 44.1207 -70.11) (float-vector -22.5055 44.1207 9.89)))
         (instance face :init :vertices (list (float-vector 22.5055 44.1207 9.89) (float-vector 22.5055 44.1207 -70.11) (float-vector 4.263256e-14 50.151 -70.11) (float-vector 4.263256e-14 50.151 9.89)))
         (instance face :init :vertices (list (float-vector 38.9807 27.6455 9.89) (float-vector 38.9807 27.6455 -70.11) (float-vector 22.5055 44.1207 -70.11) (float-vector 22.5055 44.1207 9.89)))
         (instance face :init :vertices (list (float-vector 45.011 5.14 9.89) (float-vector 45.011 5.14 -70.11) (float-vector 38.9807 27.6455 -70.11) (float-vector 38.9807 27.6455 9.89)))
         (instance face :init :vertices (list (float-vector 33.7582 -14.3503 32.3955) (float-vector 38.9807 -17.3655 9.89) (float-vector 45.011 5.14 9.89) (float-vector 38.9807 5.14 32.3955)))
         (instance face :init :vertices (list (float-vector 19.4903 -28.6183 32.3955) (float-vector 22.5055 -33.8407 9.89) (float-vector 38.9807 -17.3655 9.89) (float-vector 33.7582 -14.3503 32.3955)))
         (instance face :init :vertices (list (float-vector -2.149392e-13 -33.8407 32.3955) (float-vector -2.482459e-13 -39.871 9.89) (float-vector 22.5055 -33.8407 9.89) (float-vector 19.4903 -28.6183 32.3955)))
         (instance face :init :vertices (list (float-vector -19.4903 -28.6182 32.3955) (float-vector -22.5055 -33.8407 9.89) (float-vector -2.482459e-13 -39.871 9.89) (float-vector -2.149392e-13 -33.8407 32.3955)))
         (instance face :init :vertices (list (float-vector -33.7583 -14.3503 32.3955) (float-vector -38.9807 -17.3655 9.89) (float-vector -22.5055 -33.8407 9.89) (float-vector -19.4903 -28.6182 32.3955)))
         (instance face :init :vertices (list (float-vector -38.9807 5.14 32.3955) (float-vector -45.011 5.14 9.89) (float-vector -38.9807 -17.3655 9.89) (float-vector -33.7583 -14.3503 32.3955)))
         (instance face :init :vertices (list (float-vector -33.7582 24.6303 32.3955) (float-vector -38.9807 27.6455 9.89) (float-vector -45.011 5.14 9.89) (float-vector -38.9807 5.14 32.3955)))
         (instance face :init :vertices (list (float-vector -19.4903 38.8982 32.3955) (float-vector -22.5055 44.1207 9.89) (float-vector -38.9807 27.6455 9.89) (float-vector -33.7582 24.6303 32.3955)))
         (instance face :init :vertices (list (float-vector 3.685940e-14 44.1207 32.3955) (float-vector 4.263256e-14 50.151 9.89) (float-vector -22.5055 44.1207 9.89) (float-vector -19.4903 38.8982 32.3955)))
         (instance face :init :vertices (list (float-vector 19.4903 38.8982 32.3955) (float-vector 22.5055 44.1207 9.89) (float-vector 4.263256e-14 50.151 9.89) (float-vector 3.685940e-14 44.1207 32.3955)))
         (instance face :init :vertices (list (float-vector 33.7582 24.6303 32.3955) (float-vector 38.9807 27.6455 9.89) (float-vector 22.5055 44.1207 9.89) (float-vector 19.4903 38.8982 32.3955)))
         (instance face :init :vertices (list (float-vector 38.9807 5.14 32.3955) (float-vector 45.011 5.14 9.89) (float-vector 38.9807 27.6455 9.89) (float-vector 33.7582 24.6303 32.3955)))
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         (instance face :init :vertices (list (float-vector 11.2527 -14.3503 48.8707) (float-vector 19.4903 -28.6183 32.3955) (float-vector 33.7582 -14.3503 32.3955) (float-vector 19.4903 -6.11275 48.8707)))
         (instance face :init :vertices (list (float-vector -1.239009e-13 -17.3655 48.8707) (float-vector -2.149392e-13 -33.8407 32.3955) (float-vector 19.4903 -28.6183 32.3955) (float-vector 11.2527 -14.3503 48.8707)))
         (instance face :init :vertices (list (float-vector -11.2528 -14.3503 48.8707) (float-vector -19.4903 -28.6182 32.3955) (float-vector -2.149392e-13 -33.8407 32.3955) (float-vector -1.239009e-13 -17.3655 48.8707)))
         (instance face :init :vertices (list (float-vector -19.4903 -6.11275 48.8707) (float-vector -33.7583 -14.3503 32.3955) (float-vector -19.4903 -28.6182 32.3955) (float-vector -11.2528 -14.3503 48.8707)))
         (instance face :init :vertices (list (float-vector -22.5055 5.14 48.8707) (float-vector -38.9807 5.14 32.3955) (float-vector -33.7583 -14.3503 32.3955) (float-vector -19.4903 -6.11275 48.8707)))
         (instance face :init :vertices (list (float-vector -19.4903 16.3928 48.8707) (float-vector -33.7582 24.6303 32.3955) (float-vector -38.9807 5.14 32.3955) (float-vector -22.5055 5.14 48.8707)))
         (instance face :init :vertices (list (float-vector -11.2527 24.6303 48.8707) (float-vector -19.4903 38.8982 32.3955) (float-vector -33.7582 24.6303 32.3955) (float-vector -19.4903 16.3928 48.8707)))
         (instance face :init :vertices (list (float-vector 2.131628e-14 27.6455 48.8707) (float-vector 3.685940e-14 44.1207 32.3955) (float-vector -19.4903 38.8982 32.3955) (float-vector -11.2527 24.6303 48.8707)))
         (instance face :init :vertices (list (float-vector 11.2527 24.6303 48.8707) (float-vector 19.4903 38.8982 32.3955) (float-vector 3.685940e-14 44.1207 32.3955) (float-vector 2.131628e-14 27.6455 48.8707)))
         (instance face :init :vertices (list (float-vector 19.4903 16.3927 48.8707) (float-vector 33.7582 24.6303 32.3955) (float-vector 19.4903 38.8982 32.3955) (float-vector 11.2527 24.6303 48.8707)))
         (instance face :init :vertices (list (float-vector 22.5055 5.14 48.8707) (float-vector 38.9807 5.14 32.3955) (float-vector 33.7582 24.6303 32.3955) (float-vector 19.4903 16.3927 48.8707)))
         (instance face :init :vertices (list (float-vector 19.4903 -6.11275 48.8707) (float-vector 22.5055 5.14 48.8707) (float-vector 0.0 5.14 54.901)))
         (instance face :init :vertices (list (float-vector 22.5055 5.14 48.8707) (float-vector 19.4903 16.3927 48.8707) (float-vector 0.0 5.14 54.901)))
         (instance face :init :vertices (list (float-vector 19.4903 16.3927 48.8707) (float-vector 11.2527 24.6303 48.8707) (float-vector 0.0 5.14 54.901)))
         (instance face :init :vertices (list (float-vector 11.2527 24.6303 48.8707) (float-vector 2.131628e-14 27.6455 48.8707) (float-vector 0.0 5.14 54.901)))
         (instance face :init :vertices (list (float-vector 2.131628e-14 27.6455 48.8707) (float-vector -11.2527 24.6303 48.8707) (float-vector 0.0 5.14 54.901)))
         (instance face :init :vertices (list (float-vector -11.2527 24.6303 48.8707) (float-vector -19.4903 16.3928 48.8707) (float-vector 0.0 5.14 54.901)))
         (instance face :init :vertices (list (float-vector -19.4903 16.3928 48.8707) (float-vector -22.5055 5.14 48.8707) (float-vector 0.0 5.14 54.901)))
         (instance face :init :vertices (list (float-vector -22.5055 5.14 48.8707) (float-vector -19.4903 -6.11275 48.8707) (float-vector 0.0 5.14 54.901)))
         (instance face :init :vertices (list (float-vector -19.4903 -6.11275 48.8707) (float-vector -11.2528 -14.3503 48.8707) (float-vector 0.0 5.14 54.901)))
         (instance face :init :vertices (list (float-vector -11.2528 -14.3503 48.8707) (float-vector -1.239009e-13 -17.3655 48.8707) (float-vector 0.0 5.14 54.901)))
         (instance face :init :vertices (list (float-vector -1.239009e-13 -17.3655 48.8707) (float-vector 11.2527 -14.3503 48.8707) (float-vector 0.0 5.14 54.901)))
         (instance face :init :vertices (list (float-vector 11.2527 -14.3503 48.8707) (float-vector 19.4903 -6.11275 48.8707) (float-vector 0.0 5.14 54.901)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray40)
     (send (elt bc 3) :set-color :gray40)
     (send (elt bc 4) :set-color :gray40)
     (send (elt bc 5) :set-color :darkgreen)
     (setq blink19 (instance bodyset-link :init (make-cascoords) :bodies bc :name :arm-upperarm-1 :weight 144 :centroid (float-vector 0.0 1.333569e-17 2.775558e-17) :inertia-tensor #2f((1.365426e-31 2.964394e-323 2.964394e-323) (1.976263e-323 1.109336e-31 -5.330011e-32) (1.976263e-323 -5.330011e-32 2.560904e-32))))

     ;; definition of :arm-forearm-1
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -3.99423 -32.1 -67.2) (float-vector -5.2 -32.1 -71.7) (float-vector -3.99423 -32.1 -76.2) (float-vector -0.7 -32.1 -79.4942) (float-vector 3.8 -32.1 -80.7) (float-vector 8.3 -32.1 -79.4942) (float-vector 11.5942 -32.1 -76.2) (float-vector 12.8 -32.1 -71.7) (float-vector 11.5942 -32.1 -67.2) (float-vector 8.3 -32.1 -63.9058) (float-vector 3.8 -32.1 -62.7) (float-vector -0.7 -32.1 -63.9058)))
         (instance face :init :vertices (list (float-vector -5.2 -16.5 -71.7) (float-vector -3.99423 -16.5 -67.2) (float-vector -0.7 -16.5 -63.9058) (float-vector 3.8 -16.5 -62.7) (float-vector 8.3 -16.5 -63.9058) (float-vector 11.5942 -16.5 -67.2) (float-vector 12.8 -16.5 -71.7) (float-vector 11.5942 -16.5 -76.2) (float-vector 8.3 -16.5 -79.4942) (float-vector 3.8 -16.5 -80.7) (float-vector -0.7 -16.5 -79.4942) (float-vector -3.99423 -16.5 -76.2)))
         (instance face :init :vertices (list (float-vector -3.99423 -32.1 -67.2) (float-vector -3.99423 -16.5 -67.2) (float-vector -5.2 -16.5 -71.7) (float-vector -5.2 -32.1 -71.7)))
         (instance face :init :vertices (list (float-vector -0.7 -32.1 -63.9058) (float-vector -0.7 -16.5 -63.9058) (float-vector -3.99423 -16.5 -67.2) (float-vector -3.99423 -32.1 -67.2)))
         (instance face :init :vertices (list (float-vector 3.8 -32.1 -62.7) (float-vector 3.8 -16.5 -62.7) (float-vector -0.7 -16.5 -63.9058) (float-vector -0.7 -32.1 -63.9058)))
         (instance face :init :vertices (list (float-vector 8.3 -32.1 -63.9058) (float-vector 8.3 -16.5 -63.9058) (float-vector 3.8 -16.5 -62.7) (float-vector 3.8 -32.1 -62.7)))
         (instance face :init :vertices (list (float-vector 11.5942 -32.1 -67.2) (float-vector 11.5942 -16.5 -67.2) (float-vector 8.3 -16.5 -63.9058) (float-vector 8.3 -32.1 -63.9058)))
         (instance face :init :vertices (list (float-vector 12.8 -32.1 -71.7) (float-vector 12.8 -16.5 -71.7) (float-vector 11.5942 -16.5 -67.2) (float-vector 11.5942 -32.1 -67.2)))
         (instance face :init :vertices (list (float-vector 11.5942 -32.1 -76.2) (float-vector 11.5942 -16.5 -76.2) (float-vector 12.8 -16.5 -71.7) (float-vector 12.8 -32.1 -71.7)))
         (instance face :init :vertices (list (float-vector 8.3 -32.1 -79.4942) (float-vector 8.3 -16.5 -79.4942) (float-vector 11.5942 -16.5 -76.2) (float-vector 11.5942 -32.1 -76.2)))
         (instance face :init :vertices (list (float-vector 3.8 -32.1 -80.7) (float-vector 3.8 -16.5 -80.7) (float-vector 8.3 -16.5 -79.4942) (float-vector 8.3 -32.1 -79.4942)))
         (instance face :init :vertices (list (float-vector -0.7 -32.1 -79.4942) (float-vector -0.7 -16.5 -79.4942) (float-vector 3.8 -16.5 -80.7) (float-vector 3.8 -32.1 -80.7)))
         (instance face :init :vertices (list (float-vector -3.99423 -32.1 -76.2) (float-vector -3.99423 -16.5 -76.2) (float-vector -0.7 -16.5 -79.4942) (float-vector -0.7 -32.1 -79.4942)))
         (instance face :init :vertices (list (float-vector -5.2 -32.1 -71.7) (float-vector -5.2 -16.5 -71.7) (float-vector -3.99423 -16.5 -76.2) (float-vector -3.99423 -32.1 -76.2)))
       ))
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector 8.35 27.1776 3.96524) (float-vector 17.3176 42.71 -13.97) (float-vector -3.9 48.3952 -13.97) (float-vector -3.9 30.46 3.96524)))
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         (instance face :init :vertices (list (float-vector 20.6 5.96 3.96524) (float-vector 38.5352 5.96 -13.97) (float-vector 32.85 27.1776 -13.97) (float-vector 17.3176 18.21 3.96524)))
         (instance face :init :vertices (list (float-vector 17.3176 -6.29 3.96524) (float-vector 20.6 5.96 3.96524) (float-vector -3.9 5.96 10.53)))
         (instance face :init :vertices (list (float-vector 20.6 5.96 3.96524) (float-vector 17.3176 18.21 3.96524) (float-vector -3.9 5.96 10.53)))
         (instance face :init :vertices (list (float-vector 17.3176 18.21 3.96524) (float-vector 8.35 27.1776 3.96524) (float-vector -3.9 5.96 10.53)))
         (instance face :init :vertices (list (float-vector 8.35 27.1776 3.96524) (float-vector -3.9 30.46 3.96524) (float-vector -3.9 5.96 10.53)))
         (instance face :init :vertices (list (float-vector -3.9 30.46 3.96524) (float-vector -16.15 27.1776 3.96524) (float-vector -3.9 5.96 10.53)))
         (instance face :init :vertices (list (float-vector -16.15 27.1776 3.96524) (float-vector -25.1176 18.21 3.96524) (float-vector -3.9 5.96 10.53)))
         (instance face :init :vertices (list (float-vector -25.1176 18.21 3.96524) (float-vector -28.4 5.96 3.96524) (float-vector -3.9 5.96 10.53)))
         (instance face :init :vertices (list (float-vector -28.4 5.96 3.96524) (float-vector -25.1176 -6.29 3.96524) (float-vector -3.9 5.96 10.53)))
         (instance face :init :vertices (list (float-vector -25.1176 -6.29 3.96524) (float-vector -16.15 -15.2576 3.96524) (float-vector -3.9 5.96 10.53)))
         (instance face :init :vertices (list (float-vector -16.15 -15.2576 3.96524) (float-vector -3.9 -18.54 3.96524) (float-vector -3.9 5.96 10.53)))
         (instance face :init :vertices (list (float-vector -3.9 -18.54 3.96524) (float-vector 8.35 -15.2576 3.96524) (float-vector -3.9 5.96 10.53)))
         (instance face :init :vertices (list (float-vector 8.35 -15.2576 3.96524) (float-vector 17.3176 -6.29 3.96524) (float-vector -3.9 5.96 10.53)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray40)
     (send (elt bc 3) :set-color :gray40)
     (send (elt bc 4) :set-color :gray40)
     (send (elt bc 5) :set-color :darkgreen)
     (send (elt bc 6) :set-color :darkgreen)
     (setq blink20 (instance bodyset-link :init (make-cascoords) :bodies bc :name :arm-forearm-1 :weight 196 :centroid (float-vector 0.0 1.333569e-17 2.775558e-17) :inertia-tensor #2f((1.858497e-31 2.964394e-323 2.964394e-323) (1.976263e-323 1.509929e-31 -7.254737e-32) (1.976263e-323 -7.254737e-32 3.485675e-32))))

     ;; definition of :arm-shoulder-p-0
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0)))
       ))
       ))
     (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 :arm-shoulder-p-0 :weight 174 :centroid (float-vector -3.399078e-33 1.333569e-17 -2.775558e-17) :inertia-tensor #2f((1.649890e-31 7.887252e-48 -1.641574e-47) (7.887252e-48 1.340447e-31 6.440430e-32) (-1.641574e-47 6.440430e-32 3.094425e-32))))

     ;; definition of :arm-shoulder-r-0
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (setq blink8 (instance bodyset-link :init (make-cascoords) :bodies bc :name :arm-shoulder-r-0 :weight 33 :centroid (float-vector -3.399078e-33 1.333569e-17 -2.775558e-17) :inertia-tensor #2f((3.129101e-32 1.495858e-48 -3.113331e-48) (1.495858e-48 2.542228e-32 1.221461e-32) (-3.113331e-48 1.221461e-32 5.868738e-33))))

