File: patra-robot.l

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euslisp 9.31%2Bdfsg-3
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file content (1331 lines) | stat: -rw-r--r-- 236,035 bytes
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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version 
;;
;;
(defclass patra-robot
  :super robot-model
  :slots (sensors
         joint0 joint1 joint2 joint3 ))
(defmethod patra-robot
  (:init
   (&rest args &key (name "patra") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
   (let (c bc
         blink0 blink1 blink2 blink3 blink4
                 )
     (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 95.0 -181.0 439.0) (float-vector 175.0 -181.0 439.0) (float-vector 175.0 -199.0 439.0) (float-vector 95.0 -199.0 439.0)))
         (instance face :init :vertices (list (float-vector 95.0 -181.0 439.0) (float-vector 95.0 -181.0 457.5) (float-vector -25.0 -181.0 457.5) (float-vector -25.0 -181.0 439.0) (float-vector -235.0 -181.0 439.0) (float-vector -235.0 -181.0 459.0) (float-vector 175.0 -181.0 459.0) (float-vector 175.0 -181.0 439.0)))
         (instance face :init :vertices (list (float-vector -25.0 -181.0 439.0) (float-vector -25.0 -199.0 439.0) (float-vector -235.0 -199.0 439.0) (float-vector -235.0 -181.0 439.0)))
         (instance face :init :vertices (list (float-vector -25.0 -199.0 439.0) (float-vector -25.0 -199.0 457.5) (float-vector 95.0 -199.0 457.5) (float-vector 95.0 -199.0 439.0) (float-vector 175.0 -199.0 439.0) (float-vector 175.0 -199.0 459.0) (float-vector -235.0 -199.0 459.0) (float-vector -235.0 -199.0 439.0)))
         (instance face :init :vertices (list (float-vector 175.0 -199.0 459.0) (float-vector 175.0 -181.0 459.0) (float-vector -235.0 -181.0 459.0) (float-vector -235.0 -199.0 459.0)))
         (instance face :init :vertices (list (float-vector 175.0 -180.0 320.0) (float-vector 195.0 -180.0 320.0) (float-vector 195.0 -200.0 320.0) (float-vector 175.0 -200.0 320.0)))
         (instance face :init :vertices (list (float-vector 175.0 -180.0 320.0) (float-vector 175.0 -180.0 460.0) (float-vector 190.0 -180.0 460.0) (float-vector 190.0 -180.0 445.0) (float-vector 195.0 -180.0 445.0) (float-vector 195.0 -180.0 320.0)))
         (instance face :init :vertices (list (float-vector 175.0 -180.0 460.0) (float-vector 175.0 -200.0 460.0) (float-vector 195.0 -200.0 460.0) (float-vector 195.0 -195.0 460.0) (float-vector 190.0 -195.0 460.0) (float-vector 190.0 -180.0 460.0)))
         (instance face :init :vertices (list (float-vector 195.0 -200.0 460.0) (float-vector 195.0 -200.0 320.0) (float-vector 195.0 -180.0 320.0) (float-vector 195.0 -180.0 445.0) (float-vector 195.0 -195.0 445.0) (float-vector 195.0 -195.0 460.0)))
         (instance face :init :vertices (list (float-vector 175.0 -200.0 460.0) (float-vector 175.0 -200.0 320.0) (float-vector 195.0 -200.0 320.0) (float-vector 195.0 -200.0 460.0)))
         (instance face :init :vertices (list (float-vector 175.0 -200.0 320.0) (float-vector 175.0 -200.0 460.0) (float-vector 175.0 -180.0 460.0) (float-vector 175.0 -180.0 320.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 175.0 -181.0 321.0) (float-vector 175.0 -181.0 341.0) (float-vector 175.0 -199.0 341.0) (float-vector 175.0 -199.0 321.0)))
         (instance hole :init :vertices (list (float-vector 175.0 -181.0 459.0) (float-vector 175.0 -199.0 459.0) (float-vector 175.0 -199.0 439.0) (float-vector 175.0 -181.0 439.0)))
))
         (instance face :init :vertices (list (float-vector 175.0 -181.0 321.0) (float-vector -235.0 -181.0 321.0) (float-vector -235.0 -181.0 341.0) (float-vector -25.0 -181.0 341.0) (float-vector -25.0 -181.0 322.5) (float-vector 95.0 -181.0 322.5) (float-vector 95.0 -181.0 341.0) (float-vector 175.0 -181.0 341.0)))
         (instance face :init :vertices (list (float-vector 175.0 -199.0 321.0) (float-vector -235.0 -199.0 321.0) (float-vector -235.0 -181.0 321.0) (float-vector 175.0 -181.0 321.0)))
         (instance face :init :vertices (list (float-vector 175.0 -199.0 341.0) (float-vector 95.0 -199.0 341.0) (float-vector 95.0 -199.0 322.5) (float-vector -25.0 -199.0 322.5) (float-vector -25.0 -199.0 341.0) (float-vector -235.0 -199.0 341.0) (float-vector -235.0 -199.0 321.0) (float-vector 175.0 -199.0 321.0)))
         (instance face :init :vertices (list (float-vector 95.0 -181.0 341.0) (float-vector 95.0 -199.0 341.0) (float-vector 175.0 -199.0 341.0) (float-vector 175.0 -181.0 341.0)))
         (instance face :init :vertices (list (float-vector -25.0 -199.0 341.0) (float-vector -25.0 -181.0 341.0) (float-vector -235.0 -181.0 341.0) (float-vector -235.0 -199.0 341.0)))
         (instance face :init :vertices (list (float-vector -255.0 -200.0 320.0) (float-vector -255.0 -200.0 460.0) (float-vector -255.0 -195.0 460.0) (float-vector -255.0 -195.0 445.0) (float-vector -255.0 -180.0 445.0) (float-vector -255.0 -180.0 320.0)))
         (instance face :init :vertices (list (float-vector -255.0 -200.0 320.0) (float-vector -235.0 -200.0 320.0) (float-vector -235.0 -200.0 460.0) (float-vector -255.0 -200.0 460.0)))
