File: millennium-robot.l

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euslisp 9.31%2Bdfsg-3
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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version 
;;
;;
(defclass millennium-robot
  :super robot-model
  :slots (sensors
         joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12 joint13 joint14 joint15 joint16 joint17 ))
(defmethod millennium-robot
  (:init
   (&rest args &key (name "millennium") (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
                 )
     (send-super* :init :name name args)

     ;; definition of link

     ;; definition of :root
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -6.0 -65.0) (float-vector 10.0 -6.0 -35.0) (float-vector 10.0 -56.0 -35.0) (float-vector 10.0 -56.0 -65.0) (float-vector 10.0 -55.0 -65.0) (float-vector 10.0 -55.0 -36.0) (float-vector 10.0 -7.0 -36.0) (float-vector 10.0 -7.0 -65.0)))
         (instance face :init :vertices (list (float-vector -10.0 -6.0 -35.0) (float-vector -10.0 -56.0 -35.0) (float-vector 10.0 -56.0 -35.0) (float-vector 10.0 -6.0 -35.0)))
         (instance face :init :vertices (list (float-vector -10.0 -6.0 -65.0) (float-vector -10.0 -7.0 -65.0) (float-vector -10.0 -7.0 -36.0) (float-vector -10.0 -55.0 -36.0) (float-vector -10.0 -55.0 -65.0) (float-vector -10.0 -56.0 -65.0) (float-vector -10.0 -56.0 -35.0) (float-vector -10.0 -6.0 -35.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -56.0 -72.0711) (float-vector -10.0 -56.0 -65.0) (float-vector -10.0 -55.0 -65.0) (float-vector -7.07107 -55.0 -72.0711)))
         (instance face :init :vertices (list (float-vector -7.07107 -6.0 -72.0711) (float-vector -7.07107 -7.0 -72.0711) (float-vector -10.0 -7.0 -65.0) (float-vector -10.0 -6.0 -65.0)))
         (instance face :init :vertices (list (float-vector 8.060952e-15 -56.0 -75.0) (float-vector -7.07107 -56.0 -72.0711) (float-vector -7.07107 -55.0 -72.0711) (float-vector 7.982447e-15 -55.0 -75.0)))
         (instance face :init :vertices (list (float-vector 4.135721e-15 -6.0 -75.0) (float-vector 4.214226e-15 -7.0 -75.0) (float-vector -7.07107 -7.0 -72.0711) (float-vector -7.07107 -6.0 -72.0711)))
         (instance face :init :vertices (list (float-vector 7.07107 -56.0 -72.0711) (float-vector 8.060952e-15 -56.0 -75.0) (float-vector 7.982447e-15 -55.0 -75.0) (float-vector 7.07107 -55.0 -72.0711)))
         (instance face :init :vertices (list (float-vector 7.07107 -6.0 -72.0711) (float-vector 7.07107 -7.0 -72.0711) (float-vector 4.214226e-15 -7.0 -75.0) (float-vector 4.135721e-15 -6.0 -75.0)))
         (instance face :init :vertices (list (float-vector 10.0 -56.0 -65.0) (float-vector 10.0 -56.0 -35.0) (float-vector -10.0 -56.0 -35.0) (float-vector -10.0 -56.0 -65.0) (float-vector -7.07107 -56.0 -72.0711) (float-vector 8.060952e-15 -56.0 -75.0) (float-vector 7.07107 -56.0 -72.0711)))
         (instance face :init :vertices (list (float-vector 7.07107 -6.0 -72.0711) (float-vector 4.135721e-15 -6.0 -75.0) (float-vector -7.07107 -6.0 -72.0711) (float-vector -10.0 -6.0 -65.0) (float-vector -10.0 -6.0 -35.0) (float-vector 10.0 -6.0 -35.0) (float-vector 10.0 -6.0 -65.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -56.0 -72.0711) (float-vector 7.07107 -55.0 -72.0711) (float-vector 10.0 -55.0 -65.0) (float-vector 10.0 -56.0 -65.0)))
         (instance face :init :vertices (list (float-vector 10.0 -6.0 -65.0) (float-vector 10.0 -7.0 -65.0) (float-vector 7.07107 -7.0 -72.0711) (float-vector 7.07107 -6.0 -72.0711)))
         (instance face :init :vertices (list (float-vector 10.0 -55.0 -36.0) (float-vector 10.0 -55.0 -65.0) (float-vector 7.07107 -55.0 -72.0711) (float-vector 7.982447e-15 -55.0 -75.0) (float-vector -7.07107 -55.0 -72.0711) (float-vector -10.0 -55.0 -65.0) (float-vector -10.0 -55.0 -36.0)))
         (instance face :init :vertices (list (float-vector 10.0 -7.0 -36.0) (float-vector 10.0 -55.0 -36.0) (float-vector -10.0 -55.0 -36.0) (float-vector -10.0 -7.0 -36.0)))
         (instance face :init :vertices (list (float-vector -10.0 -7.0 -36.0) (float-vector -10.0 -7.0 -65.0) (float-vector -7.07107 -7.0 -72.0711) (float-vector 4.214226e-15 -7.0 -75.0) (float-vector 7.07107 -7.0 -72.0711) (float-vector 10.0 -7.0 -65.0) (float-vector 10.0 -7.0 -36.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -68.0 75.0) (float-vector 10.0 -68.0 35.0) (float-vector 10.0 -28.0 35.0) (float-vector 10.0 -28.0 75.0)))
         (instance face :init :vertices (list (float-vector 10.0 -28.0 35.0) (float-vector -10.0 -28.0 35.0) (float-vector -10.0 -28.0 75.0) (float-vector 10.0 -28.0 75.0)))
         (instance face :init :vertices (list (float-vector -10.0 -28.0 35.0) (float-vector -10.0 -68.0 35.0) (float-vector -10.0 -68.0 75.0) (float-vector -10.0 -28.0 75.0)))
         (instance face :init :vertices (list (float-vector -10.0 -68.0 75.0) (float-vector 10.0 -68.0 75.0) (float-vector 10.0 -28.0 75.0) (float-vector -10.0 -28.0 75.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 7.79423 -62.5 75.0) (float-vector 4.5 -65.7942 75.0) (float-vector -2.220446e-15 -67.0 75.0) (float-vector -4.5 -65.7942 75.0) (float-vector -7.79423 -62.5 75.0) (float-vector -9.0 -58.0 75.0) (float-vector -7.79423 -53.5 75.0) (float-vector -4.5 -50.2058 75.0) (float-vector 1.820766e-14 -49.0 75.0) (float-vector 4.5 -50.2058 75.0) (float-vector 7.79423 -53.5 75.0) (float-vector 9.0 -58.0 75.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -68.0 35.0) (float-vector 10.0 -68.0 35.0) (float-vector 10.0 -68.0 75.0) (float-vector -10.0 -68.0 75.0)))
         (instance face :init :vertices (list (float-vector 10.0 -68.0 35.0) (float-vector -10.0 -68.0 35.0) (float-vector -10.0 -28.0 35.0) (float-vector 10.0 -28.0 35.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.5 -65.7942 35.0) (float-vector 7.79423 -62.5 35.0) (float-vector 9.0 -58.0 35.0) (float-vector 7.79423 -53.5 35.0) (float-vector 4.5 -50.2058 35.0) (float-vector 1.820766e-14 -49.0 35.0) (float-vector -4.5 -50.2058 35.0) (float-vector -7.79423 -53.5 35.0) (float-vector -9.0 -58.0 35.0) (float-vector -7.79423 -62.5 35.0) (float-vector -4.5 -65.7942 35.0) (float-vector -2.220446e-15 -67.0 35.0)))
))
         (instance face :init :vertices (list (float-vector 9.0 -58.0 77.0) (float-vector 9.0 -58.0 75.0) (float-vector 7.79423 -53.5 75.0) (float-vector 7.79423 -53.5 77.0)))
         (instance face :init :vertices (list (float-vector 9.0 -58.0 35.0) (float-vector 9.0 -58.0 33.0) (float-vector 7.79423 -53.5 33.0) (float-vector 7.79423 -53.5 35.0)))
         (instance face :init :vertices (list (float-vector 4.5 -50.2058 75.0) (float-vector 4.5 -50.2058 77.0) (float-vector 7.79423 -53.5 77.0) (float-vector 7.79423 -53.5 75.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -53.5 33.0) (float-vector 4.5 -50.2058 33.0) (float-vector 4.5 -50.2058 35.0) (float-vector 7.79423 -53.5 35.0)))
         (instance face :init :vertices (list (float-vector 1.820766e-14 -49.0 75.0) (float-vector 1.820766e-14 -49.0 77.0) (float-vector 4.5 -50.2058 77.0) (float-vector 4.5 -50.2058 75.0)))
         (instance face :init :vertices (list (float-vector 4.5 -50.2058 33.0) (float-vector 1.820766e-14 -49.0 33.0) (float-vector 1.820766e-14 -49.0 35.0) (float-vector 4.5 -50.2058 35.0)))
         (instance face :init :vertices (list (float-vector -4.5 -50.2058 75.0) (float-vector -4.5 -50.2058 77.0) (float-vector 1.820766e-14 -49.0 77.0) (float-vector 1.820766e-14 -49.0 75.0)))
         (instance face :init :vertices (list (float-vector 1.820766e-14 -49.0 33.0) (float-vector -4.5 -50.2058 33.0) (float-vector -4.5 -50.2058 35.0) (float-vector 1.820766e-14 -49.0 35.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -53.5 75.0) (float-vector -7.79423 -53.5 77.0) (float-vector -4.5 -50.2058 77.0) (float-vector -4.5 -50.2058 75.0)))
         (instance face :init :vertices (list (float-vector -4.5 -50.2058 33.0) (float-vector -7.79423 -53.5 33.0) (float-vector -7.79423 -53.5 35.0) (float-vector -4.5 -50.2058 35.0)))
         (instance face :init :vertices (list (float-vector -9.0 -58.0 75.0) (float-vector -9.0 -58.0 77.0) (float-vector -7.79423 -53.5 77.0) (float-vector -7.79423 -53.5 75.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -53.5 33.0) (float-vector -9.0 -58.0 33.0) (float-vector -9.0 -58.0 35.0) (float-vector -7.79423 -53.5 35.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -62.5 75.0) (float-vector -7.79423 -62.5 77.0) (float-vector -9.0 -58.0 77.0) (float-vector -9.0 -58.0 75.0)))
         (instance face :init :vertices (list (float-vector -9.0 -58.0 33.0) (float-vector -7.79423 -62.5 33.0) (float-vector -7.79423 -62.5 35.0) (float-vector -9.0 -58.0 35.0)))
         (instance face :init :vertices (list (float-vector -4.5 -65.7942 75.0) (float-vector -4.5 -65.7942 77.0) (float-vector -7.79423 -62.5 77.0) (float-vector -7.79423 -62.5 75.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -62.5 33.0) (float-vector -4.5 -65.7942 33.0) (float-vector -4.5 -65.7942 35.0) (float-vector -7.79423 -62.5 35.0)))
         (instance face :init :vertices (list (float-vector -2.220446e-15 -67.0 75.0) (float-vector -2.220446e-15 -67.0 77.0) (float-vector -4.5 -65.7942 77.0) (float-vector -4.5 -65.7942 75.0)))
         (instance face :init :vertices (list (float-vector -4.5 -65.7942 33.0) (float-vector -2.220446e-15 -67.0 33.0) (float-vector -2.220446e-15 -67.0 35.0) (float-vector -4.5 -65.7942 35.0)))
         (instance face :init :vertices (list (float-vector 4.5 -65.7942 75.0) (float-vector 4.5 -65.7942 77.0) (float-vector -2.220446e-15 -67.0 77.0) (float-vector -2.220446e-15 -67.0 75.0)))
         (instance face :init :vertices (list (float-vector -2.220446e-15 -67.0 33.0) (float-vector 4.5 -65.7942 33.0) (float-vector 4.5 -65.7942 35.0) (float-vector -2.220446e-15 -67.0 35.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -62.5 75.0) (float-vector 7.79423 -62.5 77.0) (float-vector 4.5 -65.7942 77.0) (float-vector 4.5 -65.7942 75.0)))
         (instance face :init :vertices (list (float-vector 4.5 -65.7942 33.0) (float-vector 7.79423 -62.5 33.0) (float-vector 7.79423 -62.5 35.0) (float-vector 4.5 -65.7942 35.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -62.5 77.0) (float-vector 9.0 -58.0 77.0) (float-vector 7.79423 -53.5 77.0) (float-vector 4.5 -50.2058 77.0) (float-vector 1.820766e-14 -49.0 77.0) (float-vector -4.5 -50.2058 77.0) (float-vector -7.79423 -53.5 77.0) (float-vector -9.0 -58.0 77.0) (float-vector -7.79423 -62.5 77.0) (float-vector -4.5 -65.7942 77.0) (float-vector -2.220446e-15 -67.0 77.0) (float-vector 4.5 -65.7942 77.0)))
         (instance face :init :vertices (list (float-vector 9.0 -58.0 77.0) (float-vector 7.79423 -62.5 77.0) (float-vector 7.79423 -62.5 75.0) (float-vector 9.0 -58.0 75.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -62.5 33.0) (float-vector 9.0 -58.0 33.0) (float-vector 9.0 -58.0 35.0) (float-vector 7.79423 -62.5 35.0)))
         (instance face :init :vertices (list (float-vector 9.0 -58.0 33.0) (float-vector 7.79423 -62.5 33.0) (float-vector 4.5 -65.7942 33.0) (float-vector -2.220446e-15 -67.0 33.0) (float-vector -4.5 -65.7942 33.0) (float-vector -7.79423 -62.5 33.0) (float-vector -9.0 -58.0 33.0) (float-vector -7.79423 -53.5 33.0) (float-vector -4.5 -50.2058 33.0) (float-vector 1.820766e-14 -49.0 33.0) (float-vector 4.5 -50.2058 33.0) (float-vector 7.79423 -53.5 33.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 56.0 -65.0) (float-vector 10.0 56.0 -35.0) (float-vector 10.0 6.0 -35.0) (float-vector 10.0 6.0 -65.0) (float-vector 10.0 7.0 -65.0) (float-vector 10.0 7.0 -36.0) (float-vector 10.0 55.0 -36.0) (float-vector 10.0 55.0 -65.0)))
         (instance face :init :vertices (list (float-vector -10.0 56.0 -35.0) (float-vector -10.0 6.0 -35.0) (float-vector 10.0 6.0 -35.0) (float-vector 10.0 56.0 -35.0)))
         (instance face :init :vertices (list (float-vector -10.0 56.0 -65.0) (float-vector -10.0 55.0 -65.0) (float-vector -10.0 55.0 -36.0) (float-vector -10.0 7.0 -36.0) (float-vector -10.0 7.0 -65.0) (float-vector -10.0 6.0 -65.0) (float-vector -10.0 6.0 -35.0) (float-vector -10.0 56.0 -35.0)))
         (instance face :init :vertices (list (float-vector -7.07107 6.0 -72.0711) (float-vector -10.0 6.0 -65.0) (float-vector -10.0 7.0 -65.0) (float-vector -7.07107 7.0 -72.0711)))
         (instance face :init :vertices (list (float-vector -7.07107 56.0 -72.0711) (float-vector -7.07107 55.0 -72.0711) (float-vector -10.0 55.0 -65.0) (float-vector -10.0 56.0 -65.0)))
         (instance face :init :vertices (list (float-vector -5.705813e-15 6.0 -75.0) (float-vector -7.07107 6.0 -72.0711) (float-vector -7.07107 7.0 -72.0711) (float-vector -5.784318e-15 7.0 -75.0)))
         (instance face :init :vertices (list (float-vector -9.631045e-15 56.0 -75.0) (float-vector -9.552540e-15 55.0 -75.0) (float-vector -7.07107 55.0 -72.0711) (float-vector -7.07107 56.0 -72.0711)))
         (instance face :init :vertices (list (float-vector 7.07107 6.0 -72.0711) (float-vector -5.705813e-15 6.0 -75.0) (float-vector -5.784318e-15 7.0 -75.0) (float-vector 7.07107 7.0 -72.0711)))
         (instance face :init :vertices (list (float-vector 7.07107 56.0 -72.0711) (float-vector 7.07107 55.0 -72.0711) (float-vector -9.552540e-15 55.0 -75.0) (float-vector -9.631045e-15 56.0 -75.0)))
         (instance face :init :vertices (list (float-vector 10.0 6.0 -65.0) (float-vector 10.0 6.0 -35.0) (float-vector -10.0 6.0 -35.0) (float-vector -10.0 6.0 -65.0) (float-vector -7.07107 6.0 -72.0711) (float-vector -5.705813e-15 6.0 -75.0) (float-vector 7.07107 6.0 -72.0711)))
         (instance face :init :vertices (list (float-vector 7.07107 56.0 -72.0711) (float-vector -9.631045e-15 56.0 -75.0) (float-vector -7.07107 56.0 -72.0711) (float-vector -10.0 56.0 -65.0) (float-vector -10.0 56.0 -35.0) (float-vector 10.0 56.0 -35.0) (float-vector 10.0 56.0 -65.0)))
         (instance face :init :vertices (list (float-vector 7.07107 6.0 -72.0711) (float-vector 7.07107 7.0 -72.0711) (float-vector 10.0 7.0 -65.0) (float-vector 10.0 6.0 -65.0)))
         (instance face :init :vertices (list (float-vector 10.0 56.0 -65.0) (float-vector 10.0 55.0 -65.0) (float-vector 7.07107 55.0 -72.0711) (float-vector 7.07107 56.0 -72.0711)))
         (instance face :init :vertices (list (float-vector 10.0 7.0 -36.0) (float-vector 10.0 7.0 -65.0) (float-vector 7.07107 7.0 -72.0711) (float-vector -5.784318e-15 7.0 -75.0) (float-vector -7.07107 7.0 -72.0711) (float-vector -10.0 7.0 -65.0) (float-vector -10.0 7.0 -36.0)))
         (instance face :init :vertices (list (float-vector 10.0 55.0 -36.0) (float-vector 10.0 7.0 -36.0) (float-vector -10.0 7.0 -36.0) (float-vector -10.0 55.0 -36.0)))
         (instance face :init :vertices (list (float-vector -10.0 55.0 -36.0) (float-vector -10.0 55.0 -65.0) (float-vector -7.07107 55.0 -72.0711) (float-vector -9.552540e-15 55.0 -75.0) (float-vector 7.07107 55.0 -72.0711) (float-vector 10.0 55.0 -65.0) (float-vector 10.0 55.0 -36.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 68.0 75.0) (float-vector -10.0 68.0 35.0) (float-vector -10.0 28.0 35.0) (float-vector -10.0 28.0 75.0)))
         (instance face :init :vertices (list (float-vector -10.0 28.0 35.0) (float-vector 10.0 28.0 35.0) (float-vector 10.0 28.0 75.0) (float-vector -10.0 28.0 75.0)))
         (instance face :init :vertices (list (float-vector 10.0 28.0 35.0) (float-vector 10.0 68.0 35.0) (float-vector 10.0 68.0 75.0) (float-vector 10.0 28.0 75.0)))
         (instance face :init :vertices (list (float-vector 10.0 68.0 75.0) (float-vector -10.0 68.0 75.0) (float-vector -10.0 28.0 75.0) (float-vector 10.0 28.0 75.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 62.5 75.0) (float-vector -4.5 65.7942 75.0) (float-vector -1.776357e-15 67.0 75.0) (float-vector 4.5 65.7942 75.0) (float-vector 7.79423 62.5 75.0) (float-vector 9.0 58.0 75.0) (float-vector 7.79423 53.5 75.0) (float-vector 4.5 50.2058 75.0) (float-vector -1.421085e-14 49.0 75.0) (float-vector -4.5 50.2058 75.0) (float-vector -7.79423 53.5 75.0) (float-vector -9.0 58.0 75.0)))
))
         (instance face :init :vertices (list (float-vector 10.0 68.0 35.0) (float-vector -10.0 68.0 35.0) (float-vector -10.0 68.0 75.0) (float-vector 10.0 68.0 75.0)))
         (instance face :init :vertices (list (float-vector -10.0 68.0 35.0) (float-vector 10.0 68.0 35.0) (float-vector 10.0 28.0 35.0) (float-vector -10.0 28.0 35.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 65.7942 35.0) (float-vector -7.79423 62.5 35.0) (float-vector -9.0 58.0 35.0) (float-vector -7.79423 53.5 35.0) (float-vector -4.5 50.2058 35.0) (float-vector -1.421085e-14 49.0 35.0) (float-vector 4.5 50.2058 35.0) (float-vector 7.79423 53.5 35.0) (float-vector 9.0 58.0 35.0) (float-vector 7.79423 62.5 35.0) (float-vector 4.5 65.7942 35.0) (float-vector -1.776357e-15 67.0 35.0)))
))
         (instance face :init :vertices (list (float-vector -9.0 58.0 77.0) (float-vector -9.0 58.0 75.0) (float-vector -7.79423 53.5 75.0) (float-vector -7.79423 53.5 77.0)))
         (instance face :init :vertices (list (float-vector -9.0 58.0 35.0) (float-vector -9.0 58.0 33.0) (float-vector -7.79423 53.5 33.0) (float-vector -7.79423 53.5 35.0)))
         (instance face :init :vertices (list (float-vector -4.5 50.2058 75.0) (float-vector -4.5 50.2058 77.0) (float-vector -7.79423 53.5 77.0) (float-vector -7.79423 53.5 75.0)))
         (instance face :init :vertices (list (float-vector -7.79423 53.5 33.0) (float-vector -4.5 50.2058 33.0) (float-vector -4.5 50.2058 35.0) (float-vector -7.79423 53.5 35.0)))
         (instance face :init :vertices (list (float-vector -1.421085e-14 49.0 75.0) (float-vector -1.421085e-14 49.0 77.0) (float-vector -4.5 50.2058 77.0) (float-vector -4.5 50.2058 75.0)))
         (instance face :init :vertices (list (float-vector -4.5 50.2058 33.0) (float-vector -1.421085e-14 49.0 33.0) (float-vector -1.421085e-14 49.0 35.0) (float-vector -4.5 50.2058 35.0)))
         (instance face :init :vertices (list (float-vector 4.5 50.2058 75.0) (float-vector 4.5 50.2058 77.0) (float-vector -1.421085e-14 49.0 77.0) (float-vector -1.421085e-14 49.0 75.0)))
         (instance face :init :vertices (list (float-vector -1.421085e-14 49.0 33.0) (float-vector 4.5 50.2058 33.0) (float-vector 4.5 50.2058 35.0) (float-vector -1.421085e-14 49.0 35.0)))
         (instance face :init :vertices (list (float-vector 7.79423 53.5 75.0) (float-vector 7.79423 53.5 77.0) (float-vector 4.5 50.2058 77.0) (float-vector 4.5 50.2058 75.0)))
         (instance face :init :vertices (list (float-vector 4.5 50.2058 33.0) (float-vector 7.79423 53.5 33.0) (float-vector 7.79423 53.5 35.0) (float-vector 4.5 50.2058 35.0)))
         (instance face :init :vertices (list (float-vector 9.0 58.0 75.0) (float-vector 9.0 58.0 77.0) (float-vector 7.79423 53.5 77.0) (float-vector 7.79423 53.5 75.0)))
         (instance face :init :vertices (list (float-vector 7.79423 53.5 33.0) (float-vector 9.0 58.0 33.0) (float-vector 9.0 58.0 35.0) (float-vector 7.79423 53.5 35.0)))
         (instance face :init :vertices (list (float-vector 7.79423 62.5 75.0) (float-vector 7.79423 62.5 77.0) (float-vector 9.0 58.0 77.0) (float-vector 9.0 58.0 75.0)))
         (instance face :init :vertices (list (float-vector 9.0 58.0 33.0) (float-vector 7.79423 62.5 33.0) (float-vector 7.79423 62.5 35.0) (float-vector 9.0 58.0 35.0)))
         (instance face :init :vertices (list (float-vector 4.5 65.7942 75.0) (float-vector 4.5 65.7942 77.0) (float-vector 7.79423 62.5 77.0) (float-vector 7.79423 62.5 75.0)))
         (instance face :init :vertices (list (float-vector 7.79423 62.5 33.0) (float-vector 4.5 65.7942 33.0) (float-vector 4.5 65.7942 35.0) (float-vector 7.79423 62.5 35.0)))
         (instance face :init :vertices (list (float-vector -1.776357e-15 67.0 75.0) (float-vector -1.776357e-15 67.0 77.0) (float-vector 4.5 65.7942 77.0) (float-vector 4.5 65.7942 75.0)))
         (instance face :init :vertices (list (float-vector 4.5 65.7942 33.0) (float-vector -1.776357e-15 67.0 33.0) (float-vector -1.776357e-15 67.0 35.0) (float-vector 4.5 65.7942 35.0)))
         (instance face :init :vertices (list (float-vector -4.5 65.7942 75.0) (float-vector -4.5 65.7942 77.0) (float-vector -1.776357e-15 67.0 77.0) (float-vector -1.776357e-15 67.0 75.0)))
         (instance face :init :vertices (list (float-vector -1.776357e-15 67.0 33.0) (float-vector -4.5 65.7942 33.0) (float-vector -4.5 65.7942 35.0) (float-vector -1.776357e-15 67.0 35.0)))
         (instance face :init :vertices (list (float-vector -7.79423 62.5 75.0) (float-vector -7.79423 62.5 77.0) (float-vector -4.5 65.7942 77.0) (float-vector -4.5 65.7942 75.0)))
         (instance face :init :vertices (list (float-vector -4.5 65.7942 33.0) (float-vector -7.79423 62.5 33.0) (float-vector -7.79423 62.5 35.0) (float-vector -4.5 65.7942 35.0)))
         (instance face :init :vertices (list (float-vector -7.79423 62.5 77.0) (float-vector -9.0 58.0 77.0) (float-vector -7.79423 53.5 77.0) (float-vector -4.5 50.2058 77.0) (float-vector -1.421085e-14 49.0 77.0) (float-vector 4.5 50.2058 77.0) (float-vector 7.79423 53.5 77.0) (float-vector 9.0 58.0 77.0) (float-vector 7.79423 62.5 77.0) (float-vector 4.5 65.7942 77.0) (float-vector -1.776357e-15 67.0 77.0) (float-vector -4.5 65.7942 77.0)))
         (instance face :init :vertices (list (float-vector -9.0 58.0 77.0) (float-vector -7.79423 62.5 77.0) (float-vector -7.79423 62.5 75.0) (float-vector -9.0 58.0 75.0)))
         (instance face :init :vertices (list (float-vector -7.79423 62.5 33.0) (float-vector -9.0 58.0 33.0) (float-vector -9.0 58.0 35.0) (float-vector -7.79423 62.5 35.0)))
         (instance face :init :vertices (list (float-vector -9.0 58.0 33.0) (float-vector -7.79423 62.5 33.0) (float-vector -4.5 65.7942 33.0) (float-vector -1.776357e-15 67.0 33.0) (float-vector 4.5 65.7942 33.0) (float-vector 7.79423 62.5 33.0) (float-vector 9.0 58.0 33.0) (float-vector 7.79423 53.5 33.0) (float-vector 4.5 50.2058 33.0) (float-vector -1.421085e-14 49.0 33.0) (float-vector -4.5 50.2058 33.0) (float-vector -7.79423 53.5 33.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 7.0 6.5 72.35) (float-vector 7.0 6.5 42.65) (float-vector -21.0 6.5 42.65) (float-vector -21.0 6.5 72.35)))
         (instance face :init :vertices (list (float-vector -21.0 6.5 42.65) (float-vector -21.0 -6.5 42.65) (float-vector -21.0 -6.5 72.35) (float-vector -21.0 6.5 72.35)))
         (instance face :init :vertices (list (float-vector -21.0 -6.5 42.65) (float-vector 7.0 -6.5 42.65) (float-vector 7.0 -6.5 72.35) (float-vector -21.0 -6.5 72.35)))
         (instance face :init :vertices (list (float-vector 7.0 -6.5 72.35) (float-vector 7.0 6.5 72.35) (float-vector -21.0 6.5 72.35) (float-vector -21.0 -6.5 72.35))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 2.75 4.76314 72.35) (float-vector 4.76314 2.75 72.35) (float-vector 5.5 -8.104628e-15 72.35) (float-vector 4.76314 -2.75 72.35) (float-vector 2.75 -4.76314 72.35) (float-vector -5.440093e-15 -5.5 72.35) (float-vector -2.75 -4.76314 72.35) (float-vector -4.76314 -2.75 72.35) (float-vector -5.5 1.887379e-15 72.35) (float-vector -4.76314 2.75 72.35) (float-vector -2.75 4.76314 72.35) (float-vector -1.221245e-15 5.5 72.35)))
))
         (instance face :init :vertices (list (float-vector 7.0 -6.5 42.65) (float-vector 7.0 6.5 42.65) (float-vector 7.0 6.5 72.35) (float-vector 7.0 -6.5 72.35)))
         (instance face :init :vertices (list (float-vector 7.0 6.5 42.65) (float-vector 7.0 -6.5 42.65) (float-vector -21.0 -6.5 42.65) (float-vector -21.0 6.5 42.65))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.76314 2.75 42.65) (float-vector 2.75 4.76314 42.65) (float-vector -1.221245e-15 5.5 42.65) (float-vector -2.75 4.76314 42.65) (float-vector -4.76314 2.75 42.65) (float-vector -5.5 1.887379e-15 42.65) (float-vector -4.76314 -2.75 42.65) (float-vector -2.75 -4.76314 42.65) (float-vector -5.440093e-15 -5.5 42.65) (float-vector 2.75 -4.76314 42.65) (float-vector 4.76314 -2.75 42.65) (float-vector 5.5 -8.104628e-15 42.65)))
))
         (instance face :init :vertices (list (float-vector -1.221245e-15 5.5 74.35) (float-vector -1.221245e-15 5.5 72.35) (float-vector -2.75 4.76314 72.35) (float-vector -2.75 4.76314 74.35)))
         (instance face :init :vertices (list (float-vector -1.221245e-15 5.5 42.65) (float-vector -1.221245e-15 5.5 40.65) (float-vector -2.75 4.76314 40.65) (float-vector -2.75 4.76314 42.65)))
         (instance face :init :vertices (list (float-vector -4.76314 2.75 72.35) (float-vector -4.76314 2.75 74.35) (float-vector -2.75 4.76314 74.35) (float-vector -2.75 4.76314 72.35)))
         (instance face :init :vertices (list (float-vector -2.75 4.76314 40.65) (float-vector -4.76314 2.75 40.65) (float-vector -4.76314 2.75 42.65) (float-vector -2.75 4.76314 42.65)))
         (instance face :init :vertices (list (float-vector -5.5 1.887379e-15 72.35) (float-vector -5.5 1.887379e-15 74.35) (float-vector -4.76314 2.75 74.35) (float-vector -4.76314 2.75 72.35)))
         (instance face :init :vertices (list (float-vector -4.76314 2.75 40.65) (float-vector -5.5 1.887379e-15 40.65) (float-vector -5.5 1.887379e-15 42.65) (float-vector -4.76314 2.75 42.65)))
         (instance face :init :vertices (list (float-vector -4.76314 -2.75 72.35) (float-vector -4.76314 -2.75 74.35) (float-vector -5.5 1.887379e-15 74.35) (float-vector -5.5 1.887379e-15 72.35)))
         (instance face :init :vertices (list (float-vector -5.5 1.887379e-15 40.65) (float-vector -4.76314 -2.75 40.65) (float-vector -4.76314 -2.75 42.65) (float-vector -5.5 1.887379e-15 42.65)))
         (instance face :init :vertices (list (float-vector -2.75 -4.76314 72.35) (float-vector -2.75 -4.76314 74.35) (float-vector -4.76314 -2.75 74.35) (float-vector -4.76314 -2.75 72.35)))
         (instance face :init :vertices (list (float-vector -4.76314 -2.75 40.65) (float-vector -2.75 -4.76314 40.65) (float-vector -2.75 -4.76314 42.65) (float-vector -4.76314 -2.75 42.65)))
         (instance face :init :vertices (list (float-vector -5.440093e-15 -5.5 72.35) (float-vector -5.440093e-15 -5.5 74.35) (float-vector -2.75 -4.76314 74.35) (float-vector -2.75 -4.76314 72.35)))
         (instance face :init :vertices (list (float-vector -2.75 -4.76314 40.65) (float-vector -5.440093e-15 -5.5 40.65) (float-vector -5.440093e-15 -5.5 42.65) (float-vector -2.75 -4.76314 42.65)))
         (instance face :init :vertices (list (float-vector 2.75 -4.76314 72.35) (float-vector 2.75 -4.76314 74.35) (float-vector -5.440093e-15 -5.5 74.35) (float-vector -5.440093e-15 -5.5 72.35)))
         (instance face :init :vertices (list (float-vector -5.440093e-15 -5.5 40.65) (float-vector 2.75 -4.76314 40.65) (float-vector 2.75 -4.76314 42.65) (float-vector -5.440093e-15 -5.5 42.65)))
         (instance face :init :vertices (list (float-vector 4.76314 -2.75 72.35) (float-vector 4.76314 -2.75 74.35) (float-vector 2.75 -4.76314 74.35) (float-vector 2.75 -4.76314 72.35)))
         (instance face :init :vertices (list (float-vector 2.75 -4.76314 40.65) (float-vector 4.76314 -2.75 40.65) (float-vector 4.76314 -2.75 42.65) (float-vector 2.75 -4.76314 42.65)))
         (instance face :init :vertices (list (float-vector 5.5 -8.104628e-15 72.35) (float-vector 5.5 -8.104628e-15 74.35) (float-vector 4.76314 -2.75 74.35) (float-vector 4.76314 -2.75 72.35)))
         (instance face :init :vertices (list (float-vector 4.76314 -2.75 40.65) (float-vector 5.5 -8.104628e-15 40.65) (float-vector 5.5 -8.104628e-15 42.65) (float-vector 4.76314 -2.75 42.65)))
         (instance face :init :vertices (list (float-vector 4.76314 2.75 72.35) (float-vector 4.76314 2.75 74.35) (float-vector 5.5 -8.104628e-15 74.35) (float-vector 5.5 -8.104628e-15 72.35)))
         (instance face :init :vertices (list (float-vector 5.5 -8.104628e-15 40.65) (float-vector 4.76314 2.75 40.65) (float-vector 4.76314 2.75 42.65) (float-vector 5.5 -8.104628e-15 42.65)))
         (instance face :init :vertices (list (float-vector 2.75 4.76314 72.35) (float-vector 2.75 4.76314 74.35) (float-vector 4.76314 2.75 74.35) (float-vector 4.76314 2.75 72.35)))
         (instance face :init :vertices (list (float-vector 4.76314 2.75 40.65) (float-vector 2.75 4.76314 40.65) (float-vector 2.75 4.76314 42.65) (float-vector 4.76314 2.75 42.65)))
         (instance face :init :vertices (list (float-vector 2.75 4.76314 74.35) (float-vector -1.221245e-15 5.5 74.35) (float-vector -2.75 4.76314 74.35) (float-vector -4.76314 2.75 74.35) (float-vector -5.5 1.887379e-15 74.35) (float-vector -4.76314 -2.75 74.35) (float-vector -2.75 -4.76314 74.35) (float-vector -5.440093e-15 -5.5 74.35) (float-vector 2.75 -4.76314 74.35) (float-vector 4.76314 -2.75 74.35) (float-vector 5.5 -8.104628e-15 74.35) (float-vector 4.76314 2.75 74.35)))
         (instance face :init :vertices (list (float-vector -1.221245e-15 5.5 74.35) (float-vector 2.75 4.76314 74.35) (float-vector 2.75 4.76314 72.35) (float-vector -1.221245e-15 5.5 72.35)))
         (instance face :init :vertices (list (float-vector 2.75 4.76314 40.65) (float-vector -1.221245e-15 5.5 40.65) (float-vector -1.221245e-15 5.5 42.65) (float-vector 2.75 4.76314 42.65)))
         (instance face :init :vertices (list (float-vector -1.221245e-15 5.5 40.65) (float-vector 2.75 4.76314 40.65) (float-vector 4.76314 2.75 40.65) (float-vector 5.5 -8.104628e-15 40.65) (float-vector 4.76314 -2.75 40.65) (float-vector 2.75 -4.76314 40.65) (float-vector -5.440093e-15 -5.5 40.65) (float-vector -2.75 -4.76314 40.65) (float-vector -4.76314 -2.75 40.65) (float-vector -5.5 1.887379e-15 40.65) (float-vector -4.76314 2.75 40.65) (float-vector -2.75 4.76314 40.65)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 25.0 -35.0 35.0) (float-vector 25.0 35.0 35.0) (float-vector -25.0 35.0 35.0) (float-vector -25.0 -35.0 35.0)))
         (instance face :init :vertices (list (float-vector 25.0 35.0 -35.0) (float-vector 25.0 -35.0 -35.0) (float-vector -25.0 -35.0 -35.0) (float-vector -25.0 35.0 -35.0)))
         (instance face :init :vertices (list (float-vector 25.0 -35.0 35.0) (float-vector 25.0 -35.0 -35.0) (float-vector 25.0 35.0 -35.0) (float-vector 25.0 35.0 35.0)))
         (instance face :init :vertices (list (float-vector -25.0 -35.0 35.0) (float-vector -25.0 -35.0 -35.0) (float-vector 25.0 -35.0 -35.0) (float-vector 25.0 -35.0 35.0)))
         (instance face :init :vertices (list (float-vector -25.0 35.0 35.0) (float-vector -25.0 35.0 -35.0) (float-vector -25.0 -35.0 -35.0) (float-vector -25.0 -35.0 35.0)))
         (instance face :init :vertices (list (float-vector 25.0 35.0 35.0) (float-vector 25.0 35.0 -35.0) (float-vector -25.0 35.0 -35.0) (float-vector -25.0 35.0 35.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 12.0 23.0 55.0) (float-vector 10.0 23.0 55.0) (float-vector 10.0 32.5 41.5) (float-vector 12.0 32.5 41.5)))
         (instance face :init :vertices (list (float-vector 10.0 32.5 41.5) (float-vector 10.0 59.5 41.5) (float-vector 12.0 59.5 41.5) (float-vector 12.0 32.5 41.5)))
         (instance face :init :vertices (list (float-vector 10.0 59.5 41.5) (float-vector 10.0 69.0 55.0) (float-vector 12.0 69.0 55.0) (float-vector 12.0 59.5 41.5)))
         (instance face :init :vertices (list (float-vector 10.0 69.0 55.0) (float-vector 10.0 59.5 68.5) (float-vector 12.0 59.5 68.5) (float-vector 12.0 69.0 55.0)))
         (instance face :init :vertices (list (float-vector 10.0 59.5 68.5) (float-vector 10.0 32.5 68.5) (float-vector 12.0 32.5 68.5) (float-vector 12.0 59.5 68.5)))
         (instance face :init :vertices (list (float-vector 12.0 32.5 68.5) (float-vector 12.0 23.0 55.0) (float-vector 12.0 32.5 41.5) (float-vector 12.0 59.5 41.5) (float-vector 12.0 69.0 55.0) (float-vector 12.0 59.5 68.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 12.0 59.0 68.0) (float-vector 12.0 59.0 42.0) (float-vector 12.0 33.0 42.0) (float-vector 12.0 33.0 68.0)))
))
         (instance face :init :vertices (list (float-vector 10.0 32.5 68.5) (float-vector 10.0 23.0 55.0) (float-vector 12.0 23.0 55.0) (float-vector 12.0 32.5 68.5)))
         (instance face :init :vertices (list (float-vector 10.0 23.0 55.0) (float-vector 10.0 32.5 68.5) (float-vector 10.0 59.5 68.5) (float-vector 10.0 69.0 55.0) (float-vector 10.0 59.5 41.5) (float-vector 10.0 32.5 41.5)))
         (instance face :init :vertices (list (float-vector 30.0 33.0 68.0) (float-vector 12.0 33.0 68.0) (float-vector 12.0 33.0 42.0) (float-vector 30.0 33.0 42.0)))
         (instance face :init :vertices (list (float-vector 12.0 59.0 42.0) (float-vector 30.0 59.0 42.0) (float-vector 30.0 33.0 42.0) (float-vector 12.0 33.0 42.0)))
         (instance face :init :vertices (list (float-vector 12.0 59.0 68.0) (float-vector 30.0 59.0 68.0) (float-vector 30.0 59.0 42.0) (float-vector 12.0 59.0 42.0)))
         (instance face :init :vertices (list (float-vector 30.0 59.0 68.0) (float-vector 30.0 33.0 68.0) (float-vector 30.0 33.0 42.0) (float-vector 30.0 59.0 42.0)))
         (instance face :init :vertices (list (float-vector 30.0 33.0 68.0) (float-vector 30.0 59.0 68.0) (float-vector 12.0 59.0 68.0) (float-vector 12.0 33.0 68.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray90)
     (send (elt bc 3) :set-color :gray40)
     (send (elt bc 4) :set-color :gray40)
     (send (elt bc 5) :set-color :blue)
     (send (elt bc 6) :set-color :gray40)
     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :weight 440.191 :centroid (float-vector -0.323097 -3.156041e-15 14.5938) :inertia-tensor #2f((5.590394e+05 6.048632e-11 4687.76) (6.048632e-11 2.851289e+05 1.292938e-11) (4687.76 1.292938e-11 2.863724e+05))))