     ;; definition of :arm-upperarm-0
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 3.89423 -42.1 76.4) (float-vector 5.1 -42.1 80.9) (float-vector 3.89423 -42.1 85.4) (float-vector 0.6 -42.1 88.6942) (float-vector -3.9 -42.1 89.9) (float-vector -8.4 -42.1 88.6942) (float-vector -11.6942 -42.1 85.4) (float-vector -12.9 -42.1 80.9) (float-vector -11.6942 -42.1 76.4) (float-vector -8.4 -42.1 73.1058) (float-vector -3.9 -42.1 71.9) (float-vector 0.6 -42.1 73.1058)))
         (instance face :init :vertices (list (float-vector 5.1 -26.5 80.9) (float-vector 3.89423 -26.5 76.4) (float-vector 0.6 -26.5 73.1058) (float-vector -3.9 -26.5 71.9) (float-vector -8.4 -26.5 73.1058) (float-vector -11.6942 -26.5 76.4) (float-vector -12.9 -26.5 80.9) (float-vector -11.6942 -26.5 85.4) (float-vector -8.4 -26.5 88.6942) (float-vector -3.9 -26.5 89.9) (float-vector 0.6 -26.5 88.6942) (float-vector 3.89423 -26.5 85.4)))
         (instance face :init :vertices (list (float-vector 3.89423 -42.1 76.4) (float-vector 3.89423 -26.5 76.4) (float-vector 5.1 -26.5 80.9) (float-vector 5.1 -42.1 80.9)))
         (instance face :init :vertices (list (float-vector 0.6 -42.1 73.1058) (float-vector 0.6 -26.5 73.1058) (float-vector 3.89423 -26.5 76.4) (float-vector 3.89423 -42.1 76.4)))
         (instance face :init :vertices (list (float-vector -3.9 -42.1 71.9) (float-vector -3.9 -26.5 71.9) (float-vector 0.6 -26.5 73.1058) (float-vector 0.6 -42.1 73.1058)))
         (instance face :init :vertices (list (float-vector -8.4 -42.1 73.1058) (float-vector -8.4 -26.5 73.1058) (float-vector -3.9 -26.5 71.9) (float-vector -3.9 -42.1 71.9)))
         (instance face :init :vertices (list (float-vector -11.6942 -42.1 76.4) (float-vector -11.6942 -26.5 76.4) (float-vector -8.4 -26.5 73.1058) (float-vector -8.4 -42.1 73.1058)))
         (instance face :init :vertices (list (float-vector -12.9 -42.1 80.9) (float-vector -12.9 -26.5 80.9) (float-vector -11.6942 -26.5 76.4) (float-vector -11.6942 -42.1 76.4)))
         (instance face :init :vertices (list (float-vector -11.6942 -42.1 85.4) (float-vector -11.6942 -26.5 85.4) (float-vector -12.9 -26.5 80.9) (float-vector -12.9 -42.1 80.9)))
         (instance face :init :vertices (list (float-vector -8.4 -42.1 88.6942) (float-vector -8.4 -26.5 88.6942) (float-vector -11.6942 -26.5 85.4) (float-vector -11.6942 -42.1 85.4)))
         (instance face :init :vertices (list (float-vector -3.9 -42.1 89.9) (float-vector -3.9 -26.5 89.9) (float-vector -8.4 -26.5 88.6942) (float-vector -8.4 -42.1 88.6942)))
         (instance face :init :vertices (list (float-vector 0.6 -42.1 88.6942) (float-vector 0.6 -26.5 88.6942) (float-vector -3.9 -26.5 89.9) (float-vector -3.9 -42.1 89.9)))
         (instance face :init :vertices (list (float-vector 3.89423 -42.1 85.4) (float-vector 3.89423 -26.5 85.4) (float-vector 0.6 -26.5 88.6942) (float-vector 0.6 -42.1 88.6942)))
         (instance face :init :vertices (list (float-vector 5.1 -42.1 80.9) (float-vector 5.1 -26.5 80.9) (float-vector 3.89423 -26.5 85.4) (float-vector 3.89423 -42.1 85.4)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 30.0 2.79423 85.0) (float-vector 30.0 4.0 89.5) (float-vector 30.0 2.79423 94.0) (float-vector 30.0 -0.5 97.2942) (float-vector 30.0 -5.0 98.5) (float-vector 30.0 -9.5 97.2942) (float-vector 30.0 -12.7942 94.0) (float-vector 30.0 -14.0 89.5) (float-vector 30.0 -12.7942 85.0) (float-vector 30.0 -9.5 81.7058) (float-vector 30.0 -5.0 80.5) (float-vector 30.0 -0.5 81.7058)))
         (instance face :init :vertices (list (float-vector 14.4 4.0 89.5) (float-vector 14.4 2.79423 85.0) (float-vector 14.4 -0.5 81.7058) (float-vector 14.4 -5.0 80.5) (float-vector 14.4 -9.5 81.7058) (float-vector 14.4 -12.7942 85.0) (float-vector 14.4 -14.0 89.5) (float-vector 14.4 -12.7942 94.0) (float-vector 14.4 -9.5 97.2942) (float-vector 14.4 -5.0 98.5) (float-vector 14.4 -0.5 97.2942) (float-vector 14.4 2.79423 94.0)))
         (instance face :init :vertices (list (float-vector 30.0 2.79423 85.0) (float-vector 14.4 2.79423 85.0) (float-vector 14.4 4.0 89.5) (float-vector 30.0 4.0 89.5)))
         (instance face :init :vertices (list (float-vector 30.0 -0.5 81.7058) (float-vector 14.4 -0.5 81.7058) (float-vector 14.4 2.79423 85.0) (float-vector 30.0 2.79423 85.0)))
         (instance face :init :vertices (list (float-vector 30.0 -5.0 80.5) (float-vector 14.4 -5.0 80.5) (float-vector 14.4 -0.5 81.7058) (float-vector 30.0 -0.5 81.7058)))
         (instance face :init :vertices (list (float-vector 30.0 -9.5 81.7058) (float-vector 14.4 -9.5 81.7058) (float-vector 14.4 -5.0 80.5) (float-vector 30.0 -5.0 80.5)))
         (instance face :init :vertices (list (float-vector 30.0 -12.7942 85.0) (float-vector 14.4 -12.7942 85.0) (float-vector 14.4 -9.5 81.7058) (float-vector 30.0 -9.5 81.7058)))
         (instance face :init :vertices (list (float-vector 30.0 -14.0 89.5) (float-vector 14.4 -14.0 89.5) (float-vector 14.4 -12.7942 85.0) (float-vector 30.0 -12.7942 85.0)))
         (instance face :init :vertices (list (float-vector 30.0 -12.7942 94.0) (float-vector 14.4 -12.7942 94.0) (float-vector 14.4 -14.0 89.5) (float-vector 30.0 -14.0 89.5)))
         (instance face :init :vertices (list (float-vector 30.0 -9.5 97.2942) (float-vector 14.4 -9.5 97.2942) (float-vector 14.4 -12.7942 94.0) (float-vector 30.0 -12.7942 94.0)))
         (instance face :init :vertices (list (float-vector 30.0 -5.0 98.5) (float-vector 14.4 -5.0 98.5) (float-vector 14.4 -9.5 97.2942) (float-vector 30.0 -9.5 97.2942)))
         (instance face :init :vertices (list (float-vector 30.0 -0.5 97.2942) (float-vector 14.4 -0.5 97.2942) (float-vector 14.4 -5.0 98.5) (float-vector 30.0 -5.0 98.5)))
         (instance face :init :vertices (list (float-vector 30.0 2.79423 94.0) (float-vector 14.4 2.79423 94.0) (float-vector 14.4 -0.5 97.2942) (float-vector 30.0 -0.5 97.2942)))
         (instance face :init :vertices (list (float-vector 30.0 4.0 89.5) (float-vector 14.4 4.0 89.5) (float-vector 14.4 2.79423 94.0) (float-vector 30.0 2.79423 94.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -11.6942 32.1 76.4) (float-vector -12.9 32.1 80.9) (float-vector -11.6942 32.1 85.4) (float-vector -8.4 32.1 88.6942) (float-vector -3.9 32.1 89.9) (float-vector 0.6 32.1 88.6942) (float-vector 3.89423 32.1 85.4) (float-vector 5.1 32.1 80.9) (float-vector 3.89423 32.1 76.4) (float-vector 0.6 32.1 73.1058) (float-vector -3.9 32.1 71.9) (float-vector -8.4 32.1 73.1058)))
         (instance face :init :vertices (list (float-vector -12.9 16.5 80.9) (float-vector -11.6942 16.5 76.4) (float-vector -8.4 16.5 73.1058) (float-vector -3.9 16.5 71.9) (float-vector 0.6 16.5 73.1058) (float-vector 3.89423 16.5 76.4) (float-vector 5.1 16.5 80.9) (float-vector 3.89423 16.5 85.4) (float-vector 0.6 16.5 88.6942) (float-vector -3.9 16.5 89.9) (float-vector -8.4 16.5 88.6942) (float-vector -11.6942 16.5 85.4)))
         (instance face :init :vertices (list (float-vector -11.6942 32.1 76.4) (float-vector -11.6942 16.5 76.4) (float-vector -12.9 16.5 80.9) (float-vector -12.9 32.1 80.9)))
         (instance face :init :vertices (list (float-vector -8.4 32.1 73.1058) (float-vector -8.4 16.5 73.1058) (float-vector -11.6942 16.5 76.4) (float-vector -11.6942 32.1 76.4)))
         (instance face :init :vertices (list (float-vector -3.9 32.1 71.9) (float-vector -3.9 16.5 71.9) (float-vector -8.4 16.5 73.1058) (float-vector -8.4 32.1 73.1058)))
         (instance face :init :vertices (list (float-vector 0.6 32.1 73.1058) (float-vector 0.6 16.5 73.1058) (float-vector -3.9 16.5 71.9) (float-vector -3.9 32.1 71.9)))
         (instance face :init :vertices (list (float-vector 3.89423 32.1 76.4) (float-vector 3.89423 16.5 76.4) (float-vector 0.6 16.5 73.1058) (float-vector 0.6 32.1 73.1058)))
         (instance face :init :vertices (list (float-vector 5.1 32.1 80.9) (float-vector 5.1 16.5 80.9) (float-vector 3.89423 16.5 76.4) (float-vector 3.89423 32.1 76.4)))
         (instance face :init :vertices (list (float-vector 3.89423 32.1 85.4) (float-vector 3.89423 16.5 85.4) (float-vector 5.1 16.5 80.9) (float-vector 5.1 32.1 80.9)))
         (instance face :init :vertices (list (float-vector 0.6 32.1 88.6942) (float-vector 0.6 16.5 88.6942) (float-vector 3.89423 16.5 85.4) (float-vector 3.89423 32.1 85.4)))
         (instance face :init :vertices (list (float-vector -3.9 32.1 89.9) (float-vector -3.9 16.5 89.9) (float-vector 0.6 16.5 88.6942) (float-vector 0.6 32.1 88.6942)))
         (instance face :init :vertices (list (float-vector -8.4 32.1 88.6942) (float-vector -8.4 16.5 88.6942) (float-vector -3.9 16.5 89.9) (float-vector -3.9 32.1 89.9)))
         (instance face :init :vertices (list (float-vector -11.6942 32.1 85.4) (float-vector -11.6942 16.5 85.4) (float-vector -8.4 16.5 88.6942) (float-vector -8.4 32.1 88.6942)))
         (instance face :init :vertices (list (float-vector -12.9 32.1 80.9) (float-vector -12.9 16.5 80.9) (float-vector -11.6942 16.5 85.4) (float-vector -11.6942 32.1 85.4)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -8.3 -12.7942 86.8) (float-vector -8.3 -14.0 82.3) (float-vector -8.3 -12.7942 77.8) (float-vector -8.3 -9.5 74.5058) (float-vector -8.3 -5.0 73.3) (float-vector -8.3 -0.5 74.5058) (float-vector -8.3 2.79423 77.8) (float-vector -8.3 4.0 82.3) (float-vector -8.3 2.79423 86.8) (float-vector -8.3 -0.5 90.0942) (float-vector -8.3 -5.0 91.3) (float-vector -8.3 -9.5 90.0942)))
         (instance face :init :vertices (list (float-vector -23.9 -14.0 82.3) (float-vector -23.9 -12.7942 86.8) (float-vector -23.9 -9.5 90.0942) (float-vector -23.9 -5.0 91.3) (float-vector -23.9 -0.5 90.0942) (float-vector -23.9 2.79423 86.8) (float-vector -23.9 4.0 82.3) (float-vector -23.9 2.79423 77.8) (float-vector -23.9 -0.5 74.5058) (float-vector -23.9 -5.0 73.3) (float-vector -23.9 -9.5 74.5058) (float-vector -23.9 -12.7942 77.8)))
         (instance face :init :vertices (list (float-vector -8.3 -12.7942 86.8) (float-vector -23.9 -12.7942 86.8) (float-vector -23.9 -14.0 82.3) (float-vector -8.3 -14.0 82.3)))
         (instance face :init :vertices (list (float-vector -8.3 -9.5 90.0942) (float-vector -23.9 -9.5 90.0942) (float-vector -23.9 -12.7942 86.8) (float-vector -8.3 -12.7942 86.8)))
         (instance face :init :vertices (list (float-vector -8.3 -5.0 91.3) (float-vector -23.9 -5.0 91.3) (float-vector -23.9 -9.5 90.0942) (float-vector -8.3 -9.5 90.0942)))
         (instance face :init :vertices (list (float-vector -8.3 -0.5 90.0942) (float-vector -23.9 -0.5 90.0942) (float-vector -23.9 -5.0 91.3) (float-vector -8.3 -5.0 91.3)))
         (instance face :init :vertices (list (float-vector -8.3 2.79423 86.8) (float-vector -23.9 2.79423 86.8) (float-vector -23.9 -0.5 90.0942) (float-vector -8.3 -0.5 90.0942)))
         (instance face :init :vertices (list (float-vector -8.3 4.0 82.3) (float-vector -23.9 4.0 82.3) (float-vector -23.9 2.79423 86.8) (float-vector -8.3 2.79423 86.8)))
         (instance face :init :vertices (list (float-vector -8.3 2.79423 77.8) (float-vector -23.9 2.79423 77.8) (float-vector -23.9 4.0 82.3) (float-vector -8.3 4.0 82.3)))
         (instance face :init :vertices (list (float-vector -8.3 -0.5 74.5058) (float-vector -23.9 -0.5 74.5058) (float-vector -23.9 2.79423 77.8) (float-vector -8.3 2.79423 77.8)))
         (instance face :init :vertices (list (float-vector -8.3 -5.0 73.3) (float-vector -23.9 -5.0 73.3) (float-vector -23.9 -0.5 74.5058) (float-vector -8.3 -0.5 74.5058)))
         (instance face :init :vertices (list (float-vector -8.3 -9.5 74.5058) (float-vector -23.9 -9.5 74.5058) (float-vector -23.9 -5.0 73.3) (float-vector -8.3 -5.0 73.3)))
         (instance face :init :vertices (list (float-vector -8.3 -12.7942 77.8) (float-vector -23.9 -12.7942 77.8) (float-vector -23.9 -9.5 74.5058) (float-vector -8.3 -9.5 74.5058)))
         (instance face :init :vertices (list (float-vector -8.3 -14.0 82.3) (float-vector -23.9 -14.0 82.3) (float-vector -23.9 -12.7942 77.8) (float-vector -8.3 -12.7942 77.8)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -22.5055 -5.14 109.091) (float-vector -19.4903 -16.3928 109.091) (float-vector 1.421085e-14 -5.14 115.121)))
         (instance face :init :vertices (list (float-vector -19.4903 -16.3928 109.091) (float-vector -11.2527 -24.6303 109.091) (float-vector 1.421085e-14 -5.14 115.121)))
         (instance face :init :vertices (list (float-vector -11.2527 -24.6303 109.091) (float-vector 1.376677e-13 -27.6455 109.091) (float-vector 1.421085e-14 -5.14 115.121)))
         (instance face :init :vertices (list (float-vector 1.376677e-13 -27.6455 109.091) (float-vector 11.2528 -24.6303 109.091) (float-vector 1.421085e-14 -5.14 115.121)))
         (instance face :init :vertices (list (float-vector 11.2528 -24.6303 109.091) (float-vector 19.4903 -16.3927 109.091) (float-vector 1.421085e-14 -5.14 115.121)))
         (instance face :init :vertices (list (float-vector 19.4903 -16.3927 109.091) (float-vector 22.5055 -5.14 109.091) (float-vector 1.421085e-14 -5.14 115.121)))
         (instance face :init :vertices (list (float-vector 22.5055 -5.14 109.091) (float-vector 19.4903 6.11275 109.091) (float-vector 1.421085e-14 -5.14 115.121)))
         (instance face :init :vertices (list (float-vector 19.4903 6.11275 109.091) (float-vector 11.2527 14.3503 109.091) (float-vector 1.421085e-14 -5.14 115.121)))
         (instance face :init :vertices (list (float-vector 11.2527 14.3503 109.091) (float-vector -7.993606e-15 17.3655 109.091) (float-vector 1.421085e-14 -5.14 115.121)))
         (instance face :init :vertices (list (float-vector -7.993606e-15 17.3655 109.091) (float-vector -11.2527 14.3503 109.091) (float-vector 1.421085e-14 -5.14 115.121)))
         (instance face :init :vertices (list (float-vector -11.2527 14.3503 109.091) (float-vector -19.4903 6.11275 109.091) (float-vector 1.421085e-14 -5.14 115.121)))
         (instance face :init :vertices (list (float-vector -19.4903 6.11275 109.091) (float-vector -22.5055 -5.14 109.091) (float-vector 1.421085e-14 -5.14 115.121)))
         (instance face :init :vertices (list (float-vector -33.7582 -24.6303 92.6155) (float-vector -19.4903 -16.3928 109.091) (float-vector -22.5055 -5.14 109.091) (float-vector -38.9807 -5.14 92.6155)))
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         (instance face :init :vertices (list (float-vector 2.264855e-13 -44.1207 92.6155) (float-vector 1.376677e-13 -27.6455 109.091) (float-vector -11.2527 -24.6303 109.091) (float-vector -19.4903 -38.8983 92.6155)))
         (instance face :init :vertices (list (float-vector 19.4903 -38.8982 92.6155) (float-vector 11.2528 -24.6303 109.091) (float-vector 1.376677e-13 -27.6455 109.091) (float-vector 2.264855e-13 -44.1207 92.6155)))
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         (instance face :init :vertices (list (float-vector 38.9807 -5.14 92.6155) (float-vector 22.5055 -5.14 109.091) (float-vector 19.4903 -16.3927 109.091) (float-vector 33.7583 -24.6303 92.6155)))
         (instance face :init :vertices (list (float-vector 33.7582 14.3503 92.6155) (float-vector 19.4903 6.11275 109.091) (float-vector 22.5055 -5.14 109.091) (float-vector 38.9807 -5.14 92.6155)))
         (instance face :init :vertices (list (float-vector 19.4903 28.6182 92.6155) (float-vector 11.2527 14.3503 109.091) (float-vector 19.4903 6.11275 109.091) (float-vector 33.7582 14.3503 92.6155)))
         (instance face :init :vertices (list (float-vector -2.531308e-14 33.8407 92.6155) (float-vector -7.993606e-15 17.3655 109.091) (float-vector 11.2527 14.3503 109.091) (float-vector 19.4903 28.6182 92.6155)))
         (instance face :init :vertices (list (float-vector -19.4903 28.6182 92.6155) (float-vector -11.2527 14.3503 109.091) (float-vector -7.993606e-15 17.3655 109.091) (float-vector -2.531308e-14 33.8407 92.6155)))
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         (instance face :init :vertices (list (float-vector 2.571277e-13 -50.151 70.11) (float-vector 2.264855e-13 -44.1207 92.6155) (float-vector -19.4903 -38.8983 92.6155) (float-vector -22.5055 -44.1207 70.11)))
         (instance face :init :vertices (list (float-vector 22.5055 -44.1207 70.11) (float-vector 19.4903 -38.8982 92.6155) (float-vector 2.264855e-13 -44.1207 92.6155) (float-vector 2.571277e-13 -50.151 70.11)))
         (instance face :init :vertices (list (float-vector 38.9807 -27.6455 70.11) (float-vector 33.7583 -24.6303 92.6155) (float-vector 19.4903 -38.8982 92.6155) (float-vector 22.5055 -44.1207 70.11)))
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         (instance face :init :vertices (list (float-vector -22.5055 33.8407 70.11) (float-vector -19.4903 28.6182 92.6155) (float-vector -2.531308e-14 33.8407 92.6155) (float-vector -3.419487e-14 39.871 70.11)))
         (instance face :init :vertices (list (float-vector -38.9807 17.3655 70.11) (float-vector -33.7582 14.3503 92.6155) (float-vector -19.4903 28.6182 92.6155) (float-vector -22.5055 33.8407 70.11)))
         (instance face :init :vertices (list (float-vector -45.011 -5.14 70.11) (float-vector -38.9807 -5.14 92.6155) (float-vector -33.7582 14.3503 92.6155) (float-vector -38.9807 17.3655 70.11)))
         (instance face :init :vertices (list (float-vector -38.9807 -27.6455 -9.89) (float-vector -38.9807 -27.6455 70.11) (float-vector -45.011 -5.14 70.11) (float-vector -45.011 -5.14 -9.89)))
         (instance face :init :vertices (list (float-vector -22.5055 -44.1207 -9.89) (float-vector -22.5055 -44.1207 70.11) (float-vector -38.9807 -27.6455 70.11) (float-vector -38.9807 -27.6455 -9.89)))
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         (instance face :init :vertices (list (float-vector 22.5055 -44.1207 -9.89) (float-vector 22.5055 -44.1207 70.11) (float-vector 2.571277e-13 -50.151 70.11) (float-vector 2.469136e-13 -50.151 -9.89)))
         (instance face :init :vertices (list (float-vector 38.9807 -27.6455 -9.89) (float-vector 38.9807 -27.6455 70.11) (float-vector 22.5055 -44.1207 70.11) (float-vector 22.5055 -44.1207 -9.89)))
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         (instance face :init :vertices (list (float-vector 38.9807 17.3655 -9.89) (float-vector 38.9807 17.3655 70.11) (float-vector 45.011 -5.14 70.11) (float-vector 45.011 -5.14 -9.89)))
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         (instance face :init :vertices (list (float-vector -22.5055 33.8407 -9.89) (float-vector -22.5055 33.8407 70.11) (float-vector -3.419487e-14 39.871 70.11) (float-vector -4.352074e-14 39.871 -9.89)))
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         (instance face :init :vertices (list (float-vector 11.2528 -24.6303 -48.8707) (float-vector 19.4903 -38.8982 -32.3955) (float-vector 2.113865e-13 -44.1207 -32.3955) (float-vector 1.181277e-13 -27.6455 -48.8707)))
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         (instance face :init :vertices (list (float-vector 19.4903 6.11275 -48.8707) (float-vector 33.7582 14.3503 -32.3955) (float-vector 38.9807 -5.14 -32.3955) (float-vector 22.5055 -5.14 -48.8707)))
         (instance face :init :vertices (list (float-vector 11.2527 14.3503 -48.8707) (float-vector 19.4903 28.6182 -32.3955) (float-vector 33.7582 14.3503 -32.3955) (float-vector 19.4903 6.11275 -48.8707)))
         (instance face :init :vertices (list (float-vector -2.753353e-14 17.3655 -48.8707) (float-vector -4.085621e-14 33.8407 -32.3955) (float-vector 19.4903 28.6182 -32.3955) (float-vector 11.2527 14.3503 -48.8707)))
         (instance face :init :vertices (list (float-vector -11.2528 14.3503 -48.8707) (float-vector -19.4903 28.6182 -32.3955) (float-vector -4.085621e-14 33.8407 -32.3955) (float-vector -2.753353e-14 17.3655 -48.8707)))
         (instance face :init :vertices (list (float-vector -19.4903 6.11275 -48.8707) (float-vector -33.7582 14.3503 -32.3955) (float-vector -19.4903 28.6182 -32.3955) (float-vector -11.2528 14.3503 -48.8707)))
         (instance face :init :vertices (list (float-vector -22.5055 -5.14 -48.8707) (float-vector -38.9807 -5.14 -32.3955) (float-vector -33.7582 14.3503 -32.3955) (float-vector -19.4903 6.11275 -48.8707)))
         (instance face :init :vertices (list (float-vector -19.4903 -16.3928 -48.8707) (float-vector -22.5055 -5.14 -48.8707) (float-vector -6.217249e-15 -5.14 -54.901)))
         (instance face :init :vertices (list (float-vector -22.5055 -5.14 -48.8707) (float-vector -19.4903 6.11275 -48.8707) (float-vector -6.217249e-15 -5.14 -54.901)))
         (instance face :init :vertices (list (float-vector -19.4903 6.11275 -48.8707) (float-vector -11.2528 14.3503 -48.8707) (float-vector -6.217249e-15 -5.14 -54.901)))
         (instance face :init :vertices (list (float-vector -11.2528 14.3503 -48.8707) (float-vector -2.753353e-14 17.3655 -48.8707) (float-vector -6.217249e-15 -5.14 -54.901)))
         (instance face :init :vertices (list (float-vector -2.753353e-14 17.3655 -48.8707) (float-vector 11.2527 14.3503 -48.8707) (float-vector -6.217249e-15 -5.14 -54.901)))
         (instance face :init :vertices (list (float-vector 11.2527 14.3503 -48.8707) (float-vector 19.4903 6.11275 -48.8707) (float-vector -6.217249e-15 -5.14 -54.901)))
         (instance face :init :vertices (list (float-vector 19.4903 6.11275 -48.8707) (float-vector 22.5055 -5.14 -48.8707) (float-vector -6.217249e-15 -5.14 -54.901)))
         (instance face :init :vertices (list (float-vector 22.5055 -5.14 -48.8707) (float-vector 19.4903 -16.3927 -48.8707) (float-vector -6.217249e-15 -5.14 -54.901)))
         (instance face :init :vertices (list (float-vector 19.4903 -16.3927 -48.8707) (float-vector 11.2528 -24.6303 -48.8707) (float-vector -6.217249e-15 -5.14 -54.901)))
         (instance face :init :vertices (list (float-vector 11.2528 -24.6303 -48.8707) (float-vector 1.181277e-13 -27.6455 -48.8707) (float-vector -6.217249e-15 -5.14 -54.901)))
         (instance face :init :vertices (list (float-vector 1.181277e-13 -27.6455 -48.8707) (float-vector -11.2527 -24.6303 -48.8707) (float-vector -6.217249e-15 -5.14 -54.901)))
         (instance face :init :vertices (list (float-vector -11.2527 -24.6303 -48.8707) (float-vector -19.4903 -16.3928 -48.8707) (float-vector -6.217249e-15 -5.14 -54.901)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray40)
     (send (elt bc 3) :set-color :gray40)
     (send (elt bc 4) :set-color :gray40)
     (send (elt bc 5) :set-color :darkgreen)
     (setq blink9 (instance bodyset-link :init (make-cascoords) :bodies bc :name :arm-upperarm-0 :weight 144 :centroid (float-vector -3.399078e-33 1.333569e-17 -2.775558e-17) :inertia-tensor #2f((1.365426e-31 6.527381e-48 -1.358544e-47) (6.527381e-48 1.109336e-31 5.330011e-32) (-1.358544e-47 5.330011e-32 2.560904e-32))))