         (instance face :init :vertices (list (float-vector -235.0 -200.0 320.0) (float-vector -235.0 -180.0 320.0) (float-vector -235.0 -180.0 460.0) (float-vector -235.0 -200.0 460.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -235.0 -199.0 341.0) (float-vector -235.0 -181.0 341.0) (float-vector -235.0 -181.0 321.0) (float-vector -235.0 -199.0 321.0)))
         (instance hole :init :vertices (list (float-vector -235.0 -199.0 459.0) (float-vector -235.0 -181.0 459.0) (float-vector -235.0 -181.0 439.0) (float-vector -235.0 -199.0 439.0)))
))
         (instance face :init :vertices (list (float-vector -235.0 -180.0 460.0) (float-vector -250.0 -180.0 460.0) (float-vector -250.0 -195.0 460.0) (float-vector -255.0 -195.0 460.0) (float-vector -255.0 -200.0 460.0) (float-vector -235.0 -200.0 460.0)))
         (instance face :init :vertices (list (float-vector -255.0 -180.0 320.0) (float-vector -235.0 -180.0 320.0) (float-vector -235.0 -200.0 320.0) (float-vector -255.0 -200.0 320.0)))
         (instance face :init :vertices (list (float-vector -255.0 -180.0 445.0) (float-vector -250.0 -180.0 445.0) (float-vector -250.0 -180.0 460.0) (float-vector -235.0 -180.0 460.0) (float-vector -235.0 -180.0 320.0) (float-vector -255.0 -180.0 320.0)))
         (instance face :init :vertices (list (float-vector -25.0 -199.0 322.5) (float-vector -25.0 -200.0 322.5) (float-vector -25.0 -200.0 457.5) (float-vector -25.0 -199.0 457.5) (float-vector -25.0 -199.0 439.0) (float-vector -25.0 -181.0 439.0) (float-vector -25.0 -181.0 457.5) (float-vector -25.0 -180.0 457.5) (float-vector -25.0 -180.0 322.5) (float-vector -25.0 -181.0 322.5) (float-vector -25.0 -181.0 341.0) (float-vector -25.0 -199.0 341.0)))
         (instance face :init :vertices (list (float-vector -25.0 -200.0 322.5) (float-vector 95.0 -200.0 322.5) (float-vector 95.0 -200.0 457.5) (float-vector -25.0 -200.0 457.5)))
         (instance face :init :vertices (list (float-vector 95.0 -199.0 322.5) (float-vector 95.0 -200.0 322.5) (float-vector -25.0 -200.0 322.5) (float-vector -25.0 -199.0 322.5)))
         (instance face :init :vertices (list (float-vector 95.0 -200.0 457.5) (float-vector 95.0 -199.0 457.5) (float-vector -25.0 -199.0 457.5) (float-vector -25.0 -200.0 457.5)))
         (instance face :init :vertices (list (float-vector 95.0 -181.0 322.5) (float-vector 95.0 -180.0 322.5) (float-vector 95.0 -180.0 457.5) (float-vector 95.0 -181.0 457.5) (float-vector 95.0 -181.0 439.0) (float-vector 95.0 -199.0 439.0) (float-vector 95.0 -199.0 457.5) (float-vector 95.0 -200.0 457.5) (float-vector 95.0 -200.0 322.5) (float-vector 95.0 -199.0 322.5) (float-vector 95.0 -199.0 341.0) (float-vector 95.0 -181.0 341.0)))
         (instance face :init :vertices (list (float-vector 95.0 -180.0 457.5) (float-vector -25.0 -180.0 457.5) (float-vector -25.0 -181.0 457.5) (float-vector 95.0 -181.0 457.5)))
         (instance face :init :vertices (list (float-vector 95.0 -180.0 322.5) (float-vector -25.0 -180.0 322.5) (float-vector -25.0 -180.0 457.5) (float-vector 95.0 -180.0 457.5)))
         (instance face :init :vertices (list (float-vector -25.0 -180.0 322.5) (float-vector 95.0 -180.0 322.5) (float-vector 95.0 -181.0 322.5) (float-vector -25.0 -181.0 322.5)))
         (instance face :init :vertices (list (float-vector -25.0 200.0 322.5) (float-vector 95.0 200.0 322.5) (float-vector 95.0 199.0 322.5) (float-vector -25.0 199.0 322.5)))
         (instance face :init :vertices (list (float-vector -25.0 200.0 322.5) (float-vector -25.0 200.0 457.5) (float-vector 95.0 200.0 457.5) (float-vector 95.0 200.0 322.5)))
         (instance face :init :vertices (list (float-vector -25.0 200.0 457.5) (float-vector -25.0 199.0 457.5) (float-vector 95.0 199.0 457.5) (float-vector 95.0 200.0 457.5)))
         (instance face :init :vertices (list (float-vector 95.0 199.0 457.5) (float-vector 95.0 199.0 439.0) (float-vector 95.0 181.0 439.0) (float-vector 95.0 181.0 457.5) (float-vector 95.0 180.0 457.5) (float-vector 95.0 180.0 322.5) (float-vector 95.0 181.0 322.5) (float-vector 95.0 181.0 341.0) (float-vector 95.0 199.0 341.0) (float-vector 95.0 199.0 322.5) (float-vector 95.0 200.0 322.5) (float-vector 95.0 200.0 457.5)))
         (instance face :init :vertices (list (float-vector 95.0 181.0 457.5) (float-vector -25.0 181.0 457.5) (float-vector -25.0 180.0 457.5) (float-vector 95.0 180.0 457.5)))
         (instance face :init :vertices (list (float-vector 95.0 180.0 322.5) (float-vector -25.0 180.0 322.5) (float-vector -25.0 181.0 322.5) (float-vector 95.0 181.0 322.5)))
         (instance face :init :vertices (list (float-vector -25.0 180.0 457.5) (float-vector -25.0 180.0 322.5) (float-vector 95.0 180.0 322.5) (float-vector 95.0 180.0 457.5)))
         (instance face :init :vertices (list (float-vector -25.0 181.0 457.5) (float-vector -25.0 181.0 439.0) (float-vector -25.0 199.0 439.0) (float-vector -25.0 199.0 457.5) (float-vector -25.0 200.0 457.5) (float-vector -25.0 200.0 322.5) (float-vector -25.0 199.0 322.5) (float-vector -25.0 199.0 341.0) (float-vector -25.0 181.0 341.0) (float-vector -25.0 181.0 322.5) (float-vector -25.0 180.0 322.5) (float-vector -25.0 180.0 457.5)))