     ;; definition of :rleg-crotch-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -10.0 20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 30.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector -10.0 30.0 20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0) (float-vector 10.0 30.0 20.0) (float-vector -10.0 30.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 4.5 -7.79423 20.0) (float-vector -1.509903e-14 -9.0 20.0) (float-vector -4.5 -7.79423 20.0) (float-vector -7.79423 -4.5 20.0) (float-vector -9.0 0.0 20.0) (float-vector -7.79423 4.5 20.0) (float-vector -4.5 7.79423 20.0) (float-vector 5.329071e-15 9.0 20.0) (float-vector 4.5 7.79423 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 9.0 0.0 20.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 -10.0 20.0) (float-vector -10.0 -10.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 -10.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector 10.0 30.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.5 -7.79423 -20.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 5.329071e-15 9.0 -20.0) (float-vector -4.5 7.79423 -20.0) (float-vector -7.79423 4.5 -20.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -1.509903e-14 -9.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector 9.0 0.0 22.0) (float-vector 9.0 0.0 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 7.79423 4.5 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -20.0) (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 4.5 -22.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 20.0) (float-vector 4.5 7.79423 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 4.5 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 4.5 7.79423 -20.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 5.329071e-15 9.0 20.0) (float-vector 5.329071e-15 9.0 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 -22.0) (float-vector 5.329071e-15 9.0 -22.0) (float-vector 5.329071e-15 9.0 -20.0) (float-vector 4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 20.0) (float-vector -4.5 7.79423 22.0) (float-vector 5.329071e-15 9.0 22.0) (float-vector 5.329071e-15 9.0 20.0)))
         (instance face :init :vertices (list (float-vector 5.329071e-15 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 5.329071e-15 9.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 20.0) (float-vector -7.79423 4.5 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -7.79423 4.5 -20.0) (float-vector -4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 0.0 20.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 -22.0) (float-vector -9.0 2.842171e-14 -22.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 20.0) (float-vector -7.79423 -4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -9.0 0.0 20.0)))
         (instance face :init :vertices (list (float-vector -9.0 2.842171e-14 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -9.0 0.0 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 20.0) (float-vector -4.5 -7.79423 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -7.79423 -4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -1.509903e-14 -9.0 20.0) (float-vector -1.509903e-14 -9.0 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 -22.0) (float-vector -1.509903e-14 -9.0 -22.0) (float-vector -1.509903e-14 -9.0 -20.0) (float-vector -4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 20.0) (float-vector 4.5 -7.79423 22.0) (float-vector -1.509903e-14 -9.0 22.0) (float-vector -1.509903e-14 -9.0 20.0)))
         (instance face :init :vertices (list (float-vector -1.509903e-14 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector -1.509903e-14 -9.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 7.79423 -4.5 22.0) (float-vector 4.5 -7.79423 22.0) (float-vector 4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 22.0) (float-vector 9.0 0.0 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 5.329071e-15 9.0 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -1.509903e-14 -9.0 22.0) (float-vector 4.5 -7.79423 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 22.0) (float-vector 7.79423 -4.5 22.0) (float-vector 7.79423 -4.5 20.0) (float-vector 9.0 0.0 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 -22.0) (float-vector 9.0 0.0 -22.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector -1.509903e-14 -9.0 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -9.0 2.842171e-14 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector 5.329071e-15 9.0 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 7.79423 4.5 -22.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 80.0 20.0) (float-vector -10.0 80.0 -20.0) (float-vector -10.0 40.0 -20.0) (float-vector -10.0 40.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 40.0 -20.0) (float-vector 10.0 40.0 -20.0) (float-vector 10.0 40.0 20.0) (float-vector -10.0 40.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 40.0 -20.0) (float-vector 10.0 80.0 -20.0) (float-vector 10.0 80.0 20.0) (float-vector 10.0 40.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 80.0 20.0) (float-vector -10.0 80.0 20.0) (float-vector -10.0 40.0 20.0) (float-vector 10.0 40.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 74.5 20.0) (float-vector -4.5 77.7942 20.0) (float-vector 1.620122e-14 79.0 20.0) (float-vector 4.5 77.7942 20.0) (float-vector 7.79423 74.5 20.0) (float-vector 9.0 70.0 20.0) (float-vector 7.79423 65.5 20.0) (float-vector 4.5 62.2058 20.0) (float-vector -6.431253e-15 61.0 20.0) (float-vector -4.5 62.2058 20.0) (float-vector -7.79423 65.5 20.0) (float-vector -9.0 70.0 20.0)))
))
         (instance face :init :vertices (list (float-vector 10.0 80.0 -20.0) (float-vector -10.0 80.0 -20.0) (float-vector -10.0 80.0 20.0) (float-vector 10.0 80.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 80.0 -20.0) (float-vector 10.0 80.0 -20.0) (float-vector 10.0 40.0 -20.0) (float-vector -10.0 40.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 77.7942 -20.0) (float-vector -7.79423 74.5 -20.0) (float-vector -9.0 70.0 -20.0) (float-vector -7.79423 65.5 -20.0) (float-vector -4.5 62.2058 -20.0) (float-vector -6.431253e-15 61.0 -20.0) (float-vector 4.5 62.2058 -20.0) (float-vector 7.79423 65.5 -20.0) (float-vector 9.0 70.0 -20.0) (float-vector 7.79423 74.5 -20.0) (float-vector 4.5 77.7942 -20.0) (float-vector 1.620122e-14 79.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector -9.0 70.0 22.0) (float-vector -9.0 70.0 20.0) (float-vector -7.79423 65.5 20.0) (float-vector -7.79423 65.5 22.0)))
         (instance face :init :vertices (list (float-vector -9.0 70.0 -20.0) (float-vector -9.0 70.0 -22.0) (float-vector -7.79423 65.5 -22.0) (float-vector -7.79423 65.5 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 62.2058 20.0) (float-vector -4.5 62.2058 22.0) (float-vector -7.79423 65.5 22.0) (float-vector -7.79423 65.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 65.5 -22.0) (float-vector -4.5 62.2058 -22.0) (float-vector -4.5 62.2058 -20.0) (float-vector -7.79423 65.5 -20.0)))
         (instance face :init :vertices (list (float-vector -6.431253e-15 61.0 20.0) (float-vector -6.431253e-15 61.0 22.0) (float-vector -4.5 62.2058 22.0) (float-vector -4.5 62.2058 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 62.2058 -22.0) (float-vector -6.431253e-15 61.0 -22.0) (float-vector -6.431253e-15 61.0 -20.0) (float-vector -4.5 62.2058 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 62.2058 20.0) (float-vector 4.5 62.2058 22.0) (float-vector -6.431253e-15 61.0 22.0) (float-vector -6.431253e-15 61.0 20.0)))
         (instance face :init :vertices (list (float-vector -6.431253e-15 61.0 -22.0) (float-vector 4.5 62.2058 -22.0) (float-vector 4.5 62.2058 -20.0) (float-vector -6.431253e-15 61.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 65.5 20.0) (float-vector 7.79423 65.5 22.0) (float-vector 4.5 62.2058 22.0) (float-vector 4.5 62.2058 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 62.2058 -22.0) (float-vector 7.79423 65.5 -22.0) (float-vector 7.79423 65.5 -20.0) (float-vector 4.5 62.2058 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 70.0 20.0) (float-vector 9.0 70.0 22.0) (float-vector 7.79423 65.5 22.0) (float-vector 7.79423 65.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 65.5 -22.0) (float-vector 9.0 70.0 -22.0) (float-vector 9.0 70.0 -20.0) (float-vector 7.79423 65.5 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 74.5 20.0) (float-vector 7.79423 74.5 22.0) (float-vector 9.0 70.0 22.0) (float-vector 9.0 70.0 20.0)))
         (instance face :init :vertices (list (float-vector 9.0 70.0 -22.0) (float-vector 7.79423 74.5 -22.0) (float-vector 7.79423 74.5 -20.0) (float-vector 9.0 70.0 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 77.7942 20.0) (float-vector 4.5 77.7942 22.0) (float-vector 7.79423 74.5 22.0) (float-vector 7.79423 74.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 74.5 -22.0) (float-vector 4.5 77.7942 -22.0) (float-vector 4.5 77.7942 -20.0) (float-vector 7.79423 74.5 -20.0)))
         (instance face :init :vertices (list (float-vector 1.620122e-14 79.0 20.0) (float-vector 1.620122e-14 79.0 22.0) (float-vector 4.5 77.7942 22.0) (float-vector 4.5 77.7942 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 77.7942 -22.0) (float-vector 1.620122e-14 79.0 -22.0) (float-vector 1.620122e-14 79.0 -20.0) (float-vector 4.5 77.7942 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 77.7942 20.0) (float-vector -4.5 77.7942 22.0) (float-vector 1.620122e-14 79.0 22.0) (float-vector 1.620122e-14 79.0 20.0)))
         (instance face :init :vertices (list (float-vector 1.620122e-14 79.0 -22.0) (float-vector -4.5 77.7942 -22.0) (float-vector -4.5 77.7942 -20.0) (float-vector 1.620122e-14 79.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 74.5 20.0) (float-vector -7.79423 74.5 22.0) (float-vector -4.5 77.7942 22.0) (float-vector -4.5 77.7942 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 77.7942 -22.0) (float-vector -7.79423 74.5 -22.0) (float-vector -7.79423 74.5 -20.0) (float-vector -4.5 77.7942 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 74.5 22.0) (float-vector -9.0 70.0 22.0) (float-vector -7.79423 65.5 22.0) (float-vector -4.5 62.2058 22.0) (float-vector -6.431253e-15 61.0 22.0) (float-vector 4.5 62.2058 22.0) (float-vector 7.79423 65.5 22.0) (float-vector 9.0 70.0 22.0) (float-vector 7.79423 74.5 22.0) (float-vector 4.5 77.7942 22.0) (float-vector 1.620122e-14 79.0 22.0) (float-vector -4.5 77.7942 22.0)))
         (instance face :init :vertices (list (float-vector -9.0 70.0 22.0) (float-vector -7.79423 74.5 22.0) (float-vector -7.79423 74.5 20.0) (float-vector -9.0 70.0 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 74.5 -22.0) (float-vector -9.0 70.0 -22.0) (float-vector -9.0 70.0 -20.0) (float-vector -7.79423 74.5 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 70.0 -22.0) (float-vector -7.79423 74.5 -22.0) (float-vector -4.5 77.7942 -22.0) (float-vector 1.620122e-14 79.0 -22.0) (float-vector 4.5 77.7942 -22.0) (float-vector 7.79423 74.5 -22.0) (float-vector 9.0 70.0 -22.0) (float-vector 7.79423 65.5 -22.0) (float-vector 4.5 62.2058 -22.0) (float-vector -6.431253e-15 61.0 -22.0) (float-vector -4.5 62.2058 -22.0) (float-vector -7.79423 65.5 -22.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (setq blink9 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-crotch-p :weight 106 :centroid (float-vector -8.878794e-15 35.0 8.661329e-15) :inertia-tensor #2f((96088.3 1.611465e-11 5.884182e-13) (1.611465e-11 17666.7 -1.650394e-11) (5.884182e-13 -1.650394e-11 85488.3))))

     ;; definition of :rleg-knee-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 30.0 -25.0) (float-vector 10.0 30.0 25.0) (float-vector 10.0 2.842171e-14 25.0) (float-vector 10.0 2.842171e-14 24.0) (float-vector 10.0 29.0 24.0) (float-vector 10.0 29.0 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 -25.0) (float-vector -10.0 30.0 25.0) (float-vector 10.0 30.0 25.0) (float-vector 10.0 30.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 29.0 -24.0) (float-vector -10.0 29.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 30.0 25.0) (float-vector -10.0 30.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 2.842171e-14 25.0) (float-vector 10.0 30.0 25.0) (float-vector -10.0 30.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 30.0 -25.0) (float-vector 10.0 30.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 2.842171e-14 24.0) (float-vector 10.0 2.842171e-14 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 29.0 24.0) (float-vector 10.0 2.842171e-14 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 29.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 29.0 -24.0) (float-vector 10.0 29.0 24.0) (float-vector -10.0 29.0 24.0) (float-vector -10.0 29.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 29.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 29.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 80.0 20.0) (float-vector -10.0 80.0 -20.0) (float-vector -10.0 40.0 -20.0) (float-vector -10.0 40.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 40.0 -20.0) (float-vector 10.0 40.0 -20.0) (float-vector 10.0 40.0 20.0) (float-vector -10.0 40.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 40.0 -20.0) (float-vector 10.0 80.0 -20.0) (float-vector 10.0 80.0 20.0) (float-vector 10.0 40.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 80.0 20.0) (float-vector -10.0 80.0 20.0) (float-vector -10.0 40.0 20.0) (float-vector 10.0 40.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 74.5 20.0) (float-vector -4.5 77.7942 20.0) (float-vector 1.620122e-14 79.0 20.0) (float-vector 4.5 77.7942 20.0) (float-vector 7.79423 74.5 20.0) (float-vector 9.0 70.0 20.0) (float-vector 7.79423 65.5 20.0) (float-vector 4.5 62.2058 20.0) (float-vector -6.431253e-15 61.0 20.0) (float-vector -4.5 62.2058 20.0) (float-vector -7.79423 65.5 20.0) (float-vector -9.0 70.0 20.0)))
))
         (instance face :init :vertices (list (float-vector 10.0 80.0 -20.0) (float-vector -10.0 80.0 -20.0) (float-vector -10.0 80.0 20.0) (float-vector 10.0 80.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 80.0 -20.0) (float-vector 10.0 80.0 -20.0) (float-vector 10.0 40.0 -20.0) (float-vector -10.0 40.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 77.7942 -20.0) (float-vector -7.79423 74.5 -20.0) (float-vector -9.0 70.0 -20.0) (float-vector -7.79423 65.5 -20.0) (float-vector -4.5 62.2058 -20.0) (float-vector -6.431253e-15 61.0 -20.0) (float-vector 4.5 62.2058 -20.0) (float-vector 7.79423 65.5 -20.0) (float-vector 9.0 70.0 -20.0) (float-vector 7.79423 74.5 -20.0) (float-vector 4.5 77.7942 -20.0) (float-vector 1.620122e-14 79.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector -9.0 70.0 22.0) (float-vector -9.0 70.0 20.0) (float-vector -7.79423 65.5 20.0) (float-vector -7.79423 65.5 22.0)))
         (instance face :init :vertices (list (float-vector -9.0 70.0 -20.0) (float-vector -9.0 70.0 -22.0) (float-vector -7.79423 65.5 -22.0) (float-vector -7.79423 65.5 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 62.2058 20.0) (float-vector -4.5 62.2058 22.0) (float-vector -7.79423 65.5 22.0) (float-vector -7.79423 65.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 65.5 -22.0) (float-vector -4.5 62.2058 -22.0) (float-vector -4.5 62.2058 -20.0) (float-vector -7.79423 65.5 -20.0)))
         (instance face :init :vertices (list (float-vector -6.431253e-15 61.0 20.0) (float-vector -6.431253e-15 61.0 22.0) (float-vector -4.5 62.2058 22.0) (float-vector -4.5 62.2058 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 62.2058 -22.0) (float-vector -6.431253e-15 61.0 -22.0) (float-vector -6.431253e-15 61.0 -20.0) (float-vector -4.5 62.2058 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 62.2058 20.0) (float-vector 4.5 62.2058 22.0) (float-vector -6.431253e-15 61.0 22.0) (float-vector -6.431253e-15 61.0 20.0)))
         (instance face :init :vertices (list (float-vector -6.431253e-15 61.0 -22.0) (float-vector 4.5 62.2058 -22.0) (float-vector 4.5 62.2058 -20.0) (float-vector -6.431253e-15 61.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 65.5 20.0) (float-vector 7.79423 65.5 22.0) (float-vector 4.5 62.2058 22.0) (float-vector 4.5 62.2058 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 62.2058 -22.0) (float-vector 7.79423 65.5 -22.0) (float-vector 7.79423 65.5 -20.0) (float-vector 4.5 62.2058 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 70.0 20.0) (float-vector 9.0 70.0 22.0) (float-vector 7.79423 65.5 22.0) (float-vector 7.79423 65.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 65.5 -22.0) (float-vector 9.0 70.0 -22.0) (float-vector 9.0 70.0 -20.0) (float-vector 7.79423 65.5 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 74.5 20.0) (float-vector 7.79423 74.5 22.0) (float-vector 9.0 70.0 22.0) (float-vector 9.0 70.0 20.0)))
         (instance face :init :vertices (list (float-vector 9.0 70.0 -22.0) (float-vector 7.79423 74.5 -22.0) (float-vector 7.79423 74.5 -20.0) (float-vector 9.0 70.0 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 77.7942 20.0) (float-vector 4.5 77.7942 22.0) (float-vector 7.79423 74.5 22.0) (float-vector 7.79423 74.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 74.5 -22.0) (float-vector 4.5 77.7942 -22.0) (float-vector 4.5 77.7942 -20.0) (float-vector 7.79423 74.5 -20.0)))
         (instance face :init :vertices (list (float-vector 1.620122e-14 79.0 20.0) (float-vector 1.620122e-14 79.0 22.0) (float-vector 4.5 77.7942 22.0) (float-vector 4.5 77.7942 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 77.7942 -22.0) (float-vector 1.620122e-14 79.0 -22.0) (float-vector 1.620122e-14 79.0 -20.0) (float-vector 4.5 77.7942 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 77.7942 20.0) (float-vector -4.5 77.7942 22.0) (float-vector 1.620122e-14 79.0 22.0) (float-vector 1.620122e-14 79.0 20.0)))
         (instance face :init :vertices (list (float-vector 1.620122e-14 79.0 -22.0) (float-vector -4.5 77.7942 -22.0) (float-vector -4.5 77.7942 -20.0) (float-vector 1.620122e-14 79.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 74.5 20.0) (float-vector -7.79423 74.5 22.0) (float-vector -4.5 77.7942 22.0) (float-vector -4.5 77.7942 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 77.7942 -22.0) (float-vector -7.79423 74.5 -22.0) (float-vector -7.79423 74.5 -20.0) (float-vector -4.5 77.7942 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 74.5 22.0) (float-vector -9.0 70.0 22.0) (float-vector -7.79423 65.5 22.0) (float-vector -4.5 62.2058 22.0) (float-vector -6.431253e-15 61.0 22.0) (float-vector 4.5 62.2058 22.0) (float-vector 7.79423 65.5 22.0) (float-vector 9.0 70.0 22.0) (float-vector 7.79423 74.5 22.0) (float-vector 4.5 77.7942 22.0) (float-vector 1.620122e-14 79.0 22.0) (float-vector -4.5 77.7942 22.0)))
         (instance face :init :vertices (list (float-vector -9.0 70.0 22.0) (float-vector -7.79423 74.5 22.0) (float-vector -7.79423 74.5 20.0) (float-vector -9.0 70.0 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 74.5 -22.0) (float-vector -9.0 70.0 -22.0) (float-vector -9.0 70.0 -20.0) (float-vector -7.79423 74.5 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 70.0 -22.0) (float-vector -7.79423 74.5 -22.0) (float-vector -4.5 77.7942 -22.0) (float-vector 1.620122e-14 79.0 -22.0) (float-vector 4.5 77.7942 -22.0) (float-vector 7.79423 74.5 -22.0) (float-vector 9.0 70.0 -22.0) (float-vector 7.79423 65.5 -22.0) (float-vector 4.5 62.2058 -22.0) (float-vector -6.431253e-15 61.0 -22.0) (float-vector -4.5 62.2058 -22.0) (float-vector -7.79423 65.5 -22.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink10 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-knee-p :weight 59.5957 :centroid (float-vector 1.996324e-14 55.6687 1.650812e-14) :inertia-tensor #2f((28410.7 -6.082217e-12 5.884182e-13) (-6.082217e-12 11954.4 -1.406433e-12) (5.884182e-13 -1.406433e-12 20429.4))))