     ;; definition of :arm-forearm-0
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 3.99423 -42.1 67.2) (float-vector 5.2 -42.1 71.7) (float-vector 3.99423 -42.1 76.2) (float-vector 0.7 -42.1 79.4942) (float-vector -3.8 -42.1 80.7) (float-vector -8.3 -42.1 79.4942) (float-vector -11.5942 -42.1 76.2) (float-vector -12.8 -42.1 71.7) (float-vector -11.5942 -42.1 67.2) (float-vector -8.3 -42.1 63.9058) (float-vector -3.8 -42.1 62.7) (float-vector 0.7 -42.1 63.9058)))
         (instance face :init :vertices (list (float-vector 5.2 -26.5 71.7) (float-vector 3.99423 -26.5 67.2) (float-vector 0.7 -26.5 63.9058) (float-vector -3.8 -26.5 62.7) (float-vector -8.3 -26.5 63.9058) (float-vector -11.5942 -26.5 67.2) (float-vector -12.8 -26.5 71.7) (float-vector -11.5942 -26.5 76.2) (float-vector -8.3 -26.5 79.4942) (float-vector -3.8 -26.5 80.7) (float-vector 0.7 -26.5 79.4942) (float-vector 3.99423 -26.5 76.2)))
         (instance face :init :vertices (list (float-vector 3.99423 -42.1 67.2) (float-vector 3.99423 -26.5 67.2) (float-vector 5.2 -26.5 71.7) (float-vector 5.2 -42.1 71.7)))
         (instance face :init :vertices (list (float-vector 0.7 -42.1 63.9058) (float-vector 0.7 -26.5 63.9058) (float-vector 3.99423 -26.5 67.2) (float-vector 3.99423 -42.1 67.2)))
         (instance face :init :vertices (list (float-vector -3.8 -42.1 62.7) (float-vector -3.8 -26.5 62.7) (float-vector 0.7 -26.5 63.9058) (float-vector 0.7 -42.1 63.9058)))
         (instance face :init :vertices (list (float-vector -8.3 -42.1 63.9058) (float-vector -8.3 -26.5 63.9058) (float-vector -3.8 -26.5 62.7) (float-vector -3.8 -42.1 62.7)))
         (instance face :init :vertices (list (float-vector -11.5942 -42.1 67.2) (float-vector -11.5942 -26.5 67.2) (float-vector -8.3 -26.5 63.9058) (float-vector -8.3 -42.1 63.9058)))
         (instance face :init :vertices (list (float-vector -12.8 -42.1 71.7) (float-vector -12.8 -26.5 71.7) (float-vector -11.5942 -26.5 67.2) (float-vector -11.5942 -42.1 67.2)))
         (instance face :init :vertices (list (float-vector -11.5942 -42.1 76.2) (float-vector -11.5942 -26.5 76.2) (float-vector -12.8 -26.5 71.7) (float-vector -12.8 -42.1 71.7)))
         (instance face :init :vertices (list (float-vector -8.3 -42.1 79.4942) (float-vector -8.3 -26.5 79.4942) (float-vector -11.5942 -26.5 76.2) (float-vector -11.5942 -42.1 76.2)))
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         (instance face :init :vertices (list (float-vector -17.3176 -18.21 -3.96524) (float-vector -20.6 -5.96 -3.96524) (float-vector 3.9 -5.96 -10.53)))
         (instance face :init :vertices (list (float-vector -20.6 -5.96 -3.96524) (float-vector -17.3176 6.29 -3.96524) (float-vector 3.9 -5.96 -10.53)))
         (instance face :init :vertices (list (float-vector -17.3176 6.29 -3.96524) (float-vector -8.35 15.2576 -3.96524) (float-vector 3.9 -5.96 -10.53)))
         (instance face :init :vertices (list (float-vector -8.35 15.2576 -3.96524) (float-vector 3.9 18.54 -3.96524) (float-vector 3.9 -5.96 -10.53)))
         (instance face :init :vertices (list (float-vector 3.9 18.54 -3.96524) (float-vector 16.15 15.2576 -3.96524) (float-vector 3.9 -5.96 -10.53)))
         (instance face :init :vertices (list (float-vector 16.15 15.2576 -3.96524) (float-vector 25.1176 6.29 -3.96524) (float-vector 3.9 -5.96 -10.53)))
         (instance face :init :vertices (list (float-vector 25.1176 6.29 -3.96524) (float-vector 28.4 -5.96 -3.96524) (float-vector 3.9 -5.96 -10.53)))
         (instance face :init :vertices (list (float-vector 28.4 -5.96 -3.96524) (float-vector 25.1176 -18.21 -3.96524) (float-vector 3.9 -5.96 -10.53)))
         (instance face :init :vertices (list (float-vector 25.1176 -18.21 -3.96524) (float-vector 16.15 -27.1776 -3.96524) (float-vector 3.9 -5.96 -10.53)))
         (instance face :init :vertices (list (float-vector 16.15 -27.1776 -3.96524) (float-vector 3.9 -30.46 -3.96524) (float-vector 3.9 -5.96 -10.53)))
         (instance face :init :vertices (list (float-vector 3.9 -30.46 -3.96524) (float-vector -8.35 -27.1776 -3.96524) (float-vector 3.9 -5.96 -10.53)))
         (instance face :init :vertices (list (float-vector -8.35 -27.1776 -3.96524) (float-vector -17.3176 -18.21 -3.96524) (float-vector 3.9 -5.96 -10.53)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray40)
     (send (elt bc 3) :set-color :gray40)
     (send (elt bc 4) :set-color :gray40)
     (send (elt bc 5) :set-color :darkgreen)
     (send (elt bc 6) :set-color :darkgreen)
     (setq blink10 (instance bodyset-link :init (make-cascoords) :bodies bc :name :arm-forearm-0 :weight 196 :centroid (float-vector -3.399078e-33 1.333569e-17 -2.775558e-17) :inertia-tensor #2f((1.858497e-31 8.884491e-48 -1.849130e-47) (8.884491e-48 1.509929e-31 7.254737e-32) (-1.849130e-47 7.254737e-32 3.485675e-32))))

     ;; definition of :leg-crotch-bracket-1
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -39.6 -2.32937 -3.69333) (float-vector -39.6 -6.36396 -1.36396) (float-vector -39.6 -8.69333 2.67063) (float-vector -39.6 -8.69333 7.32937) (float-vector -39.6 -6.36396 11.364) (float-vector -39.6 -2.32937 13.6933) (float-vector -39.6 2.32937 13.6933) (float-vector -39.6 6.36396 11.364) (float-vector -39.6 8.69333 7.32937) (float-vector -39.6 8.69333 2.67063) (float-vector -39.6 6.36396 -1.36396) (float-vector -39.6 2.32937 -3.69333)))
         (instance face :init :vertices (list (float-vector -24.0 -6.36396 -1.36396) (float-vector -24.0 -2.32937 -3.69333) (float-vector -24.0 2.32937 -3.69333) (float-vector -24.0 6.36396 -1.36396) (float-vector -24.0 8.69333 2.67063) (float-vector -24.0 8.69333 7.32937) (float-vector -24.0 6.36396 11.364) (float-vector -24.0 2.32937 13.6933) (float-vector -24.0 -2.32937 13.6933) (float-vector -24.0 -6.36396 11.364) (float-vector -24.0 -8.69333 7.32937) (float-vector -24.0 -8.69333 2.67063)))
         (instance face :init :vertices (list (float-vector -39.6 -2.32937 -3.69333) (float-vector -24.0 -2.32937 -3.69333) (float-vector -24.0 -6.36396 -1.36396) (float-vector -39.6 -6.36396 -1.36396)))
         (instance face :init :vertices (list (float-vector -39.6 2.32937 -3.69333) (float-vector -24.0 2.32937 -3.69333) (float-vector -24.0 -2.32937 -3.69333) (float-vector -39.6 -2.32937 -3.69333)))
         (instance face :init :vertices (list (float-vector -39.6 6.36396 -1.36396) (float-vector -24.0 6.36396 -1.36396) (float-vector -24.0 2.32937 -3.69333) (float-vector -39.6 2.32937 -3.69333)))
         (instance face :init :vertices (list (float-vector -39.6 8.69333 2.67063) (float-vector -24.0 8.69333 2.67063) (float-vector -24.0 6.36396 -1.36396) (float-vector -39.6 6.36396 -1.36396)))
         (instance face :init :vertices (list (float-vector -39.6 8.69333 7.32937) (float-vector -24.0 8.69333 7.32937) (float-vector -24.0 8.69333 2.67063) (float-vector -39.6 8.69333 2.67063)))
         (instance face :init :vertices (list (float-vector -39.6 6.36396 11.364) (float-vector -24.0 6.36396 11.364) (float-vector -24.0 8.69333 7.32937) (float-vector -39.6 8.69333 7.32937)))
         (instance face :init :vertices (list (float-vector -39.6 2.32937 13.6933) (float-vector -24.0 2.32937 13.6933) (float-vector -24.0 6.36396 11.364) (float-vector -39.6 6.36396 11.364)))
         (instance face :init :vertices (list (float-vector -39.6 -2.32937 13.6933) (float-vector -24.0 -2.32937 13.6933) (float-vector -24.0 2.32937 13.6933) (float-vector -39.6 2.32937 13.6933)))
         (instance face :init :vertices (list (float-vector -39.6 -6.36396 11.364) (float-vector -24.0 -6.36396 11.364) (float-vector -24.0 -2.32937 13.6933) (float-vector -39.6 -2.32937 13.6933)))
         (instance face :init :vertices (list (float-vector -39.6 -8.69333 7.32937) (float-vector -24.0 -8.69333 7.32937) (float-vector -24.0 -6.36396 11.364) (float-vector -39.6 -6.36396 11.364)))
         (instance face :init :vertices (list (float-vector -39.6 -8.69333 2.67063) (float-vector -24.0 -8.69333 2.67063) (float-vector -24.0 -8.69333 7.32937) (float-vector -39.6 -8.69333 7.32937)))
         (instance face :init :vertices (list (float-vector -39.6 -6.36396 -1.36396) (float-vector -24.0 -6.36396 -1.36396) (float-vector -24.0 -8.69333 2.67063) (float-vector -39.6 -8.69333 2.67063)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (setq blink11 (instance bodyset-link :init (make-cascoords) :bodies bc :name :leg-crotch-bracket-1 :weight 50 :centroid (float-vector 0.0 1.333569e-17 2.775558e-17) :inertia-tensor #2f((4.741063e-32 2.964394e-323 2.964394e-323) (1.976263e-323 3.851860e-32 -1.850698e-32) (1.976263e-323 -1.850698e-32 8.892027e-33))))

     ;; definition of :leg-crotch-1
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (setq blink12 (instance bodyset-link :init (make-cascoords) :bodies bc :name :leg-crotch-1 :weight 217 :centroid (float-vector 0.0 1.333569e-17 2.775558e-17) :inertia-tensor #2f((2.057621e-31 2.964394e-323 2.964394e-323) (1.976263e-323 1.671707e-31 -8.032031e-32) (1.976263e-323 -8.032031e-32 3.859140e-32))))

     ;; definition of :leg-thigh-1
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 2.20577 48.6 -81.5) (float-vector 1.0 48.6 -77.0) (float-vector 2.20577 48.6 -72.5) (float-vector 5.5 48.6 -69.2058) (float-vector 10.0 48.6 -68.0) (float-vector 14.5 48.6 -69.2058) (float-vector 17.7942 48.6 -72.5) (float-vector 19.0 48.6 -77.0) (float-vector 17.7942 48.6 -81.5) (float-vector 14.5 48.6 -84.7942) (float-vector 10.0 48.6 -86.0) (float-vector 5.5 48.6 -84.7942)))
         (instance face :init :vertices (list (float-vector 1.0 33.0 -77.0) (float-vector 2.20577 33.0 -81.5) (float-vector 5.5 33.0 -84.7942) (float-vector 10.0 33.0 -86.0) (float-vector 14.5 33.0 -84.7942) (float-vector 17.7942 33.0 -81.5) (float-vector 19.0 33.0 -77.0) (float-vector 17.7942 33.0 -72.5) (float-vector 14.5 33.0 -69.2058) (float-vector 10.0 33.0 -68.0) (float-vector 5.5 33.0 -69.2058) (float-vector 2.20577 33.0 -72.5)))
         (instance face :init :vertices (list (float-vector 2.20577 48.6 -81.5) (float-vector 2.20577 33.0 -81.5) (float-vector 1.0 33.0 -77.0) (float-vector 1.0 48.6 -77.0)))
         (instance face :init :vertices (list (float-vector 5.5 48.6 -84.7942) (float-vector 5.5 33.0 -84.7942) (float-vector 2.20577 33.0 -81.5) (float-vector 2.20577 48.6 -81.5)))
         (instance face :init :vertices (list (float-vector 10.0 48.6 -86.0) (float-vector 10.0 33.0 -86.0) (float-vector 5.5 33.0 -84.7942) (float-vector 5.5 48.6 -84.7942)))
         (instance face :init :vertices (list (float-vector 14.5 48.6 -84.7942) (float-vector 14.5 33.0 -84.7942) (float-vector 10.0 33.0 -86.0) (float-vector 10.0 48.6 -86.0)))
         (instance face :init :vertices (list (float-vector 17.7942 48.6 -81.5) (float-vector 17.7942 33.0 -81.5) (float-vector 14.5 33.0 -84.7942) (float-vector 14.5 48.6 -84.7942)))
         (instance face :init :vertices (list (float-vector 19.0 48.6 -77.0) (float-vector 19.0 33.0 -77.0) (float-vector 17.7942 33.0 -81.5) (float-vector 17.7942 48.6 -81.5)))
         (instance face :init :vertices (list (float-vector 17.7942 48.6 -72.5) (float-vector 17.7942 33.0 -72.5) (float-vector 19.0 33.0 -77.0) (float-vector 19.0 48.6 -77.0)))
         (instance face :init :vertices (list (float-vector 14.5 48.6 -69.2058) (float-vector 14.5 33.0 -69.2058) (float-vector 17.7942 33.0 -72.5) (float-vector 17.7942 48.6 -72.5)))
         (instance face :init :vertices (list (float-vector 10.0 48.6 -68.0) (float-vector 10.0 33.0 -68.0) (float-vector 14.5 33.0 -69.2058) (float-vector 14.5 48.6 -69.2058)))
         (instance face :init :vertices (list (float-vector 5.5 48.6 -69.2058) (float-vector 5.5 33.0 -69.2058) (float-vector 10.0 33.0 -68.0) (float-vector 10.0 48.6 -68.0)))
         (instance face :init :vertices (list (float-vector 2.20577 48.6 -72.5) (float-vector 2.20577 33.0 -72.5) (float-vector 5.5 33.0 -69.2058) (float-vector 5.5 48.6 -69.2058)))
         (instance face :init :vertices (list (float-vector 1.0 48.6 -77.0) (float-vector 1.0 33.0 -77.0) (float-vector 2.20577 33.0 -72.5) (float-vector 2.20577 48.6 -72.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -1.29423 48.6 -31.7) (float-vector -2.5 48.6 -27.2) (float-vector -1.29423 48.6 -22.7) (float-vector 2.0 48.6 -19.4058) (float-vector 6.5 48.6 -18.2) (float-vector 11.0 48.6 -19.4058) (float-vector 14.2942 48.6 -22.7) (float-vector 15.5 48.6 -27.2) (float-vector 14.2942 48.6 -31.7) (float-vector 11.0 48.6 -34.9942) (float-vector 6.5 48.6 -36.2) (float-vector 2.0 48.6 -34.9942)))
         (instance face :init :vertices (list (float-vector -2.5 33.0 -27.2) (float-vector -1.29423 33.0 -31.7) (float-vector 2.0 33.0 -34.9942) (float-vector 6.5 33.0 -36.2) (float-vector 11.0 33.0 -34.9942) (float-vector 14.2942 33.0 -31.7) (float-vector 15.5 33.0 -27.2) (float-vector 14.2942 33.0 -22.7) (float-vector 11.0 33.0 -19.4058) (float-vector 6.5 33.0 -18.2) (float-vector 2.0 33.0 -19.4058) (float-vector -1.29423 33.0 -22.7)))
         (instance face :init :vertices (list (float-vector -1.29423 48.6 -31.7) (float-vector -1.29423 33.0 -31.7) (float-vector -2.5 33.0 -27.2) (float-vector -2.5 48.6 -27.2)))
         (instance face :init :vertices (list (float-vector 2.0 48.6 -34.9942) (float-vector 2.0 33.0 -34.9942) (float-vector -1.29423 33.0 -31.7) (float-vector -1.29423 48.6 -31.7)))
         (instance face :init :vertices (list (float-vector 6.5 48.6 -36.2) (float-vector 6.5 33.0 -36.2) (float-vector 2.0 33.0 -34.9942) (float-vector 2.0 48.6 -34.9942)))
         (instance face :init :vertices (list (float-vector 11.0 48.6 -34.9942) (float-vector 11.0 33.0 -34.9942) (float-vector 6.5 33.0 -36.2) (float-vector 6.5 48.6 -36.2)))
         (instance face :init :vertices (list (float-vector 14.2942 48.6 -31.7) (float-vector 14.2942 33.0 -31.7) (float-vector 11.0 33.0 -34.9942) (float-vector 11.0 48.6 -34.9942)))
         (instance face :init :vertices (list (float-vector 15.5 48.6 -27.2) (float-vector 15.5 33.0 -27.2) (float-vector 14.2942 33.0 -31.7) (float-vector 14.2942 48.6 -31.7)))
         (instance face :init :vertices (list (float-vector 14.2942 48.6 -22.7) (float-vector 14.2942 33.0 -22.7) (float-vector 15.5 33.0 -27.2) (float-vector 15.5 48.6 -27.2)))
         (instance face :init :vertices (list (float-vector 11.0 48.6 -19.4058) (float-vector 11.0 33.0 -19.4058) (float-vector 14.2942 33.0 -22.7) (float-vector 14.2942 48.6 -22.7)))
         (instance face :init :vertices (list (float-vector 6.5 48.6 -18.2) (float-vector 6.5 33.0 -18.2) (float-vector 11.0 33.0 -19.4058) (float-vector 11.0 48.6 -19.4058)))
         (instance face :init :vertices (list (float-vector 2.0 48.6 -19.4058) (float-vector 2.0 33.0 -19.4058) (float-vector 6.5 33.0 -18.2) (float-vector 6.5 48.6 -18.2)))
         (instance face :init :vertices (list (float-vector -1.29423 48.6 -22.7) (float-vector -1.29423 33.0 -22.7) (float-vector 2.0 33.0 -19.4058) (float-vector 2.0 48.6 -19.4058)))
         (instance face :init :vertices (list (float-vector -2.5 48.6 -27.2) (float-vector -2.5 33.0 -27.2) (float-vector -1.29423 33.0 -22.7) (float-vector -1.29423 48.6 -22.7)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 43.6 4.5 -52.7058) (float-vector 43.6 0.0 -51.5) (float-vector 43.6 -4.5 -52.7058) (float-vector 43.6 -7.79423 -56.0) (float-vector 43.6 -9.0 -60.5) (float-vector 43.6 -7.79423 -65.0) (float-vector 43.6 -4.5 -68.2942) (float-vector 43.6 -1.421085e-14 -69.5) (float-vector 43.6 4.5 -68.2942) (float-vector 43.6 7.79423 -65.0) (float-vector 43.6 9.0 -60.5) (float-vector 43.6 7.79423 -56.0)))
         (instance face :init :vertices (list (float-vector 28.0 0.0 -51.5) (float-vector 28.0 4.5 -52.7058) (float-vector 28.0 7.79423 -56.0) (float-vector 28.0 9.0 -60.5) (float-vector 28.0 7.79423 -65.0) (float-vector 28.0 4.5 -68.2942) (float-vector 28.0 -1.421085e-14 -69.5) (float-vector 28.0 -4.5 -68.2942) (float-vector 28.0 -7.79423 -65.0) (float-vector 28.0 -9.0 -60.5) (float-vector 28.0 -7.79423 -56.0) (float-vector 28.0 -4.5 -52.7058)))
         (instance face :init :vertices (list (float-vector 43.6 4.5 -52.7058) (float-vector 28.0 4.5 -52.7058) (float-vector 28.0 0.0 -51.5) (float-vector 43.6 0.0 -51.5)))
         (instance face :init :vertices (list (float-vector 43.6 7.79423 -56.0) (float-vector 28.0 7.79423 -56.0) (float-vector 28.0 4.5 -52.7058) (float-vector 43.6 4.5 -52.7058)))
         (instance face :init :vertices (list (float-vector 43.6 9.0 -60.5) (float-vector 28.0 9.0 -60.5) (float-vector 28.0 7.79423 -56.0) (float-vector 43.6 7.79423 -56.0)))
         (instance face :init :vertices (list (float-vector 43.6 7.79423 -65.0) (float-vector 28.0 7.79423 -65.0) (float-vector 28.0 9.0 -60.5) (float-vector 43.6 9.0 -60.5)))
         (instance face :init :vertices (list (float-vector 43.6 4.5 -68.2942) (float-vector 28.0 4.5 -68.2942) (float-vector 28.0 7.79423 -65.0) (float-vector 43.6 7.79423 -65.0)))
         (instance face :init :vertices (list (float-vector 43.6 -1.421085e-14 -69.5) (float-vector 28.0 -1.421085e-14 -69.5) (float-vector 28.0 4.5 -68.2942) (float-vector 43.6 4.5 -68.2942)))
         (instance face :init :vertices (list (float-vector 43.6 -4.5 -68.2942) (float-vector 28.0 -4.5 -68.2942) (float-vector 28.0 -1.421085e-14 -69.5) (float-vector 43.6 -1.421085e-14 -69.5)))
         (instance face :init :vertices (list (float-vector 43.6 -7.79423 -65.0) (float-vector 28.0 -7.79423 -65.0) (float-vector 28.0 -4.5 -68.2942) (float-vector 43.6 -4.5 -68.2942)))
         (instance face :init :vertices (list (float-vector 43.6 -9.0 -60.5) (float-vector 28.0 -9.0 -60.5) (float-vector 28.0 -7.79423 -65.0) (float-vector 43.6 -7.79423 -65.0)))
         (instance face :init :vertices (list (float-vector 43.6 -7.79423 -56.0) (float-vector 28.0 -7.79423 -56.0) (float-vector 28.0 -9.0 -60.5) (float-vector 43.6 -9.0 -60.5)))
         (instance face :init :vertices (list (float-vector 43.6 -4.5 -52.7058) (float-vector 28.0 -4.5 -52.7058) (float-vector 28.0 -7.79423 -56.0) (float-vector 43.6 -7.79423 -56.0)))
         (instance face :init :vertices (list (float-vector 43.6 0.0 -51.5) (float-vector 28.0 0.0 -51.5) (float-vector 28.0 -4.5 -52.7058) (float-vector 43.6 -4.5 -52.7058)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -30.6 -7.79423 -111.8) (float-vector -30.6 -9.0 -107.3) (float-vector -30.6 -7.79423 -102.8) (float-vector -30.6 -4.5 -99.5058) (float-vector -30.6 0.0 -98.3) (float-vector -30.6 4.5 -99.5058) (float-vector -30.6 7.79423 -102.8) (float-vector -30.6 9.0 -107.3) (float-vector -30.6 7.79423 -111.8) (float-vector -30.6 4.5 -115.094) (float-vector -30.6 1.421085e-14 -116.3) (float-vector -30.6 -4.5 -115.094)))
         (instance face :init :vertices (list (float-vector -15.0 -9.0 -107.3) (float-vector -15.0 -7.79423 -111.8) (float-vector -15.0 -4.5 -115.094) (float-vector -15.0 1.421085e-14 -116.3) (float-vector -15.0 4.5 -115.094) (float-vector -15.0 7.79423 -111.8) (float-vector -15.0 9.0 -107.3) (float-vector -15.0 7.79423 -102.8) (float-vector -15.0 4.5 -99.5058) (float-vector -15.0 0.0 -98.3) (float-vector -15.0 -4.5 -99.5058) (float-vector -15.0 -7.79423 -102.8)))
         (instance face :init :vertices (list (float-vector -30.6 -7.79423 -111.8) (float-vector -15.0 -7.79423 -111.8) (float-vector -15.0 -9.0 -107.3) (float-vector -30.6 -9.0 -107.3)))
         (instance face :init :vertices (list (float-vector -30.6 -4.5 -115.094) (float-vector -15.0 -4.5 -115.094) (float-vector -15.0 -7.79423 -111.8) (float-vector -30.6 -7.79423 -111.8)))
         (instance face :init :vertices (list (float-vector -30.6 1.421085e-14 -116.3) (float-vector -15.0 1.421085e-14 -116.3) (float-vector -15.0 -4.5 -115.094) (float-vector -30.6 -4.5 -115.094)))
         (instance face :init :vertices (list (float-vector -30.6 4.5 -115.094) (float-vector -15.0 4.5 -115.094) (float-vector -15.0 1.421085e-14 -116.3) (float-vector -30.6 1.421085e-14 -116.3)))
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         (instance face :init :vertices (list (float-vector -11.8448 -8.6525 44.1695) (float-vector -27.8875 -17.9148 25.645) (float-vector -11.8448 -33.9575 25.645) (float-vector -2.5825 -17.9148 44.1695)))
         (instance face :init :vertices (list (float-vector -15.235 4.0 44.1695) (float-vector -33.7595 4.0 25.645) (float-vector -27.8875 -17.9148 25.645) (float-vector -11.8448 -8.6525 44.1695)))
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         (instance face :init :vertices (list (float-vector 10.07 29.305 44.1695) (float-vector 10.07 47.8295 25.645) (float-vector -11.8448 41.9575 25.645) (float-vector -2.5825 25.9148 44.1695)))
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         (instance face :init :vertices (list (float-vector 31.9848 16.6525 44.1695) (float-vector 48.0275 25.9148 25.645) (float-vector 31.9848 41.9575 25.645) (float-vector 22.7225 25.9148 44.1695)))
         (instance face :init :vertices (list (float-vector 35.375 4.0 44.1695) (float-vector 53.8995 4.0 25.645) (float-vector 48.0275 25.9148 25.645) (float-vector 31.9848 16.6525 44.1695)))
         (instance face :init :vertices (list (float-vector 31.9848 -8.6525 44.1695) (float-vector 35.375 4.0 44.1695) (float-vector 10.07 4.0 50.95)))
         (instance face :init :vertices (list (float-vector 35.375 4.0 44.1695) (float-vector 31.9848 16.6525 44.1695) (float-vector 10.07 4.0 50.95)))
         (instance face :init :vertices (list (float-vector 31.9848 16.6525 44.1695) (float-vector 22.7225 25.9148 44.1695) (float-vector 10.07 4.0 50.95)))
         (instance face :init :vertices (list (float-vector 22.7225 25.9148 44.1695) (float-vector 10.07 29.305 44.1695) (float-vector 10.07 4.0 50.95)))
         (instance face :init :vertices (list (float-vector 10.07 29.305 44.1695) (float-vector -2.5825 25.9148 44.1695) (float-vector 10.07 4.0 50.95)))
         (instance face :init :vertices (list (float-vector -2.5825 25.9148 44.1695) (float-vector -11.8448 16.6525 44.1695) (float-vector 10.07 4.0 50.95)))
         (instance face :init :vertices (list (float-vector -11.8448 16.6525 44.1695) (float-vector -15.235 4.0 44.1695) (float-vector 10.07 4.0 50.95)))
         (instance face :init :vertices (list (float-vector -15.235 4.0 44.1695) (float-vector -11.8448 -8.6525 44.1695) (float-vector 10.07 4.0 50.95)))
         (instance face :init :vertices (list (float-vector -11.8448 -8.6525 44.1695) (float-vector -2.5825 -17.9148 44.1695) (float-vector 10.07 4.0 50.95)))
         (instance face :init :vertices (list (float-vector -2.5825 -17.9148 44.1695) (float-vector 10.07 -21.305 44.1695) (float-vector 10.07 4.0 50.95)))
         (instance face :init :vertices (list (float-vector 10.07 -21.305 44.1695) (float-vector 22.7225 -17.9148 44.1695) (float-vector 10.07 4.0 50.95)))
         (instance face :init :vertices (list (float-vector 22.7225 -17.9148 44.1695) (float-vector 31.9848 -8.6525 44.1695) (float-vector 10.07 4.0 50.95)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray40)
     (send (elt bc 3) :set-color :gray40)
     (send (elt bc 4) :set-color :gray40)
     (send (elt bc 5) :set-color :darkgreen)
     (setq blink13 (instance bodyset-link :init (make-cascoords) :bodies bc :name :leg-thigh-1 :weight 550 :centroid (float-vector 0.0 1.333569e-17 2.775558e-17) :inertia-tensor #2f((5.215169e-31 2.964394e-323 2.964394e-323) (1.976263e-323 4.237046e-31 -2.035768e-31) (1.976263e-323 -2.035768e-31 9.781230e-32))))