         (instance face :init :vertices (list (float-vector -255.0 200.0 320.0) (float-vector -235.0 200.0 320.0) (float-vector -235.0 180.0 320.0) (float-vector -255.0 180.0 320.0)))
         (instance face :init :vertices (list (float-vector -255.0 200.0 320.0) (float-vector -255.0 200.0 460.0) (float-vector -235.0 200.0 460.0) (float-vector -235.0 200.0 320.0)))
         (instance face :init :vertices (list (float-vector -255.0 200.0 460.0) (float-vector -255.0 195.0 460.0) (float-vector -250.0 195.0 460.0) (float-vector -250.0 180.0 460.0) (float-vector -235.0 180.0 460.0) (float-vector -235.0 200.0 460.0)))
         (instance face :init :vertices (list (float-vector -235.0 180.0 460.0) (float-vector -235.0 180.0 320.0) (float-vector -235.0 200.0 320.0) (float-vector -235.0 200.0 460.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -235.0 181.0 341.0) (float-vector -235.0 199.0 341.0) (float-vector -235.0 199.0 321.0) (float-vector -235.0 181.0 321.0)))
         (instance hole :init :vertices (list (float-vector -235.0 181.0 459.0) (float-vector -235.0 199.0 459.0) (float-vector -235.0 199.0 439.0) (float-vector -235.0 181.0 439.0)))
))
         (instance face :init :vertices (list (float-vector -250.0 180.0 460.0) (float-vector -250.0 180.0 445.0) (float-vector -255.0 180.0 445.0) (float-vector -255.0 180.0 320.0) (float-vector -235.0 180.0 320.0) (float-vector -235.0 180.0 460.0)))
         (instance face :init :vertices (list (float-vector -255.0 180.0 445.0) (float-vector -255.0 195.0 445.0) (float-vector -255.0 195.0 460.0) (float-vector -255.0 200.0 460.0) (float-vector -255.0 200.0 320.0) (float-vector -255.0 180.0 320.0)))
         (instance face :init :vertices (list (float-vector -25.0 199.0 341.0) (float-vector -235.0 199.0 341.0) (float-vector -235.0 181.0 341.0) (float-vector -25.0 181.0 341.0)))
         (instance face :init :vertices (list (float-vector 95.0 181.0 341.0) (float-vector 175.0 181.0 341.0) (float-vector 175.0 199.0 341.0) (float-vector 95.0 199.0 341.0)))
         (instance face :init :vertices (list (float-vector -235.0 181.0 321.0) (float-vector 175.0 181.0 321.0) (float-vector 175.0 181.0 341.0) (float-vector 95.0 181.0 341.0) (float-vector 95.0 181.0 322.5) (float-vector -25.0 181.0 322.5) (float-vector -25.0 181.0 341.0) (float-vector -235.0 181.0 341.0)))
         (instance face :init :vertices (list (float-vector -235.0 199.0 321.0) (float-vector 175.0 199.0 321.0) (float-vector 175.0 181.0 321.0) (float-vector -235.0 181.0 321.0)))
         (instance face :init :vertices (list (float-vector 175.0 199.0 341.0) (float-vector 175.0 199.0 321.0) (float-vector -235.0 199.0 321.0) (float-vector -235.0 199.0 341.0) (float-vector -25.0 199.0 341.0) (float-vector -25.0 199.0 322.5) (float-vector 95.0 199.0 322.5) (float-vector 95.0 199.0 341.0)))
         (instance face :init :vertices (list (float-vector 175.0 180.0 320.0) (float-vector 175.0 180.0 460.0) (float-vector 175.0 200.0 460.0) (float-vector 175.0 200.0 320.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 175.0 199.0 459.0) (float-vector 175.0 181.0 459.0) (float-vector 175.0 181.0 439.0) (float-vector 175.0 199.0 439.0)))
         (instance hole :init :vertices (list (float-vector 175.0 199.0 321.0) (float-vector 175.0 199.0 341.0) (float-vector 175.0 181.0 341.0) (float-vector 175.0 181.0 321.0)))
))
         (instance face :init :vertices (list (float-vector 175.0 180.0 320.0) (float-vector 195.0 180.0 320.0) (float-vector 195.0 180.0 445.0) (float-vector 190.0 180.0 445.0) (float-vector 190.0 180.0 460.0) (float-vector 175.0 180.0 460.0)))
         (instance face :init :vertices (list (float-vector 195.0 180.0 320.0) (float-vector 195.0 200.0 320.0) (float-vector 195.0 200.0 460.0) (float-vector 195.0 195.0 460.0) (float-vector 195.0 195.0 445.0) (float-vector 195.0 180.0 445.0)))
         (instance face :init :vertices (list (float-vector 195.0 200.0 460.0) (float-vector 175.0 200.0 460.0) (float-vector 175.0 180.0 460.0) (float-vector 190.0 180.0 460.0) (float-vector 190.0 195.0 460.0) (float-vector 195.0 195.0 460.0)))
         (instance face :init :vertices (list (float-vector 195.0 200.0 320.0) (float-vector 175.0 200.0 320.0) (float-vector 175.0 200.0 460.0) (float-vector 195.0 200.0 460.0)))
         (instance face :init :vertices (list (float-vector 175.0 200.0 320.0) (float-vector 195.0 200.0 320.0) (float-vector 195.0 180.0 320.0) (float-vector 175.0 180.0 320.0)))
         (instance face :init :vertices (list (float-vector 175.0 199.0 459.0) (float-vector -235.0 199.0 459.0) (float-vector -235.0 181.0 459.0) (float-vector 175.0 181.0 459.0)))
         (instance face :init :vertices (list (float-vector 95.0 181.0 439.0) (float-vector 175.0 181.0 439.0) (float-vector 175.0 181.0 459.0) (float-vector -235.0 181.0 459.0) (float-vector -235.0 181.0 439.0) (float-vector -25.0 181.0 439.0) (float-vector -25.0 181.0 457.5) (float-vector 95.0 181.0 457.5)))
         (instance face :init :vertices (list (float-vector -235.0 199.0 439.0) (float-vector -25.0 199.0 439.0) (float-vector -25.0 181.0 439.0) (float-vector -235.0 181.0 439.0)))