     ;; definition of :rleg-ankle-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 15.0 -25.0) (float-vector 10.0 15.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 14.0 24.0) (float-vector 10.0 14.0 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 15.0 -25.0) (float-vector -10.0 15.0 25.0) (float-vector 10.0 15.0 25.0) (float-vector 10.0 15.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 14.0 -24.0) (float-vector -10.0 14.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 15.0 25.0) (float-vector -10.0 15.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 2.524355e-29 -10.0 -25.0) (float-vector 2.524355e-29 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 2.524355e-29 -10.0 -24.0) (float-vector 2.524355e-29 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 15.0 25.0) (float-vector -10.0 15.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 2.524355e-29 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 15.0 -25.0) (float-vector 10.0 15.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 14.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 14.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 14.0 -24.0) (float-vector 10.0 14.0 24.0) (float-vector -10.0 14.0 24.0) (float-vector -10.0 14.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 14.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 2.524355e-29 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 14.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -30.0 35.0 15.0) (float-vector 10.0 35.0 15.0) (float-vector 10.0 35.0 -25.0) (float-vector -30.0 35.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 35.0 -25.0) (float-vector 10.0 15.0 -25.0) (float-vector -30.0 15.0 -25.0) (float-vector -30.0 35.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 15.0 -25.0) (float-vector 10.0 15.0 15.0) (float-vector -30.0 15.0 15.0) (float-vector -30.0 15.0 -25.0)))
         (instance face :init :vertices (list (float-vector -30.0 15.0 15.0) (float-vector -30.0 35.0 15.0) (float-vector -30.0 35.0 -25.0) (float-vector -30.0 15.0 -25.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -30.0 32.7942 9.5) (float-vector -30.0 29.5 12.7942) (float-vector -30.0 25.0 14.0) (float-vector -30.0 20.5 12.7942) (float-vector -30.0 17.2058 9.5) (float-vector -30.0 16.0 5.0) (float-vector -30.0 17.2058 0.5) (float-vector -30.0 20.5 -2.79423) (float-vector -30.0 25.0 -4.0) (float-vector -30.0 29.5 -2.79423) (float-vector -30.0 32.7942 0.5) (float-vector -30.0 34.0 5.0)))
))
         (instance face :init :vertices (list (float-vector 10.0 15.0 15.0) (float-vector 10.0 35.0 15.0) (float-vector -30.0 35.0 15.0) (float-vector -30.0 15.0 15.0)))
         (instance face :init :vertices (list (float-vector 10.0 35.0 15.0) (float-vector 10.0 15.0 15.0) (float-vector 10.0 15.0 -25.0) (float-vector 10.0 35.0 -25.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 10.0 29.5 12.7942) (float-vector 10.0 32.7942 9.5) (float-vector 10.0 34.0 5.0) (float-vector 10.0 32.7942 0.5) (float-vector 10.0 29.5 -2.79423) (float-vector 10.0 25.0 -4.0) (float-vector 10.0 20.5 -2.79423) (float-vector 10.0 17.2058 0.5) (float-vector 10.0 16.0 5.0) (float-vector 10.0 17.2058 9.5) (float-vector 10.0 20.5 12.7942) (float-vector 10.0 25.0 14.0)))
))
         (instance face :init :vertices (list (float-vector -32.0 34.0 5.0) (float-vector -30.0 34.0 5.0) (float-vector -30.0 32.7942 0.5) (float-vector -32.0 32.7942 0.5)))
         (instance face :init :vertices (list (float-vector 10.0 34.0 5.0) (float-vector 12.0 34.0 5.0) (float-vector 12.0 32.7942 0.5) (float-vector 10.0 32.7942 0.5)))
         (instance face :init :vertices (list (float-vector -30.0 29.5 -2.79423) (float-vector -32.0 29.5 -2.79423) (float-vector -32.0 32.7942 0.5) (float-vector -30.0 32.7942 0.5)))
         (instance face :init :vertices (list (float-vector 12.0 32.7942 0.5) (float-vector 12.0 29.5 -2.79423) (float-vector 10.0 29.5 -2.79423) (float-vector 10.0 32.7942 0.5)))
         (instance face :init :vertices (list (float-vector -30.0 25.0 -4.0) (float-vector -32.0 25.0 -4.0) (float-vector -32.0 29.5 -2.79423) (float-vector -30.0 29.5 -2.79423)))
         (instance face :init :vertices (list (float-vector 12.0 29.5 -2.79423) (float-vector 12.0 25.0 -4.0) (float-vector 10.0 25.0 -4.0) (float-vector 10.0 29.5 -2.79423)))
         (instance face :init :vertices (list (float-vector -30.0 20.5 -2.79423) (float-vector -32.0 20.5 -2.79423) (float-vector -32.0 25.0 -4.0) (float-vector -30.0 25.0 -4.0)))
         (instance face :init :vertices (list (float-vector 12.0 25.0 -4.0) (float-vector 12.0 20.5 -2.79423) (float-vector 10.0 20.5 -2.79423) (float-vector 10.0 25.0 -4.0)))
         (instance face :init :vertices (list (float-vector -30.0 17.2058 0.5) (float-vector -32.0 17.2058 0.5) (float-vector -32.0 20.5 -2.79423) (float-vector -30.0 20.5 -2.79423)))
         (instance face :init :vertices (list (float-vector 12.0 20.5 -2.79423) (float-vector 12.0 17.2058 0.5) (float-vector 10.0 17.2058 0.5) (float-vector 10.0 20.5 -2.79423)))
         (instance face :init :vertices (list (float-vector -30.0 16.0 5.0) (float-vector -32.0 16.0 5.0) (float-vector -32.0 17.2058 0.5) (float-vector -30.0 17.2058 0.5)))
         (instance face :init :vertices (list (float-vector 12.0 17.2058 0.5) (float-vector 12.0 16.0 5.0) (float-vector 10.0 16.0 5.0) (float-vector 10.0 17.2058 0.5)))
         (instance face :init :vertices (list (float-vector -30.0 17.2058 9.5) (float-vector -32.0 17.2058 9.5) (float-vector -32.0 16.0 5.0) (float-vector -30.0 16.0 5.0)))
         (instance face :init :vertices (list (float-vector 12.0 16.0 5.0) (float-vector 12.0 17.2058 9.5) (float-vector 10.0 17.2058 9.5) (float-vector 10.0 16.0 5.0)))
         (instance face :init :vertices (list (float-vector -30.0 20.5 12.7942) (float-vector -32.0 20.5 12.7942) (float-vector -32.0 17.2058 9.5) (float-vector -30.0 17.2058 9.5)))
         (instance face :init :vertices (list (float-vector 12.0 17.2058 9.5) (float-vector 12.0 20.5 12.7942) (float-vector 10.0 20.5 12.7942) (float-vector 10.0 17.2058 9.5)))
         (instance face :init :vertices (list (float-vector -30.0 25.0 14.0) (float-vector -32.0 25.0 14.0) (float-vector -32.0 20.5 12.7942) (float-vector -30.0 20.5 12.7942)))
         (instance face :init :vertices (list (float-vector 12.0 20.5 12.7942) (float-vector 12.0 25.0 14.0) (float-vector 10.0 25.0 14.0) (float-vector 10.0 20.5 12.7942)))
         (instance face :init :vertices (list (float-vector -30.0 29.5 12.7942) (float-vector -32.0 29.5 12.7942) (float-vector -32.0 25.0 14.0) (float-vector -30.0 25.0 14.0)))
         (instance face :init :vertices (list (float-vector 12.0 25.0 14.0) (float-vector 12.0 29.5 12.7942) (float-vector 10.0 29.5 12.7942) (float-vector 10.0 25.0 14.0)))
         (instance face :init :vertices (list (float-vector -30.0 32.7942 9.5) (float-vector -32.0 32.7942 9.5) (float-vector -32.0 29.5 12.7942) (float-vector -30.0 29.5 12.7942)))
         (instance face :init :vertices (list (float-vector 12.0 29.5 12.7942) (float-vector 12.0 32.7942 9.5) (float-vector 10.0 32.7942 9.5) (float-vector 10.0 29.5 12.7942)))
         (instance face :init :vertices (list (float-vector -32.0 32.7942 9.5) (float-vector -32.0 34.0 5.0) (float-vector -32.0 32.7942 0.5) (float-vector -32.0 29.5 -2.79423) (float-vector -32.0 25.0 -4.0) (float-vector -32.0 20.5 -2.79423) (float-vector -32.0 17.2058 0.5) (float-vector -32.0 16.0 5.0) (float-vector -32.0 17.2058 9.5) (float-vector -32.0 20.5 12.7942) (float-vector -32.0 25.0 14.0) (float-vector -32.0 29.5 12.7942)))
         (instance face :init :vertices (list (float-vector -32.0 34.0 5.0) (float-vector -32.0 32.7942 9.5) (float-vector -30.0 32.7942 9.5) (float-vector -30.0 34.0 5.0)))
         (instance face :init :vertices (list (float-vector 12.0 32.7942 9.5) (float-vector 12.0 34.0 5.0) (float-vector 10.0 34.0 5.0) (float-vector 10.0 32.7942 9.5)))
         (instance face :init :vertices (list (float-vector 12.0 34.0 5.0) (float-vector 12.0 32.7942 9.5) (float-vector 12.0 29.5 12.7942) (float-vector 12.0 25.0 14.0) (float-vector 12.0 20.5 12.7942) (float-vector 12.0 17.2058 9.5) (float-vector 12.0 16.0 5.0) (float-vector 12.0 17.2058 0.5) (float-vector 12.0 20.5 -2.79423) (float-vector 12.0 25.0 -4.0) (float-vector 12.0 29.5 -2.79423) (float-vector 12.0 32.7942 0.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink11 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-ankle-p :weight 57.9757 :centroid (float-vector -9.14177 23.6593 -4.30139) :inertia-tensor #2f((12270.0 710.596 -214.023) (710.596 16783.4 334.35) (-214.023 334.35 10861.4))))

     ;; definition of :rleg-ankle-r
     (setq bc (list
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector 27.7942 34.9 10.5) (float-vector 27.7942 35.0 10.5) (float-vector 29.0 35.0 15.0) (float-vector 29.0 34.9 15.0)))
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         (instance face :init :vertices (list (float-vector 15.5 34.9 7.20577) (float-vector 15.5 35.0 7.20577) (float-vector 20.0 35.0 6.0) (float-vector 20.0 34.9 6.0)))
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         (instance face :init :vertices (list (float-vector 15.5 34.9 22.7942) (float-vector 15.5 35.0 22.7942) (float-vector 12.2058 35.0 19.5) (float-vector 12.2058 34.9 19.5)))
         (instance face :init :vertices (list (float-vector 20.0 34.9 24.0) (float-vector 20.0 35.0 24.0) (float-vector 15.5 35.0 22.7942) (float-vector 15.5 34.9 22.7942)))
         (instance face :init :vertices (list (float-vector 24.5 34.9 22.7942) (float-vector 24.5 35.0 22.7942) (float-vector 20.0 35.0 24.0) (float-vector 20.0 34.9 24.0)))
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         (instance face :init :vertices (list (float-vector 29.0 34.9 15.0) (float-vector 29.0 35.0 15.0) (float-vector 27.7942 35.0 19.5) (float-vector 27.7942 34.9 19.5)))
       ))
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector -11.0 35.0 15.0) (float-vector -12.2058 35.0 10.5) (float-vector -15.5 35.0 7.20577) (float-vector -20.0 35.0 6.0) (float-vector -24.5 35.0 7.20577) (float-vector -27.7942 35.0 10.5) (float-vector -29.0 35.0 15.0) (float-vector -27.7942 35.0 19.5) (float-vector -24.5 35.0 22.7942) (float-vector -20.0 35.0 24.0) (float-vector -15.5 35.0 22.7942) (float-vector -12.2058 35.0 19.5)))
         (instance face :init :vertices (list (float-vector -12.2058 34.9 10.5) (float-vector -12.2058 35.0 10.5) (float-vector -11.0 35.0 15.0) (float-vector -11.0 34.9 15.0)))
         (instance face :init :vertices (list (float-vector -15.5 34.9 7.20577) (float-vector -15.5 35.0 7.20577) (float-vector -12.2058 35.0 10.5) (float-vector -12.2058 34.9 10.5)))
         (instance face :init :vertices (list (float-vector -20.0 34.9 6.0) (float-vector -20.0 35.0 6.0) (float-vector -15.5 35.0 7.20577) (float-vector -15.5 34.9 7.20577)))
         (instance face :init :vertices (list (float-vector -24.5 34.9 7.20577) (float-vector -24.5 35.0 7.20577) (float-vector -20.0 35.0 6.0) (float-vector -20.0 34.9 6.0)))
         (instance face :init :vertices (list (float-vector -27.7942 34.9 10.5) (float-vector -27.7942 35.0 10.5) (float-vector -24.5 35.0 7.20577) (float-vector -24.5 34.9 7.20577)))
         (instance face :init :vertices (list (float-vector -29.0 34.9 15.0) (float-vector -29.0 35.0 15.0) (float-vector -27.7942 35.0 10.5) (float-vector -27.7942 34.9 10.5)))
         (instance face :init :vertices (list (float-vector -27.7942 34.9 19.5) (float-vector -27.7942 35.0 19.5) (float-vector -29.0 35.0 15.0) (float-vector -29.0 34.9 15.0)))
         (instance face :init :vertices (list (float-vector -24.5 34.9 22.7942) (float-vector -24.5 35.0 22.7942) (float-vector -27.7942 35.0 19.5) (float-vector -27.7942 34.9 19.5)))
         (instance face :init :vertices (list (float-vector -20.0 34.9 24.0) (float-vector -20.0 35.0 24.0) (float-vector -24.5 35.0 22.7942) (float-vector -24.5 34.9 22.7942)))
         (instance face :init :vertices (list (float-vector -15.5 34.9 22.7942) (float-vector -15.5 35.0 22.7942) (float-vector -20.0 35.0 24.0) (float-vector -20.0 34.9 24.0)))
         (instance face :init :vertices (list (float-vector -12.2058 34.9 19.5) (float-vector -12.2058 35.0 19.5) (float-vector -15.5 35.0 22.7942) (float-vector -15.5 34.9 22.7942)))
         (instance face :init :vertices (list (float-vector -11.0 34.9 15.0) (float-vector -11.0 35.0 15.0) (float-vector -12.2058 35.0 19.5) (float-vector -12.2058 34.9 19.5)))
       ))
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector -11.0 35.0 -35.0) (float-vector -12.2058 35.0 -39.5) (float-vector -15.5 35.0 -42.7942) (float-vector -20.0 35.0 -44.0) (float-vector -24.5 35.0 -42.7942) (float-vector -27.7942 35.0 -39.5) (float-vector -29.0 35.0 -35.0) (float-vector -27.7942 35.0 -30.5) (float-vector -24.5 35.0 -27.2058) (float-vector -20.0 35.0 -26.0) (float-vector -15.5 35.0 -27.2058) (float-vector -12.2058 35.0 -30.5)))
         (instance face :init :vertices (list (float-vector -12.2058 34.9 -39.5) (float-vector -12.2058 35.0 -39.5) (float-vector -11.0 35.0 -35.0) (float-vector -11.0 34.9 -35.0)))
         (instance face :init :vertices (list (float-vector -15.5 34.9 -42.7942) (float-vector -15.5 35.0 -42.7942) (float-vector -12.2058 35.0 -39.5) (float-vector -12.2058 34.9 -39.5)))
         (instance face :init :vertices (list (float-vector -20.0 34.9 -44.0) (float-vector -20.0 35.0 -44.0) (float-vector -15.5 35.0 -42.7942) (float-vector -15.5 34.9 -42.7942)))
         (instance face :init :vertices (list (float-vector -24.5 34.9 -42.7942) (float-vector -24.5 35.0 -42.7942) (float-vector -20.0 35.0 -44.0) (float-vector -20.0 34.9 -44.0)))
         (instance face :init :vertices (list (float-vector -27.7942 34.9 -39.5) (float-vector -27.7942 35.0 -39.5) (float-vector -24.5 35.0 -42.7942) (float-vector -24.5 34.9 -42.7942)))
         (instance face :init :vertices (list (float-vector -29.0 34.9 -35.0) (float-vector -29.0 35.0 -35.0) (float-vector -27.7942 35.0 -39.5) (float-vector -27.7942 34.9 -39.5)))
         (instance face :init :vertices (list (float-vector -27.7942 34.9 -30.5) (float-vector -27.7942 35.0 -30.5) (float-vector -29.0 35.0 -35.0) (float-vector -29.0 34.9 -35.0)))
         (instance face :init :vertices (list (float-vector -24.5 34.9 -27.2058) (float-vector -24.5 35.0 -27.2058) (float-vector -27.7942 35.0 -30.5) (float-vector -27.7942 34.9 -30.5)))
         (instance face :init :vertices (list (float-vector -20.0 34.9 -26.0) (float-vector -20.0 35.0 -26.0) (float-vector -24.5 35.0 -27.2058) (float-vector -24.5 34.9 -27.2058)))
         (instance face :init :vertices (list (float-vector -15.5 34.9 -27.2058) (float-vector -15.5 35.0 -27.2058) (float-vector -20.0 35.0 -26.0) (float-vector -20.0 34.9 -26.0)))
         (instance face :init :vertices (list (float-vector -12.2058 34.9 -30.5) (float-vector -12.2058 35.0 -30.5) (float-vector -15.5 35.0 -27.2058) (float-vector -15.5 34.9 -27.2058)))
         (instance face :init :vertices (list (float-vector -11.0 34.9 -35.0) (float-vector -11.0 35.0 -35.0) (float-vector -12.2058 35.0 -30.5) (float-vector -12.2058 34.9 -30.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 27.7942 34.9 -39.5) (float-vector 29.0 34.9 -35.0) (float-vector 27.7942 34.9 -30.5) (float-vector 24.5 34.9 -27.2058) (float-vector 20.0 34.9 -26.0) (float-vector 15.5 34.9 -27.2058) (float-vector 12.2058 34.9 -30.5) (float-vector 11.0 34.9 -35.0) (float-vector 12.2058 34.9 -39.5) (float-vector 15.5 34.9 -42.7942) (float-vector 20.0 34.9 -44.0) (float-vector 24.5 34.9 -42.7942)))
         (instance face :init :vertices (list (float-vector 29.0 35.0 -35.0) (float-vector 27.7942 35.0 -39.5) (float-vector 24.5 35.0 -42.7942) (float-vector 20.0 35.0 -44.0) (float-vector 15.5 35.0 -42.7942) (float-vector 12.2058 35.0 -39.5) (float-vector 11.0 35.0 -35.0) (float-vector 12.2058 35.0 -30.5) (float-vector 15.5 35.0 -27.2058) (float-vector 20.0 35.0 -26.0) (float-vector 24.5 35.0 -27.2058) (float-vector 27.7942 35.0 -30.5)))
         (instance face :init :vertices (list (float-vector 27.7942 34.9 -39.5) (float-vector 27.7942 35.0 -39.5) (float-vector 29.0 35.0 -35.0) (float-vector 29.0 34.9 -35.0)))
         (instance face :init :vertices (list (float-vector 24.5 34.9 -42.7942) (float-vector 24.5 35.0 -42.7942) (float-vector 27.7942 35.0 -39.5) (float-vector 27.7942 34.9 -39.5)))
         (instance face :init :vertices (list (float-vector 20.0 34.9 -44.0) (float-vector 20.0 35.0 -44.0) (float-vector 24.5 35.0 -42.7942) (float-vector 24.5 34.9 -42.7942)))
         (instance face :init :vertices (list (float-vector 15.5 34.9 -42.7942) (float-vector 15.5 35.0 -42.7942) (float-vector 20.0 35.0 -44.0) (float-vector 20.0 34.9 -44.0)))
         (instance face :init :vertices (list (float-vector 12.2058 34.9 -39.5) (float-vector 12.2058 35.0 -39.5) (float-vector 15.5 35.0 -42.7942) (float-vector 15.5 34.9 -42.7942)))
         (instance face :init :vertices (list (float-vector 11.0 34.9 -35.0) (float-vector 11.0 35.0 -35.0) (float-vector 12.2058 35.0 -39.5) (float-vector 12.2058 34.9 -39.5)))
         (instance face :init :vertices (list (float-vector 12.2058 34.9 -30.5) (float-vector 12.2058 35.0 -30.5) (float-vector 11.0 35.0 -35.0) (float-vector 11.0 34.9 -35.0)))
         (instance face :init :vertices (list (float-vector 15.5 34.9 -27.2058) (float-vector 15.5 35.0 -27.2058) (float-vector 12.2058 35.0 -30.5) (float-vector 12.2058 34.9 -30.5)))
         (instance face :init :vertices (list (float-vector 20.0 34.9 -26.0) (float-vector 20.0 35.0 -26.0) (float-vector 15.5 35.0 -27.2058) (float-vector 15.5 34.9 -27.2058)))
         (instance face :init :vertices (list (float-vector 24.5 34.9 -27.2058) (float-vector 24.5 35.0 -27.2058) (float-vector 20.0 35.0 -26.0) (float-vector 20.0 34.9 -26.0)))
         (instance face :init :vertices (list (float-vector 27.7942 34.9 -30.5) (float-vector 27.7942 35.0 -30.5) (float-vector 24.5 35.0 -27.2058) (float-vector 24.5 34.9 -27.2058)))
         (instance face :init :vertices (list (float-vector 29.0 34.9 -35.0) (float-vector 29.0 35.0 -35.0) (float-vector 27.7942 35.0 -30.5) (float-vector 27.7942 34.9 -30.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -30.0 20.0 -50.0) (float-vector 30.0 20.0 -50.0) (float-vector 30.0 20.0 54.0) (float-vector -30.0 20.0 54.0)))
         (instance face :init :vertices (list (float-vector 30.0 35.0 -50.0) (float-vector -30.0 35.0 -50.0) (float-vector -30.0 35.0 54.0) (float-vector 30.0 35.0 54.0)))
         (instance face :init :vertices (list (float-vector -30.0 20.0 -50.0) (float-vector -30.0 35.0 -50.0) (float-vector 30.0 35.0 -50.0) (float-vector 30.0 20.0 -50.0)))
         (instance face :init :vertices (list (float-vector -30.0 20.0 54.0) (float-vector -30.0 35.0 54.0) (float-vector -30.0 35.0 -50.0) (float-vector -30.0 20.0 -50.0)))
         (instance face :init :vertices (list (float-vector 30.0 20.0 54.0) (float-vector 30.0 35.0 54.0) (float-vector -30.0 35.0 54.0) (float-vector -30.0 20.0 54.0)))
         (instance face :init :vertices (list (float-vector 30.0 20.0 -50.0) (float-vector 30.0 35.0 -50.0) (float-vector 30.0 35.0 54.0) (float-vector 30.0 20.0 54.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray40)
     (send (elt bc 3) :set-color :gray40)
     (send (elt bc 4) :set-color :gray40)
     (send (elt bc 5) :set-color :lightgoldenrod)
     (setq blink12 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-ankle-r :weight 5.19168 :centroid (float-vector 1.865175e-14 10.6519 -9.769963e-14) :inertia-tensor #2f((2429.72 -1.500535e-15 9.777742e-27) (-1.500535e-15 2231.39 1.123736e-12) (9.777742e-27 1.123736e-12 544.439))))

     ;; definition of :rarm-collar-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 28.5 -25.0) (float-vector 10.0 28.5 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 27.5 24.0) (float-vector 10.0 27.5 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 28.5 -25.0) (float-vector -10.0 28.5 25.0) (float-vector 10.0 28.5 25.0) (float-vector 10.0 28.5 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 27.5 -24.0) (float-vector -10.0 27.5 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 28.5 25.0) (float-vector -10.0 28.5 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 28.5 25.0) (float-vector -10.0 28.5 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 28.5 -25.0) (float-vector 10.0 28.5 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 27.5 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 27.5 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 27.5 -24.0) (float-vector 10.0 27.5 24.0) (float-vector -10.0 27.5 24.0) (float-vector -10.0 27.5 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 27.5 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 27.5 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 80.0 24.0) (float-vector -10.0 40.0 24.0) (float-vector 30.0 40.0 24.0) (float-vector 30.0 80.0 24.0)))
         (instance face :init :vertices (list (float-vector 30.0 40.0 24.0) (float-vector 30.0 40.0 4.0) (float-vector 30.0 80.0 4.0) (float-vector 30.0 80.0 24.0)))
         (instance face :init :vertices (list (float-vector 30.0 40.0 4.0) (float-vector -10.0 40.0 4.0) (float-vector -10.0 80.0 4.0) (float-vector 30.0 80.0 4.0)))
         (instance face :init :vertices (list (float-vector -10.0 80.0 4.0) (float-vector -10.0 80.0 24.0) (float-vector 30.0 80.0 24.0) (float-vector 30.0 80.0 4.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 80.0 21.7942) (float-vector -7.79423 80.0 18.5) (float-vector -9.0 80.0 14.0) (float-vector -7.79423 80.0 9.5) (float-vector -4.5 80.0 6.20577) (float-vector 9.769963e-15 80.0 5.0) (float-vector 4.5 80.0 6.20577) (float-vector 7.79423 80.0 9.5) (float-vector 9.0 80.0 14.0) (float-vector 7.79423 80.0 18.5) (float-vector 4.5 80.0 21.7942) (float-vector 0.0 80.0 23.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 40.0 4.0) (float-vector -10.0 40.0 24.0) (float-vector -10.0 80.0 24.0) (float-vector -10.0 80.0 4.0)))
         (instance face :init :vertices (list (float-vector -10.0 40.0 24.0) (float-vector -10.0 40.0 4.0) (float-vector 30.0 40.0 4.0) (float-vector 30.0 40.0 24.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 40.0 18.5) (float-vector -4.5 40.0 21.7942) (float-vector 0.0 40.0 23.0) (float-vector 4.5 40.0 21.7942) (float-vector 7.79423 40.0 18.5) (float-vector 9.0 40.0 14.0) (float-vector 7.79423 40.0 9.5) (float-vector 4.5 40.0 6.20577) (float-vector 9.769963e-15 40.0 5.0) (float-vector -4.5 40.0 6.20577) (float-vector -7.79423 40.0 9.5) (float-vector -9.0 40.0 14.0)))
))
         (instance face :init :vertices (list (float-vector 0.0 82.0 23.0) (float-vector 0.0 80.0 23.0) (float-vector 4.5 80.0 21.7942) (float-vector 4.5 82.0 21.7942)))
         (instance face :init :vertices (list (float-vector 0.0 40.0 23.0) (float-vector 0.0 38.0 23.0) (float-vector 4.5 38.0 21.7942) (float-vector 4.5 40.0 21.7942)))
         (instance face :init :vertices (list (float-vector 7.79423 80.0 18.5) (float-vector 7.79423 82.0 18.5) (float-vector 4.5 82.0 21.7942) (float-vector 4.5 80.0 21.7942)))
         (instance face :init :vertices (list (float-vector 4.5 38.0 21.7942) (float-vector 7.79423 38.0 18.5) (float-vector 7.79423 40.0 18.5) (float-vector 4.5 40.0 21.7942)))
         (instance face :init :vertices (list (float-vector 9.0 80.0 14.0) (float-vector 9.0 82.0 14.0) (float-vector 7.79423 82.0 18.5) (float-vector 7.79423 80.0 18.5)))
         (instance face :init :vertices (list (float-vector 7.79423 38.0 18.5) (float-vector 9.0 38.0 14.0) (float-vector 9.0 40.0 14.0) (float-vector 7.79423 40.0 18.5)))
         (instance face :init :vertices (list (float-vector 7.79423 80.0 9.5) (float-vector 7.79423 82.0 9.5) (float-vector 9.0 82.0 14.0) (float-vector 9.0 80.0 14.0)))
         (instance face :init :vertices (list (float-vector 9.0 38.0 14.0) (float-vector 7.79423 38.0 9.5) (float-vector 7.79423 40.0 9.5) (float-vector 9.0 40.0 14.0)))
         (instance face :init :vertices (list (float-vector 4.5 80.0 6.20577) (float-vector 4.5 82.0 6.20577) (float-vector 7.79423 82.0 9.5) (float-vector 7.79423 80.0 9.5)))
         (instance face :init :vertices (list (float-vector 7.79423 38.0 9.5) (float-vector 4.5 38.0 6.20577) (float-vector 4.5 40.0 6.20577) (float-vector 7.79423 40.0 9.5)))
         (instance face :init :vertices (list (float-vector 9.769963e-15 80.0 5.0) (float-vector 9.769963e-15 82.0 5.0) (float-vector 4.5 82.0 6.20577) (float-vector 4.5 80.0 6.20577)))
         (instance face :init :vertices (list (float-vector 4.5 38.0 6.20577) (float-vector 9.769963e-15 38.0 5.0) (float-vector 9.769963e-15 40.0 5.0) (float-vector 4.5 40.0 6.20577)))
         (instance face :init :vertices (list (float-vector -4.5 80.0 6.20577) (float-vector -4.5 82.0 6.20577) (float-vector 9.769963e-15 82.0 5.0) (float-vector 9.769963e-15 80.0 5.0)))
         (instance face :init :vertices (list (float-vector 9.769963e-15 38.0 5.0) (float-vector -4.5 38.0 6.20577) (float-vector -4.5 40.0 6.20577) (float-vector 9.769963e-15 40.0 5.0)))
         (instance face :init :vertices (list (float-vector -7.79423 80.0 9.5) (float-vector -7.79423 82.0 9.5) (float-vector -4.5 82.0 6.20577) (float-vector -4.5 80.0 6.20577)))
         (instance face :init :vertices (list (float-vector -4.5 38.0 6.20577) (float-vector -7.79423 38.0 9.5) (float-vector -7.79423 40.0 9.5) (float-vector -4.5 40.0 6.20577)))
         (instance face :init :vertices (list (float-vector -9.0 80.0 14.0) (float-vector -9.0 82.0 14.0) (float-vector -7.79423 82.0 9.5) (float-vector -7.79423 80.0 9.5)))
         (instance face :init :vertices (list (float-vector -7.79423 38.0 9.5) (float-vector -9.0 38.0 14.0) (float-vector -9.0 40.0 14.0) (float-vector -7.79423 40.0 9.5)))
         (instance face :init :vertices (list (float-vector -7.79423 80.0 18.5) (float-vector -7.79423 82.0 18.5) (float-vector -9.0 82.0 14.0) (float-vector -9.0 80.0 14.0)))
         (instance face :init :vertices (list (float-vector -9.0 38.0 14.0) (float-vector -7.79423 38.0 18.5) (float-vector -7.79423 40.0 18.5) (float-vector -9.0 40.0 14.0)))
         (instance face :init :vertices (list (float-vector -4.5 80.0 21.7942) (float-vector -4.5 82.0 21.7942) (float-vector -7.79423 82.0 18.5) (float-vector -7.79423 80.0 18.5)))
         (instance face :init :vertices (list (float-vector -7.79423 38.0 18.5) (float-vector -4.5 38.0 21.7942) (float-vector -4.5 40.0 21.7942) (float-vector -7.79423 40.0 18.5)))
         (instance face :init :vertices (list (float-vector -4.5 82.0 21.7942) (float-vector 0.0 82.0 23.0) (float-vector 4.5 82.0 21.7942) (float-vector 7.79423 82.0 18.5) (float-vector 9.0 82.0 14.0) (float-vector 7.79423 82.0 9.5) (float-vector 4.5 82.0 6.20577) (float-vector 9.769963e-15 82.0 5.0) (float-vector -4.5 82.0 6.20577) (float-vector -7.79423 82.0 9.5) (float-vector -9.0 82.0 14.0) (float-vector -7.79423 82.0 18.5)))
         (instance face :init :vertices (list (float-vector 0.0 82.0 23.0) (float-vector -4.5 82.0 21.7942) (float-vector -4.5 80.0 21.7942) (float-vector 0.0 80.0 23.0)))
         (instance face :init :vertices (list (float-vector -4.5 38.0 21.7942) (float-vector 0.0 38.0 23.0) (float-vector 0.0 40.0 23.0) (float-vector -4.5 40.0 21.7942)))
         (instance face :init :vertices (list (float-vector 0.0 38.0 23.0) (float-vector -4.5 38.0 21.7942) (float-vector -7.79423 38.0 18.5) (float-vector -9.0 38.0 14.0) (float-vector -7.79423 38.0 9.5) (float-vector -4.5 38.0 6.20577) (float-vector 9.769963e-15 38.0 5.0) (float-vector 4.5 38.0 6.20577) (float-vector 7.79423 38.0 9.5) (float-vector 9.0 38.0 14.0) (float-vector 7.79423 38.0 18.5) (float-vector 4.5 38.0 21.7942)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink13 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-collar-y :weight 59.4337 :centroid (float-vector 8.65462 55.4124 12.4845) :inertia-tensor #2f((24079.9 -2359.73 -779.534) (-2359.73 13516.6 -3403.97) (-779.534 -3403.97 26206.3))))