     ;; definition of :leg-shank-1
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
       ))
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         (instance face :init :vertices (list (float-vector -17.1374 14.9288 46.2597) (float-vector -36.0662 25.8574 24.4025) (float-vector -42.9947 1.989520e-13 24.4025) (float-vector -21.1375 1.136868e-13 46.2597)))
         (instance face :init :vertices (list (float-vector -6.20875 25.8574 46.2597) (float-vector -17.1374 44.7863 24.4025) (float-vector -36.0662 25.8574 24.4025) (float-vector -17.1374 14.9288 46.2597)))
         (instance face :init :vertices (list (float-vector 8.72 29.8575 46.2597) (float-vector 8.72 51.7147 24.4025) (float-vector -17.1374 44.7863 24.4025) (float-vector -6.20875 25.8574 46.2597)))
         (instance face :init :vertices (list (float-vector 23.6487 25.8574 46.2597) (float-vector 34.5774 44.7862 24.4025) (float-vector 8.72 51.7147 24.4025) (float-vector 8.72 29.8575 46.2597)))
         (instance face :init :vertices (list (float-vector 34.5774 14.9287 46.2597) (float-vector 53.5062 25.8574 24.4025) (float-vector 34.5774 44.7862 24.4025) (float-vector 23.6487 25.8574 46.2597)))
         (instance face :init :vertices (list (float-vector 38.5775 0.0 46.2597) (float-vector 60.4347 0.0 24.4025) (float-vector 53.5062 25.8574 24.4025) (float-vector 34.5774 14.9287 46.2597)))
         (instance face :init :vertices (list (float-vector 34.5774 -14.9288 46.2597) (float-vector 38.5775 0.0 46.2597) (float-vector 8.72 0.0 54.26)))
         (instance face :init :vertices (list (float-vector 38.5775 0.0 46.2597) (float-vector 34.5774 14.9287 46.2597) (float-vector 8.72 0.0 54.26)))
         (instance face :init :vertices (list (float-vector 34.5774 14.9287 46.2597) (float-vector 23.6487 25.8574 46.2597) (float-vector 8.72 0.0 54.26)))
         (instance face :init :vertices (list (float-vector 23.6487 25.8574 46.2597) (float-vector 8.72 29.8575 46.2597) (float-vector 8.72 0.0 54.26)))
         (instance face :init :vertices (list (float-vector 8.72 29.8575 46.2597) (float-vector -6.20875 25.8574 46.2597) (float-vector 8.72 0.0 54.26)))
         (instance face :init :vertices (list (float-vector -6.20875 25.8574 46.2597) (float-vector -17.1374 14.9288 46.2597) (float-vector 8.72 0.0 54.26)))
         (instance face :init :vertices (list (float-vector -17.1374 14.9288 46.2597) (float-vector -21.1375 1.136868e-13 46.2597) (float-vector 8.72 0.0 54.26)))
         (instance face :init :vertices (list (float-vector -21.1375 1.136868e-13 46.2597) (float-vector -17.1374 -14.9287 46.2597) (float-vector 8.72 0.0 54.26)))
         (instance face :init :vertices (list (float-vector -17.1374 -14.9287 46.2597) (float-vector -6.20875 -25.8574 46.2597) (float-vector 8.72 0.0 54.26)))
         (instance face :init :vertices (list (float-vector -6.20875 -25.8574 46.2597) (float-vector 8.72 -29.8575 46.2597) (float-vector 8.72 0.0 54.26)))
         (instance face :init :vertices (list (float-vector 8.72 -29.8575 46.2597) (float-vector 23.6487 -25.8574 46.2597) (float-vector 8.72 0.0 54.26)))
         (instance face :init :vertices (list (float-vector 23.6487 -25.8574 46.2597) (float-vector 34.5774 -14.9288 46.2597) (float-vector 8.72 0.0 54.26)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray40)
     (send (elt bc 3) :set-color :gray40)
     (send (elt bc 4) :set-color :gray40)
     (send (elt bc 5) :set-color :darkgreen)
     (send (elt bc 6) :set-color :darkgreen)
     (setq blink14 (instance bodyset-link :init (make-cascoords) :bodies bc :name :leg-shank-1 :weight 340 :centroid (float-vector 0.0 1.333569e-17 2.775558e-17) :inertia-tensor #2f((3.223923e-31 2.964394e-323 2.964394e-323) (1.976263e-323 2.619265e-31 -1.258475e-31) (1.976263e-323 -1.258475e-31 6.046578e-32))))

     ;; definition of :leg-ankle-1
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -55.6 7.79423 -11.5) (float-vector -55.6 9.0 -16.0) (float-vector -55.6 7.79423 -20.5) (float-vector -55.6 4.5 -23.7942) (float-vector -55.6 1.421085e-14 -25.0) (float-vector -55.6 -4.5 -23.7942) (float-vector -55.6 -7.79423 -20.5) (float-vector -55.6 -9.0 -16.0) (float-vector -55.6 -7.79423 -11.5) (float-vector -55.6 -4.5 -8.20577) (float-vector -55.6 -1.421085e-14 -7.0) (float-vector -55.6 4.5 -8.20577)))
         (instance face :init :vertices (list (float-vector -40.0 9.0 -16.0) (float-vector -40.0 7.79423 -11.5) (float-vector -40.0 4.5 -8.20577) (float-vector -40.0 -1.421085e-14 -7.0) (float-vector -40.0 -4.5 -8.20577) (float-vector -40.0 -7.79423 -11.5) (float-vector -40.0 -9.0 -16.0) (float-vector -40.0 -7.79423 -20.5) (float-vector -40.0 -4.5 -23.7942) (float-vector -40.0 1.421085e-14 -25.0) (float-vector -40.0 4.5 -23.7942) (float-vector -40.0 7.79423 -20.5)))
         (instance face :init :vertices (list (float-vector -55.6 7.79423 -11.5) (float-vector -40.0 7.79423 -11.5) (float-vector -40.0 9.0 -16.0) (float-vector -55.6 9.0 -16.0)))
         (instance face :init :vertices (list (float-vector -55.6 4.5 -8.20577) (float-vector -40.0 4.5 -8.20577) (float-vector -40.0 7.79423 -11.5) (float-vector -55.6 7.79423 -11.5)))
         (instance face :init :vertices (list (float-vector -55.6 -1.421085e-14 -7.0) (float-vector -40.0 -1.421085e-14 -7.0) (float-vector -40.0 4.5 -8.20577) (float-vector -55.6 4.5 -8.20577)))
         (instance face :init :vertices (list (float-vector -55.6 -4.5 -8.20577) (float-vector -40.0 -4.5 -8.20577) (float-vector -40.0 -1.421085e-14 -7.0) (float-vector -55.6 -1.421085e-14 -7.0)))
         (instance face :init :vertices (list (float-vector -55.6 -7.79423 -11.5) (float-vector -40.0 -7.79423 -11.5) (float-vector -40.0 -4.5 -8.20577) (float-vector -55.6 -4.5 -8.20577)))
         (instance face :init :vertices (list (float-vector -55.6 -9.0 -16.0) (float-vector -40.0 -9.0 -16.0) (float-vector -40.0 -7.79423 -11.5) (float-vector -55.6 -7.79423 -11.5)))
         (instance face :init :vertices (list (float-vector -55.6 -7.79423 -20.5) (float-vector -40.0 -7.79423 -20.5) (float-vector -40.0 -9.0 -16.0) (float-vector -55.6 -9.0 -16.0)))
         (instance face :init :vertices (list (float-vector -55.6 -4.5 -23.7942) (float-vector -40.0 -4.5 -23.7942) (float-vector -40.0 -7.79423 -20.5) (float-vector -55.6 -7.79423 -20.5)))
         (instance face :init :vertices (list (float-vector -55.6 1.421085e-14 -25.0) (float-vector -40.0 1.421085e-14 -25.0) (float-vector -40.0 -4.5 -23.7942) (float-vector -55.6 -4.5 -23.7942)))
         (instance face :init :vertices (list (float-vector -55.6 4.5 -23.7942) (float-vector -40.0 4.5 -23.7942) (float-vector -40.0 1.421085e-14 -25.0) (float-vector -55.6 1.421085e-14 -25.0)))
         (instance face :init :vertices (list (float-vector -55.6 7.79423 -20.5) (float-vector -40.0 7.79423 -20.5) (float-vector -40.0 4.5 -23.7942) (float-vector -55.6 4.5 -23.7942)))
         (instance face :init :vertices (list (float-vector -55.6 9.0 -16.0) (float-vector -40.0 9.0 -16.0) (float-vector -40.0 7.79423 -20.5) (float-vector -55.6 7.79423 -20.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (setq blink15 (instance bodyset-link :init (make-cascoords) :bodies bc :name :leg-ankle-1 :weight 230 :centroid (float-vector 0.0 1.333569e-17 2.775558e-17) :inertia-tensor #2f((2.180889e-31 2.964394e-323 2.964394e-323) (1.976263e-323 1.771856e-31 -8.513212e-32) (1.976263e-323 -8.513212e-32 4.090332e-32))))

     ;; definition of :leg-foot-1
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 35.9) (float-vector -5.0 5.0 35.9) (float-vector -5.0 -5.0 35.9) (float-vector 5.0 -5.0 35.9)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -35.9) (float-vector 5.0 5.0 -35.9) (float-vector 5.0 -5.0 -35.9) (float-vector -5.0 -5.0 -35.9)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 35.9) (float-vector 5.0 5.0 -35.9) (float-vector -5.0 5.0 -35.9) (float-vector -5.0 5.0 35.9)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 35.9) (float-vector 5.0 -5.0 -35.9) (float-vector 5.0 5.0 -35.9) (float-vector 5.0 5.0 35.9)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 35.9) (float-vector -5.0 -5.0 -35.9) (float-vector 5.0 -5.0 -35.9) (float-vector 5.0 -5.0 35.9)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 35.9) (float-vector -5.0 5.0 -35.9) (float-vector -5.0 -5.0 -35.9) (float-vector -5.0 -5.0 35.9)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 0.5 0.5 0.5) (float-vector -0.5 0.5 0.5) (float-vector -0.5 -0.5 0.5) (float-vector 0.5 -0.5 0.5)))
         (instance face :init :vertices (list (float-vector -0.5 0.5 -0.5) (float-vector 0.5 0.5 -0.5) (float-vector 0.5 -0.5 -0.5) (float-vector -0.5 -0.5 -0.5)))
         (instance face :init :vertices (list (float-vector 0.5 0.5 0.5) (float-vector 0.5 0.5 -0.5) (float-vector -0.5 0.5 -0.5) (float-vector -0.5 0.5 0.5)))
         (instance face :init :vertices (list (float-vector 0.5 -0.5 0.5) (float-vector 0.5 -0.5 -0.5) (float-vector 0.5 0.5 -0.5) (float-vector 0.5 0.5 0.5)))
         (instance face :init :vertices (list (float-vector -0.5 -0.5 0.5) (float-vector -0.5 -0.5 -0.5) (float-vector 0.5 -0.5 -0.5) (float-vector 0.5 -0.5 0.5)))
         (instance face :init :vertices (list (float-vector -0.5 0.5 0.5) (float-vector -0.5 0.5 -0.5) (float-vector -0.5 -0.5 -0.5) (float-vector -0.5 -0.5 0.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 99.0 45.5 11.1) (float-vector -65.0 45.5 11.1) (float-vector -65.0 -42.5 11.1) (float-vector 99.0 -42.5 11.1)))
         (instance face :init :vertices (list (float-vector -65.0 45.5 -35.9) (float-vector 99.0 45.5 -35.9) (float-vector 99.0 -42.5 -35.9) (float-vector -65.0 -42.5 -35.9)))
         (instance face :init :vertices (list (float-vector 99.0 45.5 11.1) (float-vector 99.0 45.5 -35.9) (float-vector -65.0 45.5 -35.9) (float-vector -65.0 45.5 11.1)))
         (instance face :init :vertices (list (float-vector 99.0 -42.5 11.1) (float-vector 99.0 -42.5 -35.9) (float-vector 99.0 45.5 -35.9) (float-vector 99.0 45.5 11.1)))
         (instance face :init :vertices (list (float-vector -65.0 -42.5 11.1) (float-vector -65.0 -42.5 -35.9) (float-vector 99.0 -42.5 -35.9) (float-vector 99.0 -42.5 11.1)))
         (instance face :init :vertices (list (float-vector -65.0 45.5 11.1) (float-vector -65.0 45.5 -35.9) (float-vector -65.0 -42.5 -35.9) (float-vector -65.0 -42.5 11.1)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :darkgreen)
     (setq blink16 (instance bodyset-link :init (make-cascoords) :bodies bc :name :leg-foot-1 :weight 125 :centroid (float-vector 0.0 1.333569e-17 2.775558e-17) :inertia-tensor #2f((1.185266e-31 2.964394e-323 2.964394e-323) (1.976263e-323 9.629650e-32 -4.626746e-32) (1.976263e-323 -4.626746e-32 2.223007e-32))))

     ;; definition of :leg-crotch-bracket-0
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 39.6 -2.32937 3.69333) (float-vector 39.6 -6.36396 1.36396) (float-vector 39.6 -8.69333 -2.67063) (float-vector 39.6 -8.69333 -7.32937) (float-vector 39.6 -6.36396 -11.364) (float-vector 39.6 -2.32937 -13.6933) (float-vector 39.6 2.32937 -13.6933) (float-vector 39.6 6.36396 -11.364) (float-vector 39.6 8.69333 -7.32937) (float-vector 39.6 8.69333 -2.67063) (float-vector 39.6 6.36396 1.36396) (float-vector 39.6 2.32937 3.69333)))
         (instance face :init :vertices (list (float-vector 24.0 -6.36396 1.36396) (float-vector 24.0 -2.32937 3.69333) (float-vector 24.0 2.32937 3.69333) (float-vector 24.0 6.36396 1.36396) (float-vector 24.0 8.69333 -2.67063) (float-vector 24.0 8.69333 -7.32937) (float-vector 24.0 6.36396 -11.364) (float-vector 24.0 2.32937 -13.6933) (float-vector 24.0 -2.32937 -13.6933) (float-vector 24.0 -6.36396 -11.364) (float-vector 24.0 -8.69333 -7.32937) (float-vector 24.0 -8.69333 -2.67063)))
         (instance face :init :vertices (list (float-vector 39.6 -2.32937 3.69333) (float-vector 24.0 -2.32937 3.69333) (float-vector 24.0 -6.36396 1.36396) (float-vector 39.6 -6.36396 1.36396)))
         (instance face :init :vertices (list (float-vector 39.6 2.32937 3.69333) (float-vector 24.0 2.32937 3.69333) (float-vector 24.0 -2.32937 3.69333) (float-vector 39.6 -2.32937 3.69333)))
         (instance face :init :vertices (list (float-vector 39.6 6.36396 1.36396) (float-vector 24.0 6.36396 1.36396) (float-vector 24.0 2.32937 3.69333) (float-vector 39.6 2.32937 3.69333)))
         (instance face :init :vertices (list (float-vector 39.6 8.69333 -2.67063) (float-vector 24.0 8.69333 -2.67063) (float-vector 24.0 6.36396 1.36396) (float-vector 39.6 6.36396 1.36396)))
         (instance face :init :vertices (list (float-vector 39.6 8.69333 -7.32937) (float-vector 24.0 8.69333 -7.32937) (float-vector 24.0 8.69333 -2.67063) (float-vector 39.6 8.69333 -2.67063)))
         (instance face :init :vertices (list (float-vector 39.6 6.36396 -11.364) (float-vector 24.0 6.36396 -11.364) (float-vector 24.0 8.69333 -7.32937) (float-vector 39.6 8.69333 -7.32937)))
         (instance face :init :vertices (list (float-vector 39.6 2.32937 -13.6933) (float-vector 24.0 2.32937 -13.6933) (float-vector 24.0 6.36396 -11.364) (float-vector 39.6 6.36396 -11.364)))
         (instance face :init :vertices (list (float-vector 39.6 -2.32937 -13.6933) (float-vector 24.0 -2.32937 -13.6933) (float-vector 24.0 2.32937 -13.6933) (float-vector 39.6 2.32937 -13.6933)))
         (instance face :init :vertices (list (float-vector 39.6 -6.36396 -11.364) (float-vector 24.0 -6.36396 -11.364) (float-vector 24.0 -2.32937 -13.6933) (float-vector 39.6 -2.32937 -13.6933)))
         (instance face :init :vertices (list (float-vector 39.6 -8.69333 -7.32937) (float-vector 24.0 -8.69333 -7.32937) (float-vector 24.0 -6.36396 -11.364) (float-vector 39.6 -6.36396 -11.364)))
         (instance face :init :vertices (list (float-vector 39.6 -8.69333 -2.67063) (float-vector 24.0 -8.69333 -2.67063) (float-vector 24.0 -8.69333 -7.32937) (float-vector 39.6 -8.69333 -7.32937)))
         (instance face :init :vertices (list (float-vector 39.6 -6.36396 1.36396) (float-vector 24.0 -6.36396 1.36396) (float-vector 24.0 -8.69333 -2.67063) (float-vector 39.6 -8.69333 -2.67063)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :leg-crotch-bracket-0 :weight 50 :centroid (float-vector -3.399078e-33 1.333569e-17 -2.775558e-17) :inertia-tensor #2f((4.741063e-32 2.266452e-48 -4.717168e-48) (2.266452e-48 3.851860e-32 1.850698e-32) (-4.717168e-48 1.850698e-32 8.892027e-33))))