         (instance face :init :vertices (list (float-vector 175.0 199.0 439.0) (float-vector 95.0 199.0 439.0) (float-vector 95.0 199.0 457.5) (float-vector -25.0 199.0 457.5) (float-vector -25.0 199.0 439.0) (float-vector -235.0 199.0 439.0) (float-vector -235.0 199.0 459.0) (float-vector 175.0 199.0 459.0)))
         (instance face :init :vertices (list (float-vector 95.0 199.0 439.0) (float-vector 175.0 199.0 439.0) (float-vector 175.0 181.0 439.0) (float-vector 95.0 181.0 439.0)))
         (instance face :init :vertices (list (float-vector -270.0 -195.0 445.0) (float-vector -270.0 -195.0 465.0) (float-vector -270.0 195.0 465.0) (float-vector -270.0 195.0 445.0)))
         (instance face :init :vertices (list (float-vector -270.0 -195.0 445.0) (float-vector -255.0 -195.0 445.0) (float-vector -255.0 -195.0 460.0) (float-vector -250.0 -195.0 460.0) (float-vector -250.0 -195.0 465.0) (float-vector -270.0 -195.0 465.0)))
         (instance face :init :vertices (list (float-vector -250.0 195.0 460.0) (float-vector -250.0 195.0 465.0) (float-vector -250.0 -195.0 465.0) (float-vector -250.0 -195.0 460.0) (float-vector -250.0 -180.0 460.0) (float-vector -250.0 -180.0 445.0) (float-vector -250.0 180.0 445.0) (float-vector -250.0 180.0 460.0)))
         (instance face :init :vertices (list (float-vector -250.0 195.0 465.0) (float-vector -270.0 195.0 465.0) (float-vector -270.0 -195.0 465.0) (float-vector -250.0 -195.0 465.0)))
         (instance face :init :vertices (list (float-vector -255.0 195.0 445.0) (float-vector -270.0 195.0 445.0) (float-vector -270.0 195.0 465.0) (float-vector -250.0 195.0 465.0) (float-vector -250.0 195.0 460.0) (float-vector -255.0 195.0 460.0)))
         (instance face :init :vertices (list (float-vector -270.0 195.0 445.0) (float-vector -255.0 195.0 445.0) (float-vector -255.0 180.0 445.0) (float-vector -250.0 180.0 445.0) (float-vector -250.0 -180.0 445.0) (float-vector -255.0 -180.0 445.0) (float-vector -255.0 -195.0 445.0) (float-vector -270.0 -195.0 445.0)))
         (instance face :init :vertices (list (float-vector 190.0 195.0 465.0) (float-vector 190.0 195.0 460.0) (float-vector 190.0 180.0 460.0) (float-vector 190.0 180.0 445.0) (float-vector 190.0 -180.0 445.0) (float-vector 190.0 -180.0 460.0) (float-vector 190.0 -195.0 460.0) (float-vector 190.0 -195.0 465.0)))
         (instance face :init :vertices (list (float-vector 195.0 -195.0 445.0) (float-vector 210.0 -195.0 445.0) (float-vector 210.0 -195.0 465.0) (float-vector 190.0 -195.0 465.0) (float-vector 190.0 -195.0 460.0) (float-vector 195.0 -195.0 460.0)))
         (instance face :init :vertices (list (float-vector 210.0 -195.0 445.0) (float-vector 210.0 195.0 445.0) (float-vector 210.0 195.0 465.0) (float-vector 210.0 -195.0 465.0)))
         (instance face :init :vertices (list (float-vector 210.0 195.0 465.0) (float-vector 190.0 195.0 465.0) (float-vector 190.0 -195.0 465.0) (float-vector 210.0 -195.0 465.0)))
         (instance face :init :vertices (list (float-vector 210.0 195.0 445.0) (float-vector 195.0 195.0 445.0) (float-vector 195.0 195.0 460.0) (float-vector 190.0 195.0 460.0) (float-vector 190.0 195.0 465.0) (float-vector 210.0 195.0 465.0)))
         (instance face :init :vertices (list (float-vector 195.0 195.0 445.0) (float-vector 210.0 195.0 445.0) (float-vector 210.0 -195.0 445.0) (float-vector 195.0 -195.0 445.0) (float-vector 195.0 -180.0 445.0) (float-vector 190.0 -180.0 445.0) (float-vector 190.0 180.0 445.0) (float-vector 195.0 180.0 445.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 170.0 200.0 505.0) (float-vector -230.0 200.0 505.0) (float-vector -230.0 -200.0 505.0) (float-vector 170.0 -200.0 505.0)))
         (instance face :init :vertices (list (float-vector -230.0 200.0 455.0) (float-vector 170.0 200.0 455.0) (float-vector 170.0 -200.0 455.0) (float-vector -230.0 -200.0 455.0)))
         (instance face :init :vertices (list (float-vector 170.0 200.0 505.0) (float-vector 170.0 200.0 455.0) (float-vector -230.0 200.0 455.0) (float-vector -230.0 200.0 505.0)))
         (instance face :init :vertices (list (float-vector 170.0 -200.0 505.0) (float-vector 170.0 -200.0 455.0) (float-vector 170.0 200.0 455.0) (float-vector 170.0 200.0 505.0)))
         (instance face :init :vertices (list (float-vector -230.0 -200.0 505.0) (float-vector -230.0 -200.0 455.0) (float-vector 170.0 -200.0 455.0) (float-vector 170.0 -200.0 505.0)))
         (instance face :init :vertices (list (float-vector -230.0 200.0 505.0) (float-vector -230.0 200.0 455.0) (float-vector -230.0 -200.0 455.0) (float-vector -230.0 -200.0 505.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :dimgray)
     (send (elt bc 1) :set-color :blue)
     (gl::transparent (elt bc 1) 0.0)
     (send (elt bc 2) :set-color :blue)
     (gl::transparent (elt bc 2) 0.0)
     (send (elt bc 3) :set-color :gray)
     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :weight 202 :centroid (float-vector -19.9467 -7.468226e-15 436.842) :inertia-tensor #2f((3.816954e+05 -2.922466e-13 17427.2) (-2.922466e-13 3.824912e+05 6.400325e-12) (17427.2 6.400325e-12 829.078))))

     ;; definition of :patra-lower-limb-patra-rear-link