     ;; definition of :rarm-shoulder-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 -5.684342e-14 25.0) (float-vector 10.0 -5.684342e-14 24.0) (float-vector 10.0 24.0 24.0) (float-vector 10.0 24.0 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -25.0) (float-vector -10.0 25.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 24.0 -24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 -5.684342e-14 24.0) (float-vector -10.0 -5.684342e-14 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 -5.684342e-14 25.0) (float-vector -10.0 -5.684342e-14 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 -5.684342e-14 25.0) (float-vector 10.0 25.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 -5.684342e-14 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 25.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 -5.684342e-14 24.0) (float-vector 10.0 -5.684342e-14 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 24.0) (float-vector 10.0 -5.684342e-14 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 -5.684342e-14 24.0) (float-vector -10.0 24.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 -24.0) (float-vector 10.0 24.0 24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 24.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 24.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 24.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 77.0 20.0) (float-vector -10.0 77.0 -20.0) (float-vector -10.0 37.0 -20.0) (float-vector -10.0 37.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 37.0 -20.0) (float-vector 10.0 37.0 -20.0) (float-vector 10.0 37.0 20.0) (float-vector -10.0 37.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 37.0 -20.0) (float-vector 10.0 77.0 -20.0) (float-vector 10.0 77.0 20.0) (float-vector 10.0 37.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 77.0 20.0) (float-vector -10.0 77.0 20.0) (float-vector -10.0 37.0 20.0) (float-vector 10.0 37.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 71.5 20.0) (float-vector -4.5 74.7942 20.0) (float-vector 1.620122e-14 76.0 20.0) (float-vector 4.5 74.7942 20.0) (float-vector 7.79423 71.5 20.0) (float-vector 9.0 67.0 20.0) (float-vector 7.79423 62.5 20.0) (float-vector 4.5 59.2058 20.0) (float-vector -6.431253e-15 58.0 20.0) (float-vector -4.5 59.2058 20.0) (float-vector -7.79423 62.5 20.0) (float-vector -9.0 67.0 20.0)))
))
         (instance face :init :vertices (list (float-vector 10.0 77.0 -20.0) (float-vector -10.0 77.0 -20.0) (float-vector -10.0 77.0 20.0) (float-vector 10.0 77.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 77.0 -20.0) (float-vector 10.0 77.0 -20.0) (float-vector 10.0 37.0 -20.0) (float-vector -10.0 37.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 74.7942 -20.0) (float-vector -7.79423 71.5 -20.0) (float-vector -9.0 67.0 -20.0) (float-vector -7.79423 62.5 -20.0) (float-vector -4.5 59.2058 -20.0) (float-vector -6.431253e-15 58.0 -20.0) (float-vector 4.5 59.2058 -20.0) (float-vector 7.79423 62.5 -20.0) (float-vector 9.0 67.0 -20.0) (float-vector 7.79423 71.5 -20.0) (float-vector 4.5 74.7942 -20.0) (float-vector 1.620122e-14 76.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector -9.0 67.0 22.0) (float-vector -9.0 67.0 20.0) (float-vector -7.79423 62.5 20.0) (float-vector -7.79423 62.5 22.0)))
         (instance face :init :vertices (list (float-vector -9.0 67.0 -20.0) (float-vector -9.0 67.0 -22.0) (float-vector -7.79423 62.5 -22.0) (float-vector -7.79423 62.5 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 59.2058 20.0) (float-vector -4.5 59.2058 22.0) (float-vector -7.79423 62.5 22.0) (float-vector -7.79423 62.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 62.5 -22.0) (float-vector -4.5 59.2058 -22.0) (float-vector -4.5 59.2058 -20.0) (float-vector -7.79423 62.5 -20.0)))
         (instance face :init :vertices (list (float-vector -6.431253e-15 58.0 20.0) (float-vector -6.431253e-15 58.0 22.0) (float-vector -4.5 59.2058 22.0) (float-vector -4.5 59.2058 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 59.2058 -22.0) (float-vector -6.431253e-15 58.0 -22.0) (float-vector -6.431253e-15 58.0 -20.0) (float-vector -4.5 59.2058 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 59.2058 20.0) (float-vector 4.5 59.2058 22.0) (float-vector -6.431253e-15 58.0 22.0) (float-vector -6.431253e-15 58.0 20.0)))
         (instance face :init :vertices (list (float-vector -6.431253e-15 58.0 -22.0) (float-vector 4.5 59.2058 -22.0) (float-vector 4.5 59.2058 -20.0) (float-vector -6.431253e-15 58.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 62.5 20.0) (float-vector 7.79423 62.5 22.0) (float-vector 4.5 59.2058 22.0) (float-vector 4.5 59.2058 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 59.2058 -22.0) (float-vector 7.79423 62.5 -22.0) (float-vector 7.79423 62.5 -20.0) (float-vector 4.5 59.2058 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 67.0 20.0) (float-vector 9.0 67.0 22.0) (float-vector 7.79423 62.5 22.0) (float-vector 7.79423 62.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 62.5 -22.0) (float-vector 9.0 67.0 -22.0) (float-vector 9.0 67.0 -20.0) (float-vector 7.79423 62.5 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 71.5 20.0) (float-vector 7.79423 71.5 22.0) (float-vector 9.0 67.0 22.0) (float-vector 9.0 67.0 20.0)))
         (instance face :init :vertices (list (float-vector 9.0 67.0 -22.0) (float-vector 7.79423 71.5 -22.0) (float-vector 7.79423 71.5 -20.0) (float-vector 9.0 67.0 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 74.7942 20.0) (float-vector 4.5 74.7942 22.0) (float-vector 7.79423 71.5 22.0) (float-vector 7.79423 71.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 71.5 -22.0) (float-vector 4.5 74.7942 -22.0) (float-vector 4.5 74.7942 -20.0) (float-vector 7.79423 71.5 -20.0)))
         (instance face :init :vertices (list (float-vector 1.620122e-14 76.0 20.0) (float-vector 1.620122e-14 76.0 22.0) (float-vector 4.5 74.7942 22.0) (float-vector 4.5 74.7942 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 74.7942 -22.0) (float-vector 1.620122e-14 76.0 -22.0) (float-vector 1.620122e-14 76.0 -20.0) (float-vector 4.5 74.7942 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 74.7942 20.0) (float-vector -4.5 74.7942 22.0) (float-vector 1.620122e-14 76.0 22.0) (float-vector 1.620122e-14 76.0 20.0)))
         (instance face :init :vertices (list (float-vector 1.620122e-14 76.0 -22.0) (float-vector -4.5 74.7942 -22.0) (float-vector -4.5 74.7942 -20.0) (float-vector 1.620122e-14 76.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 71.5 20.0) (float-vector -7.79423 71.5 22.0) (float-vector -4.5 74.7942 22.0) (float-vector -4.5 74.7942 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 74.7942 -22.0) (float-vector -7.79423 71.5 -22.0) (float-vector -7.79423 71.5 -20.0) (float-vector -4.5 74.7942 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 71.5 22.0) (float-vector -9.0 67.0 22.0) (float-vector -7.79423 62.5 22.0) (float-vector -4.5 59.2058 22.0) (float-vector -6.431253e-15 58.0 22.0) (float-vector 4.5 59.2058 22.0) (float-vector 7.79423 62.5 22.0) (float-vector 9.0 67.0 22.0) (float-vector 7.79423 71.5 22.0) (float-vector 4.5 74.7942 22.0) (float-vector 1.620122e-14 76.0 22.0) (float-vector -4.5 74.7942 22.0)))
         (instance face :init :vertices (list (float-vector -9.0 67.0 22.0) (float-vector -7.79423 71.5 22.0) (float-vector -7.79423 71.5 20.0) (float-vector -9.0 67.0 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 71.5 -22.0) (float-vector -9.0 67.0 -22.0) (float-vector -9.0 67.0 -20.0) (float-vector -7.79423 71.5 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 67.0 -22.0) (float-vector -7.79423 71.5 -22.0) (float-vector -4.5 74.7942 -22.0) (float-vector 1.620122e-14 76.0 -22.0) (float-vector 4.5 74.7942 -22.0) (float-vector 7.79423 71.5 -22.0) (float-vector 9.0 67.0 -22.0) (float-vector 7.79423 62.5 -22.0) (float-vector 4.5 59.2058 -22.0) (float-vector -6.431253e-15 58.0 -22.0) (float-vector -4.5 59.2058 -22.0) (float-vector -7.79423 62.5 -22.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink14 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-shoulder-p :weight 59.0557 :centroid (float-vector 2.339935e-15 53.0145 5.684342e-14) :inertia-tensor #2f((26956.4 -1.887094e-12 -8.521148e-13) (-1.887094e-12 11612.2 -2.567383e-13) (-8.521148e-13 -2.567383e-13 19281.2))))

     ;; definition of :rarm-elbow-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 24.0 24.0) (float-vector 10.0 24.0 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -25.0) (float-vector -10.0 25.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 24.0 -24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 -5.684342e-14 24.0) (float-vector -10.0 -5.684342e-14 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 -5.684342e-14 25.0) (float-vector -10.0 -5.684342e-14 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 -5.684342e-14 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 25.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 -5.684342e-14 24.0) (float-vector -10.0 24.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 -24.0) (float-vector 10.0 24.0 24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 24.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 24.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 24.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -14.85 48.5 7.0) (float-vector 14.85 48.5 7.0) (float-vector 14.85 48.5 -21.0) (float-vector -14.85 48.5 -21.0)))
         (instance face :init :vertices (list (float-vector 14.85 48.5 -21.0) (float-vector 14.85 35.5 -21.0) (float-vector -14.85 35.5 -21.0) (float-vector -14.85 48.5 -21.0)))
         (instance face :init :vertices (list (float-vector 14.85 35.5 -21.0) (float-vector 14.85 35.5 7.0) (float-vector -14.85 35.5 7.0) (float-vector -14.85 35.5 -21.0)))
         (instance face :init :vertices (list (float-vector -14.85 35.5 7.0) (float-vector -14.85 48.5 7.0) (float-vector -14.85 48.5 -21.0) (float-vector -14.85 35.5 -21.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -14.85 46.7631 2.75) (float-vector -14.85 44.75 4.76314) (float-vector -14.85 42.0 5.5) (float-vector -14.85 39.25 4.76314) (float-vector -14.85 37.2369 2.75) (float-vector -14.85 36.5 -2.842171e-14) (float-vector -14.85 37.2369 -2.75) (float-vector -14.85 39.25 -4.76314) (float-vector -14.85 42.0 -5.5) (float-vector -14.85 44.75 -4.76314) (float-vector -14.85 46.7631 -2.75) (float-vector -14.85 47.5 0.0)))
))
         (instance face :init :vertices (list (float-vector 14.85 35.5 7.0) (float-vector 14.85 48.5 7.0) (float-vector -14.85 48.5 7.0) (float-vector -14.85 35.5 7.0)))
         (instance face :init :vertices (list (float-vector 14.85 48.5 7.0) (float-vector 14.85 35.5 7.0) (float-vector 14.85 35.5 -21.0) (float-vector 14.85 48.5 -21.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 14.85 44.75 4.76314) (float-vector 14.85 46.7631 2.75) (float-vector 14.85 47.5 0.0) (float-vector 14.85 46.7631 -2.75) (float-vector 14.85 44.75 -4.76314) (float-vector 14.85 42.0 -5.5) (float-vector 14.85 39.25 -4.76314) (float-vector 14.85 37.2369 -2.75) (float-vector 14.85 36.5 -1.421085e-14) (float-vector 14.85 37.2369 2.75) (float-vector 14.85 39.25 4.76314) (float-vector 14.85 42.0 5.5)))
))
         (instance face :init :vertices (list (float-vector -16.85 47.5 0.0) (float-vector -14.85 47.5 0.0) (float-vector -14.85 46.7631 -2.75) (float-vector -16.85 46.7631 -2.75)))
         (instance face :init :vertices (list (float-vector 14.85 47.5 0.0) (float-vector 16.85 47.5 0.0) (float-vector 16.85 46.7631 -2.75) (float-vector 14.85 46.7631 -2.75)))
         (instance face :init :vertices (list (float-vector -14.85 44.75 -4.76314) (float-vector -16.85 44.75 -4.76314) (float-vector -16.85 46.7631 -2.75) (float-vector -14.85 46.7631 -2.75)))
         (instance face :init :vertices (list (float-vector 16.85 46.7631 -2.75) (float-vector 16.85 44.75 -4.76314) (float-vector 14.85 44.75 -4.76314) (float-vector 14.85 46.7631 -2.75)))
         (instance face :init :vertices (list (float-vector -14.85 42.0 -5.5) (float-vector -16.85 42.0 -5.5) (float-vector -16.85 44.75 -4.76314) (float-vector -14.85 44.75 -4.76314)))
         (instance face :init :vertices (list (float-vector 16.85 44.75 -4.76314) (float-vector 16.85 42.0 -5.5) (float-vector 14.85 42.0 -5.5) (float-vector 14.85 44.75 -4.76314)))
         (instance face :init :vertices (list (float-vector -14.85 39.25 -4.76314) (float-vector -16.85 39.25 -4.76314) (float-vector -16.85 42.0 -5.5) (float-vector -14.85 42.0 -5.5)))
         (instance face :init :vertices (list (float-vector 16.85 42.0 -5.5) (float-vector 16.85 39.25 -4.76314) (float-vector 14.85 39.25 -4.76314) (float-vector 14.85 42.0 -5.5)))
         (instance face :init :vertices (list (float-vector -14.85 37.2369 -2.75) (float-vector -16.85 37.2369 -2.75) (float-vector -16.85 39.25 -4.76314) (float-vector -14.85 39.25 -4.76314)))
         (instance face :init :vertices (list (float-vector 16.85 39.25 -4.76314) (float-vector 16.85 37.2369 -2.75) (float-vector 14.85 37.2369 -2.75) (float-vector 14.85 39.25 -4.76314)))
         (instance face :init :vertices (list (float-vector -14.85 36.5 -2.842171e-14) (float-vector -16.85 36.5 -2.842171e-14) (float-vector -16.85 37.2369 -2.75) (float-vector -14.85 37.2369 -2.75)))
         (instance face :init :vertices (list (float-vector 16.85 37.2369 -2.75) (float-vector 16.85 36.5 -1.421085e-14) (float-vector 14.85 36.5 -1.421085e-14) (float-vector 14.85 37.2369 -2.75)))
         (instance face :init :vertices (list (float-vector -14.85 37.2369 2.75) (float-vector -16.85 37.2369 2.75) (float-vector -16.85 36.5 -2.842171e-14) (float-vector -14.85 36.5 -2.842171e-14)))
         (instance face :init :vertices (list (float-vector 16.85 36.5 -1.421085e-14) (float-vector 16.85 37.2369 2.75) (float-vector 14.85 37.2369 2.75) (float-vector 14.85 36.5 -1.421085e-14)))
         (instance face :init :vertices (list (float-vector -14.85 39.25 4.76314) (float-vector -16.85 39.25 4.76314) (float-vector -16.85 37.2369 2.75) (float-vector -14.85 37.2369 2.75)))
         (instance face :init :vertices (list (float-vector 16.85 37.2369 2.75) (float-vector 16.85 39.25 4.76314) (float-vector 14.85 39.25 4.76314) (float-vector 14.85 37.2369 2.75)))
         (instance face :init :vertices (list (float-vector -14.85 42.0 5.5) (float-vector -16.85 42.0 5.5) (float-vector -16.85 39.25 4.76314) (float-vector -14.85 39.25 4.76314)))
         (instance face :init :vertices (list (float-vector 16.85 39.25 4.76314) (float-vector 16.85 42.0 5.5) (float-vector 14.85 42.0 5.5) (float-vector 14.85 39.25 4.76314)))
         (instance face :init :vertices (list (float-vector -14.85 44.75 4.76314) (float-vector -16.85 44.75 4.76314) (float-vector -16.85 42.0 5.5) (float-vector -14.85 42.0 5.5)))
         (instance face :init :vertices (list (float-vector 16.85 42.0 5.5) (float-vector 16.85 44.75 4.76314) (float-vector 14.85 44.75 4.76314) (float-vector 14.85 42.0 5.5)))
         (instance face :init :vertices (list (float-vector -14.85 46.7631 2.75) (float-vector -16.85 46.7631 2.75) (float-vector -16.85 44.75 4.76314) (float-vector -14.85 44.75 4.76314)))
         (instance face :init :vertices (list (float-vector 16.85 44.75 4.76314) (float-vector 16.85 46.7631 2.75) (float-vector 14.85 46.7631 2.75) (float-vector 14.85 44.75 4.76314)))
         (instance face :init :vertices (list (float-vector -16.85 46.7631 2.75) (float-vector -16.85 47.5 0.0) (float-vector -16.85 46.7631 -2.75) (float-vector -16.85 44.75 -4.76314) (float-vector -16.85 42.0 -5.5) (float-vector -16.85 39.25 -4.76314) (float-vector -16.85 37.2369 -2.75) (float-vector -16.85 36.5 -2.842171e-14) (float-vector -16.85 37.2369 2.75) (float-vector -16.85 39.25 4.76314) (float-vector -16.85 42.0 5.5) (float-vector -16.85 44.75 4.76314)))
         (instance face :init :vertices (list (float-vector -16.85 47.5 0.0) (float-vector -16.85 46.7631 2.75) (float-vector -14.85 46.7631 2.75) (float-vector -14.85 47.5 0.0)))
         (instance face :init :vertices (list (float-vector 16.85 46.7631 2.75) (float-vector 16.85 47.5 0.0) (float-vector 14.85 47.5 0.0) (float-vector 14.85 46.7631 2.75)))
         (instance face :init :vertices (list (float-vector 16.85 47.5 0.0) (float-vector 16.85 46.7631 2.75) (float-vector 16.85 44.75 4.76314) (float-vector 16.85 42.0 5.5) (float-vector 16.85 39.25 4.76314) (float-vector 16.85 37.2369 2.75) (float-vector 16.85 36.5 -1.421085e-14) (float-vector 16.85 37.2369 -2.75) (float-vector 16.85 39.25 -4.76314) (float-vector 16.85 42.0 -5.5) (float-vector 16.85 44.75 -4.76314) (float-vector 16.85 46.7631 -2.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -16.0 32.0 -2.842171e-14) (float-vector -16.0 32.0 45.0) (float-vector -16.0 97.0 45.0) (float-vector -16.0 97.0 25.0) (float-vector -16.0 49.0 25.0) (float-vector -16.0 49.0 -1.421085e-14)))
         (instance face :init :vertices (list (float-vector 17.0 32.0 45.0) (float-vector 17.0 32.0 -1.421085e-14) (float-vector 17.0 49.0 0.0) (float-vector 17.0 49.0 25.0) (float-vector 17.0 97.0 25.0) (float-vector 17.0 97.0 45.0)))
         (instance face :init :vertices (list (float-vector -16.0 32.0 -2.842171e-14) (float-vector 17.0 32.0 -1.421085e-14) (float-vector 17.0 32.0 45.0) (float-vector -16.0 32.0 45.0)))
         (instance face :init :vertices (list (float-vector -16.0 49.0 -1.421085e-14) (float-vector 17.0 49.0 0.0) (float-vector 17.0 32.0 -1.421085e-14) (float-vector -16.0 32.0 -2.842171e-14)))
         (instance face :init :vertices (list (float-vector -16.0 49.0 25.0) (float-vector 17.0 49.0 25.0) (float-vector 17.0 49.0 0.0) (float-vector -16.0 49.0 -1.421085e-14)))
         (instance face :init :vertices (list (float-vector -16.0 97.0 25.0) (float-vector 17.0 97.0 25.0) (float-vector 17.0 49.0 25.0) (float-vector -16.0 49.0 25.0)))
         (instance face :init :vertices (list (float-vector -16.0 97.0 45.0) (float-vector 17.0 97.0 45.0) (float-vector 17.0 97.0 25.0) (float-vector -16.0 97.0 25.0)))
         (instance face :init :vertices (list (float-vector -16.0 32.0 45.0) (float-vector 17.0 32.0 45.0) (float-vector 17.0 97.0 45.0) (float-vector -16.0 97.0 45.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :yellow)
     (setq blink15 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-elbow-p :weight 27.0557 :centroid (float-vector 7.395128e-15 36.0805 -5.25673) :inertia-tensor #2f((8524.59 -3.761156e-13 9.622176e-14) (-3.761156e-13 5910.13 841.903) (9.622176e-14 841.903 6105.49))))

     ;; definition of :rarm-gripper
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -15.0) (float-vector 10.0 42.0 -15.0) (float-vector 10.0 42.0 15.0) (float-vector 10.0 0.0 15.0) (float-vector 10.0 0.0 14.0) (float-vector 10.0 41.0 14.0) (float-vector 10.0 41.0 -14.0) (float-vector 10.0 0.0 -14.0)))
         (instance face :init :vertices (list (float-vector -10.0 42.0 -15.0) (float-vector -10.0 42.0 15.0) (float-vector 10.0 42.0 15.0) (float-vector 10.0 42.0 -15.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -15.0) (float-vector -10.0 0.0 -14.0) (float-vector -10.0 41.0 -14.0) (float-vector -10.0 41.0 14.0) (float-vector -10.0 0.0 14.0) (float-vector -10.0 0.0 15.0) (float-vector -10.0 42.0 15.0) (float-vector -10.0 42.0 -15.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 15.0) (float-vector -10.0 0.0 15.0) (float-vector -10.0 0.0 14.0) (float-vector -7.07107 -7.07107 14.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -15.0) (float-vector -7.07107 -7.07107 -14.0) (float-vector -10.0 0.0 -14.0) (float-vector -10.0 0.0 -15.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -10.0 15.0) (float-vector -7.07107 -7.07107 15.0) (float-vector -7.07107 -7.07107 14.0) (float-vector -2.842171e-14 -10.0 14.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -15.0) (float-vector 0.0 -10.0 -14.0) (float-vector -7.07107 -7.07107 -14.0) (float-vector -7.07107 -7.07107 -15.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 15.0) (float-vector -2.842171e-14 -10.0 15.0) (float-vector -2.842171e-14 -10.0 14.0) (float-vector 7.07107 -7.07107 14.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -15.0) (float-vector 7.07107 -7.07107 -14.0) (float-vector 0.0 -10.0 -14.0) (float-vector 0.0 -10.0 -15.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 15.0) (float-vector 10.0 42.0 15.0) (float-vector -10.0 42.0 15.0) (float-vector -10.0 0.0 15.0) (float-vector -7.07107 -7.07107 15.0) (float-vector -2.842171e-14 -10.0 15.0) (float-vector 7.07107 -7.07107 15.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -15.0) (float-vector 0.0 -10.0 -15.0) (float-vector -7.07107 -7.07107 -15.0) (float-vector -10.0 0.0 -15.0) (float-vector -10.0 42.0 -15.0) (float-vector 10.0 42.0 -15.0) (float-vector 10.0 0.0 -15.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 15.0) (float-vector 7.07107 -7.07107 14.0) (float-vector 10.0 0.0 14.0) (float-vector 10.0 0.0 15.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -15.0) (float-vector 10.0 0.0 -14.0) (float-vector 7.07107 -7.07107 -14.0) (float-vector 7.07107 -7.07107 -15.0)))
         (instance face :init :vertices (list (float-vector 10.0 41.0 14.0) (float-vector 10.0 0.0 14.0) (float-vector 7.07107 -7.07107 14.0) (float-vector -2.842171e-14 -10.0 14.0) (float-vector -7.07107 -7.07107 14.0) (float-vector -10.0 0.0 14.0) (float-vector -10.0 41.0 14.0)))
         (instance face :init :vertices (list (float-vector 10.0 41.0 -14.0) (float-vector 10.0 41.0 14.0) (float-vector -10.0 41.0 14.0) (float-vector -10.0 41.0 -14.0)))
         (instance face :init :vertices (list (float-vector -10.0 41.0 -14.0) (float-vector -10.0 0.0 -14.0) (float-vector -7.07107 -7.07107 -14.0) (float-vector 0.0 -10.0 -14.0) (float-vector 7.07107 -7.07107 -14.0) (float-vector 10.0 0.0 -14.0) (float-vector 10.0 41.0 -14.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 2.842171e-14 45.0 16.0) (float-vector 2.842171e-14 35.0 16.0) (float-vector 25.0 35.0 16.0) (float-vector 45.0 4.0 16.0) (float-vector 55.0 10.0 16.0) (float-vector 35.0 45.0 16.0)))
         (instance face :init :vertices (list (float-vector 0.0 35.0 -17.0) (float-vector 0.0 45.0 -17.0) (float-vector 35.0 45.0 -17.0) (float-vector 55.0 10.0 -17.0) (float-vector 45.0 4.0 -17.0) (float-vector 25.0 35.0 -17.0)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 45.0 16.0) (float-vector 0.0 45.0 -17.0) (float-vector 0.0 35.0 -17.0) (float-vector 2.842171e-14 35.0 16.0)))
         (instance face :init :vertices (list (float-vector 35.0 45.0 16.0) (float-vector 35.0 45.0 -17.0) (float-vector 0.0 45.0 -17.0) (float-vector 2.842171e-14 45.0 16.0)))
         (instance face :init :vertices (list (float-vector 55.0 10.0 16.0) (float-vector 55.0 10.0 -17.0) (float-vector 35.0 45.0 -17.0) (float-vector 35.0 45.0 16.0)))
         (instance face :init :vertices (list (float-vector 45.0 4.0 16.0) (float-vector 45.0 4.0 -17.0) (float-vector 55.0 10.0 -17.0) (float-vector 55.0 10.0 16.0)))
         (instance face :init :vertices (list (float-vector 25.0 35.0 16.0) (float-vector 25.0 35.0 -17.0) (float-vector 45.0 4.0 -17.0) (float-vector 45.0 4.0 16.0)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 35.0 16.0) (float-vector 0.0 35.0 -17.0) (float-vector 25.0 35.0 -17.0) (float-vector 25.0 35.0 16.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :yellow)
     (setq blink16 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-gripper :weight 6.81168 :centroid (float-vector 1.350031e-12 22.7449 3.294360e-14) :inertia-tensor #2f((3189.5 -1.311124e-14 -1.176642e-25) (-1.311124e-14 1440.54 -8.526513e-14) (-1.176642e-25 -8.526513e-14 2203.08))))