     ;; definition of :leg-crotch-0
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :leg-crotch-0 :weight 217 :centroid (float-vector -3.399078e-33 1.333569e-17 -2.775558e-17) :inertia-tensor #2f((2.057621e-31 9.836401e-48 -2.047251e-47) (9.836401e-48 1.671707e-31 8.032031e-32) (-2.047251e-47 8.032031e-32 3.859140e-32))))

     ;; definition of :leg-thigh-0
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -17.7942 -48.6 81.5) (float-vector -19.0 -48.6 77.0) (float-vector -17.7942 -48.6 72.5) (float-vector -14.5 -48.6 69.2058) (float-vector -10.0 -48.6 68.0) (float-vector -5.5 -48.6 69.2058) (float-vector -2.20577 -48.6 72.5) (float-vector -1.0 -48.6 77.0) (float-vector -2.20577 -48.6 81.5) (float-vector -5.5 -48.6 84.7942) (float-vector -10.0 -48.6 86.0) (float-vector -14.5 -48.6 84.7942)))
         (instance face :init :vertices (list (float-vector -19.0 -33.0 77.0) (float-vector -17.7942 -33.0 81.5) (float-vector -14.5 -33.0 84.7942) (float-vector -10.0 -33.0 86.0) (float-vector -5.5 -33.0 84.7942) (float-vector -2.20577 -33.0 81.5) (float-vector -1.0 -33.0 77.0) (float-vector -2.20577 -33.0 72.5) (float-vector -5.5 -33.0 69.2058) (float-vector -10.0 -33.0 68.0) (float-vector -14.5 -33.0 69.2058) (float-vector -17.7942 -33.0 72.5)))
         (instance face :init :vertices (list (float-vector -17.7942 -48.6 81.5) (float-vector -17.7942 -33.0 81.5) (float-vector -19.0 -33.0 77.0) (float-vector -19.0 -48.6 77.0)))
         (instance face :init :vertices (list (float-vector -14.5 -48.6 84.7942) (float-vector -14.5 -33.0 84.7942) (float-vector -17.7942 -33.0 81.5) (float-vector -17.7942 -48.6 81.5)))
         (instance face :init :vertices (list (float-vector -10.0 -48.6 86.0) (float-vector -10.0 -33.0 86.0) (float-vector -14.5 -33.0 84.7942) (float-vector -14.5 -48.6 84.7942)))
         (instance face :init :vertices (list (float-vector -5.5 -48.6 84.7942) (float-vector -5.5 -33.0 84.7942) (float-vector -10.0 -33.0 86.0) (float-vector -10.0 -48.6 86.0)))
         (instance face :init :vertices (list (float-vector -2.20577 -48.6 81.5) (float-vector -2.20577 -33.0 81.5) (float-vector -5.5 -33.0 84.7942) (float-vector -5.5 -48.6 84.7942)))
         (instance face :init :vertices (list (float-vector -1.0 -48.6 77.0) (float-vector -1.0 -33.0 77.0) (float-vector -2.20577 -33.0 81.5) (float-vector -2.20577 -48.6 81.5)))
         (instance face :init :vertices (list (float-vector -2.20577 -48.6 72.5) (float-vector -2.20577 -33.0 72.5) (float-vector -1.0 -33.0 77.0) (float-vector -1.0 -48.6 77.0)))
         (instance face :init :vertices (list (float-vector -5.5 -48.6 69.2058) (float-vector -5.5 -33.0 69.2058) (float-vector -2.20577 -33.0 72.5) (float-vector -2.20577 -48.6 72.5)))
         (instance face :init :vertices (list (float-vector -10.0 -48.6 68.0) (float-vector -10.0 -33.0 68.0) (float-vector -5.5 -33.0 69.2058) (float-vector -5.5 -48.6 69.2058)))
         (instance face :init :vertices (list (float-vector -14.5 -48.6 69.2058) (float-vector -14.5 -33.0 69.2058) (float-vector -10.0 -33.0 68.0) (float-vector -10.0 -48.6 68.0)))
         (instance face :init :vertices (list (float-vector -17.7942 -48.6 72.5) (float-vector -17.7942 -33.0 72.5) (float-vector -14.5 -33.0 69.2058) (float-vector -14.5 -48.6 69.2058)))
         (instance face :init :vertices (list (float-vector -19.0 -48.6 77.0) (float-vector -19.0 -33.0 77.0) (float-vector -17.7942 -33.0 72.5) (float-vector -17.7942 -48.6 72.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -14.2942 -48.6 31.7) (float-vector -15.5 -48.6 27.2) (float-vector -14.2942 -48.6 22.7) (float-vector -11.0 -48.6 19.4058) (float-vector -6.5 -48.6 18.2) (float-vector -2.0 -48.6 19.4058) (float-vector 1.29423 -48.6 22.7) (float-vector 2.5 -48.6 27.2) (float-vector 1.29423 -48.6 31.7) (float-vector -2.0 -48.6 34.9942) (float-vector -6.5 -48.6 36.2) (float-vector -11.0 -48.6 34.9942)))
         (instance face :init :vertices (list (float-vector -15.5 -33.0 27.2) (float-vector -14.2942 -33.0 31.7) (float-vector -11.0 -33.0 34.9942) (float-vector -6.5 -33.0 36.2) (float-vector -2.0 -33.0 34.9942) (float-vector 1.29423 -33.0 31.7) (float-vector 2.5 -33.0 27.2) (float-vector 1.29423 -33.0 22.7) (float-vector -2.0 -33.0 19.4058) (float-vector -6.5 -33.0 18.2) (float-vector -11.0 -33.0 19.4058) (float-vector -14.2942 -33.0 22.7)))
         (instance face :init :vertices (list (float-vector -14.2942 -48.6 31.7) (float-vector -14.2942 -33.0 31.7) (float-vector -15.5 -33.0 27.2) (float-vector -15.5 -48.6 27.2)))
         (instance face :init :vertices (list (float-vector -11.0 -48.6 34.9942) (float-vector -11.0 -33.0 34.9942) (float-vector -14.2942 -33.0 31.7) (float-vector -14.2942 -48.6 31.7)))
         (instance face :init :vertices (list (float-vector -6.5 -48.6 36.2) (float-vector -6.5 -33.0 36.2) (float-vector -11.0 -33.0 34.9942) (float-vector -11.0 -48.6 34.9942)))
         (instance face :init :vertices (list (float-vector -2.0 -48.6 34.9942) (float-vector -2.0 -33.0 34.9942) (float-vector -6.5 -33.0 36.2) (float-vector -6.5 -48.6 36.2)))
         (instance face :init :vertices (list (float-vector 1.29423 -48.6 31.7) (float-vector 1.29423 -33.0 31.7) (float-vector -2.0 -33.0 34.9942) (float-vector -2.0 -48.6 34.9942)))
         (instance face :init :vertices (list (float-vector 2.5 -48.6 27.2) (float-vector 2.5 -33.0 27.2) (float-vector 1.29423 -33.0 31.7) (float-vector 1.29423 -48.6 31.7)))
         (instance face :init :vertices (list (float-vector 1.29423 -48.6 22.7) (float-vector 1.29423 -33.0 22.7) (float-vector 2.5 -33.0 27.2) (float-vector 2.5 -48.6 27.2)))
         (instance face :init :vertices (list (float-vector -2.0 -48.6 19.4058) (float-vector -2.0 -33.0 19.4058) (float-vector 1.29423 -33.0 22.7) (float-vector 1.29423 -48.6 22.7)))
         (instance face :init :vertices (list (float-vector -6.5 -48.6 18.2) (float-vector -6.5 -33.0 18.2) (float-vector -2.0 -33.0 19.4058) (float-vector -2.0 -48.6 19.4058)))
         (instance face :init :vertices (list (float-vector -11.0 -48.6 19.4058) (float-vector -11.0 -33.0 19.4058) (float-vector -6.5 -33.0 18.2) (float-vector -6.5 -48.6 18.2)))
         (instance face :init :vertices (list (float-vector -14.2942 -48.6 22.7) (float-vector -14.2942 -33.0 22.7) (float-vector -11.0 -33.0 19.4058) (float-vector -11.0 -48.6 19.4058)))
         (instance face :init :vertices (list (float-vector -15.5 -48.6 27.2) (float-vector -15.5 -33.0 27.2) (float-vector -14.2942 -33.0 22.7) (float-vector -14.2942 -48.6 22.7)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -43.6 -4.5 68.2942) (float-vector -43.6 0.0 69.5) (float-vector -43.6 4.5 68.2942) (float-vector -43.6 7.79423 65.0) (float-vector -43.6 9.0 60.5) (float-vector -43.6 7.79423 56.0) (float-vector -43.6 4.5 52.7058) (float-vector -43.6 1.421085e-14 51.5) (float-vector -43.6 -4.5 52.7058) (float-vector -43.6 -7.79423 56.0) (float-vector -43.6 -9.0 60.5) (float-vector -43.6 -7.79423 65.0)))
         (instance face :init :vertices (list (float-vector -28.0 0.0 69.5) (float-vector -28.0 -4.5 68.2942) (float-vector -28.0 -7.79423 65.0) (float-vector -28.0 -9.0 60.5) (float-vector -28.0 -7.79423 56.0) (float-vector -28.0 -4.5 52.7058) (float-vector -28.0 1.421085e-14 51.5) (float-vector -28.0 4.5 52.7058) (float-vector -28.0 7.79423 56.0) (float-vector -28.0 9.0 60.5) (float-vector -28.0 7.79423 65.0) (float-vector -28.0 4.5 68.2942)))
         (instance face :init :vertices (list (float-vector -43.6 -4.5 68.2942) (float-vector -28.0 -4.5 68.2942) (float-vector -28.0 0.0 69.5) (float-vector -43.6 0.0 69.5)))
         (instance face :init :vertices (list (float-vector -43.6 -7.79423 65.0) (float-vector -28.0 -7.79423 65.0) (float-vector -28.0 -4.5 68.2942) (float-vector -43.6 -4.5 68.2942)))
         (instance face :init :vertices (list (float-vector -43.6 -9.0 60.5) (float-vector -28.0 -9.0 60.5) (float-vector -28.0 -7.79423 65.0) (float-vector -43.6 -7.79423 65.0)))
         (instance face :init :vertices (list (float-vector -43.6 -7.79423 56.0) (float-vector -28.0 -7.79423 56.0) (float-vector -28.0 -9.0 60.5) (float-vector -43.6 -9.0 60.5)))
         (instance face :init :vertices (list (float-vector -43.6 -4.5 52.7058) (float-vector -28.0 -4.5 52.7058) (float-vector -28.0 -7.79423 56.0) (float-vector -43.6 -7.79423 56.0)))
         (instance face :init :vertices (list (float-vector -43.6 1.421085e-14 51.5) (float-vector -28.0 1.421085e-14 51.5) (float-vector -28.0 -4.5 52.7058) (float-vector -43.6 -4.5 52.7058)))
         (instance face :init :vertices (list (float-vector -43.6 4.5 52.7058) (float-vector -28.0 4.5 52.7058) (float-vector -28.0 1.421085e-14 51.5) (float-vector -43.6 1.421085e-14 51.5)))
         (instance face :init :vertices (list (float-vector -43.6 7.79423 56.0) (float-vector -28.0 7.79423 56.0) (float-vector -28.0 4.5 52.7058) (float-vector -43.6 4.5 52.7058)))
         (instance face :init :vertices (list (float-vector -43.6 9.0 60.5) (float-vector -28.0 9.0 60.5) (float-vector -28.0 7.79423 56.0) (float-vector -43.6 7.79423 56.0)))
         (instance face :init :vertices (list (float-vector -43.6 7.79423 65.0) (float-vector -28.0 7.79423 65.0) (float-vector -28.0 9.0 60.5) (float-vector -43.6 9.0 60.5)))
         (instance face :init :vertices (list (float-vector -43.6 4.5 68.2942) (float-vector -28.0 4.5 68.2942) (float-vector -28.0 7.79423 65.0) (float-vector -43.6 7.79423 65.0)))
         (instance face :init :vertices (list (float-vector -43.6 0.0 69.5) (float-vector -28.0 0.0 69.5) (float-vector -28.0 4.5 68.2942) (float-vector -43.6 4.5 68.2942)))
       ))
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector 30.6 -7.79423 111.8) (float-vector 15.0 -7.79423 111.8) (float-vector 15.0 -9.0 107.3) (float-vector 30.6 -9.0 107.3)))
         (instance face :init :vertices (list (float-vector 30.6 -4.5 115.094) (float-vector 15.0 -4.5 115.094) (float-vector 15.0 -7.79423 111.8) (float-vector 30.6 -7.79423 111.8)))
         (instance face :init :vertices (list (float-vector 30.6 1.421085e-14 116.3) (float-vector 15.0 1.421085e-14 116.3) (float-vector 15.0 -4.5 115.094) (float-vector 30.6 -4.5 115.094)))
         (instance face :init :vertices (list (float-vector 30.6 4.5 115.094) (float-vector 15.0 4.5 115.094) (float-vector 15.0 1.421085e-14 116.3) (float-vector 30.6 1.421085e-14 116.3)))
         (instance face :init :vertices (list (float-vector 30.6 7.79423 111.8) (float-vector 15.0 7.79423 111.8) (float-vector 15.0 4.5 115.094) (float-vector 30.6 4.5 115.094)))
         (instance face :init :vertices (list (float-vector 30.6 9.0 107.3) (float-vector 15.0 9.0 107.3) (float-vector 15.0 7.79423 111.8) (float-vector 30.6 7.79423 111.8)))
         (instance face :init :vertices (list (float-vector 30.6 7.79423 102.8) (float-vector 15.0 7.79423 102.8) (float-vector 15.0 9.0 107.3) (float-vector 30.6 9.0 107.3)))
         (instance face :init :vertices (list (float-vector 30.6 4.5 99.5058) (float-vector 15.0 4.5 99.5058) (float-vector 15.0 7.79423 102.8) (float-vector 30.6 7.79423 102.8)))
         (instance face :init :vertices (list (float-vector 30.6 0.0 98.3) (float-vector 15.0 0.0 98.3) (float-vector 15.0 4.5 99.5058) (float-vector 30.6 4.5 99.5058)))
         (instance face :init :vertices (list (float-vector 30.6 -4.5 99.5058) (float-vector 15.0 -4.5 99.5058) (float-vector 15.0 0.0 98.3) (float-vector 30.6 0.0 98.3)))
         (instance face :init :vertices (list (float-vector 30.6 -7.79423 102.8) (float-vector 15.0 -7.79423 102.8) (float-vector 15.0 -4.5 99.5058) (float-vector 30.6 -4.5 99.5058)))
         (instance face :init :vertices (list (float-vector 30.6 -9.0 107.3) (float-vector 15.0 -9.0 107.3) (float-vector 15.0 -7.79423 102.8) (float-vector 30.6 -7.79423 102.8)))
       ))
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector -31.9848 -16.6525 130.81) (float-vector -22.7225 -25.9148 130.81) (float-vector -10.07 -4.0 137.59)))
         (instance face :init :vertices (list (float-vector -22.7225 -25.9148 130.81) (float-vector -10.07 -29.305 130.81) (float-vector -10.07 -4.0 137.59)))
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         (instance face :init :vertices (list (float-vector 2.5825 -25.9148 130.81) (float-vector 11.8448 -16.6525 130.81) (float-vector -10.07 -4.0 137.59)))
         (instance face :init :vertices (list (float-vector 11.8448 -16.6525 130.81) (float-vector 15.235 -4.0 130.81) (float-vector -10.07 -4.0 137.59)))
         (instance face :init :vertices (list (float-vector 15.235 -4.0 130.81) (float-vector 11.8448 8.6525 130.81) (float-vector -10.07 -4.0 137.59)))
         (instance face :init :vertices (list (float-vector 11.8448 8.6525 130.81) (float-vector 2.5825 17.9148 130.81) (float-vector -10.07 -4.0 137.59)))
         (instance face :init :vertices (list (float-vector 2.5825 17.9148 130.81) (float-vector -10.07 21.305 130.81) (float-vector -10.07 -4.0 137.59)))
         (instance face :init :vertices (list (float-vector -10.07 21.305 130.81) (float-vector -22.7225 17.9148 130.81) (float-vector -10.07 -4.0 137.59)))
         (instance face :init :vertices (list (float-vector -22.7225 17.9148 130.81) (float-vector -31.9848 8.6525 130.81) (float-vector -10.07 -4.0 137.59)))
         (instance face :init :vertices (list (float-vector -31.9848 8.6525 130.81) (float-vector -35.375 -4.0 130.81) (float-vector -10.07 -4.0 137.59)))
         (instance face :init :vertices (list (float-vector -48.0275 -25.9148 112.285) (float-vector -31.9848 -16.6525 130.81) (float-vector -35.375 -4.0 130.81) (float-vector -53.8995 -4.0 112.285)))
         (instance face :init :vertices (list (float-vector -31.9848 -41.9575 112.285) (float-vector -22.7225 -25.9148 130.81) (float-vector -31.9848 -16.6525 130.81) (float-vector -48.0275 -25.9148 112.285)))
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         (instance face :init :vertices (list (float-vector 11.8448 -41.9575 112.285) (float-vector 2.5825 -25.9148 130.81) (float-vector -10.07 -29.305 130.81) (float-vector -10.07 -47.8295 112.285)))
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         (instance face :init :vertices (list (float-vector 33.7595 -4.0 112.285) (float-vector 15.235 -4.0 130.81) (float-vector 11.8448 -16.6525 130.81) (float-vector 27.8875 -25.9148 112.285)))
         (instance face :init :vertices (list (float-vector 27.8875 17.9148 112.285) (float-vector 11.8448 8.6525 130.81) (float-vector 15.235 -4.0 130.81) (float-vector 33.7595 -4.0 112.285)))
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         (instance face :init :vertices (list (float-vector -10.07 39.8295 112.285) (float-vector -10.07 21.305 130.81) (float-vector 2.5825 17.9148 130.81) (float-vector 11.8448 33.9575 112.285)))
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         (instance face :init :vertices (list (float-vector 15.235 -47.8295 86.98) (float-vector 11.8448 -41.9575 112.285) (float-vector -10.07 -47.8295 112.285) (float-vector -10.07 -54.61 86.98)))
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         (instance face :init :vertices (list (float-vector 40.54 -4.0 86.98) (float-vector 33.7595 -4.0 112.285) (float-vector 27.8875 -25.9148 112.285) (float-vector 33.7595 -29.305 86.98)))
         (instance face :init :vertices (list (float-vector 33.7595 21.305 86.98) (float-vector 27.8875 17.9148 112.285) (float-vector 33.7595 -4.0 112.285) (float-vector 40.54 -4.0 86.98)))
         (instance face :init :vertices (list (float-vector 15.235 39.8295 86.98) (float-vector 11.8448 33.9575 112.285) (float-vector 27.8875 17.9148 112.285) (float-vector 33.7595 21.305 86.98)))
         (instance face :init :vertices (list (float-vector -10.07 46.61 86.98) (float-vector -10.07 39.8295 112.285) (float-vector 11.8448 33.9575 112.285) (float-vector 15.235 39.8295 86.98)))
         (instance face :init :vertices (list (float-vector -35.375 39.8295 86.98) (float-vector -31.9848 33.9575 112.285) (float-vector -10.07 39.8295 112.285) (float-vector -10.07 46.61 86.98)))
         (instance face :init :vertices (list (float-vector -53.8995 21.305 86.98) (float-vector -48.0275 17.9148 112.285) (float-vector -31.9848 33.9575 112.285) (float-vector -35.375 39.8295 86.98)))
         (instance face :init :vertices (list (float-vector -60.68 -4.0 86.98) (float-vector -53.8995 -4.0 112.285) (float-vector -48.0275 17.9148 112.285) (float-vector -53.8995 21.305 86.98)))
         (instance face :init :vertices (list (float-vector -53.8995 -29.305 -0.34) (float-vector -53.8995 -29.305 86.98) (float-vector -60.68 -4.0 86.98) (float-vector -60.68 -4.0 -0.34)))
         (instance face :init :vertices (list (float-vector -35.375 -47.8295 -0.34) (float-vector -35.375 -47.8295 86.98) (float-vector -53.8995 -29.305 86.98) (float-vector -53.8995 -29.305 -0.34)))
         (instance face :init :vertices (list (float-vector -10.07 -54.61 -0.34) (float-vector -10.07 -54.61 86.98) (float-vector -35.375 -47.8295 86.98) (float-vector -35.375 -47.8295 -0.34)))
         (instance face :init :vertices (list (float-vector 15.235 -47.8295 -0.34) (float-vector 15.235 -47.8295 86.98) (float-vector -10.07 -54.61 86.98) (float-vector -10.07 -54.61 -0.34)))
         (instance face :init :vertices (list (float-vector 33.7595 -29.305 -0.34) (float-vector 33.7595 -29.305 86.98) (float-vector 15.235 -47.8295 86.98) (float-vector 15.235 -47.8295 -0.34)))
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         (instance face :init :vertices (list (float-vector 33.7595 21.305 -0.34) (float-vector 33.7595 21.305 86.98) (float-vector 40.54 -4.0 86.98) (float-vector 40.54 -4.0 -0.34)))
         (instance face :init :vertices (list (float-vector 15.235 39.8295 -0.34) (float-vector 15.235 39.8295 86.98) (float-vector 33.7595 21.305 86.98) (float-vector 33.7595 21.305 -0.34)))
         (instance face :init :vertices (list (float-vector -10.07 46.61 -0.34) (float-vector -10.07 46.61 86.98) (float-vector 15.235 39.8295 86.98) (float-vector 15.235 39.8295 -0.34)))
         (instance face :init :vertices (list (float-vector -35.375 39.8295 -0.34) (float-vector -35.375 39.8295 86.98) (float-vector -10.07 46.61 86.98) (float-vector -10.07 46.61 -0.34)))
         (instance face :init :vertices (list (float-vector -53.8995 21.305 -0.34) (float-vector -53.8995 21.305 86.98) (float-vector -35.375 39.8295 86.98) (float-vector -35.375 39.8295 -0.34)))
         (instance face :init :vertices (list (float-vector -60.68 -4.0 -0.34) (float-vector -60.68 -4.0 86.98) (float-vector -53.8995 21.305 86.98) (float-vector -53.8995 21.305 -0.34)))
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         (instance face :init :vertices (list (float-vector -10.07 -47.8295 -25.645) (float-vector -10.07 -54.61 -0.34) (float-vector -35.375 -47.8295 -0.34) (float-vector -31.9848 -41.9575 -25.645)))
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         (instance face :init :vertices (list (float-vector 27.8875 -25.9148 -25.645) (float-vector 33.7595 -29.305 -0.34) (float-vector 15.235 -47.8295 -0.34) (float-vector 11.8448 -41.9575 -25.645)))
         (instance face :init :vertices (list (float-vector 33.7595 -4.0 -25.645) (float-vector 40.54 -4.0 -0.34) (float-vector 33.7595 -29.305 -0.34) (float-vector 27.8875 -25.9148 -25.645)))
         (instance face :init :vertices (list (float-vector 27.8875 17.9148 -25.645) (float-vector 33.7595 21.305 -0.34) (float-vector 40.54 -4.0 -0.34) (float-vector 33.7595 -4.0 -25.645)))
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         (instance face :init :vertices (list (float-vector -10.07 39.8295 -25.645) (float-vector -10.07 46.61 -0.34) (float-vector 15.235 39.8295 -0.34) (float-vector 11.8448 33.9575 -25.645)))
         (instance face :init :vertices (list (float-vector -31.9848 33.9575 -25.645) (float-vector -35.375 39.8295 -0.34) (float-vector -10.07 46.61 -0.34) (float-vector -10.07 39.8295 -25.645)))
         (instance face :init :vertices (list (float-vector -48.0275 17.9148 -25.645) (float-vector -53.8995 21.305 -0.34) (float-vector -35.375 39.8295 -0.34) (float-vector -31.9848 33.9575 -25.645)))
         (instance face :init :vertices (list (float-vector -53.8995 -4.0 -25.645) (float-vector -60.68 -4.0 -0.34) (float-vector -53.8995 21.305 -0.34) (float-vector -48.0275 17.9148 -25.645)))
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         (instance face :init :vertices (list (float-vector -10.07 -29.305 -44.1695) (float-vector -10.07 -47.8295 -25.645) (float-vector -31.9848 -41.9575 -25.645) (float-vector -22.7225 -25.9148 -44.1695)))
         (instance face :init :vertices (list (float-vector 2.5825 -25.9148 -44.1695) (float-vector 11.8448 -41.9575 -25.645) (float-vector -10.07 -47.8295 -25.645) (float-vector -10.07 -29.305 -44.1695)))
         (instance face :init :vertices (list (float-vector 11.8448 -16.6525 -44.1695) (float-vector 27.8875 -25.9148 -25.645) (float-vector 11.8448 -41.9575 -25.645) (float-vector 2.5825 -25.9148 -44.1695)))
         (instance face :init :vertices (list (float-vector 15.235 -4.0 -44.1695) (float-vector 33.7595 -4.0 -25.645) (float-vector 27.8875 -25.9148 -25.645) (float-vector 11.8448 -16.6525 -44.1695)))
         (instance face :init :vertices (list (float-vector 11.8448 8.6525 -44.1695) (float-vector 27.8875 17.9148 -25.645) (float-vector 33.7595 -4.0 -25.645) (float-vector 15.235 -4.0 -44.1695)))
         (instance face :init :vertices (list (float-vector 2.5825 17.9148 -44.1695) (float-vector 11.8448 33.9575 -25.645) (float-vector 27.8875 17.9148 -25.645) (float-vector 11.8448 8.6525 -44.1695)))
         (instance face :init :vertices (list (float-vector -10.07 21.305 -44.1695) (float-vector -10.07 39.8295 -25.645) (float-vector 11.8448 33.9575 -25.645) (float-vector 2.5825 17.9148 -44.1695)))
         (instance face :init :vertices (list (float-vector -22.7225 17.9148 -44.1695) (float-vector -31.9848 33.9575 -25.645) (float-vector -10.07 39.8295 -25.645) (float-vector -10.07 21.305 -44.1695)))
         (instance face :init :vertices (list (float-vector -31.9848 8.6525 -44.1695) (float-vector -48.0275 17.9148 -25.645) (float-vector -31.9848 33.9575 -25.645) (float-vector -22.7225 17.9148 -44.1695)))
         (instance face :init :vertices (list (float-vector -35.375 -4.0 -44.1695) (float-vector -53.8995 -4.0 -25.645) (float-vector -48.0275 17.9148 -25.645) (float-vector -31.9848 8.6525 -44.1695)))
         (instance face :init :vertices (list (float-vector -31.9848 -16.6525 -44.1695) (float-vector -35.375 -4.0 -44.1695) (float-vector -10.07 -4.0 -50.95)))
         (instance face :init :vertices (list (float-vector -35.375 -4.0 -44.1695) (float-vector -31.9848 8.6525 -44.1695) (float-vector -10.07 -4.0 -50.95)))
         (instance face :init :vertices (list (float-vector -31.9848 8.6525 -44.1695) (float-vector -22.7225 17.9148 -44.1695) (float-vector -10.07 -4.0 -50.95)))
         (instance face :init :vertices (list (float-vector -22.7225 17.9148 -44.1695) (float-vector -10.07 21.305 -44.1695) (float-vector -10.07 -4.0 -50.95)))
         (instance face :init :vertices (list (float-vector -10.07 21.305 -44.1695) (float-vector 2.5825 17.9148 -44.1695) (float-vector -10.07 -4.0 -50.95)))
         (instance face :init :vertices (list (float-vector 2.5825 17.9148 -44.1695) (float-vector 11.8448 8.6525 -44.1695) (float-vector -10.07 -4.0 -50.95)))
         (instance face :init :vertices (list (float-vector 11.8448 8.6525 -44.1695) (float-vector 15.235 -4.0 -44.1695) (float-vector -10.07 -4.0 -50.95)))
         (instance face :init :vertices (list (float-vector 15.235 -4.0 -44.1695) (float-vector 11.8448 -16.6525 -44.1695) (float-vector -10.07 -4.0 -50.95)))
         (instance face :init :vertices (list (float-vector 11.8448 -16.6525 -44.1695) (float-vector 2.5825 -25.9148 -44.1695) (float-vector -10.07 -4.0 -50.95)))
         (instance face :init :vertices (list (float-vector 2.5825 -25.9148 -44.1695) (float-vector -10.07 -29.305 -44.1695) (float-vector -10.07 -4.0 -50.95)))
         (instance face :init :vertices (list (float-vector -10.07 -29.305 -44.1695) (float-vector -22.7225 -25.9148 -44.1695) (float-vector -10.07 -4.0 -50.95)))
         (instance face :init :vertices (list (float-vector -22.7225 -25.9148 -44.1695) (float-vector -31.9848 -16.6525 -44.1695) (float-vector -10.07 -4.0 -50.95)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray40)
     (send (elt bc 3) :set-color :gray40)
     (send (elt bc 4) :set-color :gray40)
     (send (elt bc 5) :set-color :darkgreen)
     (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :leg-thigh-0 :weight 550 :centroid (float-vector -3.399078e-33 1.333569e-17 -2.775558e-17) :inertia-tensor #2f((5.215169e-31 2.493097e-47 -5.188885e-47) (2.493097e-47 4.237046e-31 2.035768e-31) (-5.188885e-47 2.035768e-31 9.781230e-32))))