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 250.0) (float-vector -5.0 5.0 250.0) (float-vector -5.0 -5.0 250.0) (float-vector 5.0 -5.0 250.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -250.0) (float-vector 5.0 5.0 -250.0) (float-vector 5.0 -5.0 -250.0) (float-vector -5.0 -5.0 -250.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 250.0) (float-vector 5.0 5.0 -250.0) (float-vector -5.0 5.0 -250.0) (float-vector -5.0 5.0 250.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 250.0) (float-vector 5.0 -5.0 -250.0) (float-vector 5.0 5.0 -250.0) (float-vector 5.0 5.0 250.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 250.0) (float-vector -5.0 -5.0 -250.0) (float-vector 5.0 -5.0 -250.0) (float-vector 5.0 -5.0 250.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 250.0) (float-vector -5.0 5.0 -250.0) (float-vector -5.0 -5.0 -250.0) (float-vector -5.0 -5.0 250.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -517.297 -386.166 -235.1) (float-vector -243.004 -550.978 -235.1) (float-vector -243.004 -550.978 -214.9) (float-vector -517.297 -386.166 -214.9)))
         (instance face :init :vertices (list (float-vector -517.297 -386.166 -235.1) (float-vector -506.996 -369.022 -235.1) (float-vector -488.022 -380.423 -235.1) (float-vector -249.536 -523.72 -235.1) (float-vector -232.703 -533.834 -235.1) (float-vector -235.285 -538.132 -235.1) (float-vector -243.004 -550.978 -235.1)))
         (instance face :init :vertices (list (float-vector -506.996 -369.022 -235.1) (float-vector -506.996 -369.022 -214.9) (float-vector -488.022 -380.423 -214.9) (float-vector -249.536 -523.72 -214.9) (float-vector -232.703 -533.834 -214.9) (float-vector -232.703 -533.834 -235.1) (float-vector -249.536 -523.72 -235.1) (float-vector -488.022 -380.423 -235.1)))
         (instance face :init :vertices (list (float-vector -232.703 -533.834 -214.9) (float-vector -235.285 -538.132 -214.9) (float-vector -243.004 -550.978 -214.9) (float-vector -243.004 -550.978 -235.1) (float-vector -235.285 -538.132 -235.1) (float-vector -232.703 -533.834 -235.1)))
         (instance face :init :vertices (list (float-vector -506.996 -369.022 -214.9) (float-vector -517.297 -386.166 -214.9) (float-vector -243.004 -550.978 -214.9) (float-vector -235.285 -538.132 -214.9) (float-vector -232.703 -533.834 -214.9) (float-vector -249.536 -523.72 -214.9) (float-vector -488.022 -380.423 -214.9)))
         (instance face :init :vertices (list (float-vector -517.297 -386.166 -214.9) (float-vector -506.996 -369.022 -214.9) (float-vector -506.996 -369.022 -235.1) (float-vector -517.297 -386.166 -235.1)))
         (instance face :init :vertices (list (float-vector -56.2107 -291.657 -235.2) (float-vector 113.426 -58.1728 -235.2) (float-vector 113.426 -58.1728 -214.8) (float-vector -56.2107 -291.657 -214.8) (float-vector -59.7446 -296.521 -214.8)))
         (instance face :init :vertices (list (float-vector -59.7446 -296.521 -235.2)))
         (instance face :init :vertices (list (float-vector -239.245 -543.583 -235.2)))
         (instance face :init :vertices (list (float-vector 97.2454 -46.417 -235.2)))
         (instance face :init :vertices (list (float-vector 91.4109 -54.4475 -235.2)))
         (instance face :init :vertices (list (float-vector -70.5291 -277.339 -235.2)))
         (instance face :init :vertices (list (float-vector -150.148 -386.924 -235.2)))
         (instance face :init :vertices (list (float-vector -239.245 -543.583 -235.2) (float-vector -255.426 -531.827 -235.2) (float-vector -150.148 -386.924 -235.2) (float-vector -70.5291 -277.339 -235.2) (float-vector 91.4109 -54.4475 -235.2) (float-vector 97.2454 -46.417 -235.2) (float-vector 110.633 -56.1436 -235.2) (float-vector 113.426 -58.1728 -235.2) (float-vector -56.2107 -291.657 -235.2) (float-vector -59.7446 -296.521 -235.2)))
         (instance face :init :vertices (list (float-vector -255.426 -531.827 -235.2)))
         (instance face :init :vertices (list (float-vector 97.2454 -46.417 -214.8)))
         (instance face :init :vertices (list (float-vector 91.4109 -54.4475 -214.8)))
         (instance face :init :vertices (list (float-vector -70.5291 -277.339 -214.8)))
         (instance face :init :vertices (list (float-vector -150.148 -386.924 -214.8)))
         (instance face :init :vertices (list (float-vector -255.426 -531.827 -214.8)))
         (instance face :init :vertices (list (float-vector 97.2454 -46.417 -214.8) (float-vector 110.633 -56.1436 -214.8) (float-vector 113.426 -58.1728 -214.8) (float-vector 113.426 -58.1728 -235.2) (float-vector 110.633 -56.1436 -235.2) (float-vector 97.2454 -46.417 -235.2)))
         (instance face :init :vertices (list (float-vector -255.426 -531.827 -214.8) (float-vector -239.245 -543.583 -214.8) (float-vector -59.7446 -296.521 -214.8) (float-vector -56.2107 -291.657 -214.8) (float-vector 113.426 -58.1728 -214.8) (float-vector 110.633 -56.1436 -214.8) (float-vector 97.2454 -46.417 -214.8) (float-vector 91.4109 -54.4475 -214.8) (float-vector -70.5291 -277.339 -214.8) (float-vector -150.148 -386.924 -214.8)))
         (instance face :init :vertices (list (float-vector -239.245 -543.583 -214.8)))
         (instance face :init :vertices (list (float-vector -16.5541 23.9937 -235.25)))
         (instance face :init :vertices (list (float-vector 104.798 -64.1741 -235.25)))