     ;; definition of :lleg-crotch-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -10.0 20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 30.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector -10.0 30.0 20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0) (float-vector 10.0 30.0 20.0) (float-vector -10.0 30.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 4.5 -7.79423 20.0) (float-vector -1.509903e-14 -9.0 20.0) (float-vector -4.5 -7.79423 20.0) (float-vector -7.79423 -4.5 20.0) (float-vector -9.0 0.0 20.0) (float-vector -7.79423 4.5 20.0) (float-vector -4.5 7.79423 20.0) (float-vector 5.329071e-15 9.0 20.0) (float-vector 4.5 7.79423 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 9.0 0.0 20.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 -10.0 20.0) (float-vector -10.0 -10.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 -10.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector 10.0 30.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.5 -7.79423 -20.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 5.329071e-15 9.0 -20.0) (float-vector -4.5 7.79423 -20.0) (float-vector -7.79423 4.5 -20.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -1.509903e-14 -9.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector 9.0 0.0 22.0) (float-vector 9.0 0.0 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 7.79423 4.5 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -20.0) (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 4.5 -22.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 20.0) (float-vector 4.5 7.79423 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 4.5 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 4.5 7.79423 -20.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 5.329071e-15 9.0 20.0) (float-vector 5.329071e-15 9.0 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 -22.0) (float-vector 5.329071e-15 9.0 -22.0) (float-vector 5.329071e-15 9.0 -20.0) (float-vector 4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 20.0) (float-vector -4.5 7.79423 22.0) (float-vector 5.329071e-15 9.0 22.0) (float-vector 5.329071e-15 9.0 20.0)))
         (instance face :init :vertices (list (float-vector 5.329071e-15 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 5.329071e-15 9.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 20.0) (float-vector -7.79423 4.5 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -7.79423 4.5 -20.0) (float-vector -4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 0.0 20.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 -22.0) (float-vector -9.0 2.842171e-14 -22.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 20.0) (float-vector -7.79423 -4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -9.0 0.0 20.0)))
         (instance face :init :vertices (list (float-vector -9.0 2.842171e-14 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -9.0 0.0 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 20.0) (float-vector -4.5 -7.79423 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -7.79423 -4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -1.509903e-14 -9.0 20.0) (float-vector -1.509903e-14 -9.0 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 -22.0) (float-vector -1.509903e-14 -9.0 -22.0) (float-vector -1.509903e-14 -9.0 -20.0) (float-vector -4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 20.0) (float-vector 4.5 -7.79423 22.0) (float-vector -1.509903e-14 -9.0 22.0) (float-vector -1.509903e-14 -9.0 20.0)))
         (instance face :init :vertices (list (float-vector -1.509903e-14 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector -1.509903e-14 -9.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 7.79423 -4.5 22.0) (float-vector 4.5 -7.79423 22.0) (float-vector 4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 22.0) (float-vector 9.0 0.0 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 5.329071e-15 9.0 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -1.509903e-14 -9.0 22.0) (float-vector 4.5 -7.79423 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 22.0) (float-vector 7.79423 -4.5 22.0) (float-vector 7.79423 -4.5 20.0) (float-vector 9.0 0.0 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 -22.0) (float-vector 9.0 0.0 -22.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector -1.509903e-14 -9.0 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -9.0 2.842171e-14 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector 5.329071e-15 9.0 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 7.79423 4.5 -22.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 80.0 20.0) (float-vector -10.0 80.0 -20.0) (float-vector -10.0 40.0 -20.0) (float-vector -10.0 40.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 40.0 -20.0) (float-vector 10.0 40.0 -20.0) (float-vector 10.0 40.0 20.0) (float-vector -10.0 40.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 40.0 -20.0) (float-vector 10.0 80.0 -20.0) (float-vector 10.0 80.0 20.0) (float-vector 10.0 40.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 80.0 20.0) (float-vector -10.0 80.0 20.0) (float-vector -10.0 40.0 20.0) (float-vector 10.0 40.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 74.5 20.0) (float-vector -4.5 77.7942 20.0) (float-vector 1.620122e-14 79.0 20.0) (float-vector 4.5 77.7942 20.0) (float-vector 7.79423 74.5 20.0) (float-vector 9.0 70.0 20.0) (float-vector 7.79423 65.5 20.0) (float-vector 4.5 62.2058 20.0) (float-vector -6.431253e-15 61.0 20.0) (float-vector -4.5 62.2058 20.0) (float-vector -7.79423 65.5 20.0) (float-vector -9.0 70.0 20.0)))
))
         (instance face :init :vertices (list (float-vector 10.0 80.0 -20.0) (float-vector -10.0 80.0 -20.0) (float-vector -10.0 80.0 20.0) (float-vector 10.0 80.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 80.0 -20.0) (float-vector 10.0 80.0 -20.0) (float-vector 10.0 40.0 -20.0) (float-vector -10.0 40.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 77.7942 -20.0) (float-vector -7.79423 74.5 -20.0) (float-vector -9.0 70.0 -20.0) (float-vector -7.79423 65.5 -20.0) (float-vector -4.5 62.2058 -20.0) (float-vector -6.431253e-15 61.0 -20.0) (float-vector 4.5 62.2058 -20.0) (float-vector 7.79423 65.5 -20.0) (float-vector 9.0 70.0 -20.0) (float-vector 7.79423 74.5 -20.0) (float-vector 4.5 77.7942 -20.0) (float-vector 1.620122e-14 79.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector -9.0 70.0 22.0) (float-vector -9.0 70.0 20.0) (float-vector -7.79423 65.5 20.0) (float-vector -7.79423 65.5 22.0)))
         (instance face :init :vertices (list (float-vector -9.0 70.0 -20.0) (float-vector -9.0 70.0 -22.0) (float-vector -7.79423 65.5 -22.0) (float-vector -7.79423 65.5 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 62.2058 20.0) (float-vector -4.5 62.2058 22.0) (float-vector -7.79423 65.5 22.0) (float-vector -7.79423 65.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 65.5 -22.0) (float-vector -4.5 62.2058 -22.0) (float-vector -4.5 62.2058 -20.0) (float-vector -7.79423 65.5 -20.0)))
         (instance face :init :vertices (list (float-vector -6.431253e-15 61.0 20.0) (float-vector -6.431253e-15 61.0 22.0) (float-vector -4.5 62.2058 22.0) (float-vector -4.5 62.2058 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 62.2058 -22.0) (float-vector -6.431253e-15 61.0 -22.0) (float-vector -6.431253e-15 61.0 -20.0) (float-vector -4.5 62.2058 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 62.2058 20.0) (float-vector 4.5 62.2058 22.0) (float-vector -6.431253e-15 61.0 22.0) (float-vector -6.431253e-15 61.0 20.0)))
         (instance face :init :vertices (list (float-vector -6.431253e-15 61.0 -22.0) (float-vector 4.5 62.2058 -22.0) (float-vector 4.5 62.2058 -20.0) (float-vector -6.431253e-15 61.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 65.5 20.0) (float-vector 7.79423 65.5 22.0) (float-vector 4.5 62.2058 22.0) (float-vector 4.5 62.2058 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 62.2058 -22.0) (float-vector 7.79423 65.5 -22.0) (float-vector 7.79423 65.5 -20.0) (float-vector 4.5 62.2058 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 70.0 20.0) (float-vector 9.0 70.0 22.0) (float-vector 7.79423 65.5 22.0) (float-vector 7.79423 65.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 65.5 -22.0) (float-vector 9.0 70.0 -22.0) (float-vector 9.0 70.0 -20.0) (float-vector 7.79423 65.5 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 74.5 20.0) (float-vector 7.79423 74.5 22.0) (float-vector 9.0 70.0 22.0) (float-vector 9.0 70.0 20.0)))
         (instance face :init :vertices (list (float-vector 9.0 70.0 -22.0) (float-vector 7.79423 74.5 -22.0) (float-vector 7.79423 74.5 -20.0) (float-vector 9.0 70.0 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 77.7942 20.0) (float-vector 4.5 77.7942 22.0) (float-vector 7.79423 74.5 22.0) (float-vector 7.79423 74.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 74.5 -22.0) (float-vector 4.5 77.7942 -22.0) (float-vector 4.5 77.7942 -20.0) (float-vector 7.79423 74.5 -20.0)))
         (instance face :init :vertices (list (float-vector 1.620122e-14 79.0 20.0) (float-vector 1.620122e-14 79.0 22.0) (float-vector 4.5 77.7942 22.0) (float-vector 4.5 77.7942 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 77.7942 -22.0) (float-vector 1.620122e-14 79.0 -22.0) (float-vector 1.620122e-14 79.0 -20.0) (float-vector 4.5 77.7942 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 77.7942 20.0) (float-vector -4.5 77.7942 22.0) (float-vector 1.620122e-14 79.0 22.0) (float-vector 1.620122e-14 79.0 20.0)))
         (instance face :init :vertices (list (float-vector 1.620122e-14 79.0 -22.0) (float-vector -4.5 77.7942 -22.0) (float-vector -4.5 77.7942 -20.0) (float-vector 1.620122e-14 79.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 74.5 20.0) (float-vector -7.79423 74.5 22.0) (float-vector -4.5 77.7942 22.0) (float-vector -4.5 77.7942 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 77.7942 -22.0) (float-vector -7.79423 74.5 -22.0) (float-vector -7.79423 74.5 -20.0) (float-vector -4.5 77.7942 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 74.5 22.0) (float-vector -9.0 70.0 22.0) (float-vector -7.79423 65.5 22.0) (float-vector -4.5 62.2058 22.0) (float-vector -6.431253e-15 61.0 22.0) (float-vector 4.5 62.2058 22.0) (float-vector 7.79423 65.5 22.0) (float-vector 9.0 70.0 22.0) (float-vector 7.79423 74.5 22.0) (float-vector 4.5 77.7942 22.0) (float-vector 1.620122e-14 79.0 22.0) (float-vector -4.5 77.7942 22.0)))
         (instance face :init :vertices (list (float-vector -9.0 70.0 22.0) (float-vector -7.79423 74.5 22.0) (float-vector -7.79423 74.5 20.0) (float-vector -9.0 70.0 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 74.5 -22.0) (float-vector -9.0 70.0 -22.0) (float-vector -9.0 70.0 -20.0) (float-vector -7.79423 74.5 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 70.0 -22.0) (float-vector -7.79423 74.5 -22.0) (float-vector -4.5 77.7942 -22.0) (float-vector 1.620122e-14 79.0 -22.0) (float-vector 4.5 77.7942 -22.0) (float-vector 7.79423 74.5 -22.0) (float-vector 9.0 70.0 -22.0) (float-vector 7.79423 65.5 -22.0) (float-vector 4.5 62.2058 -22.0) (float-vector -6.431253e-15 61.0 -22.0) (float-vector -4.5 62.2058 -22.0) (float-vector -7.79423 65.5 -22.0)))
       ))
       ))
     (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 :lleg-crotch-p :weight 106 :centroid (float-vector -8.878794e-15 35.0 8.661329e-15) :inertia-tensor #2f((96088.3 1.611465e-11 5.884182e-13) (1.611465e-11 17666.7 -1.650394e-11) (5.884182e-13 -1.650394e-11 85488.3))))

     ;; definition of :lleg-knee-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 30.0 -25.0) (float-vector 10.0 30.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 29.0 24.0) (float-vector 10.0 29.0 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 -25.0) (float-vector -10.0 30.0 25.0) (float-vector 10.0 30.0 25.0) (float-vector 10.0 30.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 -2.842171e-14 -25.0) (float-vector -10.0 -2.842171e-14 -24.0) (float-vector -10.0 29.0 -24.0) (float-vector -10.0 29.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 30.0 25.0) (float-vector -10.0 30.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 -2.842171e-14 -24.0) (float-vector -10.0 -2.842171e-14 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 30.0 25.0) (float-vector -10.0 30.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 -2.842171e-14 -25.0) (float-vector -10.0 30.0 -25.0) (float-vector 10.0 30.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 29.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 29.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 29.0 -24.0) (float-vector 10.0 29.0 24.0) (float-vector -10.0 29.0 24.0) (float-vector -10.0 29.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 29.0 -24.0) (float-vector -10.0 -2.842171e-14 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 29.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 80.0 20.0) (float-vector -10.0 80.0 -20.0) (float-vector -10.0 40.0 -20.0) (float-vector -10.0 40.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 40.0 -20.0) (float-vector 10.0 40.0 -20.0) (float-vector 10.0 40.0 20.0) (float-vector -10.0 40.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 40.0 -20.0) (float-vector 10.0 80.0 -20.0) (float-vector 10.0 80.0 20.0) (float-vector 10.0 40.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 80.0 20.0) (float-vector -10.0 80.0 20.0) (float-vector -10.0 40.0 20.0) (float-vector 10.0 40.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 74.5 20.0) (float-vector -4.5 77.7942 20.0) (float-vector 1.620122e-14 79.0 20.0) (float-vector 4.5 77.7942 20.0) (float-vector 7.79423 74.5 20.0) (float-vector 9.0 70.0 20.0) (float-vector 7.79423 65.5 20.0) (float-vector 4.5 62.2058 20.0) (float-vector -6.431253e-15 61.0 20.0) (float-vector -4.5 62.2058 20.0) (float-vector -7.79423 65.5 20.0) (float-vector -9.0 70.0 20.0)))
))
         (instance face :init :vertices (list (float-vector 10.0 80.0 -20.0) (float-vector -10.0 80.0 -20.0) (float-vector -10.0 80.0 20.0) (float-vector 10.0 80.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 80.0 -20.0) (float-vector 10.0 80.0 -20.0) (float-vector 10.0 40.0 -20.0) (float-vector -10.0 40.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 77.7942 -20.0) (float-vector -7.79423 74.5 -20.0) (float-vector -9.0 70.0 -20.0) (float-vector -7.79423 65.5 -20.0) (float-vector -4.5 62.2058 -20.0) (float-vector -6.431253e-15 61.0 -20.0) (float-vector 4.5 62.2058 -20.0) (float-vector 7.79423 65.5 -20.0) (float-vector 9.0 70.0 -20.0) (float-vector 7.79423 74.5 -20.0) (float-vector 4.5 77.7942 -20.0) (float-vector 1.620122e-14 79.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector -9.0 70.0 22.0) (float-vector -9.0 70.0 20.0) (float-vector -7.79423 65.5 20.0) (float-vector -7.79423 65.5 22.0)))
         (instance face :init :vertices (list (float-vector -9.0 70.0 -20.0) (float-vector -9.0 70.0 -22.0) (float-vector -7.79423 65.5 -22.0) (float-vector -7.79423 65.5 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 62.2058 20.0) (float-vector -4.5 62.2058 22.0) (float-vector -7.79423 65.5 22.0) (float-vector -7.79423 65.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 65.5 -22.0) (float-vector -4.5 62.2058 -22.0) (float-vector -4.5 62.2058 -20.0) (float-vector -7.79423 65.5 -20.0)))
         (instance face :init :vertices (list (float-vector -6.431253e-15 61.0 20.0) (float-vector -6.431253e-15 61.0 22.0) (float-vector -4.5 62.2058 22.0) (float-vector -4.5 62.2058 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 62.2058 -22.0) (float-vector -6.431253e-15 61.0 -22.0) (float-vector -6.431253e-15 61.0 -20.0) (float-vector -4.5 62.2058 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 62.2058 20.0) (float-vector 4.5 62.2058 22.0) (float-vector -6.431253e-15 61.0 22.0) (float-vector -6.431253e-15 61.0 20.0)))
         (instance face :init :vertices (list (float-vector -6.431253e-15 61.0 -22.0) (float-vector 4.5 62.2058 -22.0) (float-vector 4.5 62.2058 -20.0) (float-vector -6.431253e-15 61.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 65.5 20.0) (float-vector 7.79423 65.5 22.0) (float-vector 4.5 62.2058 22.0) (float-vector 4.5 62.2058 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 62.2058 -22.0) (float-vector 7.79423 65.5 -22.0) (float-vector 7.79423 65.5 -20.0) (float-vector 4.5 62.2058 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 70.0 20.0) (float-vector 9.0 70.0 22.0) (float-vector 7.79423 65.5 22.0) (float-vector 7.79423 65.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 65.5 -22.0) (float-vector 9.0 70.0 -22.0) (float-vector 9.0 70.0 -20.0) (float-vector 7.79423 65.5 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 74.5 20.0) (float-vector 7.79423 74.5 22.0) (float-vector 9.0 70.0 22.0) (float-vector 9.0 70.0 20.0)))
         (instance face :init :vertices (list (float-vector 9.0 70.0 -22.0) (float-vector 7.79423 74.5 -22.0) (float-vector 7.79423 74.5 -20.0) (float-vector 9.0 70.0 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 77.7942 20.0) (float-vector 4.5 77.7942 22.0) (float-vector 7.79423 74.5 22.0) (float-vector 7.79423 74.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 74.5 -22.0) (float-vector 4.5 77.7942 -22.0) (float-vector 4.5 77.7942 -20.0) (float-vector 7.79423 74.5 -20.0)))
         (instance face :init :vertices (list (float-vector 1.620122e-14 79.0 20.0) (float-vector 1.620122e-14 79.0 22.0) (float-vector 4.5 77.7942 22.0) (float-vector 4.5 77.7942 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 77.7942 -22.0) (float-vector 1.620122e-14 79.0 -22.0) (float-vector 1.620122e-14 79.0 -20.0) (float-vector 4.5 77.7942 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 77.7942 20.0) (float-vector -4.5 77.7942 22.0) (float-vector 1.620122e-14 79.0 22.0) (float-vector 1.620122e-14 79.0 20.0)))
         (instance face :init :vertices (list (float-vector 1.620122e-14 79.0 -22.0) (float-vector -4.5 77.7942 -22.0) (float-vector -4.5 77.7942 -20.0) (float-vector 1.620122e-14 79.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 74.5 20.0) (float-vector -7.79423 74.5 22.0) (float-vector -4.5 77.7942 22.0) (float-vector -4.5 77.7942 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 77.7942 -22.0) (float-vector -7.79423 74.5 -22.0) (float-vector -7.79423 74.5 -20.0) (float-vector -4.5 77.7942 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 74.5 22.0) (float-vector -9.0 70.0 22.0) (float-vector -7.79423 65.5 22.0) (float-vector -4.5 62.2058 22.0) (float-vector -6.431253e-15 61.0 22.0) (float-vector 4.5 62.2058 22.0) (float-vector 7.79423 65.5 22.0) (float-vector 9.0 70.0 22.0) (float-vector 7.79423 74.5 22.0) (float-vector 4.5 77.7942 22.0) (float-vector 1.620122e-14 79.0 22.0) (float-vector -4.5 77.7942 22.0)))
         (instance face :init :vertices (list (float-vector -9.0 70.0 22.0) (float-vector -7.79423 74.5 22.0) (float-vector -7.79423 74.5 20.0) (float-vector -9.0 70.0 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 74.5 -22.0) (float-vector -9.0 70.0 -22.0) (float-vector -9.0 70.0 -20.0) (float-vector -7.79423 74.5 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 70.0 -22.0) (float-vector -7.79423 74.5 -22.0) (float-vector -4.5 77.7942 -22.0) (float-vector 1.620122e-14 79.0 -22.0) (float-vector 4.5 77.7942 -22.0) (float-vector 7.79423 74.5 -22.0) (float-vector 9.0 70.0 -22.0) (float-vector 7.79423 65.5 -22.0) (float-vector 4.5 62.2058 -22.0) (float-vector -6.431253e-15 61.0 -22.0) (float-vector -4.5 62.2058 -22.0) (float-vector -7.79423 65.5 -22.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-knee-p :weight 59.5957 :centroid (float-vector 1.996324e-14 55.6687 1.650812e-14) :inertia-tensor #2f((28410.7 -6.082217e-12 5.884182e-13) (-6.082217e-12 11954.4 -1.406433e-12) (5.884182e-13 -1.406433e-12 20429.4))))

     ;; definition of :lleg-ankle-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 15.0 -25.0) (float-vector 10.0 15.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 14.0 24.0) (float-vector 10.0 14.0 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 15.0 -25.0) (float-vector -10.0 15.0 25.0) (float-vector 10.0 15.0 25.0) (float-vector 10.0 15.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 14.0 -24.0) (float-vector -10.0 14.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 15.0 25.0) (float-vector -10.0 15.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 15.0 25.0) (float-vector -10.0 15.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 15.0 -25.0) (float-vector 10.0 15.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 14.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 14.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 14.0 -24.0) (float-vector 10.0 14.0 24.0) (float-vector -10.0 14.0 24.0) (float-vector -10.0 14.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 14.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 14.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 35.0 -15.0) (float-vector -30.0 35.0 -15.0) (float-vector -30.0 35.0 25.0) (float-vector 10.0 35.0 25.0)))
         (instance face :init :vertices (list (float-vector -30.0 35.0 25.0) (float-vector -30.0 15.0 25.0) (float-vector 10.0 15.0 25.0) (float-vector 10.0 35.0 25.0)))
         (instance face :init :vertices (list (float-vector -30.0 15.0 25.0) (float-vector -30.0 15.0 -15.0) (float-vector 10.0 15.0 -15.0) (float-vector 10.0 15.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 15.0 -15.0) (float-vector 10.0 35.0 -15.0) (float-vector 10.0 35.0 25.0) (float-vector 10.0 15.0 25.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 10.0 32.7942 -9.5) (float-vector 10.0 29.5 -12.7942) (float-vector 10.0 25.0 -14.0) (float-vector 10.0 20.5 -12.7942) (float-vector 10.0 17.2058 -9.5) (float-vector 10.0 16.0 -5.0) (float-vector 10.0 17.2058 -0.5) (float-vector 10.0 20.5 2.79423) (float-vector 10.0 25.0 4.0) (float-vector 10.0 29.5 2.79423) (float-vector 10.0 32.7942 -0.5) (float-vector 10.0 34.0 -5.0)))
))
         (instance face :init :vertices (list (float-vector -30.0 15.0 -15.0) (float-vector -30.0 35.0 -15.0) (float-vector 10.0 35.0 -15.0) (float-vector 10.0 15.0 -15.0)))
         (instance face :init :vertices (list (float-vector -30.0 35.0 -15.0) (float-vector -30.0 15.0 -15.0) (float-vector -30.0 15.0 25.0) (float-vector -30.0 35.0 25.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -30.0 29.5 -12.7942) (float-vector -30.0 32.7942 -9.5) (float-vector -30.0 34.0 -5.0) (float-vector -30.0 32.7942 -0.5) (float-vector -30.0 29.5 2.79423) (float-vector -30.0 25.0 4.0) (float-vector -30.0 20.5 2.79423) (float-vector -30.0 17.2058 -0.5) (float-vector -30.0 16.0 -5.0) (float-vector -30.0 17.2058 -9.5) (float-vector -30.0 20.5 -12.7942) (float-vector -30.0 25.0 -14.0)))
))
         (instance face :init :vertices (list (float-vector 12.0 34.0 -5.0) (float-vector 10.0 34.0 -5.0) (float-vector 10.0 32.7942 -0.5) (float-vector 12.0 32.7942 -0.5)))
         (instance face :init :vertices (list (float-vector -30.0 34.0 -5.0) (float-vector -32.0 34.0 -5.0) (float-vector -32.0 32.7942 -0.5) (float-vector -30.0 32.7942 -0.5)))
         (instance face :init :vertices (list (float-vector 10.0 29.5 2.79423) (float-vector 12.0 29.5 2.79423) (float-vector 12.0 32.7942 -0.5) (float-vector 10.0 32.7942 -0.5)))
         (instance face :init :vertices (list (float-vector -32.0 32.7942 -0.5) (float-vector -32.0 29.5 2.79423) (float-vector -30.0 29.5 2.79423) (float-vector -30.0 32.7942 -0.5)))
         (instance face :init :vertices (list (float-vector 10.0 25.0 4.0) (float-vector 12.0 25.0 4.0) (float-vector 12.0 29.5 2.79423) (float-vector 10.0 29.5 2.79423)))
         (instance face :init :vertices (list (float-vector -32.0 29.5 2.79423) (float-vector -32.0 25.0 4.0) (float-vector -30.0 25.0 4.0) (float-vector -30.0 29.5 2.79423)))
         (instance face :init :vertices (list (float-vector 10.0 20.5 2.79423) (float-vector 12.0 20.5 2.79423) (float-vector 12.0 25.0 4.0) (float-vector 10.0 25.0 4.0)))
         (instance face :init :vertices (list (float-vector -32.0 25.0 4.0) (float-vector -32.0 20.5 2.79423) (float-vector -30.0 20.5 2.79423) (float-vector -30.0 25.0 4.0)))
         (instance face :init :vertices (list (float-vector 10.0 17.2058 -0.5) (float-vector 12.0 17.2058 -0.5) (float-vector 12.0 20.5 2.79423) (float-vector 10.0 20.5 2.79423)))
         (instance face :init :vertices (list (float-vector -32.0 20.5 2.79423) (float-vector -32.0 17.2058 -0.5) (float-vector -30.0 17.2058 -0.5) (float-vector -30.0 20.5 2.79423)))
         (instance face :init :vertices (list (float-vector 10.0 16.0 -5.0) (float-vector 12.0 16.0 -5.0) (float-vector 12.0 17.2058 -0.5) (float-vector 10.0 17.2058 -0.5)))
         (instance face :init :vertices (list (float-vector -32.0 17.2058 -0.5) (float-vector -32.0 16.0 -5.0) (float-vector -30.0 16.0 -5.0) (float-vector -30.0 17.2058 -0.5)))
         (instance face :init :vertices (list (float-vector 10.0 17.2058 -9.5) (float-vector 12.0 17.2058 -9.5) (float-vector 12.0 16.0 -5.0) (float-vector 10.0 16.0 -5.0)))
         (instance face :init :vertices (list (float-vector -32.0 16.0 -5.0) (float-vector -32.0 17.2058 -9.5) (float-vector -30.0 17.2058 -9.5) (float-vector -30.0 16.0 -5.0)))
         (instance face :init :vertices (list (float-vector 10.0 20.5 -12.7942) (float-vector 12.0 20.5 -12.7942) (float-vector 12.0 17.2058 -9.5) (float-vector 10.0 17.2058 -9.5)))
         (instance face :init :vertices (list (float-vector -32.0 17.2058 -9.5) (float-vector -32.0 20.5 -12.7942) (float-vector -30.0 20.5 -12.7942) (float-vector -30.0 17.2058 -9.5)))
         (instance face :init :vertices (list (float-vector 10.0 25.0 -14.0) (float-vector 12.0 25.0 -14.0) (float-vector 12.0 20.5 -12.7942) (float-vector 10.0 20.5 -12.7942)))
         (instance face :init :vertices (list (float-vector -32.0 20.5 -12.7942) (float-vector -32.0 25.0 -14.0) (float-vector -30.0 25.0 -14.0) (float-vector -30.0 20.5 -12.7942)))
         (instance face :init :vertices (list (float-vector 10.0 29.5 -12.7942) (float-vector 12.0 29.5 -12.7942) (float-vector 12.0 25.0 -14.0) (float-vector 10.0 25.0 -14.0)))
         (instance face :init :vertices (list (float-vector -32.0 25.0 -14.0) (float-vector -32.0 29.5 -12.7942) (float-vector -30.0 29.5 -12.7942) (float-vector -30.0 25.0 -14.0)))
         (instance face :init :vertices (list (float-vector 10.0 32.7942 -9.5) (float-vector 12.0 32.7942 -9.5) (float-vector 12.0 29.5 -12.7942) (float-vector 10.0 29.5 -12.7942)))
         (instance face :init :vertices (list (float-vector -32.0 29.5 -12.7942) (float-vector -32.0 32.7942 -9.5) (float-vector -30.0 32.7942 -9.5) (float-vector -30.0 29.5 -12.7942)))
         (instance face :init :vertices (list (float-vector 12.0 32.7942 -9.5) (float-vector 12.0 34.0 -5.0) (float-vector 12.0 32.7942 -0.5) (float-vector 12.0 29.5 2.79423) (float-vector 12.0 25.0 4.0) (float-vector 12.0 20.5 2.79423) (float-vector 12.0 17.2058 -0.5) (float-vector 12.0 16.0 -5.0) (float-vector 12.0 17.2058 -9.5) (float-vector 12.0 20.5 -12.7942) (float-vector 12.0 25.0 -14.0) (float-vector 12.0 29.5 -12.7942)))
         (instance face :init :vertices (list (float-vector 12.0 34.0 -5.0) (float-vector 12.0 32.7942 -9.5) (float-vector 10.0 32.7942 -9.5) (float-vector 10.0 34.0 -5.0)))
         (instance face :init :vertices (list (float-vector -32.0 32.7942 -9.5) (float-vector -32.0 34.0 -5.0) (float-vector -30.0 34.0 -5.0) (float-vector -30.0 32.7942 -9.5)))
         (instance face :init :vertices (list (float-vector -32.0 34.0 -5.0) (float-vector -32.0 32.7942 -9.5) (float-vector -32.0 29.5 -12.7942) (float-vector -32.0 25.0 -14.0) (float-vector -32.0 20.5 -12.7942) (float-vector -32.0 17.2058 -9.5) (float-vector -32.0 16.0 -5.0) (float-vector -32.0 17.2058 -0.5) (float-vector -32.0 20.5 2.79423) (float-vector -32.0 25.0 4.0) (float-vector -32.0 29.5 2.79423) (float-vector -32.0 32.7942 -0.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-ankle-p :weight 57.9757 :centroid (float-vector -9.14177 23.6593 4.30139) :inertia-tensor #2f((12270.0 710.596 214.023) (710.596 16783.4 -334.35) (214.023 -334.35 10861.4))))