     ;; definition of :leg-shank-0
     (setq bc (list
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0)))
       ))
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector -17.936 -33.0 71.536) (float-vector -21.9706 -33.0 69.2067) (float-vector -26.6294 -33.0 69.2067) (float-vector -30.664 -33.0 71.536) (float-vector -32.9933 -33.0 75.5706) (float-vector -32.9933 -33.0 80.2294) (float-vector -30.664 -33.0 84.264) (float-vector -26.6294 -33.0 86.5933) (float-vector -21.9706 -33.0 86.5933) (float-vector -17.936 -33.0 84.264) (float-vector -15.6067 -33.0 80.2294) (float-vector -15.6067 -33.0 75.5706)))
         (instance face :init :vertices (list (float-vector -21.9706 -48.6 69.2067) (float-vector -21.9706 -33.0 69.2067) (float-vector -17.936 -33.0 71.536) (float-vector -17.936 -48.6 71.536)))
         (instance face :init :vertices (list (float-vector -26.6294 -48.6 69.2067) (float-vector -26.6294 -33.0 69.2067) (float-vector -21.9706 -33.0 69.2067) (float-vector -21.9706 -48.6 69.2067)))
         (instance face :init :vertices (list (float-vector -30.664 -48.6 71.536) (float-vector -30.664 -33.0 71.536) (float-vector -26.6294 -33.0 69.2067) (float-vector -26.6294 -48.6 69.2067)))
         (instance face :init :vertices (list (float-vector -32.9933 -48.6 75.5706) (float-vector -32.9933 -33.0 75.5706) (float-vector -30.664 -33.0 71.536) (float-vector -30.664 -48.6 71.536)))
         (instance face :init :vertices (list (float-vector -32.9933 -48.6 80.2294) (float-vector -32.9933 -33.0 80.2294) (float-vector -32.9933 -33.0 75.5706) (float-vector -32.9933 -48.6 75.5706)))
         (instance face :init :vertices (list (float-vector -30.664 -48.6 84.264) (float-vector -30.664 -33.0 84.264) (float-vector -32.9933 -33.0 80.2294) (float-vector -32.9933 -48.6 80.2294)))
         (instance face :init :vertices (list (float-vector -26.6294 -48.6 86.5933) (float-vector -26.6294 -33.0 86.5933) (float-vector -30.664 -33.0 84.264) (float-vector -30.664 -48.6 84.264)))
         (instance face :init :vertices (list (float-vector -21.9706 -48.6 86.5933) (float-vector -21.9706 -33.0 86.5933) (float-vector -26.6294 -33.0 86.5933) (float-vector -26.6294 -48.6 86.5933)))
         (instance face :init :vertices (list (float-vector -17.936 -48.6 84.264) (float-vector -17.936 -33.0 84.264) (float-vector -21.9706 -33.0 86.5933) (float-vector -21.9706 -48.6 86.5933)))
         (instance face :init :vertices (list (float-vector -15.6067 -48.6 80.2294) (float-vector -15.6067 -33.0 80.2294) (float-vector -17.936 -33.0 84.264) (float-vector -17.936 -48.6 84.264)))
         (instance face :init :vertices (list (float-vector -15.6067 -48.6 75.5706) (float-vector -15.6067 -33.0 75.5706) (float-vector -15.6067 -33.0 80.2294) (float-vector -15.6067 -48.6 80.2294)))
         (instance face :init :vertices (list (float-vector -17.936 -48.6 71.536) (float-vector -17.936 -33.0 71.536) (float-vector -15.6067 -33.0 75.5706) (float-vector -15.6067 -48.6 75.5706)))
       ))
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector -6.83604 -33.0 20.436) (float-vector -10.8706 -33.0 18.1067) (float-vector -15.5294 -33.0 18.1067) (float-vector -19.564 -33.0 20.436) (float-vector -21.8933 -33.0 24.4706) (float-vector -21.8933 -33.0 29.1294) (float-vector -19.564 -33.0 33.164) (float-vector -15.5294 -33.0 35.4933) (float-vector -10.8706 -33.0 35.4933) (float-vector -6.83604 -33.0 33.164) (float-vector -4.50667 -33.0 29.1294) (float-vector -4.50667 -33.0 24.4706)))
         (instance face :init :vertices (list (float-vector -10.8706 -48.6 18.1067) (float-vector -10.8706 -33.0 18.1067) (float-vector -6.83604 -33.0 20.436) (float-vector -6.83604 -48.6 20.436)))
         (instance face :init :vertices (list (float-vector -15.5294 -48.6 18.1067) (float-vector -15.5294 -33.0 18.1067) (float-vector -10.8706 -33.0 18.1067) (float-vector -10.8706 -48.6 18.1067)))
         (instance face :init :vertices (list (float-vector -19.564 -48.6 20.436) (float-vector -19.564 -33.0 20.436) (float-vector -15.5294 -33.0 18.1067) (float-vector -15.5294 -48.6 18.1067)))
         (instance face :init :vertices (list (float-vector -21.8933 -48.6 24.4706) (float-vector -21.8933 -33.0 24.4706) (float-vector -19.564 -33.0 20.436) (float-vector -19.564 -48.6 20.436)))
         (instance face :init :vertices (list (float-vector -21.8933 -48.6 29.1294) (float-vector -21.8933 -33.0 29.1294) (float-vector -21.8933 -33.0 24.4706) (float-vector -21.8933 -48.6 24.4706)))
         (instance face :init :vertices (list (float-vector -19.564 -48.6 33.164) (float-vector -19.564 -33.0 33.164) (float-vector -21.8933 -33.0 29.1294) (float-vector -21.8933 -48.6 29.1294)))
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         (instance face :init :vertices (list (float-vector 21.1375 1.136868e-13 -46.2597) (float-vector 17.1374 -14.9287 -46.2597) (float-vector -8.72 0.0 -54.26)))
         (instance face :init :vertices (list (float-vector 17.1374 -14.9287 -46.2597) (float-vector 6.20875 -25.8574 -46.2597) (float-vector -8.72 0.0 -54.26)))
         (instance face :init :vertices (list (float-vector 6.20875 -25.8574 -46.2597) (float-vector -8.72 -29.8575 -46.2597) (float-vector -8.72 0.0 -54.26)))
         (instance face :init :vertices (list (float-vector -8.72 -29.8575 -46.2597) (float-vector -23.6487 -25.8574 -46.2597) (float-vector -8.72 0.0 -54.26)))
         (instance face :init :vertices (list (float-vector -23.6487 -25.8574 -46.2597) (float-vector -34.5774 -14.9288 -46.2597) (float-vector -8.72 0.0 -54.26)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray40)
     (send (elt bc 3) :set-color :gray40)
     (send (elt bc 4) :set-color :gray40)
     (send (elt bc 5) :set-color :darkgreen)
     (send (elt bc 6) :set-color :darkgreen)
     (setq blink4 (instance bodyset-link :init (make-cascoords) :bodies bc :name :leg-shank-0 :weight 340 :centroid (float-vector -3.399078e-33 1.333569e-17 -2.775558e-17) :inertia-tensor #2f((3.223923e-31 1.541187e-47 -3.207674e-47) (1.541187e-47 2.619265e-31 1.258475e-31) (-3.207674e-47 1.258475e-31 6.046578e-32))))

     ;; definition of :leg-ankle-0
     (setq bc (list
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0) (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 55.6 7.79423 11.5) (float-vector 55.6 9.0 16.0) (float-vector 55.6 7.79423 20.5) (float-vector 55.6 4.5 23.7942) (float-vector 55.6 0.0 25.0) (float-vector 55.6 -4.5 23.7942) (float-vector 55.6 -7.79423 20.5) (float-vector 55.6 -9.0 16.0) (float-vector 55.6 -7.79423 11.5) (float-vector 55.6 -4.5 8.20577) (float-vector 55.6 0.0 7.0) (float-vector 55.6 4.5 8.20577)))
         (instance face :init :vertices (list (float-vector 40.0 9.0 16.0) (float-vector 40.0 7.79423 11.5) (float-vector 40.0 4.5 8.20577) (float-vector 40.0 -2.842171e-14 7.0) (float-vector 40.0 -4.5 8.20577) (float-vector 40.0 -7.79423 11.5) (float-vector 40.0 -9.0 16.0) (float-vector 40.0 -7.79423 20.5) (float-vector 40.0 -4.5 23.7942) (float-vector 40.0 0.0 25.0) (float-vector 40.0 4.5 23.7942) (float-vector 40.0 7.79423 20.5)))
         (instance face :init :vertices (list (float-vector 55.6 7.79423 11.5) (float-vector 40.0 7.79423 11.5) (float-vector 40.0 9.0 16.0) (float-vector 55.6 9.0 16.0)))
         (instance face :init :vertices (list (float-vector 55.6 4.5 8.20577) (float-vector 40.0 4.5 8.20577) (float-vector 40.0 7.79423 11.5) (float-vector 55.6 7.79423 11.5)))
         (instance face :init :vertices (list (float-vector 55.6 0.0 7.0) (float-vector 40.0 -2.842171e-14 7.0) (float-vector 40.0 4.5 8.20577) (float-vector 55.6 4.5 8.20577)))
         (instance face :init :vertices (list (float-vector 55.6 -4.5 8.20577) (float-vector 40.0 -4.5 8.20577) (float-vector 40.0 -2.842171e-14 7.0) (float-vector 55.6 0.0 7.0)))
         (instance face :init :vertices (list (float-vector 55.6 -7.79423 11.5) (float-vector 40.0 -7.79423 11.5) (float-vector 40.0 -4.5 8.20577) (float-vector 55.6 -4.5 8.20577)))
         (instance face :init :vertices (list (float-vector 55.6 -9.0 16.0) (float-vector 40.0 -9.0 16.0) (float-vector 40.0 -7.79423 11.5) (float-vector 55.6 -7.79423 11.5)))
         (instance face :init :vertices (list (float-vector 55.6 -7.79423 20.5) (float-vector 40.0 -7.79423 20.5) (float-vector 40.0 -9.0 16.0) (float-vector 55.6 -9.0 16.0)))
         (instance face :init :vertices (list (float-vector 55.6 -4.5 23.7942) (float-vector 40.0 -4.5 23.7942) (float-vector 40.0 -7.79423 20.5) (float-vector 55.6 -7.79423 20.5)))
         (instance face :init :vertices (list (float-vector 55.6 0.0 25.0) (float-vector 40.0 0.0 25.0) (float-vector 40.0 -4.5 23.7942) (float-vector 55.6 -4.5 23.7942)))
         (instance face :init :vertices (list (float-vector 55.6 4.5 23.7942) (float-vector 40.0 4.5 23.7942) (float-vector 40.0 0.0 25.0) (float-vector 55.6 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 55.6 7.79423 20.5) (float-vector 40.0 7.79423 20.5) (float-vector 40.0 4.5 23.7942) (float-vector 55.6 4.5 23.7942)))
         (instance face :init :vertices (list (float-vector 55.6 9.0 16.0) (float-vector 40.0 9.0 16.0) (float-vector 40.0 7.79423 20.5) (float-vector 55.6 7.79423 20.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (setq blink5 (instance bodyset-link :init (make-cascoords) :bodies bc :name :leg-ankle-0 :weight 230 :centroid (float-vector -3.399078e-33 1.333569e-17 -2.775558e-17) :inertia-tensor #2f((2.180889e-31 1.042568e-47 -2.169897e-47) (1.042568e-47 1.771856e-31 8.513212e-32) (-2.169897e-47 8.513212e-32 4.090332e-32))))

     ;; definition of :leg-foot-0
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -5.0 5.0 -35.9) (float-vector 5.0 5.0 -35.9) (float-vector 5.0 -5.0 -35.9) (float-vector -5.0 -5.0 -35.9)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 35.9) (float-vector -5.0 5.0 35.9) (float-vector -5.0 -5.0 35.9) (float-vector 5.0 -5.0 35.9)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -35.9) (float-vector -5.0 5.0 35.9) (float-vector 5.0 5.0 35.9) (float-vector 5.0 5.0 -35.9)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 -35.9) (float-vector -5.0 -5.0 35.9) (float-vector -5.0 5.0 35.9) (float-vector -5.0 5.0 -35.9)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 -35.9) (float-vector 5.0 -5.0 35.9) (float-vector -5.0 -5.0 35.9) (float-vector -5.0 -5.0 -35.9)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 -35.9) (float-vector 5.0 5.0 35.9) (float-vector 5.0 -5.0 35.9) (float-vector 5.0 -5.0 -35.9)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -0.5 0.5 -0.5) (float-vector 0.5 0.5 -0.5) (float-vector 0.5 -0.5 -0.5) (float-vector -0.5 -0.5 -0.5)))
         (instance face :init :vertices (list (float-vector 0.5 0.5 0.5) (float-vector -0.5 0.5 0.5) (float-vector -0.5 -0.5 0.5) (float-vector 0.5 -0.5 0.5)))
         (instance face :init :vertices (list (float-vector -0.5 0.5 -0.5) (float-vector -0.5 0.5 0.5) (float-vector 0.5 0.5 0.5) (float-vector 0.5 0.5 -0.5)))
         (instance face :init :vertices (list (float-vector -0.5 -0.5 -0.5) (float-vector -0.5 -0.5 0.5) (float-vector -0.5 0.5 0.5) (float-vector -0.5 0.5 -0.5)))
         (instance face :init :vertices (list (float-vector 0.5 -0.5 -0.5) (float-vector 0.5 -0.5 0.5) (float-vector -0.5 -0.5 0.5) (float-vector -0.5 -0.5 -0.5)))
         (instance face :init :vertices (list (float-vector 0.5 0.5 -0.5) (float-vector 0.5 0.5 0.5) (float-vector 0.5 -0.5 0.5) (float-vector 0.5 -0.5 -0.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -99.0 42.5 -11.1) (float-vector 65.0 42.5 -11.1) (float-vector 65.0 -45.5 -11.1) (float-vector -99.0 -45.5 -11.1)))
         (instance face :init :vertices (list (float-vector 65.0 42.5 35.9) (float-vector -99.0 42.5 35.9) (float-vector -99.0 -45.5 35.9) (float-vector 65.0 -45.5 35.9)))
         (instance face :init :vertices (list (float-vector -99.0 42.5 -11.1) (float-vector -99.0 42.5 35.9) (float-vector 65.0 42.5 35.9) (float-vector 65.0 42.5 -11.1)))
         (instance face :init :vertices (list (float-vector -99.0 -45.5 -11.1) (float-vector -99.0 -45.5 35.9) (float-vector -99.0 42.5 35.9) (float-vector -99.0 42.5 -11.1)))
         (instance face :init :vertices (list (float-vector 65.0 -45.5 -11.1) (float-vector 65.0 -45.5 35.9) (float-vector -99.0 -45.5 35.9) (float-vector -99.0 -45.5 -11.1)))
         (instance face :init :vertices (list (float-vector 65.0 42.5 -11.1) (float-vector 65.0 42.5 35.9) (float-vector 65.0 -45.5 35.9) (float-vector 65.0 -45.5 -11.1)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :darkgreen)
     (setq blink6 (instance bodyset-link :init (make-cascoords) :bodies bc :name :leg-foot-0 :weight 125 :centroid (float-vector -3.399078e-33 1.333569e-17 -2.775558e-17) :inertia-tensor #2f((1.185266e-31 5.666129e-48 -1.179292e-47) (5.666129e-48 9.629650e-32 4.626746e-32) (-1.179292e-47 4.626746e-32 2.223007e-32))))