         (instance face :init :vertices (list (float-vector -16.5541 23.9937 -235.25) (float-vector -4.79842 40.1741 -235.25) (float-vector 116.554 -47.9937 -235.25) (float-vector 104.798 -64.1741 -235.25)))
         (instance face :init :vertices (list (float-vector -4.79842 40.1741 -235.25)))
         (instance face :init :vertices (list (float-vector 116.554 -47.9937 -235.25)))
         (instance face :init :vertices (list (float-vector -4.79842 40.1741 -235.25) (float-vector -4.79842 40.1741 -214.75) (float-vector 116.554 -47.9937 -214.75) (float-vector 116.554 -47.9937 -235.25)))
         (instance face :init :vertices (list (float-vector 104.798 -64.1741 -214.75)))
         (instance face :init :vertices (list (float-vector -16.5541 23.9937 -214.75) (float-vector -4.79842 40.1741 -214.75)))
         (instance face :init :vertices (list (float-vector 116.554 -47.9937 -214.75)))
         (instance face :init :vertices (list (float-vector 104.798 -64.1741 -214.75) (float-vector 116.554 -47.9937 -214.75) (float-vector -4.79842 40.1741 -214.75) (float-vector -16.5541 23.9937 -214.75)))
         (instance face :init :vertices (list (float-vector -11.0744 31.536 -235.2)))
         (instance face :init :vertices (list (float-vector -11.0744 31.536 -214.8)))
         (instance face :init :vertices (list (float-vector -267.678 -504.454 -240.0) (float-vector -55.5456 -292.322 -240.0) (float-vector -55.5456 -292.322 240.0) (float-vector -267.678 -504.454 240.0)))
         (instance face :init :vertices (list (float-vector -267.678 -504.454 -240.0) (float-vector -444.454 -327.678 -240.0) (float-vector -232.322 -115.546 -240.0) (float-vector -55.5456 -292.322 -240.0)))
         (instance face :init :vertices (list (float-vector -444.454 -327.678 -240.0) (float-vector -444.454 -327.678 -235.2) (float-vector -400.98 -284.204 -235.2) (float-vector -400.98 -284.204 -214.8) (float-vector -444.454 -327.678 -214.8) (float-vector -444.454 -327.678 214.8) (float-vector -400.98 -284.204 214.8) (float-vector -400.98 -284.204 235.2) (float-vector -444.454 -327.678 235.2) (float-vector -444.454 -327.678 240.0) (float-vector -232.322 -115.546 240.0) (float-vector -232.322 -115.546 -240.0)))
         (instance face :init :vertices (list (float-vector -214.596 -133.272 -235.2)))
         (instance face :init :vertices (list (float-vector -200.376 -147.492 -235.2)))
         (instance face :init :vertices (list (float-vector -214.596 -133.272 235.2)))
         (instance face :init :vertices (list (float-vector -232.322 -115.546 240.0) (float-vector -55.5456 -292.322 240.0) (float-vector -55.5456 -292.322 -240.0) (float-vector -232.322 -115.546 -240.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -200.376 -147.492 235.2) (float-vector -214.596 -133.272 235.2) (float-vector -214.596 -133.272 214.8) (float-vector -200.376 -147.492 214.8)))
         (instance hole :init :vertices (list (float-vector -214.596 -133.272 -235.2) (float-vector -200.376 -147.492 -235.2) (float-vector -200.376 -147.492 -214.8) (float-vector -214.596 -133.272 -214.8)))
))
         (instance face :init :vertices (list (float-vector -444.454 -327.678 240.0) (float-vector -267.678 -504.454 240.0) (float-vector -55.5456 -292.322 240.0) (float-vector -232.322 -115.546 240.0)))
         (instance face :init :vertices (list (float-vector -444.454 -327.678 235.2) (float-vector -434.804 -337.328 235.2) (float-vector -434.804 -337.328 214.8) (float-vector -444.454 -327.678 214.8) (float-vector -444.454 -327.678 -214.8) (float-vector -434.804 -337.328 -214.8) (float-vector -434.804 -337.328 -235.2) (float-vector -444.454 -327.678 -235.2) (float-vector -444.454 -327.678 -240.0) (float-vector -267.678 -504.454 -240.0) (float-vector -267.678 -504.454 240.0) (float-vector -444.454 -327.678 240.0)))
         (instance face :init :vertices (list (float-vector -1.82395 13.2916 -235.2)))
         (instance face :init :vertices (list (float-vector -1.82395 13.2916 -214.8)))
         (instance face :init :vertices (list (float-vector -1.82395 13.2916 -235.2) (float-vector -1.82395 13.2916 -214.8) (float-vector -200.376 -147.492 -214.8) (float-vector -200.376 -147.492 -235.2)))
         (instance face :init :vertices (list (float-vector -434.804 -337.328 -235.2)))
         (instance face :init :vertices (list (float-vector -434.804 -337.328 -214.8)))
         (instance face :init :vertices (list (float-vector -495.279 -386.301 -235.2)))
         (instance face :init :vertices (list (float-vector -400.98 -284.204 -214.8)))
         (instance face :init :vertices (list (float-vector -400.98 -284.204 -235.2)))
         (instance face :init :vertices (list (float-vector -495.279 -386.301 -235.2) (float-vector -507.866 -370.758 -235.2) (float-vector -400.98 -284.204 -235.2) (float-vector -444.454 -327.678 -235.2) (float-vector -434.804 -337.328 -235.2)))
         (instance face :init :vertices (list (float-vector -507.866 -370.758 -235.2)))
         (instance face :init :vertices (list (float-vector -11.0744 31.536 -235.2)))
         (instance face :init :vertices (list (float-vector -214.596 -133.272 -235.2)))
         (instance face :init :vertices (list (float-vector -507.866 -370.758 -214.8)))