     ;; definition of :lleg-ankle-r
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 17.0 -25.0) (float-vector 10.0 17.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 16.0 24.0) (float-vector 10.0 16.0 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 17.0 -25.0) (float-vector -10.0 17.0 25.0) (float-vector 10.0 17.0 25.0) (float-vector 10.0 17.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 16.0 -24.0) (float-vector -10.0 16.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 17.0 25.0) (float-vector -10.0 17.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 17.0 25.0) (float-vector -10.0 17.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 17.0 -25.0) (float-vector 10.0 17.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 16.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 16.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 16.0 -24.0) (float-vector 10.0 16.0 24.0) (float-vector -10.0 16.0 24.0) (float-vector -10.0 16.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 16.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 16.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -27.7942 34.9 -10.5) (float-vector -29.0 34.9 -15.0) (float-vector -27.7942 34.9 -19.5) (float-vector -24.5 34.9 -22.7942) (float-vector -20.0 34.9 -24.0) (float-vector -15.5 34.9 -22.7942) (float-vector -12.2058 34.9 -19.5) (float-vector -11.0 34.9 -15.0) (float-vector -12.2058 34.9 -10.5) (float-vector -15.5 34.9 -7.20577) (float-vector -20.0 34.9 -6.0) (float-vector -24.5 34.9 -7.20577)))
         (instance face :init :vertices (list (float-vector -29.0 35.0 -15.0) (float-vector -27.7942 35.0 -10.5) (float-vector -24.5 35.0 -7.20577) (float-vector -20.0 35.0 -6.0) (float-vector -15.5 35.0 -7.20577) (float-vector -12.2058 35.0 -10.5) (float-vector -11.0 35.0 -15.0) (float-vector -12.2058 35.0 -19.5) (float-vector -15.5 35.0 -22.7942) (float-vector -20.0 35.0 -24.0) (float-vector -24.5 35.0 -22.7942) (float-vector -27.7942 35.0 -19.5)))
         (instance face :init :vertices (list (float-vector -27.7942 34.9 -10.5) (float-vector -27.7942 35.0 -10.5) (float-vector -29.0 35.0 -15.0) (float-vector -29.0 34.9 -15.0)))
         (instance face :init :vertices (list (float-vector -24.5 34.9 -7.20577) (float-vector -24.5 35.0 -7.20577) (float-vector -27.7942 35.0 -10.5) (float-vector -27.7942 34.9 -10.5)))
         (instance face :init :vertices (list (float-vector -20.0 34.9 -6.0) (float-vector -20.0 35.0 -6.0) (float-vector -24.5 35.0 -7.20577) (float-vector -24.5 34.9 -7.20577)))
         (instance face :init :vertices (list (float-vector -15.5 34.9 -7.20577) (float-vector -15.5 35.0 -7.20577) (float-vector -20.0 35.0 -6.0) (float-vector -20.0 34.9 -6.0)))
         (instance face :init :vertices (list (float-vector -12.2058 34.9 -10.5) (float-vector -12.2058 35.0 -10.5) (float-vector -15.5 35.0 -7.20577) (float-vector -15.5 34.9 -7.20577)))
         (instance face :init :vertices (list (float-vector -11.0 34.9 -15.0) (float-vector -11.0 35.0 -15.0) (float-vector -12.2058 35.0 -10.5) (float-vector -12.2058 34.9 -10.5)))
         (instance face :init :vertices (list (float-vector -12.2058 34.9 -19.5) (float-vector -12.2058 35.0 -19.5) (float-vector -11.0 35.0 -15.0) (float-vector -11.0 34.9 -15.0)))
         (instance face :init :vertices (list (float-vector -15.5 34.9 -22.7942) (float-vector -15.5 35.0 -22.7942) (float-vector -12.2058 35.0 -19.5) (float-vector -12.2058 34.9 -19.5)))
         (instance face :init :vertices (list (float-vector -20.0 34.9 -24.0) (float-vector -20.0 35.0 -24.0) (float-vector -15.5 35.0 -22.7942) (float-vector -15.5 34.9 -22.7942)))
         (instance face :init :vertices (list (float-vector -24.5 34.9 -22.7942) (float-vector -24.5 35.0 -22.7942) (float-vector -20.0 35.0 -24.0) (float-vector -20.0 34.9 -24.0)))
         (instance face :init :vertices (list (float-vector -27.7942 34.9 -19.5) (float-vector -27.7942 35.0 -19.5) (float-vector -24.5 35.0 -22.7942) (float-vector -24.5 34.9 -22.7942)))
         (instance face :init :vertices (list (float-vector -29.0 34.9 -15.0) (float-vector -29.0 35.0 -15.0) (float-vector -27.7942 35.0 -19.5) (float-vector -27.7942 34.9 -19.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 12.2058 34.9 -10.5) (float-vector 11.0 34.9 -15.0) (float-vector 12.2058 34.9 -19.5) (float-vector 15.5 34.9 -22.7942) (float-vector 20.0 34.9 -24.0) (float-vector 24.5 34.9 -22.7942) (float-vector 27.7942 34.9 -19.5) (float-vector 29.0 34.9 -15.0) (float-vector 27.7942 34.9 -10.5) (float-vector 24.5 34.9 -7.20577) (float-vector 20.0 34.9 -6.0) (float-vector 15.5 34.9 -7.20577)))
         (instance face :init :vertices (list (float-vector 11.0 35.0 -15.0) (float-vector 12.2058 35.0 -10.5) (float-vector 15.5 35.0 -7.20577) (float-vector 20.0 35.0 -6.0) (float-vector 24.5 35.0 -7.20577) (float-vector 27.7942 35.0 -10.5) (float-vector 29.0 35.0 -15.0) (float-vector 27.7942 35.0 -19.5) (float-vector 24.5 35.0 -22.7942) (float-vector 20.0 35.0 -24.0) (float-vector 15.5 35.0 -22.7942) (float-vector 12.2058 35.0 -19.5)))
         (instance face :init :vertices (list (float-vector 12.2058 34.9 -10.5) (float-vector 12.2058 35.0 -10.5) (float-vector 11.0 35.0 -15.0) (float-vector 11.0 34.9 -15.0)))
         (instance face :init :vertices (list (float-vector 15.5 34.9 -7.20577) (float-vector 15.5 35.0 -7.20577) (float-vector 12.2058 35.0 -10.5) (float-vector 12.2058 34.9 -10.5)))
         (instance face :init :vertices (list (float-vector 20.0 34.9 -6.0) (float-vector 20.0 35.0 -6.0) (float-vector 15.5 35.0 -7.20577) (float-vector 15.5 34.9 -7.20577)))
         (instance face :init :vertices (list (float-vector 24.5 34.9 -7.20577) (float-vector 24.5 35.0 -7.20577) (float-vector 20.0 35.0 -6.0) (float-vector 20.0 34.9 -6.0)))
         (instance face :init :vertices (list (float-vector 27.7942 34.9 -10.5) (float-vector 27.7942 35.0 -10.5) (float-vector 24.5 35.0 -7.20577) (float-vector 24.5 34.9 -7.20577)))
         (instance face :init :vertices (list (float-vector 29.0 34.9 -15.0) (float-vector 29.0 35.0 -15.0) (float-vector 27.7942 35.0 -10.5) (float-vector 27.7942 34.9 -10.5)))
         (instance face :init :vertices (list (float-vector 27.7942 34.9 -19.5) (float-vector 27.7942 35.0 -19.5) (float-vector 29.0 35.0 -15.0) (float-vector 29.0 34.9 -15.0)))
         (instance face :init :vertices (list (float-vector 24.5 34.9 -22.7942) (float-vector 24.5 35.0 -22.7942) (float-vector 27.7942 35.0 -19.5) (float-vector 27.7942 34.9 -19.5)))
         (instance face :init :vertices (list (float-vector 20.0 34.9 -24.0) (float-vector 20.0 35.0 -24.0) (float-vector 24.5 35.0 -22.7942) (float-vector 24.5 34.9 -22.7942)))
         (instance face :init :vertices (list (float-vector 15.5 34.9 -22.7942) (float-vector 15.5 35.0 -22.7942) (float-vector 20.0 35.0 -24.0) (float-vector 20.0 34.9 -24.0)))
         (instance face :init :vertices (list (float-vector 12.2058 34.9 -19.5) (float-vector 12.2058 35.0 -19.5) (float-vector 15.5 35.0 -22.7942) (float-vector 15.5 34.9 -22.7942)))
         (instance face :init :vertices (list (float-vector 11.0 34.9 -15.0) (float-vector 11.0 35.0 -15.0) (float-vector 12.2058 35.0 -19.5) (float-vector 12.2058 34.9 -19.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 12.2058 34.9 39.5) (float-vector 11.0 34.9 35.0) (float-vector 12.2058 34.9 30.5) (float-vector 15.5 34.9 27.2058) (float-vector 20.0 34.9 26.0) (float-vector 24.5 34.9 27.2058) (float-vector 27.7942 34.9 30.5) (float-vector 29.0 34.9 35.0) (float-vector 27.7942 34.9 39.5) (float-vector 24.5 34.9 42.7942) (float-vector 20.0 34.9 44.0) (float-vector 15.5 34.9 42.7942)))
         (instance face :init :vertices (list (float-vector 11.0 35.0 35.0) (float-vector 12.2058 35.0 39.5) (float-vector 15.5 35.0 42.7942) (float-vector 20.0 35.0 44.0) (float-vector 24.5 35.0 42.7942) (float-vector 27.7942 35.0 39.5) (float-vector 29.0 35.0 35.0) (float-vector 27.7942 35.0 30.5) (float-vector 24.5 35.0 27.2058) (float-vector 20.0 35.0 26.0) (float-vector 15.5 35.0 27.2058) (float-vector 12.2058 35.0 30.5)))
         (instance face :init :vertices (list (float-vector 12.2058 34.9 39.5) (float-vector 12.2058 35.0 39.5) (float-vector 11.0 35.0 35.0) (float-vector 11.0 34.9 35.0)))
         (instance face :init :vertices (list (float-vector 15.5 34.9 42.7942) (float-vector 15.5 35.0 42.7942) (float-vector 12.2058 35.0 39.5) (float-vector 12.2058 34.9 39.5)))
         (instance face :init :vertices (list (float-vector 20.0 34.9 44.0) (float-vector 20.0 35.0 44.0) (float-vector 15.5 35.0 42.7942) (float-vector 15.5 34.9 42.7942)))
         (instance face :init :vertices (list (float-vector 24.5 34.9 42.7942) (float-vector 24.5 35.0 42.7942) (float-vector 20.0 35.0 44.0) (float-vector 20.0 34.9 44.0)))
         (instance face :init :vertices (list (float-vector 27.7942 34.9 39.5) (float-vector 27.7942 35.0 39.5) (float-vector 24.5 35.0 42.7942) (float-vector 24.5 34.9 42.7942)))
         (instance face :init :vertices (list (float-vector 29.0 34.9 35.0) (float-vector 29.0 35.0 35.0) (float-vector 27.7942 35.0 39.5) (float-vector 27.7942 34.9 39.5)))
         (instance face :init :vertices (list (float-vector 27.7942 34.9 30.5) (float-vector 27.7942 35.0 30.5) (float-vector 29.0 35.0 35.0) (float-vector 29.0 34.9 35.0)))
         (instance face :init :vertices (list (float-vector 24.5 34.9 27.2058) (float-vector 24.5 35.0 27.2058) (float-vector 27.7942 35.0 30.5) (float-vector 27.7942 34.9 30.5)))
         (instance face :init :vertices (list (float-vector 20.0 34.9 26.0) (float-vector 20.0 35.0 26.0) (float-vector 24.5 35.0 27.2058) (float-vector 24.5 34.9 27.2058)))
         (instance face :init :vertices (list (float-vector 15.5 34.9 27.2058) (float-vector 15.5 35.0 27.2058) (float-vector 20.0 35.0 26.0) (float-vector 20.0 34.9 26.0)))
         (instance face :init :vertices (list (float-vector 12.2058 34.9 30.5) (float-vector 12.2058 35.0 30.5) (float-vector 15.5 35.0 27.2058) (float-vector 15.5 34.9 27.2058)))
         (instance face :init :vertices (list (float-vector 11.0 34.9 35.0) (float-vector 11.0 35.0 35.0) (float-vector 12.2058 35.0 30.5) (float-vector 12.2058 34.9 30.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -27.7942 34.9 39.5) (float-vector -29.0 34.9 35.0) (float-vector -27.7942 34.9 30.5) (float-vector -24.5 34.9 27.2058) (float-vector -20.0 34.9 26.0) (float-vector -15.5 34.9 27.2058) (float-vector -12.2058 34.9 30.5) (float-vector -11.0 34.9 35.0) (float-vector -12.2058 34.9 39.5) (float-vector -15.5 34.9 42.7942) (float-vector -20.0 34.9 44.0) (float-vector -24.5 34.9 42.7942)))
         (instance face :init :vertices (list (float-vector -29.0 35.0 35.0) (float-vector -27.7942 35.0 39.5) (float-vector -24.5 35.0 42.7942) (float-vector -20.0 35.0 44.0) (float-vector -15.5 35.0 42.7942) (float-vector -12.2058 35.0 39.5) (float-vector -11.0 35.0 35.0) (float-vector -12.2058 35.0 30.5) (float-vector -15.5 35.0 27.2058) (float-vector -20.0 35.0 26.0) (float-vector -24.5 35.0 27.2058) (float-vector -27.7942 35.0 30.5)))
         (instance face :init :vertices (list (float-vector -27.7942 34.9 39.5) (float-vector -27.7942 35.0 39.5) (float-vector -29.0 35.0 35.0) (float-vector -29.0 34.9 35.0)))
         (instance face :init :vertices (list (float-vector -24.5 34.9 42.7942) (float-vector -24.5 35.0 42.7942) (float-vector -27.7942 35.0 39.5) (float-vector -27.7942 34.9 39.5)))
         (instance face :init :vertices (list (float-vector -20.0 34.9 44.0) (float-vector -20.0 35.0 44.0) (float-vector -24.5 35.0 42.7942) (float-vector -24.5 34.9 42.7942)))
         (instance face :init :vertices (list (float-vector -15.5 34.9 42.7942) (float-vector -15.5 35.0 42.7942) (float-vector -20.0 35.0 44.0) (float-vector -20.0 34.9 44.0)))
         (instance face :init :vertices (list (float-vector -12.2058 34.9 39.5) (float-vector -12.2058 35.0 39.5) (float-vector -15.5 35.0 42.7942) (float-vector -15.5 34.9 42.7942)))
         (instance face :init :vertices (list (float-vector -11.0 34.9 35.0) (float-vector -11.0 35.0 35.0) (float-vector -12.2058 35.0 39.5) (float-vector -12.2058 34.9 39.5)))
         (instance face :init :vertices (list (float-vector -12.2058 34.9 30.5) (float-vector -12.2058 35.0 30.5) (float-vector -11.0 35.0 35.0) (float-vector -11.0 34.9 35.0)))
         (instance face :init :vertices (list (float-vector -15.5 34.9 27.2058) (float-vector -15.5 35.0 27.2058) (float-vector -12.2058 35.0 30.5) (float-vector -12.2058 34.9 30.5)))
         (instance face :init :vertices (list (float-vector -20.0 34.9 26.0) (float-vector -20.0 35.0 26.0) (float-vector -15.5 35.0 27.2058) (float-vector -15.5 34.9 27.2058)))
         (instance face :init :vertices (list (float-vector -24.5 34.9 27.2058) (float-vector -24.5 35.0 27.2058) (float-vector -20.0 35.0 26.0) (float-vector -20.0 34.9 26.0)))
         (instance face :init :vertices (list (float-vector -27.7942 34.9 30.5) (float-vector -27.7942 35.0 30.5) (float-vector -24.5 35.0 27.2058) (float-vector -24.5 34.9 27.2058)))
         (instance face :init :vertices (list (float-vector -29.0 34.9 35.0) (float-vector -29.0 35.0 35.0) (float-vector -27.7942 35.0 30.5) (float-vector -27.7942 34.9 30.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 30.0 20.0 50.0) (float-vector -30.0 20.0 50.0) (float-vector -30.0 20.0 -54.0) (float-vector 30.0 20.0 -54.0)))
         (instance face :init :vertices (list (float-vector -30.0 35.0 50.0) (float-vector 30.0 35.0 50.0) (float-vector 30.0 35.0 -54.0) (float-vector -30.0 35.0 -54.0)))
         (instance face :init :vertices (list (float-vector 30.0 20.0 50.0) (float-vector 30.0 35.0 50.0) (float-vector -30.0 35.0 50.0) (float-vector -30.0 20.0 50.0)))
         (instance face :init :vertices (list (float-vector 30.0 20.0 -54.0) (float-vector 30.0 35.0 -54.0) (float-vector 30.0 35.0 50.0) (float-vector 30.0 20.0 50.0)))
         (instance face :init :vertices (list (float-vector -30.0 20.0 -54.0) (float-vector -30.0 35.0 -54.0) (float-vector 30.0 35.0 -54.0) (float-vector 30.0 20.0 -54.0)))
         (instance face :init :vertices (list (float-vector -30.0 20.0 50.0) (float-vector -30.0 35.0 50.0) (float-vector -30.0 35.0 -54.0) (float-vector -30.0 20.0 -54.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray40)
     (send (elt bc 3) :set-color :gray40)
     (send (elt bc 4) :set-color :gray40)
     (send (elt bc 5) :set-color :lightgoldenrod)
     (setq blink4 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-ankle-r :weight 5.19168 :centroid (float-vector 1.048051e-13 10.6519 -1.136868e-13) :inertia-tensor #2f((2429.72 -1.500535e-15 6.381020e-26) (-1.500535e-15 2231.39 -1.123736e-12) (6.381020e-26 -1.123736e-12 544.439))))

     ;; definition of :larm-collar-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 28.5 -25.0) (float-vector 10.0 28.5 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 27.5 24.0) (float-vector 10.0 27.5 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 28.5 -25.0) (float-vector -10.0 28.5 25.0) (float-vector 10.0 28.5 25.0) (float-vector 10.0 28.5 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 27.5 -24.0) (float-vector -10.0 27.5 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 28.5 25.0) (float-vector -10.0 28.5 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 6.310887e-30 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 6.310887e-30 -10.0 -25.0) (float-vector 6.310887e-30 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 6.310887e-30 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 6.310887e-30 -10.0 -24.0) (float-vector 6.310887e-30 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 28.5 25.0) (float-vector -10.0 28.5 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 6.310887e-30 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 28.5 -25.0) (float-vector 10.0 28.5 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 27.5 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 6.310887e-30 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 27.5 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 27.5 -24.0) (float-vector 10.0 27.5 24.0) (float-vector -10.0 27.5 24.0) (float-vector -10.0 27.5 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 27.5 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 6.310887e-30 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 27.5 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 40.0 -24.0) (float-vector -10.0 80.0 -24.0) (float-vector 30.0 80.0 -24.0) (float-vector 30.0 40.0 -24.0)))
         (instance face :init :vertices (list (float-vector 30.0 80.0 -24.0) (float-vector 30.0 80.0 -4.0) (float-vector 30.0 40.0 -4.0) (float-vector 30.0 40.0 -24.0)))
         (instance face :init :vertices (list (float-vector 30.0 80.0 -4.0) (float-vector -10.0 80.0 -4.0) (float-vector -10.0 40.0 -4.0) (float-vector 30.0 40.0 -4.0)))
         (instance face :init :vertices (list (float-vector -10.0 40.0 -4.0) (float-vector -10.0 40.0 -24.0) (float-vector 30.0 40.0 -24.0) (float-vector 30.0 40.0 -4.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 40.0 -21.7942) (float-vector -7.79423 40.0 -18.5) (float-vector -9.0 40.0 -14.0) (float-vector -7.79423 40.0 -9.5) (float-vector -4.5 40.0 -6.20577) (float-vector 9.872944e-15 40.0 -5.0) (float-vector 4.5 40.0 -6.20577) (float-vector 7.79423 40.0 -9.5) (float-vector 9.0 40.0 -14.0) (float-vector 7.79423 40.0 -18.5) (float-vector 4.5 40.0 -21.7942) (float-vector -1.029814e-16 40.0 -23.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 80.0 -4.0) (float-vector -10.0 80.0 -24.0) (float-vector -10.0 40.0 -24.0) (float-vector -10.0 40.0 -4.0)))
         (instance face :init :vertices (list (float-vector -10.0 80.0 -24.0) (float-vector -10.0 80.0 -4.0) (float-vector 30.0 80.0 -4.0) (float-vector 30.0 80.0 -24.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 80.0 -18.5) (float-vector -4.5 80.0 -21.7942) (float-vector -1.029814e-16 80.0 -23.0) (float-vector 4.5 80.0 -21.7942) (float-vector 7.79423 80.0 -18.5) (float-vector 9.0 80.0 -14.0) (float-vector 7.79423 80.0 -9.5) (float-vector 4.5 80.0 -6.20577) (float-vector 9.872944e-15 80.0 -5.0) (float-vector -4.5 80.0 -6.20577) (float-vector -7.79423 80.0 -9.5) (float-vector -9.0 80.0 -14.0)))
))
         (instance face :init :vertices (list (float-vector -1.029814e-16 38.0 -23.0) (float-vector -1.029814e-16 40.0 -23.0) (float-vector 4.5 40.0 -21.7942) (float-vector 4.5 38.0 -21.7942)))
         (instance face :init :vertices (list (float-vector -1.029814e-16 80.0 -23.0) (float-vector -1.029814e-16 82.0 -23.0) (float-vector 4.5 82.0 -21.7942) (float-vector 4.5 80.0 -21.7942)))
         (instance face :init :vertices (list (float-vector 7.79423 40.0 -18.5) (float-vector 7.79423 38.0 -18.5) (float-vector 4.5 38.0 -21.7942) (float-vector 4.5 40.0 -21.7942)))
         (instance face :init :vertices (list (float-vector 4.5 82.0 -21.7942) (float-vector 7.79423 82.0 -18.5) (float-vector 7.79423 80.0 -18.5) (float-vector 4.5 80.0 -21.7942)))
         (instance face :init :vertices (list (float-vector 9.0 40.0 -14.0) (float-vector 9.0 38.0 -14.0) (float-vector 7.79423 38.0 -18.5) (float-vector 7.79423 40.0 -18.5)))
         (instance face :init :vertices (list (float-vector 7.79423 82.0 -18.5) (float-vector 9.0 82.0 -14.0) (float-vector 9.0 80.0 -14.0) (float-vector 7.79423 80.0 -18.5)))
         (instance face :init :vertices (list (float-vector 7.79423 40.0 -9.5) (float-vector 7.79423 38.0 -9.5) (float-vector 9.0 38.0 -14.0) (float-vector 9.0 40.0 -14.0)))
         (instance face :init :vertices (list (float-vector 9.0 82.0 -14.0) (float-vector 7.79423 82.0 -9.5) (float-vector 7.79423 80.0 -9.5) (float-vector 9.0 80.0 -14.0)))
         (instance face :init :vertices (list (float-vector 4.5 40.0 -6.20577) (float-vector 4.5 38.0 -6.20577) (float-vector 7.79423 38.0 -9.5) (float-vector 7.79423 40.0 -9.5)))
         (instance face :init :vertices (list (float-vector 7.79423 82.0 -9.5) (float-vector 4.5 82.0 -6.20577) (float-vector 4.5 80.0 -6.20577) (float-vector 7.79423 80.0 -9.5)))
         (instance face :init :vertices (list (float-vector 9.872944e-15 40.0 -5.0) (float-vector 9.872944e-15 38.0 -5.0) (float-vector 4.5 38.0 -6.20577) (float-vector 4.5 40.0 -6.20577)))
         (instance face :init :vertices (list (float-vector 4.5 82.0 -6.20577) (float-vector 9.872944e-15 82.0 -5.0) (float-vector 9.872944e-15 80.0 -5.0) (float-vector 4.5 80.0 -6.20577)))
         (instance face :init :vertices (list (float-vector -4.5 40.0 -6.20577) (float-vector -4.5 38.0 -6.20577) (float-vector 9.872944e-15 38.0 -5.0) (float-vector 9.872944e-15 40.0 -5.0)))
         (instance face :init :vertices (list (float-vector 9.872944e-15 82.0 -5.0) (float-vector -4.5 82.0 -6.20577) (float-vector -4.5 80.0 -6.20577) (float-vector 9.872944e-15 80.0 -5.0)))
         (instance face :init :vertices (list (float-vector -7.79423 40.0 -9.5) (float-vector -7.79423 38.0 -9.5) (float-vector -4.5 38.0 -6.20577) (float-vector -4.5 40.0 -6.20577)))
         (instance face :init :vertices (list (float-vector -4.5 82.0 -6.20577) (float-vector -7.79423 82.0 -9.5) (float-vector -7.79423 80.0 -9.5) (float-vector -4.5 80.0 -6.20577)))
         (instance face :init :vertices (list (float-vector -9.0 40.0 -14.0) (float-vector -9.0 38.0 -14.0) (float-vector -7.79423 38.0 -9.5) (float-vector -7.79423 40.0 -9.5)))
         (instance face :init :vertices (list (float-vector -7.79423 82.0 -9.5) (float-vector -9.0 82.0 -14.0) (float-vector -9.0 80.0 -14.0) (float-vector -7.79423 80.0 -9.5)))
         (instance face :init :vertices (list (float-vector -7.79423 40.0 -18.5) (float-vector -7.79423 38.0 -18.5) (float-vector -9.0 38.0 -14.0) (float-vector -9.0 40.0 -14.0)))
         (instance face :init :vertices (list (float-vector -9.0 82.0 -14.0) (float-vector -7.79423 82.0 -18.5) (float-vector -7.79423 80.0 -18.5) (float-vector -9.0 80.0 -14.0)))
         (instance face :init :vertices (list (float-vector -4.5 40.0 -21.7942) (float-vector -4.5 38.0 -21.7942) (float-vector -7.79423 38.0 -18.5) (float-vector -7.79423 40.0 -18.5)))
         (instance face :init :vertices (list (float-vector -7.79423 82.0 -18.5) (float-vector -4.5 82.0 -21.7942) (float-vector -4.5 80.0 -21.7942) (float-vector -7.79423 80.0 -18.5)))
         (instance face :init :vertices (list (float-vector -4.5 38.0 -21.7942) (float-vector -1.029814e-16 38.0 -23.0) (float-vector 4.5 38.0 -21.7942) (float-vector 7.79423 38.0 -18.5) (float-vector 9.0 38.0 -14.0) (float-vector 7.79423 38.0 -9.5) (float-vector 4.5 38.0 -6.20577) (float-vector 9.872944e-15 38.0 -5.0) (float-vector -4.5 38.0 -6.20577) (float-vector -7.79423 38.0 -9.5) (float-vector -9.0 38.0 -14.0) (float-vector -7.79423 38.0 -18.5)))
         (instance face :init :vertices (list (float-vector -1.029814e-16 38.0 -23.0) (float-vector -4.5 38.0 -21.7942) (float-vector -4.5 40.0 -21.7942) (float-vector -1.029814e-16 40.0 -23.0)))
         (instance face :init :vertices (list (float-vector -4.5 82.0 -21.7942) (float-vector -1.029814e-16 82.0 -23.0) (float-vector -1.029814e-16 80.0 -23.0) (float-vector -4.5 80.0 -21.7942)))
         (instance face :init :vertices (list (float-vector -1.029814e-16 82.0 -23.0) (float-vector -4.5 82.0 -21.7942) (float-vector -7.79423 82.0 -18.5) (float-vector -9.0 82.0 -14.0) (float-vector -7.79423 82.0 -9.5) (float-vector -4.5 82.0 -6.20577) (float-vector 9.872944e-15 82.0 -5.0) (float-vector 4.5 82.0 -6.20577) (float-vector 7.79423 82.0 -9.5) (float-vector 9.0 82.0 -14.0) (float-vector 7.79423 82.0 -18.5) (float-vector 4.5 82.0 -21.7942)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink5 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-collar-y :weight 59.4337 :centroid (float-vector 8.65462 55.4124 -12.4845) :inertia-tensor #2f((24079.9 -2359.73 779.534) (-2359.73 13516.6 3403.97) (779.534 3403.97 26206.3))))

     ;; definition of :larm-shoulder-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -5.684342e-14 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 24.0 24.0) (float-vector 10.0 24.0 -24.0) (float-vector 10.0 -5.684342e-14 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -25.0) (float-vector -10.0 25.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 -5.684342e-14 -25.0) (float-vector -10.0 -5.684342e-14 -24.0) (float-vector -10.0 24.0 -24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 -5.684342e-14 -24.0) (float-vector -10.0 -5.684342e-14 -25.0)))
         (instance face :init :vertices (list (float-vector -7.888609e-31 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -7.888609e-31 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 5.522026e-30 -10.0 -25.0) (float-vector 5.522026e-30 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector -7.888609e-31 -10.0 25.0) (float-vector -7.888609e-31 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 5.522026e-30 -10.0 -24.0) (float-vector 5.522026e-30 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.888609e-31 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 5.522026e-30 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 -5.684342e-14 -25.0) (float-vector -10.0 25.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 -5.684342e-14 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 -5.684342e-14 -25.0) (float-vector 10.0 -5.684342e-14 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector -7.888609e-31 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 24.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 -24.0) (float-vector 10.0 24.0 24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 24.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 24.0 -24.0) (float-vector -10.0 -5.684342e-14 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 5.522026e-30 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 -5.684342e-14 -24.0) (float-vector 10.0 24.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -10.0 77.0 20.0) (float-vector -10.0 77.0 -20.0) (float-vector -10.0 37.0 -20.0) (float-vector -10.0 37.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 37.0 -20.0) (float-vector 10.0 37.0 -20.0) (float-vector 10.0 37.0 20.0) (float-vector -10.0 37.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 37.0 -20.0) (float-vector 10.0 77.0 -20.0) (float-vector 10.0 77.0 20.0) (float-vector 10.0 37.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 77.0 20.0) (float-vector -10.0 77.0 20.0) (float-vector -10.0 37.0 20.0) (float-vector 10.0 37.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -7.79423 71.5 20.0) (float-vector -4.5 74.7942 20.0) (float-vector 1.620122e-14 76.0 20.0) (float-vector 4.5 74.7942 20.0) (float-vector 7.79423 71.5 20.0) (float-vector 9.0 67.0 20.0) (float-vector 7.79423 62.5 20.0) (float-vector 4.5 59.2058 20.0) (float-vector -6.431253e-15 58.0 20.0) (float-vector -4.5 59.2058 20.0) (float-vector -7.79423 62.5 20.0) (float-vector -9.0 67.0 20.0)))
))
         (instance face :init :vertices (list (float-vector 10.0 77.0 -20.0) (float-vector -10.0 77.0 -20.0) (float-vector -10.0 77.0 20.0) (float-vector 10.0 77.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 77.0 -20.0) (float-vector 10.0 77.0 -20.0) (float-vector 10.0 37.0 -20.0) (float-vector -10.0 37.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -4.5 74.7942 -20.0) (float-vector -7.79423 71.5 -20.0) (float-vector -9.0 67.0 -20.0) (float-vector -7.79423 62.5 -20.0) (float-vector -4.5 59.2058 -20.0) (float-vector -6.431253e-15 58.0 -20.0) (float-vector 4.5 59.2058 -20.0) (float-vector 7.79423 62.5 -20.0) (float-vector 9.0 67.0 -20.0) (float-vector 7.79423 71.5 -20.0) (float-vector 4.5 74.7942 -20.0) (float-vector 1.620122e-14 76.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector -9.0 67.0 22.0) (float-vector -9.0 67.0 20.0) (float-vector -7.79423 62.5 20.0) (float-vector -7.79423 62.5 22.0)))
         (instance face :init :vertices (list (float-vector -9.0 67.0 -20.0) (float-vector -9.0 67.0 -22.0) (float-vector -7.79423 62.5 -22.0) (float-vector -7.79423 62.5 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 59.2058 20.0) (float-vector -4.5 59.2058 22.0) (float-vector -7.79423 62.5 22.0) (float-vector -7.79423 62.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 62.5 -22.0) (float-vector -4.5 59.2058 -22.0) (float-vector -4.5 59.2058 -20.0) (float-vector -7.79423 62.5 -20.0)))
         (instance face :init :vertices (list (float-vector -6.431253e-15 58.0 20.0) (float-vector -6.431253e-15 58.0 22.0) (float-vector -4.5 59.2058 22.0) (float-vector -4.5 59.2058 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 59.2058 -22.0) (float-vector -6.431253e-15 58.0 -22.0) (float-vector -6.431253e-15 58.0 -20.0) (float-vector -4.5 59.2058 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 59.2058 20.0) (float-vector 4.5 59.2058 22.0) (float-vector -6.431253e-15 58.0 22.0) (float-vector -6.431253e-15 58.0 20.0)))
         (instance face :init :vertices (list (float-vector -6.431253e-15 58.0 -22.0) (float-vector 4.5 59.2058 -22.0) (float-vector 4.5 59.2058 -20.0) (float-vector -6.431253e-15 58.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 62.5 20.0) (float-vector 7.79423 62.5 22.0) (float-vector 4.5 59.2058 22.0) (float-vector 4.5 59.2058 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 59.2058 -22.0) (float-vector 7.79423 62.5 -22.0) (float-vector 7.79423 62.5 -20.0) (float-vector 4.5 59.2058 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 67.0 20.0) (float-vector 9.0 67.0 22.0) (float-vector 7.79423 62.5 22.0) (float-vector 7.79423 62.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 62.5 -22.0) (float-vector 9.0 67.0 -22.0) (float-vector 9.0 67.0 -20.0) (float-vector 7.79423 62.5 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 71.5 20.0) (float-vector 7.79423 71.5 22.0) (float-vector 9.0 67.0 22.0) (float-vector 9.0 67.0 20.0)))
         (instance face :init :vertices (list (float-vector 9.0 67.0 -22.0) (float-vector 7.79423 71.5 -22.0) (float-vector 7.79423 71.5 -20.0) (float-vector 9.0 67.0 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 74.7942 20.0) (float-vector 4.5 74.7942 22.0) (float-vector 7.79423 71.5 22.0) (float-vector 7.79423 71.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 71.5 -22.0) (float-vector 4.5 74.7942 -22.0) (float-vector 4.5 74.7942 -20.0) (float-vector 7.79423 71.5 -20.0)))
         (instance face :init :vertices (list (float-vector 1.620122e-14 76.0 20.0) (float-vector 1.620122e-14 76.0 22.0) (float-vector 4.5 74.7942 22.0) (float-vector 4.5 74.7942 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 74.7942 -22.0) (float-vector 1.620122e-14 76.0 -22.0) (float-vector 1.620122e-14 76.0 -20.0) (float-vector 4.5 74.7942 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 74.7942 20.0) (float-vector -4.5 74.7942 22.0) (float-vector 1.620122e-14 76.0 22.0) (float-vector 1.620122e-14 76.0 20.0)))
         (instance face :init :vertices (list (float-vector 1.620122e-14 76.0 -22.0) (float-vector -4.5 74.7942 -22.0) (float-vector -4.5 74.7942 -20.0) (float-vector 1.620122e-14 76.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 71.5 20.0) (float-vector -7.79423 71.5 22.0) (float-vector -4.5 74.7942 22.0) (float-vector -4.5 74.7942 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 74.7942 -22.0) (float-vector -7.79423 71.5 -22.0) (float-vector -7.79423 71.5 -20.0) (float-vector -4.5 74.7942 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 71.5 22.0) (float-vector -9.0 67.0 22.0) (float-vector -7.79423 62.5 22.0) (float-vector -4.5 59.2058 22.0) (float-vector -6.431253e-15 58.0 22.0) (float-vector 4.5 59.2058 22.0) (float-vector 7.79423 62.5 22.0) (float-vector 9.0 67.0 22.0) (float-vector 7.79423 71.5 22.0) (float-vector 4.5 74.7942 22.0) (float-vector 1.620122e-14 76.0 22.0) (float-vector -4.5 74.7942 22.0)))
         (instance face :init :vertices (list (float-vector -9.0 67.0 22.0) (float-vector -7.79423 71.5 22.0) (float-vector -7.79423 71.5 20.0) (float-vector -9.0 67.0 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 71.5 -22.0) (float-vector -9.0 67.0 -22.0) (float-vector -9.0 67.0 -20.0) (float-vector -7.79423 71.5 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 67.0 -22.0) (float-vector -7.79423 71.5 -22.0) (float-vector -4.5 74.7942 -22.0) (float-vector 1.620122e-14 76.0 -22.0) (float-vector 4.5 74.7942 -22.0) (float-vector 7.79423 71.5 -22.0) (float-vector 9.0 67.0 -22.0) (float-vector 7.79423 62.5 -22.0) (float-vector 4.5 59.2058 -22.0) (float-vector -6.431253e-15 58.0 -22.0) (float-vector -4.5 59.2058 -22.0) (float-vector -7.79423 62.5 -22.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink6 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-shoulder-p :weight 59.0557 :centroid (float-vector -1.148301e-15 53.0145 2.842171e-14) :inertia-tensor #2f((26956.4 -1.887094e-12 -8.521148e-13) (-1.887094e-12 11612.2 -2.567383e-13) (-8.521148e-13 -2.567383e-13 19281.2))))