     ;; definition of :head-neck
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (setq blink21 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-neck :weight 109 :centroid (float-vector 0.0 1.333569e-17 2.775558e-17) :inertia-tensor #2f((1.033552e-31 2.964394e-323 2.964394e-323) (1.976263e-323 8.397055e-32 -4.034522e-32) (1.976263e-323 -4.034522e-32 1.938462e-32))))

     ;; definition of :head-head
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 39.3 58.2492 72.0992) (float-vector 25.5492 36.0 108.099) (float-vector 61.5492 22.2492 85.85)))
         (instance face :init :vertices (list (float-vector 61.5492 22.2492 85.85) (float-vector 64.5469 37.8526 49.85) (float-vector 39.3 58.2492 72.0992)))
         (instance face :init :vertices (list (float-vector 25.5492 36.0 108.099) (float-vector 41.1526 0.0 111.097) (float-vector 61.5492 22.2492 85.85)))
         (instance face :init :vertices (list (float-vector 39.3 58.2492 72.0992) (float-vector 3.3 61.2469 87.7026) (float-vector 25.5492 36.0 108.099)))
         (instance face :init :vertices (list (float-vector 25.5492 -36.0 108.099) (float-vector 3.3 0.0 121.85) (float-vector -18.9492 -36.0 108.099)))
         (instance face :init :vertices (list (float-vector -18.9492 -36.0 108.099) (float-vector 3.3 -61.2469 87.7026) (float-vector 25.5492 -36.0 108.099)))
         (instance face :init :vertices (list (float-vector 3.3 0.0 121.85) (float-vector -34.5526 0.0 111.097) (float-vector -18.9492 -36.0 108.099)))
         (instance face :init :vertices (list (float-vector 25.5492 -36.0 108.099) (float-vector 41.1526 0.0 111.097) (float-vector 3.3 0.0 121.85)))
         (instance face :init :vertices (list (float-vector -32.7 58.2492 27.6008) (float-vector -32.7 58.2492 72.0992) (float-vector 3.3 72.0 49.85)))
         (instance face :init :vertices (list (float-vector 3.3 72.0 49.85) (float-vector 3.3 61.2469 11.9974) (float-vector -32.7 58.2492 27.6008)))
         (instance face :init :vertices (list (float-vector -32.7 58.2492 72.0992) (float-vector 3.3 61.2469 87.7026) (float-vector 3.3 72.0 49.85)))
         (instance face :init :vertices (list (float-vector -32.7 58.2492 27.6008) (float-vector -57.9469 37.8526 49.85) (float-vector -32.7 58.2492 72.0992)))
         (instance face :init :vertices (list (float-vector 25.5492 36.0 108.099) (float-vector -18.9492 36.0 108.099) (float-vector 3.3 0.0 121.85)))
         (instance face :init :vertices (list (float-vector 3.3 0.0 121.85) (float-vector 41.1526 0.0 111.097) (float-vector 25.5492 36.0 108.099)))
         (instance face :init :vertices (list (float-vector -18.9492 36.0 108.099) (float-vector -34.5526 0.0 111.097) (float-vector 3.3 0.0 121.85)))
         (instance face :init :vertices (list (float-vector 25.5492 36.0 108.099) (float-vector 3.3 61.2469 87.7026) (float-vector -18.9492 36.0 108.099)))
         (instance face :init :vertices (list (float-vector -32.7 58.2492 72.0992) (float-vector -54.9492 22.2492 85.85) (float-vector -18.9492 36.0 108.099)))
         (instance face :init :vertices (list (float-vector -18.9492 36.0 108.099) (float-vector 3.3 61.2469 87.7026) (float-vector -32.7 58.2492 72.0992)))
         (instance face :init :vertices (list (float-vector -54.9492 22.2492 85.85) (float-vector -34.5526 0.0 111.097) (float-vector -18.9492 36.0 108.099)))
         (instance face :init :vertices (list (float-vector -32.7 58.2492 72.0992) (float-vector -57.9469 37.8526 49.85) (float-vector -54.9492 22.2492 85.85)))
         (instance face :init :vertices (list (float-vector -54.9492 22.2492 85.85) (float-vector -68.7 0.0 49.85) (float-vector -54.9492 -22.2492 85.85)))
         (instance face :init :vertices (list (float-vector -54.9492 -22.2492 85.85) (float-vector -34.5526 0.0 111.097) (float-vector -54.9492 22.2492 85.85)))
         (instance face :init :vertices (list (float-vector -68.7 0.0 49.85) (float-vector -57.9469 -37.8526 49.85) (float-vector -54.9492 -22.2492 85.85)))
         (instance face :init :vertices (list (float-vector -54.9492 22.2492 85.85) (float-vector -57.9469 37.8526 49.85) (float-vector -68.7 0.0 49.85)))
         (instance face :init :vertices (list (float-vector -54.9492 22.2492 13.85) (float-vector -54.9492 -22.2492 13.85) (float-vector -68.7 0.0 49.85)))
         (instance face :init :vertices (list (float-vector -68.7 0.0 49.85) (float-vector -57.9469 37.8526 49.85) (float-vector -54.9492 22.2492 13.85)))
         (instance face :init :vertices (list (float-vector -54.9492 -22.2492 13.85) (float-vector -57.9469 -37.8526 49.85) (float-vector -68.7 0.0 49.85)))
         (instance face :init :vertices (list (float-vector -54.9492 22.2492 13.85) (float-vector -34.5526 0.0 -11.3969) (float-vector -54.9492 -22.2492 13.85)))
         (instance face :init :vertices (list (float-vector -18.9492 -36.0 -8.39922) (float-vector -32.7 -58.2492 27.6008) (float-vector -54.9492 -22.2492 13.85)))
         (instance face :init :vertices (list (float-vector -54.9492 -22.2492 13.85) (float-vector -34.5526 0.0 -11.3969) (float-vector -18.9492 -36.0 -8.39922)))
         (instance face :init :vertices (list (float-vector -32.7 -58.2492 27.6008) (float-vector -57.9469 -37.8526 49.85) (float-vector -54.9492 -22.2492 13.85)))
         (instance face :init :vertices (list (float-vector -18.9492 -36.0 -8.39922) (float-vector 3.3 -61.2469 11.9974) (float-vector -32.7 -58.2492 27.6008)))
         (instance face :init :vertices (list (float-vector -54.9492 -22.2492 85.85) (float-vector -32.7 -58.2492 72.0992) (float-vector -18.9492 -36.0 108.099)))
         (instance face :init :vertices (list (float-vector -18.9492 -36.0 108.099) (float-vector -34.5526 0.0 111.097) (float-vector -54.9492 -22.2492 85.85)))
         (instance face :init :vertices (list (float-vector -32.7 -58.2492 72.0992) (float-vector 3.3 -61.2469 87.7026) (float-vector -18.9492 -36.0 108.099)))
         (instance face :init :vertices (list (float-vector -54.9492 -22.2492 85.85) (float-vector -57.9469 -37.8526 49.85) (float-vector -32.7 -58.2492 72.0992)))
         (instance face :init :vertices (list (float-vector -32.7 -58.2492 27.6008) (float-vector 3.3 -72.0 49.85) (float-vector -32.7 -58.2492 72.0992)))
         (instance face :init :vertices (list (float-vector -32.7 -58.2492 72.0992) (float-vector -57.9469 -37.8526 49.85) (float-vector -32.7 -58.2492 27.6008)))
         (instance face :init :vertices (list (float-vector 3.3 -72.0 49.85) (float-vector 3.3 -61.2469 87.7026) (float-vector -32.7 -58.2492 72.0992)))
         (instance face :init :vertices (list (float-vector -32.7 -58.2492 27.6008) (float-vector 3.3 -61.2469 11.9974) (float-vector 3.3 -72.0 49.85)))
         (instance face :init :vertices (list (float-vector 25.5492 -36.0 108.099) (float-vector 39.3 -58.2492 72.0992) (float-vector 61.5492 -22.2492 85.85)))
         (instance face :init :vertices (list (float-vector 61.5492 -22.2492 85.85) (float-vector 41.1526 0.0 111.097) (float-vector 25.5492 -36.0 108.099)))
         (instance face :init :vertices (list (float-vector 39.3 -58.2492 72.0992) (float-vector 64.5469 -37.8526 49.85) (float-vector 61.5492 -22.2492 85.85)))
         (instance face :init :vertices (list (float-vector 25.5492 -36.0 108.099) (float-vector 3.3 -61.2469 87.7026) (float-vector 39.3 -58.2492 72.0992)))
         (instance face :init :vertices (list (float-vector 3.3 -72.0 49.85) (float-vector 39.3 -58.2492 27.6008) (float-vector 39.3 -58.2492 72.0992)))
         (instance face :init :vertices (list (float-vector 39.3 -58.2492 72.0992) (float-vector 3.3 -61.2469 87.7026) (float-vector 3.3 -72.0 49.85)))
         (instance face :init :vertices (list (float-vector 39.3 -58.2492 27.6008) (float-vector 64.5469 -37.8526 49.85) (float-vector 39.3 -58.2492 72.0992)))
         (instance face :init :vertices (list (float-vector 3.3 -72.0 49.85) (float-vector 3.3 -61.2469 11.9974) (float-vector 39.3 -58.2492 27.6008)))
         (instance face :init :vertices (list (float-vector 25.5492 -36.0 -8.39922) (float-vector 61.5492 -22.2492 13.85) (float-vector 39.3 -58.2492 27.6008)))
         (instance face :init :vertices (list (float-vector 39.3 -58.2492 27.6008) (float-vector 3.3 -61.2469 11.9974) (float-vector 25.5492 -36.0 -8.39922)))
         (instance face :init :vertices (list (float-vector 61.5492 -22.2492 13.85) (float-vector 64.5469 -37.8526 49.85) (float-vector 39.3 -58.2492 27.6008)))
         (instance face :init :vertices (list (float-vector 25.5492 -36.0 -8.39922) (float-vector 41.1526 0.0 -11.3969) (float-vector 61.5492 -22.2492 13.85)))
         (instance face :init :vertices (list (float-vector 61.5492 -22.2492 85.85) (float-vector 75.3 0.0 49.85) (float-vector 61.5492 22.2492 85.85)))
         (instance face :init :vertices (list (float-vector 61.5492 22.2492 85.85) (float-vector 41.1526 0.0 111.097) (float-vector 61.5492 -22.2492 85.85)))
         (instance face :init :vertices (list (float-vector 75.3 0.0 49.85) (float-vector 64.5469 37.8526 49.85) (float-vector 61.5492 22.2492 85.85)))
         (instance face :init :vertices (list (float-vector 61.5492 -22.2492 85.85) (float-vector 64.5469 -37.8526 49.85) (float-vector 75.3 0.0 49.85)))
         (instance face :init :vertices (list (float-vector 61.5492 -22.2492 13.85) (float-vector 61.5492 22.2492 13.85) (float-vector 75.3 0.0 49.85)))
         (instance face :init :vertices (list (float-vector 75.3 0.0 49.85) (float-vector 64.5469 -37.8526 49.85) (float-vector 61.5492 -22.2492 13.85)))
         (instance face :init :vertices (list (float-vector 61.5492 22.2492 13.85) (float-vector 64.5469 37.8526 49.85) (float-vector 75.3 0.0 49.85)))
         (instance face :init :vertices (list (float-vector 61.5492 -22.2492 13.85) (float-vector 41.1526 0.0 -11.3969) (float-vector 61.5492 22.2492 13.85)))
         (instance face :init :vertices (list (float-vector 39.3 58.2492 72.0992) (float-vector 39.3 58.2492 27.6008) (float-vector 3.3 72.0 49.85)))
         (instance face :init :vertices (list (float-vector 3.3 72.0 49.85) (float-vector 3.3 61.2469 87.7026) (float-vector 39.3 58.2492 72.0992)))
         (instance face :init :vertices (list (float-vector 39.3 58.2492 27.6008) (float-vector 3.3 61.2469 11.9974) (float-vector 3.3 72.0 49.85)))
         (instance face :init :vertices (list (float-vector 39.3 58.2492 72.0992) (float-vector 64.5469 37.8526 49.85) (float-vector 39.3 58.2492 27.6008)))
         (instance face :init :vertices (list (float-vector 61.5492 22.2492 13.85) (float-vector 25.5492 36.0 -8.39922) (float-vector 39.3 58.2492 27.6008)))
         (instance face :init :vertices (list (float-vector 39.3 58.2492 27.6008) (float-vector 64.5469 37.8526 49.85) (float-vector 61.5492 22.2492 13.85)))
         (instance face :init :vertices (list (float-vector 25.5492 36.0 -8.39922) (float-vector 3.3 61.2469 11.9974) (float-vector 39.3 58.2492 27.6008)))
         (instance face :init :vertices (list (float-vector 61.5492 22.2492 13.85) (float-vector 41.1526 0.0 -11.3969) (float-vector 25.5492 36.0 -8.39922)))
         (instance face :init :vertices (list (float-vector -32.7 58.2492 27.6008) (float-vector -18.9492 36.0 -8.39922) (float-vector -54.9492 22.2492 13.85)))
         (instance face :init :vertices (list (float-vector -54.9492 22.2492 13.85) (float-vector -57.9469 37.8526 49.85) (float-vector -32.7 58.2492 27.6008)))
         (instance face :init :vertices (list (float-vector -18.9492 36.0 -8.39922) (float-vector -34.5526 0.0 -11.3969) (float-vector -54.9492 22.2492 13.85)))
         (instance face :init :vertices (list (float-vector -32.7 58.2492 27.6008) (float-vector 3.3 61.2469 11.9974) (float-vector -18.9492 36.0 -8.39922)))
         (instance face :init :vertices (list (float-vector -18.9492 -36.0 -8.39922) (float-vector 3.3 0.0 -22.15) (float-vector 25.5492 -36.0 -8.39922)))
         (instance face :init :vertices (list (float-vector 25.5492 -36.0 -8.39922) (float-vector 3.3 -61.2469 11.9974) (float-vector -18.9492 -36.0 -8.39922)))
         (instance face :init :vertices (list (float-vector 3.3 0.0 -22.15) (float-vector 41.1526 0.0 -11.3969) (float-vector 25.5492 -36.0 -8.39922)))
         (instance face :init :vertices (list (float-vector -18.9492 -36.0 -8.39922) (float-vector -34.5526 0.0 -11.3969) (float-vector 3.3 0.0 -22.15)))
         (instance face :init :vertices (list (float-vector 25.5492 36.0 -8.39922) (float-vector 3.3 0.0 -22.15) (float-vector -18.9492 36.0 -8.39922)))
         (instance face :init :vertices (list (float-vector -18.9492 36.0 -8.39922) (float-vector 3.3 61.2469 11.9974) (float-vector 25.5492 36.0 -8.39922)))
         (instance face :init :vertices (list (float-vector 3.3 0.0 -22.15) (float-vector -34.5526 0.0 -11.3969) (float-vector -18.9492 36.0 -8.39922)))
         (instance face :init :vertices (list (float-vector 25.5492 36.0 -8.39922) (float-vector 41.1526 0.0 -11.3969) (float-vector 3.3 0.0 -22.15)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :darkgreen)
     (setq blink22 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-head :weight 347 :centroid (float-vector 0.0 1.333569e-17 2.775558e-17) :inertia-tensor #2f((3.290297e-31 2.964394e-323 2.964394e-323) (1.976263e-323 2.673191e-31 -1.284385e-31) (1.976263e-323 -1.284385e-31 6.171067e-32))))

     ;; definition of assoc
     (send blink20 :newcoords (make-coords :pos (float-vector -0.32 0.0 -119.92) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink19 :assoc blink20)
     (send blink19 :newcoords (make-coords :pos (float-vector 0.32 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink18 :assoc blink19)
     (send blink18 :newcoords (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink17 :assoc blink18)
     (send blink10 :newcoords (make-coords :pos (float-vector 0.32 0.0 119.92) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink9 :assoc blink10)
     (send blink9 :newcoords (make-coords :pos (float-vector -0.32 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink8 :assoc blink9)
     (send blink8 :newcoords (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink7 :assoc blink8)
     (send blink16 :newcoords (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink15 :assoc blink16)
     (send blink15 :newcoords (make-coords :pos (float-vector -1.421085e-14 0.0 -125.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink14 :assoc blink15)
     (send blink14 :newcoords (make-coords :pos (float-vector -2.842171e-14 0.0 -125.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink13 :assoc blink14)
     (send blink13 :newcoords (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink12 :assoc blink13)
     (send blink12 :newcoords (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink11 :assoc blink12)
     (send blink6 :newcoords (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink5 :assoc blink6)
     (send blink5 :newcoords (make-coords :pos (float-vector 2.131628e-14 0.0 125.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink4 :assoc blink5)
     (send blink4 :newcoords (make-coords :pos (float-vector 0.0 0.0 125.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink3 :assoc blink4)
     (send blink3 :newcoords (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink2 :assoc blink3)
     (send blink2 :newcoords (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink1 :assoc blink2)
     (send blink22 :newcoords (make-coords :pos (float-vector -17.5 0.0 35.5) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink21 :assoc blink22)
     (send blink21 :newcoords (make-coords :pos (float-vector 0.0 0.0 200.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink21)
     (send blink1 :newcoords (make-coords :pos (float-vector 24.82 -57.0 -64.0) :rot #2f((-1.0 0.0 1.224647e-16) (0.0 1.0 0.0) (-1.224647e-16 0.0 -1.0))))
     (send blink0 :assoc blink1)
     (send blink11 :newcoords (make-coords :pos (float-vector 24.82 57.0 -64.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink11)
     (send blink7 :newcoords (make-coords :pos (float-vector 3.5 -97.0 170.5) :rot #2f((-1.0 0.0 1.224647e-16) (0.0 1.0 0.0) (-1.224647e-16 0.0 -1.0))))
     (send blink0 :assoc blink7)
     (send blink17 :newcoords (make-coords :pos (float-vector 3.5 97.0 170.5) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink17)
     (send self :assoc blink0)

     ;; definition of end-coords

     ;; definition of head-end-coords
     (setq head-end-coords
       (make-cascoords
	:coords (send (send blink22 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))))
     (send blink22 :assoc head-end-coords)

     ;; definition of leg-0-end-coords
     (setq leg-0-end-coords
       (make-cascoords
	:coords (send (send blink6 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -7.105427e-15 1.421085e-14 36.0) :rot #2f((-1.0 -8.463559e-37 1.249001e-16) (8.463559e-37 1.0 1.355253e-20) (-1.249001e-16 1.355253e-20 -1.0))))))
     (send blink6 :assoc leg-0-end-coords)

     ;; definition of leg-1-end-coords
     (setq leg-1-end-coords
       (make-cascoords
	:coords (send (send blink16 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 0.0 -1.421085e-14 -36.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))))
     (send blink16 :assoc leg-1-end-coords)

     ;; definition of arm-0-end-coords
     (setq arm-0-end-coords
       (make-cascoords
	:coords (send (send blink10 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 0.0 0.0 80.6) :rot #2f((-1.0 2.775558e-17 6.938894e-17) (2.775558e-17 1.0 -9.629650e-34) (-6.938894e-17 9.629650e-34 -1.0))))))
     (send blink10 :assoc arm-0-end-coords)

     ;; definition of arm-1-end-coords
     (setq arm-1-end-coords
       (make-cascoords
	:coords (send (send blink20 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -5.684342e-14 0.0 -80.6) :rot #2f((1.0 0.0 -4.163336e-17) (0.0 1.0 0.0) (4.163336e-17 0.0 1.0))))))
     (send blink20 :assoc arm-1-end-coords)