         (instance face :init :vertices (list (float-vector 9.86564 22.7577 -214.8)))
         (instance face :init :vertices (list (float-vector -214.596 -133.272 -214.8)))
         (instance face :init :vertices (list (float-vector -11.0744 31.536 -214.8)))
         (instance face :init :vertices (list (float-vector -2.72077 38.3006 -214.8)))
         (instance face :init :vertices (list (float-vector 9.86564 22.7577 -214.8) (float-vector -2.72077 38.3006 -214.8) (float-vector -11.0744 31.536 -214.8) (float-vector -214.596 -133.272 -214.8) (float-vector -200.376 -147.492 -214.8) (float-vector -1.82395 13.2916 -214.8)))
         (instance face :init :vertices (list (float-vector -507.866 -370.758 -214.8) (float-vector -495.279 -386.301 -214.8) (float-vector -434.804 -337.328 -214.8) (float-vector -444.454 -327.678 -214.8) (float-vector -400.98 -284.204 -214.8)))
         (instance face :init :vertices (list (float-vector -495.279 -386.301 -214.8)))
         (instance face :init :vertices (list (float-vector -400.98 -284.204 235.2) (float-vector -507.866 -370.758 235.2) (float-vector -495.279 -386.301 235.2) (float-vector -434.804 -337.328 235.2) (float-vector -444.454 -327.678 235.2)))
         (instance face :init :vertices (list (float-vector -495.279 -386.301 235.2)))
         (instance face :init :vertices (list (float-vector -507.866 -370.758 214.8)))
         (instance face :init :vertices (list (float-vector -507.866 -370.758 235.2) (float-vector -400.98 -284.204 235.2)))
         (instance face :init :vertices (list (float-vector -400.98 -284.204 214.8)))
         (instance face :init :vertices (list (float-vector -11.0744 31.536 235.2)))
         (instance face :init :vertices (list (float-vector -11.0744 31.536 214.8)))
         (instance face :init :vertices (list (float-vector -11.0744 31.536 235.2) (float-vector -11.0744 31.536 214.8) (float-vector -214.596 -133.272 214.8) (float-vector -214.596 -133.272 235.2)))
         (instance face :init :vertices (list (float-vector -434.804 -337.328 214.8) (float-vector -495.279 -386.301 214.8) (float-vector -507.866 -370.758 214.8) (float-vector -400.98 -284.204 214.8) (float-vector -444.454 -327.678 214.8)))
         (instance face :init :vertices (list (float-vector -495.279 -386.301 214.8) (float-vector -434.804 -337.328 214.8) (float-vector -434.804 -337.328 235.2)))
         (instance face :init :vertices (list (float-vector -1.82395 13.2916 214.8)))
         (instance face :init :vertices (list (float-vector 9.86564 22.7577 214.8)))
         (instance face :init :vertices (list (float-vector -2.72077 38.3006 214.8)))
         (instance face :init :vertices (list (float-vector -1.82395 13.2916 214.8) (float-vector -200.376 -147.492 214.8) (float-vector -214.596 -133.272 214.8) (float-vector -11.0744 31.536 214.8) (float-vector -2.72077 38.3006 214.8) (float-vector 9.86564 22.7577 214.8)))
         (instance face :init :vertices (list (float-vector -200.376 -147.492 235.2)))
         (instance face :init :vertices (list (float-vector -1.82395 13.2916 235.2)))
         (instance face :init :vertices (list (float-vector -1.82395 13.2916 214.8) (float-vector -1.82395 13.2916 235.2) (float-vector -200.376 -147.492 235.2) (float-vector -200.376 -147.492 214.8)))
         (instance face :init :vertices (list (float-vector -16.5541 23.9937 235.25) (float-vector -4.79842 40.1741 235.25) (float-vector -4.79842 40.1741 214.75) (float-vector -16.5541 23.9937 214.75)))
         (instance face :init :vertices (list (float-vector 116.554 -47.9937 235.25)))
         (instance face :init :vertices (list (float-vector -16.5541 23.9937 235.25) (float-vector 104.798 -64.1741 235.25) (float-vector 116.554 -47.9937 235.25) (float-vector -4.79842 40.1741 235.25)))
         (instance face :init :vertices (list (float-vector 104.798 -64.1741 235.25) (float-vector -16.5541 23.9937 235.25)))
         (instance face :init :vertices (list (float-vector 116.554 -47.9937 214.75)))
         (instance face :init :vertices (list (float-vector 104.798 -64.1741 214.75)))
         (instance face :init :vertices (list (float-vector 116.554 -47.9937 214.75) (float-vector -4.79842 40.1741 214.75) (float-vector -4.79842 40.1741 235.25) (float-vector 116.554 -47.9937 235.25)))
         (instance face :init :vertices (list (float-vector 104.798 -64.1741 214.75) (float-vector -16.5541 23.9937 214.75) (float-vector -4.79842 40.1741 214.75) (float-vector 116.554 -47.9937 214.75)))
         (instance face :init :vertices (list (float-vector -16.5541 23.9937 214.75)))
         (instance face :init :vertices (list (float-vector -255.426 -531.827 214.8)))
         (instance face :init :vertices (list (float-vector -239.245 -543.583 235.2)))
         (instance face :init :vertices (list (float-vector -239.245 -543.583 235.2) (float-vector -59.7446 -296.521 235.2) (float-vector -56.2107 -291.657 235.2) (float-vector 113.426 -58.1728 235.2) (float-vector 110.633 -56.1436 235.2) (float-vector 97.2454 -46.417 235.2) (float-vector 91.4109 -54.4475 235.2) (float-vector -70.5291 -277.339 235.2) (float-vector -150.148 -386.924 235.2) (float-vector -255.426 -531.827 235.2)))