     ;; definition of :larm-elbow-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 24.0 24.0) (float-vector 10.0 24.0 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -25.0) (float-vector -10.0 25.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 -5.684342e-14 -25.0) (float-vector -10.0 -5.684342e-14 -24.0) (float-vector -10.0 24.0 -24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 -5.684342e-14 24.0) (float-vector -10.0 -5.684342e-14 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 -5.684342e-14 25.0) (float-vector -10.0 -5.684342e-14 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 -5.684342e-14 -24.0) (float-vector -10.0 -5.684342e-14 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 -5.684342e-14 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 -5.684342e-14 -25.0) (float-vector -10.0 25.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 -5.684342e-14 24.0) (float-vector -10.0 24.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 -24.0) (float-vector 10.0 24.0 24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 24.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 24.0 -24.0) (float-vector -10.0 -5.684342e-14 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 24.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.85 48.5 -7.0) (float-vector -14.85 48.5 -7.0) (float-vector -14.85 48.5 21.0) (float-vector 14.85 48.5 21.0)))
         (instance face :init :vertices (list (float-vector -14.85 48.5 21.0) (float-vector -14.85 35.5 21.0) (float-vector 14.85 35.5 21.0) (float-vector 14.85 48.5 21.0)))
         (instance face :init :vertices (list (float-vector -14.85 35.5 21.0) (float-vector -14.85 35.5 -7.0) (float-vector 14.85 35.5 -7.0) (float-vector 14.85 35.5 21.0)))
         (instance face :init :vertices (list (float-vector 14.85 35.5 -7.0) (float-vector 14.85 48.5 -7.0) (float-vector 14.85 48.5 21.0) (float-vector 14.85 35.5 21.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 14.85 46.7631 -2.75) (float-vector 14.85 44.75 -4.76314) (float-vector 14.85 42.0 -5.5) (float-vector 14.85 39.25 -4.76314) (float-vector 14.85 37.2369 -2.75) (float-vector 14.85 36.5 2.842171e-14) (float-vector 14.85 37.2369 2.75) (float-vector 14.85 39.25 4.76314) (float-vector 14.85 42.0 5.5) (float-vector 14.85 44.75 4.76314) (float-vector 14.85 46.7631 2.75) (float-vector 14.85 47.5 0.0)))
))
         (instance face :init :vertices (list (float-vector -14.85 35.5 -7.0) (float-vector -14.85 48.5 -7.0) (float-vector 14.85 48.5 -7.0) (float-vector 14.85 35.5 -7.0)))
         (instance face :init :vertices (list (float-vector -14.85 48.5 -7.0) (float-vector -14.85 35.5 -7.0) (float-vector -14.85 35.5 21.0) (float-vector -14.85 48.5 21.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -14.85 44.75 -4.76314) (float-vector -14.85 46.7631 -2.75) (float-vector -14.85 47.5 0.0) (float-vector -14.85 46.7631 2.75) (float-vector -14.85 44.75 4.76314) (float-vector -14.85 42.0 5.5) (float-vector -14.85 39.25 4.76314) (float-vector -14.85 37.2369 2.75) (float-vector -14.85 36.5 1.421085e-14) (float-vector -14.85 37.2369 -2.75) (float-vector -14.85 39.25 -4.76314) (float-vector -14.85 42.0 -5.5)))
))
         (instance face :init :vertices (list (float-vector 16.85 47.5 0.0) (float-vector 14.85 47.5 0.0) (float-vector 14.85 46.7631 2.75) (float-vector 16.85 46.7631 2.75)))
         (instance face :init :vertices (list (float-vector -14.85 47.5 0.0) (float-vector -16.85 47.5 0.0) (float-vector -16.85 46.7631 2.75) (float-vector -14.85 46.7631 2.75)))
         (instance face :init :vertices (list (float-vector 14.85 44.75 4.76314) (float-vector 16.85 44.75 4.76314) (float-vector 16.85 46.7631 2.75) (float-vector 14.85 46.7631 2.75)))
         (instance face :init :vertices (list (float-vector -16.85 46.7631 2.75) (float-vector -16.85 44.75 4.76314) (float-vector -14.85 44.75 4.76314) (float-vector -14.85 46.7631 2.75)))
         (instance face :init :vertices (list (float-vector 14.85 42.0 5.5) (float-vector 16.85 42.0 5.5) (float-vector 16.85 44.75 4.76314) (float-vector 14.85 44.75 4.76314)))
         (instance face :init :vertices (list (float-vector -16.85 44.75 4.76314) (float-vector -16.85 42.0 5.5) (float-vector -14.85 42.0 5.5) (float-vector -14.85 44.75 4.76314)))
         (instance face :init :vertices (list (float-vector 14.85 39.25 4.76314) (float-vector 16.85 39.25 4.76314) (float-vector 16.85 42.0 5.5) (float-vector 14.85 42.0 5.5)))
         (instance face :init :vertices (list (float-vector -16.85 42.0 5.5) (float-vector -16.85 39.25 4.76314) (float-vector -14.85 39.25 4.76314) (float-vector -14.85 42.0 5.5)))
         (instance face :init :vertices (list (float-vector 14.85 37.2369 2.75) (float-vector 16.85 37.2369 2.75) (float-vector 16.85 39.25 4.76314) (float-vector 14.85 39.25 4.76314)))
         (instance face :init :vertices (list (float-vector -16.85 39.25 4.76314) (float-vector -16.85 37.2369 2.75) (float-vector -14.85 37.2369 2.75) (float-vector -14.85 39.25 4.76314)))
         (instance face :init :vertices (list (float-vector 14.85 36.5 2.842171e-14) (float-vector 16.85 36.5 2.842171e-14) (float-vector 16.85 37.2369 2.75) (float-vector 14.85 37.2369 2.75)))
         (instance face :init :vertices (list (float-vector -16.85 37.2369 2.75) (float-vector -16.85 36.5 1.421085e-14) (float-vector -14.85 36.5 1.421085e-14) (float-vector -14.85 37.2369 2.75)))
         (instance face :init :vertices (list (float-vector 14.85 37.2369 -2.75) (float-vector 16.85 37.2369 -2.75) (float-vector 16.85 36.5 2.842171e-14) (float-vector 14.85 36.5 2.842171e-14)))
         (instance face :init :vertices (list (float-vector -16.85 36.5 1.421085e-14) (float-vector -16.85 37.2369 -2.75) (float-vector -14.85 37.2369 -2.75) (float-vector -14.85 36.5 1.421085e-14)))
         (instance face :init :vertices (list (float-vector 14.85 39.25 -4.76314) (float-vector 16.85 39.25 -4.76314) (float-vector 16.85 37.2369 -2.75) (float-vector 14.85 37.2369 -2.75)))
         (instance face :init :vertices (list (float-vector -16.85 37.2369 -2.75) (float-vector -16.85 39.25 -4.76314) (float-vector -14.85 39.25 -4.76314) (float-vector -14.85 37.2369 -2.75)))
         (instance face :init :vertices (list (float-vector 14.85 42.0 -5.5) (float-vector 16.85 42.0 -5.5) (float-vector 16.85 39.25 -4.76314) (float-vector 14.85 39.25 -4.76314)))
         (instance face :init :vertices (list (float-vector -16.85 39.25 -4.76314) (float-vector -16.85 42.0 -5.5) (float-vector -14.85 42.0 -5.5) (float-vector -14.85 39.25 -4.76314)))
         (instance face :init :vertices (list (float-vector 14.85 44.75 -4.76314) (float-vector 16.85 44.75 -4.76314) (float-vector 16.85 42.0 -5.5) (float-vector 14.85 42.0 -5.5)))
         (instance face :init :vertices (list (float-vector -16.85 42.0 -5.5) (float-vector -16.85 44.75 -4.76314) (float-vector -14.85 44.75 -4.76314) (float-vector -14.85 42.0 -5.5)))
         (instance face :init :vertices (list (float-vector 14.85 46.7631 -2.75) (float-vector 16.85 46.7631 -2.75) (float-vector 16.85 44.75 -4.76314) (float-vector 14.85 44.75 -4.76314)))
         (instance face :init :vertices (list (float-vector -16.85 44.75 -4.76314) (float-vector -16.85 46.7631 -2.75) (float-vector -14.85 46.7631 -2.75) (float-vector -14.85 44.75 -4.76314)))
         (instance face :init :vertices (list (float-vector 16.85 46.7631 -2.75) (float-vector 16.85 47.5 0.0) (float-vector 16.85 46.7631 2.75) (float-vector 16.85 44.75 4.76314) (float-vector 16.85 42.0 5.5) (float-vector 16.85 39.25 4.76314) (float-vector 16.85 37.2369 2.75) (float-vector 16.85 36.5 2.842171e-14) (float-vector 16.85 37.2369 -2.75) (float-vector 16.85 39.25 -4.76314) (float-vector 16.85 42.0 -5.5) (float-vector 16.85 44.75 -4.76314)))
         (instance face :init :vertices (list (float-vector 16.85 47.5 0.0) (float-vector 16.85 46.7631 -2.75) (float-vector 14.85 46.7631 -2.75) (float-vector 14.85 47.5 0.0)))
         (instance face :init :vertices (list (float-vector -16.85 46.7631 -2.75) (float-vector -16.85 47.5 0.0) (float-vector -14.85 47.5 0.0) (float-vector -14.85 46.7631 -2.75)))
         (instance face :init :vertices (list (float-vector -16.85 47.5 0.0) (float-vector -16.85 46.7631 -2.75) (float-vector -16.85 44.75 -4.76314) (float-vector -16.85 42.0 -5.5) (float-vector -16.85 39.25 -4.76314) (float-vector -16.85 37.2369 -2.75) (float-vector -16.85 36.5 1.421085e-14) (float-vector -16.85 37.2369 2.75) (float-vector -16.85 39.25 4.76314) (float-vector -16.85 42.0 5.5) (float-vector -16.85 44.75 4.76314) (float-vector -16.85 46.7631 2.75)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 16.0 32.0 2.842171e-14) (float-vector 16.0 32.0 -45.0) (float-vector 16.0 97.0 -45.0) (float-vector 16.0 97.0 -25.0) (float-vector 16.0 49.0 -25.0) (float-vector 16.0 49.0 1.421085e-14)))
         (instance face :init :vertices (list (float-vector -17.0 32.0 -45.0) (float-vector -17.0 32.0 1.421085e-14) (float-vector -17.0 49.0 0.0) (float-vector -17.0 49.0 -25.0) (float-vector -17.0 97.0 -25.0) (float-vector -17.0 97.0 -45.0)))
         (instance face :init :vertices (list (float-vector 16.0 32.0 2.842171e-14) (float-vector -17.0 32.0 1.421085e-14) (float-vector -17.0 32.0 -45.0) (float-vector 16.0 32.0 -45.0)))
         (instance face :init :vertices (list (float-vector 16.0 49.0 1.421085e-14) (float-vector -17.0 49.0 0.0) (float-vector -17.0 32.0 1.421085e-14) (float-vector 16.0 32.0 2.842171e-14)))
         (instance face :init :vertices (list (float-vector 16.0 49.0 -25.0) (float-vector -17.0 49.0 -25.0) (float-vector -17.0 49.0 0.0) (float-vector 16.0 49.0 1.421085e-14)))
         (instance face :init :vertices (list (float-vector 16.0 97.0 -25.0) (float-vector -17.0 97.0 -25.0) (float-vector -17.0 49.0 -25.0) (float-vector 16.0 49.0 -25.0)))
         (instance face :init :vertices (list (float-vector 16.0 97.0 -45.0) (float-vector -17.0 97.0 -45.0) (float-vector -17.0 97.0 -25.0) (float-vector 16.0 97.0 -25.0)))
         (instance face :init :vertices (list (float-vector 16.0 32.0 -45.0) (float-vector -17.0 32.0 -45.0) (float-vector -17.0 97.0 -45.0) (float-vector 16.0 97.0 -45.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :yellow)
     (setq blink7 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-elbow-p :weight 27.0557 :centroid (float-vector -1.137916e-15 36.0805 5.25673) :inertia-tensor #2f((8524.59 -3.231186e-13 -8.265045e-14) (-3.231186e-13 5910.13 -841.903) (-8.265045e-14 -841.903 6105.49))))

     ;; definition of :larm-gripper
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -15.0) (float-vector 10.0 42.0 -15.0) (float-vector 10.0 42.0 15.0) (float-vector 10.0 0.0 15.0) (float-vector 10.0 0.0 14.0) (float-vector 10.0 41.0 14.0) (float-vector 10.0 41.0 -14.0) (float-vector 10.0 0.0 -14.0)))
         (instance face :init :vertices (list (float-vector -10.0 42.0 -15.0) (float-vector -10.0 42.0 15.0) (float-vector 10.0 42.0 15.0) (float-vector 10.0 42.0 -15.0)))
         (instance face :init :vertices (list (float-vector -10.0 1.421085e-14 -15.0) (float-vector -10.0 1.421085e-14 -14.0) (float-vector -10.0 41.0 -14.0) (float-vector -10.0 41.0 14.0) (float-vector -10.0 1.421085e-14 14.0) (float-vector -10.0 1.421085e-14 15.0) (float-vector -10.0 42.0 15.0) (float-vector -10.0 42.0 -15.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 15.0) (float-vector -10.0 1.421085e-14 15.0) (float-vector -10.0 1.421085e-14 14.0) (float-vector -7.07107 -7.07107 14.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -15.0) (float-vector -7.07107 -7.07107 -14.0) (float-vector -10.0 1.421085e-14 -14.0) (float-vector -10.0 1.421085e-14 -15.0)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 -10.0 15.0) (float-vector -7.07107 -7.07107 15.0) (float-vector -7.07107 -7.07107 14.0) (float-vector 2.842171e-14 -10.0 14.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -15.0) (float-vector 0.0 -10.0 -14.0) (float-vector -7.07107 -7.07107 -14.0) (float-vector -7.07107 -7.07107 -15.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 15.0) (float-vector 2.842171e-14 -10.0 15.0) (float-vector 2.842171e-14 -10.0 14.0) (float-vector 7.07107 -7.07107 14.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -15.0) (float-vector 7.07107 -7.07107 -14.0) (float-vector 0.0 -10.0 -14.0) (float-vector 0.0 -10.0 -15.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 15.0) (float-vector 10.0 42.0 15.0) (float-vector -10.0 42.0 15.0) (float-vector -10.0 1.421085e-14 15.0) (float-vector -7.07107 -7.07107 15.0) (float-vector 2.842171e-14 -10.0 15.0) (float-vector 7.07107 -7.07107 15.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -15.0) (float-vector 0.0 -10.0 -15.0) (float-vector -7.07107 -7.07107 -15.0) (float-vector -10.0 1.421085e-14 -15.0) (float-vector -10.0 42.0 -15.0) (float-vector 10.0 42.0 -15.0) (float-vector 10.0 0.0 -15.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 15.0) (float-vector 7.07107 -7.07107 14.0) (float-vector 10.0 0.0 14.0) (float-vector 10.0 0.0 15.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -15.0) (float-vector 10.0 0.0 -14.0) (float-vector 7.07107 -7.07107 -14.0) (float-vector 7.07107 -7.07107 -15.0)))
         (instance face :init :vertices (list (float-vector 10.0 41.0 14.0) (float-vector 10.0 0.0 14.0) (float-vector 7.07107 -7.07107 14.0) (float-vector 2.842171e-14 -10.0 14.0) (float-vector -7.07107 -7.07107 14.0) (float-vector -10.0 1.421085e-14 14.0) (float-vector -10.0 41.0 14.0)))
         (instance face :init :vertices (list (float-vector 10.0 41.0 -14.0) (float-vector 10.0 41.0 14.0) (float-vector -10.0 41.0 14.0) (float-vector -10.0 41.0 -14.0)))
         (instance face :init :vertices (list (float-vector -10.0 41.0 -14.0) (float-vector -10.0 1.421085e-14 -14.0) (float-vector -7.07107 -7.07107 -14.0) (float-vector 0.0 -10.0 -14.0) (float-vector 7.07107 -7.07107 -14.0) (float-vector 10.0 0.0 -14.0) (float-vector 10.0 41.0 -14.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 0.0 45.0 18.0) (float-vector 0.0 35.0 18.0) (float-vector 25.0 35.0 18.0) (float-vector 45.0 4.0 18.0) (float-vector 55.0 10.0 18.0) (float-vector 35.0 45.0 18.0)))
         (instance face :init :vertices (list (float-vector 0.0 35.0 -15.0) (float-vector 0.0 45.0 -15.0) (float-vector 35.0 45.0 -15.0) (float-vector 55.0 10.0 -15.0) (float-vector 45.0 4.0 -15.0) (float-vector 25.0 35.0 -15.0)))
         (instance face :init :vertices (list (float-vector 0.0 45.0 18.0) (float-vector 0.0 45.0 -15.0) (float-vector 0.0 35.0 -15.0) (float-vector 0.0 35.0 18.0)))
         (instance face :init :vertices (list (float-vector 35.0 45.0 18.0) (float-vector 35.0 45.0 -15.0) (float-vector 0.0 45.0 -15.0) (float-vector 0.0 45.0 18.0)))
         (instance face :init :vertices (list (float-vector 55.0 10.0 18.0) (float-vector 55.0 10.0 -15.0) (float-vector 35.0 45.0 -15.0) (float-vector 35.0 45.0 18.0)))
         (instance face :init :vertices (list (float-vector 45.0 4.0 18.0) (float-vector 45.0 4.0 -15.0) (float-vector 55.0 10.0 -15.0) (float-vector 55.0 10.0 18.0)))
         (instance face :init :vertices (list (float-vector 25.0 35.0 18.0) (float-vector 25.0 35.0 -15.0) (float-vector 45.0 4.0 -15.0) (float-vector 45.0 4.0 18.0)))
         (instance face :init :vertices (list (float-vector 0.0 35.0 18.0) (float-vector 0.0 35.0 -15.0) (float-vector 25.0 35.0 -15.0) (float-vector 25.0 35.0 18.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :yellow)
     (setq blink8 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-gripper :weight 6.81168 :centroid (float-vector 1.080025e-12 22.7449 5.718337e-15) :inertia-tensor #2f((3189.5 -1.311124e-14 1.060857e-25) (-1.311124e-14 1440.54 -8.526513e-14) (1.060857e-25 -8.526513e-14 2203.08))))

     ;; definition of :head-neck-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -18.5) (float-vector 10.0 20.0 -18.5) (float-vector 10.0 20.0 18.5) (float-vector 10.0 0.0 18.5) (float-vector 10.0 0.0 17.5) (float-vector 10.0 19.0 17.5) (float-vector 10.0 19.0 -17.5) (float-vector 10.0 0.0 -17.5)))
         (instance face :init :vertices (list (float-vector -10.0 20.0 -18.5) (float-vector -10.0 20.0 18.5) (float-vector 10.0 20.0 18.5) (float-vector 10.0 20.0 -18.5)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -18.5) (float-vector -10.0 0.0 -17.5) (float-vector -10.0 19.0 -17.5) (float-vector -10.0 19.0 17.5) (float-vector -10.0 0.0 17.5) (float-vector -10.0 0.0 18.5) (float-vector -10.0 20.0 18.5) (float-vector -10.0 20.0 -18.5)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 18.5) (float-vector -10.0 0.0 18.5) (float-vector -10.0 0.0 17.5) (float-vector -7.07107 -7.07107 17.5)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -18.5) (float-vector -7.07107 -7.07107 -17.5) (float-vector -10.0 0.0 -17.5) (float-vector -10.0 0.0 -18.5)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 18.5) (float-vector -7.07107 -7.07107 18.5) (float-vector -7.07107 -7.07107 17.5) (float-vector 0.0 -10.0 17.5)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -18.5) (float-vector 0.0 -10.0 -17.5) (float-vector -7.07107 -7.07107 -17.5) (float-vector -7.07107 -7.07107 -18.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 18.5) (float-vector 0.0 -10.0 18.5) (float-vector 0.0 -10.0 17.5) (float-vector 7.07107 -7.07107 17.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -18.5) (float-vector 7.07107 -7.07107 -17.5) (float-vector 0.0 -10.0 -17.5) (float-vector 0.0 -10.0 -18.5)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 18.5) (float-vector 10.0 20.0 18.5) (float-vector -10.0 20.0 18.5) (float-vector -10.0 0.0 18.5) (float-vector -7.07107 -7.07107 18.5) (float-vector 0.0 -10.0 18.5) (float-vector 7.07107 -7.07107 18.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -18.5) (float-vector 0.0 -10.0 -18.5) (float-vector -7.07107 -7.07107 -18.5) (float-vector -10.0 0.0 -18.5) (float-vector -10.0 20.0 -18.5) (float-vector 10.0 20.0 -18.5) (float-vector 10.0 0.0 -18.5)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 18.5) (float-vector 7.07107 -7.07107 17.5) (float-vector 10.0 0.0 17.5) (float-vector 10.0 0.0 18.5)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -18.5) (float-vector 10.0 0.0 -17.5) (float-vector 7.07107 -7.07107 -17.5) (float-vector 7.07107 -7.07107 -18.5)))
         (instance face :init :vertices (list (float-vector 10.0 19.0 17.5) (float-vector 10.0 0.0 17.5) (float-vector 7.07107 -7.07107 17.5) (float-vector 0.0 -10.0 17.5) (float-vector -7.07107 -7.07107 17.5) (float-vector -10.0 0.0 17.5) (float-vector -10.0 19.0 17.5)))
         (instance face :init :vertices (list (float-vector 10.0 19.0 -17.5) (float-vector 10.0 19.0 17.5) (float-vector -10.0 19.0 17.5) (float-vector -10.0 19.0 -17.5)))
         (instance face :init :vertices (list (float-vector -10.0 19.0 -17.5) (float-vector -10.0 0.0 -17.5) (float-vector -7.07107 -7.07107 -17.5) (float-vector 0.0 -10.0 -17.5) (float-vector 7.07107 -7.07107 -17.5) (float-vector 10.0 0.0 -17.5) (float-vector 10.0 19.0 -17.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 14.85 7.0 38.0) (float-vector -14.85 7.0 38.0) (float-vector -14.85 -21.0 38.0) (float-vector 14.85 -21.0 38.0)))
         (instance face :init :vertices (list (float-vector -14.85 -21.0 38.0) (float-vector -14.85 -21.0 25.0) (float-vector 14.85 -21.0 25.0) (float-vector 14.85 -21.0 38.0)))
         (instance face :init :vertices (list (float-vector -14.85 -21.0 25.0) (float-vector -14.85 7.0 25.0) (float-vector 14.85 7.0 25.0) (float-vector 14.85 -21.0 25.0)))
         (instance face :init :vertices (list (float-vector 14.85 7.0 25.0) (float-vector 14.85 7.0 38.0) (float-vector 14.85 -21.0 38.0) (float-vector 14.85 -21.0 25.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 14.85 2.75 36.2631) (float-vector 14.85 4.76314 34.25) (float-vector 14.85 5.5 31.5) (float-vector 14.85 4.76314 28.75) (float-vector 14.85 2.75 26.7369) (float-vector 14.85 -9.958701e-15 26.0) (float-vector 14.85 -2.75 26.7369) (float-vector 14.85 -4.76314 28.75) (float-vector 14.85 -5.5 31.5) (float-vector 14.85 -4.76314 34.25) (float-vector 14.85 -2.75 36.2631) (float-vector 14.85 -3.297362e-15 37.0)))
))
         (instance face :init :vertices (list (float-vector -14.85 7.0 25.0) (float-vector -14.85 7.0 38.0) (float-vector 14.85 7.0 38.0) (float-vector 14.85 7.0 25.0)))
         (instance face :init :vertices (list (float-vector -14.85 7.0 38.0) (float-vector -14.85 7.0 25.0) (float-vector -14.85 -21.0 25.0) (float-vector -14.85 -21.0 38.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -14.85 4.76314 34.25) (float-vector -14.85 2.75 36.2631) (float-vector -14.85 3.297362e-15 37.0) (float-vector -14.85 -2.75 36.2631) (float-vector -14.85 -4.76314 34.25) (float-vector -14.85 -5.5 31.5) (float-vector -14.85 -4.76314 28.75) (float-vector -14.85 -2.75 26.7369) (float-vector -14.85 -3.363976e-15 26.0) (float-vector -14.85 2.75 26.7369) (float-vector -14.85 4.76314 28.75) (float-vector -14.85 5.5 31.5)))
))
         (instance face :init :vertices (list (float-vector 16.85 -3.741452e-15 37.0) (float-vector 14.85 -3.297362e-15 37.0) (float-vector 14.85 -2.75 36.2631) (float-vector 16.85 -2.75 36.2631)))
         (instance face :init :vertices (list (float-vector -14.85 3.297362e-15 37.0) (float-vector -16.85 3.741452e-15 37.0) (float-vector -16.85 -2.75 36.2631) (float-vector -14.85 -2.75 36.2631)))
         (instance face :init :vertices (list (float-vector 14.85 -4.76314 34.25) (float-vector 16.85 -4.76314 34.25) (float-vector 16.85 -2.75 36.2631) (float-vector 14.85 -2.75 36.2631)))
         (instance face :init :vertices (list (float-vector -16.85 -2.75 36.2631) (float-vector -16.85 -4.76314 34.25) (float-vector -14.85 -4.76314 34.25) (float-vector -14.85 -2.75 36.2631)))
         (instance face :init :vertices (list (float-vector 14.85 -5.5 31.5) (float-vector 16.85 -5.5 31.5) (float-vector 16.85 -4.76314 34.25) (float-vector 14.85 -4.76314 34.25)))
         (instance face :init :vertices (list (float-vector -16.85 -4.76314 34.25) (float-vector -16.85 -5.5 31.5) (float-vector -14.85 -5.5 31.5) (float-vector -14.85 -4.76314 34.25)))
         (instance face :init :vertices (list (float-vector 14.85 -4.76314 28.75) (float-vector 16.85 -4.76314 28.75) (float-vector 16.85 -5.5 31.5) (float-vector 14.85 -5.5 31.5)))
         (instance face :init :vertices (list (float-vector -16.85 -5.5 31.5) (float-vector -16.85 -4.76314 28.75) (float-vector -14.85 -4.76314 28.75) (float-vector -14.85 -5.5 31.5)))
         (instance face :init :vertices (list (float-vector 14.85 -2.75 26.7369) (float-vector 16.85 -2.75 26.7369) (float-vector 16.85 -4.76314 28.75) (float-vector 14.85 -4.76314 28.75)))
         (instance face :init :vertices (list (float-vector -16.85 -4.76314 28.75) (float-vector -16.85 -2.75 26.7369) (float-vector -14.85 -2.75 26.7369) (float-vector -14.85 -4.76314 28.75)))
         (instance face :init :vertices (list (float-vector 14.85 -9.958701e-15 26.0) (float-vector 16.85 -1.040279e-14 26.0) (float-vector 16.85 -2.75 26.7369) (float-vector 14.85 -2.75 26.7369)))
         (instance face :init :vertices (list (float-vector -16.85 -2.75 26.7369) (float-vector -16.85 -2.919887e-15 26.0) (float-vector -14.85 -3.363976e-15 26.0) (float-vector -14.85 -2.75 26.7369)))
         (instance face :init :vertices (list (float-vector 14.85 2.75 26.7369) (float-vector 16.85 2.75 26.7369) (float-vector 16.85 -1.040279e-14 26.0) (float-vector 14.85 -9.958701e-15 26.0)))
         (instance face :init :vertices (list (float-vector -16.85 -2.919887e-15 26.0) (float-vector -16.85 2.75 26.7369) (float-vector -14.85 2.75 26.7369) (float-vector -14.85 -3.363976e-15 26.0)))
         (instance face :init :vertices (list (float-vector 14.85 4.76314 28.75) (float-vector 16.85 4.76314 28.75) (float-vector 16.85 2.75 26.7369) (float-vector 14.85 2.75 26.7369)))
         (instance face :init :vertices (list (float-vector -16.85 2.75 26.7369) (float-vector -16.85 4.76314 28.75) (float-vector -14.85 4.76314 28.75) (float-vector -14.85 2.75 26.7369)))
         (instance face :init :vertices (list (float-vector 14.85 5.5 31.5) (float-vector 16.85 5.5 31.5) (float-vector 16.85 4.76314 28.75) (float-vector 14.85 4.76314 28.75)))
         (instance face :init :vertices (list (float-vector -16.85 4.76314 28.75) (float-vector -16.85 5.5 31.5) (float-vector -14.85 5.5 31.5) (float-vector -14.85 4.76314 28.75)))
         (instance face :init :vertices (list (float-vector 14.85 4.76314 34.25) (float-vector 16.85 4.76314 34.25) (float-vector 16.85 5.5 31.5) (float-vector 14.85 5.5 31.5)))
         (instance face :init :vertices (list (float-vector -16.85 5.5 31.5) (float-vector -16.85 4.76314 34.25) (float-vector -14.85 4.76314 34.25) (float-vector -14.85 5.5 31.5)))
         (instance face :init :vertices (list (float-vector 14.85 2.75 36.2631) (float-vector 16.85 2.75 36.2631) (float-vector 16.85 4.76314 34.25) (float-vector 14.85 4.76314 34.25)))
         (instance face :init :vertices (list (float-vector -16.85 4.76314 34.25) (float-vector -16.85 2.75 36.2631) (float-vector -14.85 2.75 36.2631) (float-vector -14.85 4.76314 34.25)))
         (instance face :init :vertices (list (float-vector 16.85 2.75 36.2631) (float-vector 16.85 -3.741452e-15 37.0) (float-vector 16.85 -2.75 36.2631) (float-vector 16.85 -4.76314 34.25) (float-vector 16.85 -5.5 31.5) (float-vector 16.85 -4.76314 28.75) (float-vector 16.85 -2.75 26.7369) (float-vector 16.85 -1.040279e-14 26.0) (float-vector 16.85 2.75 26.7369) (float-vector 16.85 4.76314 28.75) (float-vector 16.85 5.5 31.5) (float-vector 16.85 4.76314 34.25)))
         (instance face :init :vertices (list (float-vector 16.85 -3.741452e-15 37.0) (float-vector 16.85 2.75 36.2631) (float-vector 14.85 2.75 36.2631) (float-vector 14.85 -3.297362e-15 37.0)))
         (instance face :init :vertices (list (float-vector -16.85 2.75 36.2631) (float-vector -16.85 3.741452e-15 37.0) (float-vector -14.85 3.297362e-15 37.0) (float-vector -14.85 2.75 36.2631)))
         (instance face :init :vertices (list (float-vector -16.85 3.741452e-15 37.0) (float-vector -16.85 2.75 36.2631) (float-vector -16.85 4.76314 34.25) (float-vector -16.85 5.5 31.5) (float-vector -16.85 4.76314 28.75) (float-vector -16.85 2.75 26.7369) (float-vector -16.85 -2.919887e-15 26.0) (float-vector -16.85 -2.75 26.7369) (float-vector -16.85 -4.76314 28.75) (float-vector -16.85 -5.5 31.5) (float-vector -16.85 -4.76314 34.25) (float-vector -16.85 -2.75 36.2631)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray40)
     (setq blink17 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-neck-y :weight 25.8137 :centroid (float-vector 4.236119e-17 -3.3642 25.626) :inertia-tensor #2f((8460.34 -2.221596e-13 6.855144e-13) (-2.221596e-13 7026.0 2254.66) (6.855144e-13 2254.66 4842.57))))