     ;; definition of joint

     ;; definition of :leg-0-ankle-r
     (setq joint5 (instance rotational-joint :init
			     :parent-link blink5 :child-link blink6 :name :leg-0-ankle-r :axis :x 
			     :min  -20.0 :max   20.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :leg-1-ankle-r
     (setq joint15 (instance rotational-joint :init
			     :parent-link blink15 :child-link blink16 :name :leg-1-ankle-r :axis :x 
			     :min  -20.0 :max   20.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :leg-0-ankle-p
     (setq joint4 (instance rotational-joint :init
			     :parent-link blink4 :child-link blink5 :name :leg-0-ankle-p :axis :y 
			     :min  -55.0 :max   55.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :leg-1-ankle-p
     (setq joint14 (instance rotational-joint :init
			     :parent-link blink14 :child-link blink15 :name :leg-1-ankle-p :axis :y 
			     :min  -55.0 :max   55.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :leg-0-knee-p
     (setq joint3 (instance rotational-joint :init
			     :parent-link blink3 :child-link blink4 :name :leg-0-knee-p :axis :y 
			     :min    0.0 :max  115.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :leg-1-knee-p
     (setq joint13 (instance rotational-joint :init
			     :parent-link blink13 :child-link blink14 :name :leg-1-knee-p :axis :y 
			     :min    0.0 :max  115.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :leg-0-crotch-p
     (setq joint2 (instance rotational-joint :init
			     :parent-link blink2 :child-link blink3 :name :leg-0-crotch-p :axis :y 
			     :min -110.0 :max  110.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :leg-1-crotch-p
     (setq joint12 (instance rotational-joint :init
			     :parent-link blink12 :child-link blink13 :name :leg-1-crotch-p :axis :y 
			     :min -110.0 :max  110.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :leg-0-crotch-r
     (setq joint1 (instance rotational-joint :init
			     :parent-link blink1 :child-link blink2 :name :leg-0-crotch-r :axis :x 
			     :min  -30.0 :max   30.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :leg-1-crotch-r
     (setq joint11 (instance rotational-joint :init
			     :parent-link blink11 :child-link blink12 :name :leg-1-crotch-r :axis :x 
			     :min  -30.0 :max   30.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :leg-0-crotch-y
     (setq joint0 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink1 :name :leg-0-crotch-y :axis :z 
			     :min -135.0 :max  135.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :leg-1-crotch-y
     (setq joint10 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink11 :name :leg-1-crotch-y :axis :z 
			     :min -135.0 :max  135.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :arm-0-elbow-p
     (setq joint9 (instance rotational-joint :init
			     :parent-link blink9 :child-link blink10 :name :arm-0-elbow-p :axis :y 
			     :min  -90.0 :max   50.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :arm-1-elbow-p
     (setq joint19 (instance rotational-joint :init
			     :parent-link blink19 :child-link blink20 :name :arm-1-elbow-p :axis :y 
			     :min  -90.0 :max   50.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :arm-0-shoulder-y
     (setq joint8 (instance rotational-joint :init
			     :parent-link blink8 :child-link blink9 :name :arm-0-shoulder-y :axis :z 
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :arm-1-shoulder-y
     (setq joint18 (instance rotational-joint :init
			     :parent-link blink18 :child-link blink19 :name :arm-1-shoulder-y :axis :z 
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :arm-0-shoulder-r
     (setq joint7 (instance rotational-joint :init
			     :parent-link blink7 :child-link blink8 :name :arm-0-shoulder-r :axis :x 
			     :min  -15.0 :max  150.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :arm-1-shoulder-r
     (setq joint17 (instance rotational-joint :init
			     :parent-link blink17 :child-link blink18 :name :arm-1-shoulder-r :axis :x 
			     :min  -15.0 :max  150.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :arm-0-shoulder-p
     (setq joint6 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink7 :name :arm-0-shoulder-p :axis :y 
			     :min -150.0 :max   60.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :arm-1-shoulder-p
     (setq joint16 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink17 :name :arm-1-shoulder-p :axis :y 
			     :min -150.0 :max   60.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :head-neck-y
     (setq joint20 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink21 :name :head-neck-y :axis :z 
			     :min -100.0 :max  100.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :head-neck-p
     (setq joint21 (instance rotational-joint :init
			     :parent-link blink21 :child-link blink22 :name :head-neck-p :axis :y 
			     :min -100.0 :max  100.0 :max-joint-velocity 5 :max-joint-torque 100))

     (setq head-root-link blink21)
     (setq head (list blink21 blink22))
     (setq leg-0-root-link blink1)
     (setq leg-0 (list blink1 blink2 blink3 blink4 blink5 blink6))
     (setq leg-1-root-link blink11)
     (setq leg-1 (list blink11 blink12 blink13 blink14 blink15 blink16))
     (setq arm-0-root-link blink7)
     (setq arm-0 (list blink7 blink8 blink9 blink10))
     (setq arm-1-root-link blink17)
     (setq arm-1 (list blink17 blink18 blink19 blink20))

     ;; init-ending 
     (setq links (list blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 blink8 blink9 blink10 blink11 blink12 blink13 blink14 blink15 blink16 blink17 blink18 blink19 blink20 blink21 blink22))
     (setq joint-list (list joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12 joint13 joint14 joint15 joint16 joint17 joint18 joint19 joint20 joint21))
     ;; definition of collision-avoidance-links
     (setq collision-avoidance-links
       (list
        ))

     ;; definition of leg-0 force-sensor-coords
     (setq sensor0
       (make-cascoords
	:coords (send (send blink1 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 24.0 0.0 -5.0) :rot #2f((-1.665335e-16 5.551115e-17 1.0) (-0.707107 -0.707107 -5.551115e-17) (0.707107 -0.707107 1.665335e-16))))
        :name "leg-0-force-sensor20"))
     (send blink1 :assoc sensor0)

     ;; definition of leg-0 force-sensor-coords
     (setq sensor1
       (make-cascoords
	:coords (send (send blink3 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -10.0 -33.0 77.0) :rot #2f((-1.0 -2.299940e-16 4.599880e-17) (-4.599880e-17 2.220446e-16 -1.0) (2.299940e-16 -1.0 -2.220446e-16))))
        :name "leg-0-force-sensor12"))
     (send blink3 :assoc sensor1)

     ;; definition of leg-0 force-sensor-coords
     (setq sensor2
       (make-cascoords
	:coords (send (send blink3 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -6.5 -33.0 27.2) :rot #2f((-1.0 -2.299940e-16 4.599880e-17) (-4.599880e-17 2.220446e-16 -1.0) (2.299940e-16 -1.0 -2.220446e-16))))
        :name "leg-0-force-sensor13"))
     (send blink3 :assoc sensor2)

     ;; definition of leg-0 force-sensor-coords
     (setq sensor3
       (make-cascoords
	:coords (send (send blink3 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -28.0 0.0 60.5) :rot #2f((-2.220446e-16 2.453269e-18 -1.0) (-7.359808e-18 1.0 2.453269e-18) (1.0 7.359808e-18 -2.220446e-16))))
        :name "leg-0-force-sensor14"))
     (send blink3 :assoc sensor3)

     ;; definition of leg-0 force-sensor-coords
     (setq sensor4
       (make-cascoords
	:coords (send (send blink3 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 15.0 0.0 107.3) :rot #2f((-2.220446e-16 -2.220446e-16 1.0) (-1.0 -1.665335e-16 -2.220446e-16) (2.220446e-16 -1.0 -1.665335e-16))))
        :name "leg-0-force-sensor15"))
     (send blink3 :assoc sensor4)

     ;; definition of leg-0 force-sensor-coords
     (setq sensor5
       (make-cascoords
	:coords (send (send blink4 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -24.3 -33.0 77.9) :rot #2f((0.707107 0.707107 -5.551115e-17) (-5.551115e-17 -4.163336e-17 -1.0) (-0.707107 0.707107 4.163336e-17))))
        :name "leg-0-force-sensor4"))
     (send blink4 :assoc sensor5)

     ;; definition of leg-0 force-sensor-coords
     (setq sensor6
       (make-cascoords
	:coords (send (send blink4 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -13.2 -33.0 26.8) :rot #2f((0.707107 0.707107 -5.551115e-17) (-5.551115e-17 -4.163336e-17 -1.0) (-0.707107 0.707107 4.163336e-17))))
        :name "leg-0-force-sensor5"))
     (send blink4 :assoc sensor6)

     ;; definition of leg-0 force-sensor-coords
     (setq sensor7
       (make-cascoords
	:coords (send (send blink4 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -12.3 33.0 97.6) :rot #2f((-0.866025 0.5 2.775558e-17) (1.387779e-16 1.110223e-16 1.0) (0.5 0.866025 -1.110223e-16))))
        :name "leg-0-force-sensor6"))
     (send blink4 :assoc sensor7)

     ;; definition of leg-0 force-sensor-coords
     (setq sensor8
       (make-cascoords
	:coords (send (send blink4 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -15.3 33.0 29.3) :rot #2f((-0.707107 0.707107 2.220446e-16) (5.551115e-17 -1.665335e-16 1.0) (0.707107 0.707107 5.551115e-17))))
        :name "leg-0-force-sensor7"))
     (send blink4 :assoc sensor8)

     ;; definition of leg-0 force-sensor-coords
     (setq sensor9
       (make-cascoords
	:coords (send (send blink5 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 40.0 0.0 16.0) :rot #2f((-3.885781e-16 0.0 1.0) (1.0 -5.551115e-17 3.885781e-16) (0.0 1.0 -5.551115e-17))))
        :name "leg-0-force-sensor2"))
     (send blink5 :assoc sensor9)

     ;; definition of leg-0 force-sensor-coords
     (setq sensor10
       (make-cascoords
	:coords (send (send blink6 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((-1.0 0.0 -1.249001e-16) (0.0 1.0 0.0) (1.249001e-16 0.0 -1.0))))
        :name "leg-0-force-sensor0"))
     (send blink6 :assoc sensor10)

     ;; definition of leg-1 force-sensor-coords
     (setq sensor11
       (make-cascoords
	:coords (send (send blink11 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -24.0 0.0 5.0) :rot #2f((2.220446e-16 -5.551115e-17 -1.0) (-0.707107 -0.707107 -5.551115e-17) (-0.707107 0.707107 -1.110223e-16))))
        :name "leg-1-force-sensor21"))
     (send blink11 :assoc sensor11)

     ;; definition of leg-1 force-sensor-coords
     (setq sensor12
       (make-cascoords
	:coords (send (send blink13 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 10.0 33.0 -77.0) :rot #2f((-1.0 -1.110104e-16 7.053150e-17) (7.053150e-17 1.110223e-16 1.0) (-1.110104e-16 1.0 -1.110223e-16))))
        :name "leg-1-force-sensor16"))
     (send blink13 :assoc sensor12)

     ;; definition of leg-1 force-sensor-coords
     (setq sensor13
       (make-cascoords
	:coords (send (send blink13 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 6.5 33.0 -27.2) :rot #2f((-1.0 -1.110104e-16 7.053150e-17) (7.053150e-17 1.110223e-16 1.0) (-1.110104e-16 1.0 -1.110223e-16))))
        :name "leg-1-force-sensor17"))
     (send blink13 :assoc sensor13)

     ;; definition of leg-1 force-sensor-coords
     (setq sensor14
       (make-cascoords
	:coords (send (send blink13 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 28.0 0.0 -60.5) :rot #2f((2.220446e-16 -1.226635e-18 1.0) (1.214368e-16 -1.0 -1.226635e-18) (1.0 1.214368e-16 -2.220446e-16))))
        :name "leg-1-force-sensor18"))
     (send blink13 :assoc sensor14)

     ;; definition of leg-1 force-sensor-coords
     (setq sensor15
       (make-cascoords
	:coords (send (send blink13 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -15.0 0.0 -107.3) :rot #2f((0.0 2.220446e-16 -1.0) (-1.0 2.220446e-16 0.0) (2.220446e-16 1.0 2.220446e-16))))
        :name "leg-1-force-sensor19"))
     (send blink13 :assoc sensor15)

     ;; definition of leg-1 force-sensor-coords
     (setq sensor16
       (make-cascoords
	:coords (send (send blink14 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 24.3 33.0 -77.9) :rot #2f((0.866025 -0.5 1.665335e-16) (-1.665335e-16 4.163336e-17 1.0) (-0.5 -0.866025 -4.163336e-17))))
        :name "leg-1-force-sensor8"))
     (send blink14 :assoc sensor16)

     ;; definition of leg-1 force-sensor-coords
     (setq sensor17
       (make-cascoords
	:coords (send (send blink14 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 13.2 33.0 -29.3) :rot #2f((0.707107 -0.707107 2.220446e-16) (1.110223e-16 4.718448e-16 1.0) (-0.707107 -0.707107 4.163336e-16))))
        :name "leg-1-force-sensor9"))
     (send blink14 :assoc sensor17)

     ;; definition of leg-1 force-sensor-coords
     (setq sensor18
       (make-cascoords
	:coords (send (send blink14 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 12.3 -33.0 -97.6) :rot #2f((-0.866025 -0.5 -1.110223e-16) (1.110223e-16 5.551115e-17 -1.0) (0.5 -0.866025 5.551115e-17))))
        :name "leg-1-force-sensor10"))
     (send blink14 :assoc sensor18)

     ;; definition of leg-1 force-sensor-coords
     (setq sensor19
       (make-cascoords
	:coords (send (send blink14 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 15.3 -33.0 -26.8) :rot #2f((-0.707107 -0.707107 -5.551115e-16) (1.665335e-16 6.106227e-16 -1.0) (0.707107 -0.707107 -2.775558e-16))))
        :name "leg-1-force-sensor11"))
     (send blink14 :assoc sensor19)

     ;; definition of leg-1 force-sensor-coords
     (setq sensor20
       (make-cascoords
	:coords (send (send blink15 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -40.0 0.0 -16.0) :rot #2f((-2.220446e-16 2.220446e-16 -1.0) (1.0 -2.220446e-16 -2.220446e-16) (-2.220446e-16 -1.0 -2.220446e-16))))
        :name "leg-1-force-sensor3"))
     (send blink15 :assoc sensor20)

     ;; definition of leg-1 force-sensor-coords
     (setq sensor21
       (make-cascoords
	:coords (send (send blink16 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
        :name "leg-1-force-sensor1"))
     (send blink16 :assoc sensor21)

     ;; definition of arm-0 force-sensor-coords
     (setq sensor22
       (make-cascoords
	:coords (send (send blink9 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -3.9 -26.5 80.9) :rot #2f((1.0 2.449294e-16 2.465190e-32) (2.465190e-32 2.736911e-48 -1.0) (-2.449294e-16 1.0 -2.736911e-48))))
        :name "arm-0-force-sensor30"))
     (send blink9 :assoc sensor22)

     ;; definition of arm-0 force-sensor-coords
     (setq sensor23
       (make-cascoords
	:coords (send (send blink9 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 14.4 -5.0 89.5) :rot #2f((-1.665335e-16 0.0 1.0) (1.0 1.665335e-16 1.665335e-16) (-1.665335e-16 1.0 -5.551115e-17))))
        :name "arm-0-force-sensor31"))
     (send blink9 :assoc sensor23)

     ;; definition of arm-0 force-sensor-coords
     (setq sensor24
       (make-cascoords
	:coords (send (send blink9 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -3.9 16.5 80.9) :rot #2f((-1.0 1.224647e-16 -2.465190e-32) (-2.465190e-32 0.0 1.0) (1.224647e-16 1.0 0.0))))
        :name "arm-0-force-sensor32"))
     (send blink9 :assoc sensor24)

     ;; definition of arm-0 force-sensor-coords
     (setq sensor25
       (make-cascoords
	:coords (send (send blink9 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -23.9 -5.0 82.3) :rot #2f((1.665335e-16 0.0 1.0) (-1.0 -1.665335e-16 1.665335e-16) (1.665335e-16 -1.0 -5.551115e-17))))
        :name "arm-0-force-sensor33"))
     (send blink9 :assoc sensor25)

     ;; definition of arm-0 force-sensor-coords
     (setq sensor26
       (make-cascoords
	:coords (send (send blink10 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -3.8 -26.5 71.7) :rot #2f((1.0 -4.906539e-17 -9.813078e-18) (-9.813078e-18 5.551115e-16 -1.0) (4.906539e-17 1.0 5.551115e-16))))
        :name "arm-0-force-sensor22"))
     (send blink10 :assoc sensor26)

     ;; definition of arm-0 force-sensor-coords
     (setq sensor27
       (make-cascoords
	:coords (send (send blink10 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 15.2 -5.0 71.7) :rot #2f((0.0 0.0 1.0) (1.0 0.0 0.0) (0.0 1.0 0.0))))
        :name "arm-0-force-sensor23"))
     (send blink10 :assoc sensor27)

     ;; definition of arm-0 force-sensor-coords
     (setq sensor28
       (make-cascoords
	:coords (send (send blink10 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -3.8 16.5 71.7) :rot #2f((-1.0 -3.925231e-17 1.962616e-17) (1.962616e-17 2.220446e-16 1.0) (-3.925231e-17 1.0 -2.220446e-16))))
        :name "arm-0-force-sensor24"))
     (send blink10 :assoc sensor28)

     ;; definition of arm-0 force-sensor-coords
     (setq sensor29
       (make-cascoords
	:coords (send (send blink10 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -20.8 -5.0 71.7) :rot #2f((-3.885781e-16 0.0 -1.0) (-1.0 -1.665335e-16 3.885781e-16) (-2.220446e-16 1.0 5.551115e-17))))
        :name "arm-0-force-sensor25"))
     (send blink10 :assoc sensor29)

     ;; definition of arm-1 force-sensor-coords
     (setq sensor30
       (make-cascoords
	:coords (send (send blink19 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 3.9 26.5 -80.9) :rot #2f((-1.0 -1.224647e-16 0.0) (0.0 0.0 1.0) (-1.224647e-16 1.0 0.0))))
        :name "arm-1-force-sensor34"))
     (send blink19 :assoc sensor30)

     ;; definition of arm-1 force-sensor-coords
     (setq sensor31
       (make-cascoords
	:coords (send (send blink19 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -14.4 5.0 -89.5) :rot #2f((0.0 0.0 -1.0) (1.0 -2.220446e-16 0.0) (-2.220446e-16 -1.0 0.0))))
        :name "arm-1-force-sensor35"))
     (send blink19 :assoc sensor31)

     ;; definition of arm-1 force-sensor-coords
     (setq sensor32
       (make-cascoords
	:coords (send (send blink19 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 3.9 -16.5 -80.9) :rot #2f((1.0 0.0 0.0) (0.0 0.0 -1.0) (0.0 1.0 0.0))))
        :name "arm-1-force-sensor36"))
     (send blink19 :assoc sensor32)

     ;; definition of arm-1 force-sensor-coords
     (setq sensor33
       (make-cascoords
	:coords (send (send blink19 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 23.9 5.0 -82.3) :rot #2f((0.0 0.0 -1.0) (-1.0 1.110223e-16 0.0) (1.110223e-16 1.0 0.0))))
        :name "arm-1-force-sensor37"))
     (send blink19 :assoc sensor33)

     ;; definition of arm-1 force-sensor-coords
     (setq sensor34
       (make-cascoords
	:coords (send (send blink20 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 3.8 -16.5 -71.7) :rot #2f((-1.0 -1.570092e-16 -3.925231e-17) (3.925231e-17 2.220446e-16 -1.0) (1.570092e-16 -1.0 -2.220446e-16))))
        :name "arm-1-force-sensor26"))
     (send blink20 :assoc sensor34)

     ;; definition of arm-1 force-sensor-coords
     (setq sensor35
       (make-cascoords
	:coords (send (send blink20 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -15.2 5.0 -71.7) :rot #2f((1.110223e-16 -1.110223e-16 -1.0) (1.0 1.110223e-16 1.110223e-16) (1.110223e-16 -1.0 1.110223e-16))))
        :name "arm-1-force-sensor27"))
     (send blink20 :assoc sensor35)

     ;; definition of arm-1 force-sensor-coords
     (setq sensor36
       (make-cascoords
	:coords (send (send blink20 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 3.8 26.5 -71.7) :rot #2f((1.0 -6.869155e-17 1.471962e-16) (-1.471962e-16 4.440892e-16 1.0) (-6.869155e-17 -1.0 4.440892e-16))))
        :name "arm-1-force-sensor28"))
     (send blink20 :assoc sensor36)

     ;; definition of arm-1 force-sensor-coords
     (setq sensor37
       (make-cascoords
	:coords (send (send blink20 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 20.8 5.0 -71.7) :rot #2f((-1.110223e-16 -1.110223e-16 1.0) (-1.0 1.110223e-16 -1.110223e-16) (-1.110223e-16 -1.0 -1.110223e-16))))
        :name "arm-1-force-sensor29"))
     (send blink20 :assoc sensor37)

     (setq force-sensors (list sensor0 sensor1 sensor2 sensor3 sensor4 sensor5 sensor6 sensor7 sensor8 sensor9 sensor10 sensor11 sensor12 sensor13 sensor14 sensor15 sensor16 sensor17 sensor18 sensor19 sensor20 sensor21 sensor22 sensor23 sensor24 sensor25 sensor26 sensor27 sensor28 sensor29 sensor30 sensor31 sensor32 sensor33 sensor34 sensor35 sensor36 sensor37))
     (setq sensors (list sensor0 sensor1 sensor2 sensor3 sensor4 sensor5 sensor6 sensor7 sensor8 sensor9 sensor10 sensor11 sensor12 sensor13 sensor14 sensor15 sensor16 sensor17 sensor18 sensor19 sensor20 sensor21 sensor22 sensor23 sensor24 sensor25 sensor26 sensor27 sensor28 sensor29 sensor30 sensor31 sensor32 sensor33 sensor34 sensor35 sensor36 sensor37))
     (send self :init-ending)
     (send self :move-to (make-coords :pos pos :rot rot))
     (send-all links :worldcoords)

     self))

  (:reset-pose () (send self :angle-vector (float-vector 0.0 2.0 -26.5 45.0 -22.5 -2.0 0.0 20.0 0.0 -50.0 0.0 2.0 -26.5 45.0 -22.5 -2.0 0.0 20.0 0.0 -50.0 0.0 0.0)))
  (:leg-0-ankle-r (&rest args) (forward-message-to joint5 args))
  (:leg-1-ankle-r (&rest args) (forward-message-to joint15 args))
  (:leg-0-ankle-p (&rest args) (forward-message-to joint4 args))
  (:leg-1-ankle-p (&rest args) (forward-message-to joint14 args))
  (:leg-0-knee-p (&rest args) (forward-message-to joint3 args))
  (:leg-1-knee-p (&rest args) (forward-message-to joint13 args))
  (:leg-0-crotch-p (&rest args) (forward-message-to joint2 args))
  (:leg-1-crotch-p (&rest args) (forward-message-to joint12 args))
  (:leg-0-crotch-r (&rest args) (forward-message-to joint1 args))
  (:leg-1-crotch-r (&rest args) (forward-message-to joint11 args))
  (:leg-0-crotch-y (&rest args) (forward-message-to joint0 args))
  (:leg-1-crotch-y (&rest args) (forward-message-to joint10 args))
  (:arm-0-elbow-p (&rest args) (forward-message-to joint9 args))
  (:arm-1-elbow-p (&rest args) (forward-message-to joint19 args))
  (:arm-0-shoulder-y (&rest args) (forward-message-to joint8 args))
  (:arm-1-shoulder-y (&rest args) (forward-message-to joint18 args))
  (:arm-0-shoulder-r (&rest args) (forward-message-to joint7 args))
  (:arm-1-shoulder-r (&rest args) (forward-message-to joint17 args))
  (:arm-0-shoulder-p (&rest args) (forward-message-to joint6 args))
  (:arm-1-shoulder-p (&rest args) (forward-message-to joint16 args))
  (:head-neck-y (&rest args) (forward-message-to joint20 args))
  (:head-neck-p (&rest args) (forward-message-to joint21 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 macra (&rest args) (instance* macra-robot :init args))
;; (format *error-output* "(instance macra-robot :init) for generating model~%")