     ;; definition of :head-neck-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -27.0) (float-vector 10.0 15.0 -27.0) (float-vector 10.0 15.0 27.0) (float-vector 10.0 0.0 27.0) (float-vector 10.0 0.0 26.0) (float-vector 10.0 14.0 26.0) (float-vector 10.0 14.0 -26.0) (float-vector 10.0 0.0 -26.0)))
         (instance face :init :vertices (list (float-vector -10.0 15.0 -27.0) (float-vector -10.0 15.0 27.0) (float-vector 10.0 15.0 27.0) (float-vector 10.0 15.0 -27.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -27.0) (float-vector -10.0 0.0 -26.0) (float-vector -10.0 14.0 -26.0) (float-vector -10.0 14.0 26.0) (float-vector -10.0 0.0 26.0) (float-vector -10.0 0.0 27.0) (float-vector -10.0 15.0 27.0) (float-vector -10.0 15.0 -27.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 27.0) (float-vector -10.0 0.0 27.0) (float-vector -10.0 0.0 26.0) (float-vector -7.07107 -7.07107 26.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -27.0) (float-vector -7.07107 -7.07107 -26.0) (float-vector -10.0 0.0 -26.0) (float-vector -10.0 0.0 -27.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 27.0) (float-vector -7.07107 -7.07107 27.0) (float-vector -7.07107 -7.07107 26.0) (float-vector 0.0 -10.0 26.0)))
         (instance face :init :vertices (list (float-vector -6.310887e-30 -10.0 -27.0) (float-vector -6.310887e-30 -10.0 -26.0) (float-vector -7.07107 -7.07107 -26.0) (float-vector -7.07107 -7.07107 -27.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 27.0) (float-vector 0.0 -10.0 27.0) (float-vector 0.0 -10.0 26.0) (float-vector 7.07107 -7.07107 26.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -27.0) (float-vector 7.07107 -7.07107 -26.0) (float-vector -6.310887e-30 -10.0 -26.0) (float-vector -6.310887e-30 -10.0 -27.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 27.0) (float-vector 10.0 15.0 27.0) (float-vector -10.0 15.0 27.0) (float-vector -10.0 0.0 27.0) (float-vector -7.07107 -7.07107 27.0) (float-vector 0.0 -10.0 27.0) (float-vector 7.07107 -7.07107 27.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -27.0) (float-vector -6.310887e-30 -10.0 -27.0) (float-vector -7.07107 -7.07107 -27.0) (float-vector -10.0 0.0 -27.0) (float-vector -10.0 15.0 -27.0) (float-vector 10.0 15.0 -27.0) (float-vector 10.0 0.0 -27.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 27.0) (float-vector 7.07107 -7.07107 26.0) (float-vector 10.0 0.0 26.0) (float-vector 10.0 0.0 27.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -27.0) (float-vector 10.0 0.0 -26.0) (float-vector 7.07107 -7.07107 -26.0) (float-vector 7.07107 -7.07107 -27.0)))
         (instance face :init :vertices (list (float-vector 10.0 14.0 26.0) (float-vector 10.0 0.0 26.0) (float-vector 7.07107 -7.07107 26.0) (float-vector 0.0 -10.0 26.0) (float-vector -7.07107 -7.07107 26.0) (float-vector -10.0 0.0 26.0) (float-vector -10.0 14.0 26.0)))
         (instance face :init :vertices (list (float-vector 10.0 14.0 -26.0) (float-vector 10.0 14.0 26.0) (float-vector -10.0 14.0 26.0) (float-vector -10.0 14.0 -26.0)))
         (instance face :init :vertices (list (float-vector -10.0 14.0 -26.0) (float-vector -10.0 0.0 -26.0) (float-vector -7.07107 -7.07107 -26.0) (float-vector -6.310887e-30 -10.0 -26.0) (float-vector 7.07107 -7.07107 -26.0) (float-vector 10.0 0.0 -26.0) (float-vector 10.0 14.0 -26.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 3.5 40.0 -21.0) (float-vector 3.5 35.75 -19.8612) (float-vector 3.5 32.6388 -16.75) (float-vector 3.5 31.5 -12.5) (float-vector 3.5 32.6388 -8.25) (float-vector 3.5 35.75 -5.13878) (float-vector 3.5 40.0 -4.0) (float-vector 3.5 44.25 -5.13878) (float-vector 3.5 47.3612 -8.25) (float-vector 3.5 48.5 -12.5) (float-vector 3.5 47.3612 -16.75) (float-vector 3.5 44.25 -19.8612)))
         (instance face :init :vertices (list (float-vector 3.5 41.0 -13.5) (float-vector 3.5 39.0 -13.5) (float-vector 3.5 39.0 -11.5) (float-vector 3.5 41.0 -11.5)))
         (instance face :init :vertices (list (float-vector 3.5 40.0 -21.0) (float-vector 13.0 40.0 -21.0) (float-vector 13.0 35.75 -19.8612) (float-vector 3.5 35.75 -19.8612)))
         (instance face :init :vertices (list (float-vector 13.0 40.0 -21.0) (float-vector 13.0 44.25 -19.8612) (float-vector 13.0 47.3612 -16.75) (float-vector 13.0 48.5 -12.5) (float-vector 13.0 47.3612 -8.25) (float-vector 13.0 44.25 -5.13878) (float-vector 13.0 40.0 -4.0) (float-vector 13.0 35.75 -5.13878) (float-vector 13.0 32.6388 -8.25) (float-vector 13.0 31.5 -12.5) (float-vector 13.0 32.6388 -16.75) (float-vector 13.0 35.75 -19.8612)))
         (instance face :init :vertices (list (float-vector 13.0 32.6388 -16.75) (float-vector 3.5 32.6388 -16.75) (float-vector 3.5 35.75 -19.8612) (float-vector 13.0 35.75 -19.8612)))
         (instance face :init :vertices (list (float-vector 13.0 31.5 -12.5) (float-vector 3.5 31.5 -12.5) (float-vector 3.5 32.6388 -16.75) (float-vector 13.0 32.6388 -16.75)))
         (instance face :init :vertices (list (float-vector 13.0 32.6388 -8.25) (float-vector 3.5 32.6388 -8.25) (float-vector 3.5 31.5 -12.5) (float-vector 13.0 31.5 -12.5)))
         (instance face :init :vertices (list (float-vector 13.0 35.75 -5.13878) (float-vector 3.5 35.75 -5.13878) (float-vector 3.5 32.6388 -8.25) (float-vector 13.0 32.6388 -8.25)))
         (instance face :init :vertices (list (float-vector 13.0 40.0 -4.0) (float-vector 3.5 40.0 -4.0) (float-vector 3.5 35.75 -5.13878) (float-vector 13.0 35.75 -5.13878)))
         (instance face :init :vertices (list (float-vector 13.0 44.25 -5.13878) (float-vector 3.5 44.25 -5.13878) (float-vector 3.5 40.0 -4.0) (float-vector 13.0 40.0 -4.0)))
         (instance face :init :vertices (list (float-vector 13.0 47.3612 -8.25) (float-vector 3.5 47.3612 -8.25) (float-vector 3.5 44.25 -5.13878) (float-vector 13.0 44.25 -5.13878)))
         (instance face :init :vertices (list (float-vector 13.0 48.5 -12.5) (float-vector 3.5 48.5 -12.5) (float-vector 3.5 47.3612 -8.25) (float-vector 13.0 47.3612 -8.25)))
         (instance face :init :vertices (list (float-vector 13.0 47.3612 -16.75) (float-vector 3.5 47.3612 -16.75) (float-vector 3.5 48.5 -12.5) (float-vector 13.0 48.5 -12.5)))
         (instance face :init :vertices (list (float-vector 13.0 44.25 -19.8612) (float-vector 3.5 44.25 -19.8612) (float-vector 3.5 47.3612 -16.75) (float-vector 13.0 47.3612 -16.75)))
         (instance face :init :vertices (list (float-vector 3.5 44.25 -19.8612) (float-vector 13.0 44.25 -19.8612) (float-vector 13.0 40.0 -21.0) (float-vector 3.5 40.0 -21.0)))
         (instance face :init :vertices (list (float-vector 2.5 24.0 -25.0) (float-vector -12.5 24.0 -25.0) (float-vector -12.5 56.0 -25.0) (float-vector 2.5 56.0 -25.0)))
         (instance face :init :vertices (list (float-vector 2.5 24.0 -25.0) (float-vector 2.5 24.0 9.873095e-15) (float-vector -12.5 24.0 3.925231e-15) (float-vector -12.5 24.0 -25.0)))
         (instance face :init :vertices (list (float-vector 2.5 24.0 9.873095e-15) (float-vector 2.5 56.0 1.342581e-14) (float-vector -12.5 56.0 7.477945e-15) (float-vector -12.5 24.0 3.925231e-15)))
         (instance face :init :vertices (list (float-vector -12.5 56.0 7.477945e-15) (float-vector -12.5 56.0 -25.0) (float-vector -12.5 24.0 -25.0) (float-vector -12.5 24.0 3.925231e-15)))
         (instance face :init :vertices (list (float-vector 2.5 56.0 1.342581e-14) (float-vector 2.5 56.0 -25.0) (float-vector -12.5 56.0 -25.0) (float-vector -12.5 56.0 7.477945e-15)))
         (instance face :init :vertices (list (float-vector 2.5 56.0 -25.0) (float-vector 2.5 56.0 1.342581e-14) (float-vector 2.5 24.0 9.873095e-15) (float-vector 2.5 24.0 -25.0)))
         (instance face :init :vertices (list (float-vector 2.5 41.0 -13.5) (float-vector 2.5 39.0 -13.5) (float-vector 3.5 39.0 -13.5) (float-vector 3.5 41.0 -13.5)))
         (instance face :init :vertices (list (float-vector 2.5 41.0 -13.5) (float-vector 2.5 41.0 -11.5) (float-vector 2.5 39.0 -11.5) (float-vector 2.5 39.0 -13.5)))
         (instance face :init :vertices (list (float-vector 2.5 39.0 -11.5) (float-vector 3.5 39.0 -11.5) (float-vector 3.5 39.0 -13.5) (float-vector 2.5 39.0 -13.5)))
         (instance face :init :vertices (list (float-vector 3.5 41.0 -11.5) (float-vector 2.5 41.0 -11.5) (float-vector 2.5 41.0 -13.5) (float-vector 3.5 41.0 -13.5)))
         (instance face :init :vertices (list (float-vector 2.5 41.0 -11.5) (float-vector 3.5 41.0 -11.5) (float-vector 3.5 39.0 -11.5) (float-vector 2.5 39.0 -11.5)))
         (instance face :init :vertices (list (float-vector 2.5 58.5 4.0) (float-vector -12.5 58.5 4.0) (float-vector -12.5 58.5 -12.5) (float-vector -10.3033 58.5 -17.8033) (float-vector -5.0 58.5 -20.0) (float-vector 0.303301 58.5 -17.8033) (float-vector 2.5 58.5 -12.5)))
         (instance face :init :vertices (list (float-vector -12.5 21.5 4.0) (float-vector -12.5 58.5 4.0) (float-vector 2.5 58.5 4.0) (float-vector 2.5 21.5 4.0)))
         (instance face :init :vertices (list (float-vector -12.5 21.5 -12.5) (float-vector -12.5 21.5 4.0) (float-vector 2.5 21.5 4.0) (float-vector 2.5 21.5 -12.5) (float-vector 0.303301 21.5 -17.8033) (float-vector -5.0 21.5 -20.0) (float-vector -10.3033 21.5 -17.8033)))
         (instance face :init :vertices (list (float-vector 0.303301 60.0 -17.8033) (float-vector 2.5 60.0 -12.5) (float-vector 2.5 58.5 -12.5) (float-vector 0.303301 58.5 -17.8033)))
         (instance face :init :vertices (list (float-vector 2.5 20.0 -12.5) (float-vector 0.303301 20.0 -17.8033) (float-vector 0.303301 21.5 -17.8033) (float-vector 2.5 21.5 -12.5)))
         (instance face :init :vertices (list (float-vector 2.5 60.0 5.5) (float-vector 2.5 60.0 -12.5) (float-vector 0.303301 60.0 -17.8033) (float-vector -5.0 60.0 -20.0) (float-vector -10.3033 60.0 -17.8033) (float-vector -12.5 60.0 -12.5) (float-vector -12.5 60.0 5.5)))
         (instance face :init :vertices (list (float-vector -5.0 20.0 -20.0) (float-vector 0.303301 20.0 -17.8033) (float-vector 2.5 20.0 -12.5) (float-vector 2.5 20.0 5.5) (float-vector -12.5 20.0 5.5) (float-vector -12.5 20.0 -12.5) (float-vector -10.3033 20.0 -17.8033)))
         (instance face :init :vertices (list (float-vector -5.0 58.5 -20.0) (float-vector -5.0 60.0 -20.0) (float-vector 0.303301 60.0 -17.8033) (float-vector 0.303301 58.5 -17.8033)))
         (instance face :init :vertices (list (float-vector -5.0 20.0 -20.0) (float-vector -5.0 21.5 -20.0) (float-vector 0.303301 21.5 -17.8033) (float-vector 0.303301 20.0 -17.8033)))
         (instance face :init :vertices (list (float-vector -10.3033 58.5 -17.8033) (float-vector -10.3033 60.0 -17.8033) (float-vector -5.0 60.0 -20.0) (float-vector -5.0 58.5 -20.0)))
         (instance face :init :vertices (list (float-vector -10.3033 20.0 -17.8033) (float-vector -10.3033 21.5 -17.8033) (float-vector -5.0 21.5 -20.0) (float-vector -5.0 20.0 -20.0)))
         (instance face :init :vertices (list (float-vector -12.5 58.5 -12.5) (float-vector -12.5 60.0 -12.5) (float-vector -10.3033 60.0 -17.8033) (float-vector -10.3033 58.5 -17.8033)))
         (instance face :init :vertices (list (float-vector -12.5 20.0 -12.5) (float-vector -12.5 21.5 -12.5) (float-vector -10.3033 21.5 -17.8033) (float-vector -10.3033 20.0 -17.8033)))
         (instance face :init :vertices (list (float-vector -12.5 20.0 5.5) (float-vector -12.5 60.0 5.5) (float-vector -12.5 60.0 -12.5) (float-vector -12.5 58.5 -12.5) (float-vector -12.5 58.5 4.0) (float-vector -12.5 21.5 4.0) (float-vector -12.5 21.5 -12.5) (float-vector -12.5 20.0 -12.5)))
         (instance face :init :vertices (list (float-vector 2.5 20.0 5.5) (float-vector 2.5 60.0 5.5) (float-vector -12.5 60.0 5.5) (float-vector -12.5 20.0 5.5)))
         (instance face :init :vertices (list (float-vector 2.5 60.0 5.5) (float-vector 2.5 20.0 5.5) (float-vector 2.5 20.0 -12.5) (float-vector 2.5 21.5 -12.5) (float-vector 2.5 21.5 4.0) (float-vector 2.5 58.5 4.0) (float-vector 2.5 58.5 -12.5) (float-vector 2.5 60.0 -12.5)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 3.5 40.0 4.0) (float-vector 3.5 35.75 5.13878) (float-vector 3.5 32.6388 8.25) (float-vector 3.5 31.5 12.5) (float-vector 3.5 32.6388 16.75) (float-vector 3.5 35.75 19.8612) (float-vector 3.5 40.0 21.0) (float-vector 3.5 44.25 19.8612) (float-vector 3.5 47.3612 16.75) (float-vector 3.5 48.5 12.5) (float-vector 3.5 47.3612 8.25) (float-vector 3.5 44.25 5.13878)))
         (instance face :init :vertices (list (float-vector 3.5 41.0 11.5) (float-vector 3.5 39.0 11.5) (float-vector 3.5 39.0 13.5) (float-vector 3.5 41.0 13.5)))
         (instance face :init :vertices (list (float-vector 3.5 40.0 4.0) (float-vector 13.0 40.0 4.0) (float-vector 13.0 35.75 5.13878) (float-vector 3.5 35.75 5.13878)))
         (instance face :init :vertices (list (float-vector 13.0 40.0 4.0) (float-vector 13.0 44.25 5.13878) (float-vector 13.0 47.3612 8.25) (float-vector 13.0 48.5 12.5) (float-vector 13.0 47.3612 16.75) (float-vector 13.0 44.25 19.8612) (float-vector 13.0 40.0 21.0) (float-vector 13.0 35.75 19.8612) (float-vector 13.0 32.6388 16.75) (float-vector 13.0 31.5 12.5) (float-vector 13.0 32.6388 8.25) (float-vector 13.0 35.75 5.13878)))
         (instance face :init :vertices (list (float-vector 13.0 32.6388 8.25) (float-vector 3.5 32.6388 8.25) (float-vector 3.5 35.75 5.13878) (float-vector 13.0 35.75 5.13878)))
         (instance face :init :vertices (list (float-vector 13.0 31.5 12.5) (float-vector 3.5 31.5 12.5) (float-vector 3.5 32.6388 8.25) (float-vector 13.0 32.6388 8.25)))
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         (instance face :init :vertices (list (float-vector 39.0 18.0 27.0) (float-vector 39.0 25.0 34.0) (float-vector 39.0 55.0 34.0) (float-vector 39.0 62.0 27.0) (float-vector 39.0 62.0 -27.0) (float-vector 39.0 55.0 -34.0) (float-vector 39.0 25.0 -34.0) (float-vector 39.0 18.0 -27.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 39.0 27.0 -18.0) (float-vector 39.0 37.0 -28.0) (float-vector 39.0 43.0 -28.0) (float-vector 39.0 53.0 -18.0) (float-vector 39.0 53.0 18.0) (float-vector 39.0 43.0 28.0) (float-vector 39.0 37.0 28.0) (float-vector 39.0 27.0 18.0)))
))
         (instance face :init :vertices (list (float-vector 39.0 18.0 -27.0) (float-vector 41.0 18.0 -27.0) (float-vector 41.0 18.0 27.0) (float-vector 39.0 18.0 27.0)))
         (instance face :init :vertices (list (float-vector 41.0 27.0 -18.0) (float-vector 41.0 37.0 -28.0) (float-vector 39.0 37.0 -28.0) (float-vector 39.0 27.0 -18.0)))
         (instance face :init :vertices (list (float-vector 39.0 37.0 -28.0) (float-vector 41.0 37.0 -28.0) (float-vector 41.0 43.0 -28.0) (float-vector 39.0 43.0 -28.0)))
         (instance face :init :vertices (list (float-vector 39.0 43.0 -28.0) (float-vector 41.0 43.0 -28.0) (float-vector 41.0 53.0 -18.0) (float-vector 39.0 53.0 -18.0)))
         (instance face :init :vertices (list (float-vector 39.0 53.0 -18.0) (float-vector 41.0 53.0 -18.0) (float-vector 41.0 53.0 18.0) (float-vector 39.0 53.0 18.0)))
         (instance face :init :vertices (list (float-vector 39.0 53.0 18.0) (float-vector 41.0 53.0 18.0) (float-vector 41.0 43.0 28.0) (float-vector 39.0 43.0 28.0)))
         (instance face :init :vertices (list (float-vector 39.0 43.0 28.0) (float-vector 41.0 43.0 28.0) (float-vector 41.0 37.0 28.0) (float-vector 39.0 37.0 28.0)))
         (instance face :init :vertices (list (float-vector 39.0 37.0 28.0) (float-vector 41.0 37.0 28.0) (float-vector 41.0 27.0 18.0) (float-vector 39.0 27.0 18.0)))
         (instance face :init :vertices (list (float-vector 39.0 27.0 18.0) (float-vector 41.0 27.0 18.0) (float-vector 41.0 27.0 -18.0) (float-vector 39.0 27.0 -18.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -25.8977 5.7209 27.0) (float-vector -25.8977 5.7209 -27.0) (float-vector -28.2918 12.2988 -34.0) (float-vector -38.5525 40.4895 -34.0) (float-vector -40.9466 47.0674 -27.0) (float-vector -40.9466 47.0674 27.0) (float-vector -38.5525 40.4895 34.0) (float-vector -28.2918 12.2988 34.0)))
         (instance face :init :vertices (list (float-vector -27.7771 5.03686 -27.0) (float-vector -27.7771 5.03686 27.0) (float-vector -30.1712 11.6147 34.0) (float-vector -40.4318 39.8055 34.0) (float-vector -42.826 46.3833 27.0) (float-vector -42.826 46.3833 -27.0) (float-vector -40.4318 39.8055 -34.0) (float-vector -30.1712 11.6147 -34.0)))
         (instance face :init :vertices (list (float-vector -25.8977 5.7209 27.0) (float-vector -27.7771 5.03686 27.0) (float-vector -27.7771 5.03686 -27.0) (float-vector -25.8977 5.7209 -27.0)))
         (instance face :init :vertices (list (float-vector -28.2918 12.2988 34.0) (float-vector -30.1712 11.6147 34.0) (float-vector -27.7771 5.03686 27.0) (float-vector -25.8977 5.7209 27.0)))
         (instance face :init :vertices (list (float-vector -38.5525 40.4895 34.0) (float-vector -40.4318 39.8055 34.0) (float-vector -30.1712 11.6147 34.0) (float-vector -28.2918 12.2988 34.0)))
         (instance face :init :vertices (list (float-vector -40.9466 47.0674 27.0) (float-vector -42.826 46.3833 27.0) (float-vector -40.4318 39.8055 34.0) (float-vector -38.5525 40.4895 34.0)))
         (instance face :init :vertices (list (float-vector -40.9466 47.0674 -27.0) (float-vector -42.826 46.3833 -27.0) (float-vector -42.826 46.3833 27.0) (float-vector -40.9466 47.0674 27.0)))
         (instance face :init :vertices (list (float-vector -38.5525 40.4895 -34.0) (float-vector -40.4318 39.8055 -34.0) (float-vector -42.826 46.3833 -27.0) (float-vector -40.9466 47.0674 -27.0)))
         (instance face :init :vertices (list (float-vector -28.2918 12.2988 -34.0) (float-vector -30.1712 11.6147 -34.0) (float-vector -40.4318 39.8055 -34.0) (float-vector -38.5525 40.4895 -34.0)))
         (instance face :init :vertices (list (float-vector -25.8977 5.7209 -27.0) (float-vector -27.7771 5.03686 -27.0) (float-vector -30.1712 11.6147 -34.0) (float-vector -28.2918 12.2988 -34.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray80)
     (send (elt bc 2) :set-color :gray80)
     (send (elt bc 3) :set-color :grey85)
     (send (elt bc 4) :set-color :grey85)
     (send (elt bc 5) :set-color :grey85)
     (send (elt bc 6) :set-color :grey85)
     (setq blink18 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-neck-p :weight 5.19168 :centroid (float-vector -4.006376e-15 9.59097 5.841372e-14) :inertia-tensor #2f((2610.34 -2.329569e-15 8.346487e-28) (-2.329569e-15 2479.93 -2.842171e-14) (8.346487e-28 -2.842171e-14 476.52))))

     ;; definition of assoc
     (send blink12 :newcoords (make-coords :pos (float-vector -10.0 25.0 5.0) :rot #2f((-3.081488e-33 0.0 -1.0) (1.570092e-16 1.0 0.0) (1.0 -1.570092e-16 3.081488e-33))))
     (send blink11 :assoc blink12)
     (send blink11 :newcoords (make-coords :pos (float-vector 1.165734e-14 70.0 3.552714e-15) :rot #2f((1.0 5.551115e-16 2.220446e-16) (-5.551115e-16 1.0 -6.162976e-32) (-2.220446e-16 -6.162976e-32 1.0))))
     (send blink10 :assoc blink11)
     (send blink10 :newcoords (make-coords :pos (float-vector -1.554312e-14 70.0 1.776357e-14) :rot #2f((1.0 7.771561e-16 -2.220446e-16) (-7.771561e-16 1.0 8.628166e-32) (2.220446e-16 8.628166e-32 1.0))))
     (send blink9 :assoc blink10)
     (send blink16 :newcoords (make-coords :pos (float-vector -9.325873e-15 42.0 -1.421085e-14) :rot #2f((-2.220446e-16 2.220446e-16 -1.0) (1.0 2.220446e-16 -2.220446e-16) (2.220446e-16 -1.0 -2.220446e-16))))
     (send blink15 :assoc blink16)
     (send blink15 :newcoords (make-coords :pos (float-vector -1.115774e-14 67.0 1.421085e-14) :rot #2f((1.0 5.551115e-16 1.110223e-16) (-5.551115e-16 1.0 -3.081488e-32) (-1.110223e-16 -3.081488e-32 1.0))))
     (send blink14 :assoc blink15)
     (send blink14 :newcoords (make-coords :pos (float-vector 0.0 60.0 14.0) :rot #2f((1.0 7.850462e-17 -2.355139e-16) (2.355139e-16 -2.220446e-16 1.0) (7.850462e-17 -1.0 -2.220446e-16))))
     (send blink13 :assoc blink14)
     (send blink4 :newcoords (make-coords :pos (float-vector -10.0 25.0 -5.0) :rot #2f((3.330669e-16 7.850462e-17 1.0) (7.850462e-17 1.0 -7.850462e-17) (-1.0 7.850462e-17 3.330669e-16))))
     (send blink3 :assoc blink4)
     (send blink3 :newcoords (make-coords :pos (float-vector 1.165734e-14 70.0 3.552714e-15) :rot #2f((1.0 5.551115e-16 2.220446e-16) (-5.551115e-16 1.0 -6.162976e-32) (-2.220446e-16 -6.162976e-32 1.0))))
     (send blink2 :assoc blink3)
     (send blink2 :newcoords (make-coords :pos (float-vector -1.554312e-14 70.0 1.776357e-14) :rot #2f((1.0 7.771561e-16 -2.220446e-16) (-7.771561e-16 1.0 8.628166e-32) (2.220446e-16 8.628166e-32 1.0))))
     (send blink1 :assoc blink2)
     (send blink8 :newcoords (make-coords :pos (float-vector -9.325873e-15 42.0 1.421085e-14) :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))))
     (send blink7 :assoc blink8)
     (send blink7 :newcoords (make-coords :pos (float-vector 3.719247e-15 67.0 1.421085e-14) :rot #2f((1.0 7.771561e-16 1.110223e-16) (-7.771561e-16 1.0 -4.314083e-32) (-1.110223e-16 -4.314083e-32 1.0))))
     (send blink6 :assoc blink7)
     (send blink6 :newcoords (make-coords :pos (float-vector 0.0 60.0 -14.0) :rot #2f((1.0 1.397370e-16 7.850462e-17) (7.850462e-17 -2.220446e-16 -1.0) (-1.397370e-16 1.0 -2.220446e-16))))
     (send blink5 :assoc blink6)
     (send blink18 :newcoords (make-coords :pos (float-vector 0.0 0.0 31.5) :rot #2f((1.110223e-16 1.110223e-16 1.0) (1.0 -3.330669e-16 -1.110223e-16) (3.330669e-16 1.0 -1.110223e-16))))
     (send blink17 :assoc blink18)
     (send blink17 :newcoords (make-coords :pos (float-vector 0.0 0.0 57.5) :rot #2f((-2.220446e-16 1.0 0.0) (-1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink17)
     (send blink5 :newcoords (make-coords :pos (float-vector -1.287859e-14 58.0 55.0) :rot #2f((-1.0 -4.440892e-16 1.224647e-16) (-4.440892e-16 1.0 5.184452e-32) (-1.224647e-16 -2.540718e-33 -1.0))))
     (send blink0 :assoc blink5)
     (send blink1 :newcoords (make-coords :pos (float-vector -6.883383e-15 31.0 -65.0) :rot #2f((-1.0 0.0 0.0) (0.0 -2.220446e-16 -1.0) (0.0 -1.0 2.220446e-16))))
     (send blink0 :assoc blink1)
     (send blink13 :newcoords (make-coords :pos (float-vector 1.287859e-14 -58.0 55.0) :rot #2f((-1.0 0.0 0.0) (0.0 -1.0 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink13)
     (send blink9 :newcoords (make-coords :pos (float-vector 6.883383e-15 -31.0 -65.0) :rot #2f((-1.0 0.0 0.0) (0.0 -2.220446e-16 -1.0) (0.0 -1.0 2.220446e-16))))
     (send blink0 :assoc blink9)
     (send self :assoc blink0)

     ;; definition of end-coords

     ;; definition of head-end-coords
     (setq head-end-coords
       (make-cascoords
	:coords (send (send blink18 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -5.0 40.0 -12.5) :rot #2f((-2.220446e-16 7.850462e-17 1.0) (2.355139e-16 1.0 -7.850462e-17) (-1.0 2.355139e-16 -2.220446e-16))))))
     (send blink18 :assoc head-end-coords)

     ;; definition of larm-end-coords
     (setq larm-end-coords
       (make-cascoords
	:coords (send (send blink7 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector 1.632028e-14 42.0 1.421085e-14) :rot #2f((2.775558e-16 2.775558e-16 -1.0) (-1.0 -2.775558e-16 -2.775558e-16) (-2.775558e-16 1.0 2.775558e-16))))))
     (send blink7 :assoc larm-end-coords)

     ;; definition of lleg-end-coords
     (setq lleg-end-coords
       (make-cascoords
	:coords (send (send blink4 :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 blink4 :assoc lleg-end-coords)

     ;; definition of rarm-end-coords
     (setq rarm-end-coords
       (make-cascoords
	:coords (send (send blink15 :copy-worldcoords) :transform 
		      (make-coords :pos (float-vector -9.325873e-15 42.0 0.0) :rot #2f((-1.110223e-16 2.220446e-16 1.0) (-1.0 -1.110223e-16 -5.551115e-17) (5.551115e-17 -1.0 2.220446e-16))))))
     (send blink15 :assoc rarm-end-coords)

     ;; definition of rleg-end-coords
     (setq rleg-end-coords
       (make-cascoords
	:coords (send (send blink12 :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 -8.881784e-16) (0.0 8.881784e-16 1.0))))))
     (send blink12 :assoc rleg-end-coords)

     ;; definition of joint

     ;; definition of :head-neck-y
     (setq joint16 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink17 :name :head-neck-y :axis :z 
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :head-neck-p
     (setq joint17 (instance rotational-joint :init
			     :parent-link blink17 :child-link blink18 :name :head-neck-p :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-collar-y
     (setq joint4 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink5 :name :larm-collar-y :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-shoulder-p
     (setq joint5 (instance rotational-joint :init
			     :parent-link blink5 :child-link blink6 :name :larm-shoulder-p :axis :-z
			     :min -135.0 :max   45.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-elbow-p
     (setq joint6 (instance rotational-joint :init
			     :parent-link blink6 :child-link blink7 :name :larm-elbow-p :axis :-z
			     :min -135.0 :max   45.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :larm-gripper
     (setq joint7 (instance rotational-joint :init
			     :parent-link blink7 :child-link blink8 :name :larm-gripper :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-crotch-p
     (setq joint0 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink1 :name :lleg-crotch-p :axis :-z
			     :min -135.0 :max   45.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-knee-p
     (setq joint1 (instance rotational-joint :init
			     :parent-link blink1 :child-link blink2 :name :lleg-knee-p :axis :-z
			     :min -135.0 :max   45.0 :max-joint-velocity 5 :max-joint-torque 100))

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

     ;; definition of :lleg-ankle-r
     (setq joint3 (instance rotational-joint :init
			     :parent-link blink3 :child-link blink4 :name :lleg-ankle-r :axis :-z
			     :min  -60.0 :max   30.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-collar-y
     (setq joint12 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink13 :name :rarm-collar-y :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-shoulder-p
     (setq joint13 (instance rotational-joint :init
			     :parent-link blink13 :child-link blink14 :name :rarm-shoulder-p :axis :-z
			     :min -135.0 :max   45.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-elbow-p
     (setq joint14 (instance rotational-joint :init
			     :parent-link blink14 :child-link blink15 :name :rarm-elbow-p :axis :-z
			     :min -135.0 :max   45.0 :max-joint-velocity 5 :max-joint-torque 100))

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

     ;; definition of :rleg-crotch-p
     (setq joint8 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink9 :name :rleg-crotch-p :axis :-z
			     :min -135.0 :max   45.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-knee-p
     (setq joint9 (instance rotational-joint :init
			     :parent-link blink9 :child-link blink10 :name :rleg-knee-p :axis :-z
			     :min -135.0 :max   45.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-ankle-p
     (setq joint10 (instance rotational-joint :init
			     :parent-link blink10 :child-link blink11 :name :rleg-ankle-p :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-ankle-r
     (setq joint11 (instance rotational-joint :init
			     :parent-link blink11 :child-link blink12 :name :rleg-ankle-r :axis :-z
			     :min  -60.0 :max   30.0 :max-joint-velocity 5 :max-joint-torque 100))

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

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

     (setq sensors (list))
     (send self :init-ending)
     (send self :move-to (make-coords :pos pos :rot rot))
     (send-all links :worldcoords)

     self))

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