         (instance face :init :vertices (list (float-vector 113.426 -58.1728 235.2) (float-vector 113.426 -58.1728 214.8) (float-vector 110.633 -56.1436 214.8) (float-vector 97.2454 -46.417 214.8) (float-vector 97.2454 -46.417 235.2) (float-vector 110.633 -56.1436 235.2)))
         (instance face :init :vertices (list (float-vector -255.426 -531.827 235.2))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 97.2454 -46.417 214.8) (float-vector 91.4109 -54.4475 214.8) (float-vector -70.5291 -277.339 214.8) (float-vector -150.148 -386.924 214.8)))
))
         (instance face :init :vertices (list (float-vector -150.148 -386.924 235.2)))
         (instance face :init :vertices (list (float-vector -70.5291 -277.339 235.2)))
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         (instance face :init :vertices (list (float-vector -86.0114 -477.926 -270.0) (float-vector -111.418 -467.403 -270.0) (float-vector -143.934 -516.066 -270.0) (float-vector -124.489 -535.511 -270.0)))
         (instance face :init :vertices (list (float-vector -100.0 -410.0 -270.0) (float-vector -111.418 -467.403 -270.0) (float-vector -86.0114 -477.926 -270.0) (float-vector -72.5 -410.0 -270.0)))
         (instance face :init :vertices (list (float-vector -122.5 -410.0 -277.5) (float-vector -100.0 -410.0 -270.0) (float-vector -111.418 -352.597 -270.0) (float-vector -135.237 -362.464 -278.594)))
         (instance face :init :vertices (list (float-vector -143.934 -303.934 -270.0) (float-vector -162.916 -322.916 -278.948) (float-vector -139.582 -346.25 -276.76) (float-vector -135.237 -362.464 -278.594) (float-vector -111.418 -352.597 -270.0)))
         (instance face :init :vertices (list (float-vector -192.597 -271.418 -270.0) (float-vector -202.464 -295.237 -278.594) (float-vector -186.25 -299.582 -276.76) (float-vector -162.916 -322.916 -278.948) (float-vector -143.934 -303.934 -270.0)))
         (instance face :init :vertices (list (float-vector -250.0 -260.0 -270.0) (float-vector -250.0 -282.5 -277.5) (float-vector -202.464 -295.237 -278.594) (float-vector -192.597 -271.418 -270.0)))
         (instance face :init :vertices (list (float-vector -250.0 -282.5 -277.5) (float-vector -250.0 -260.0 -270.0)))
         (instance face :init :vertices (list (float-vector -307.403 -271.418 -270.0) (float-vector -297.536 -295.237 -278.594)))
         (instance face :init :vertices (list (float-vector -356.066 -303.934 -270.0) (float-vector -337.084 -322.916 -278.948) (float-vector -313.75 -299.582 -276.76) (float-vector -297.536 -295.237 -278.594) (float-vector -307.403 -271.418 -270.0)))
         (instance face :init :vertices (list (float-vector -388.582 -352.597 -270.0) (float-vector -364.763 -362.464 -278.594) (float-vector -360.418 -346.25 -276.76) (float-vector -337.084 -322.916 -278.948) (float-vector -356.066 -303.934 -270.0)))
         (instance face :init :vertices (list (float-vector -400.0 -410.0 -270.0) (float-vector -377.5 -410.0 -277.5) (float-vector -364.763 -362.464 -278.594) (float-vector -388.582 -352.597 -270.0)))
         (instance face :init :vertices (list (float-vector -377.5 -410.0 -277.5) (float-vector -400.0 -410.0 -270.0)))
         (instance face :init :vertices (list (float-vector -388.582 -467.403 -270.0) (float-vector -364.763 -457.536 -278.594)))
         (instance face :init :vertices (list (float-vector -356.066 -516.066 -270.0) (float-vector -337.084 -497.084 -278.948) (float-vector -360.418 -473.75 -276.76) (float-vector -364.763 -457.536 -278.594) (float-vector -388.582 -467.403 -270.0)))
         (instance face :init :vertices (list (float-vector -307.403 -548.582 -270.0) (float-vector -297.536 -524.763 -278.594) (float-vector -313.75 -520.418 -276.76) (float-vector -337.084 -497.084 -278.948) (float-vector -356.066 -516.066 -270.0)))
         (instance face :init :vertices (list (float-vector -250.0 -537.5 -277.5)))
         (instance face :init :vertices (list (float-vector -250.0 -560.0 -270.0) (float-vector -250.0 -537.5 -277.5) (float-vector -297.536 -524.763 -278.594) (float-vector -307.403 -548.582 -270.0)))
         (instance face :init :vertices (list (float-vector -250.0 -537.5 -277.5) (float-vector -250.0 -560.0 -270.0)))
         (instance face :init :vertices (list (float-vector -192.597 -548.582 -270.0)))
         (instance face :init :vertices (list (float-vector -143.934 -516.066 -270.0) (float-vector -162.916 -497.084 -278.948) (float-vector -186.25 -520.418 -276.76) (float-vector -202.464 -524.763 -278.594) (float-vector -192.597 -548.582 -270.0)))
         (instance face :init :vertices (list (float-vector -135.237 -457.536 -278.594) (float-vector -111.418 -467.403 -270.0) (float-vector -100.0 -410.0 -270.0)))
         (instance face :init :vertices (list (float-vector -111.418 -467.403 -270.0) (float-vector -135.237 -457.536 -278.594) (float-vector -139.582 -473.75 -276.76) (float-vector -162.916 -497.084 -278.948) (float-vector -143.934 -516.066 -270.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :green)
     (gl::transparent (elt bc 0) 0.0)
     (send (elt bc 1) :set-color :dimgray)
     (send (elt bc 2) :set-color :gainsboro)
     (send (elt bc 3) :set-color :gainsboro)
     (setq blink4 (instance bodyset-link :init (make-cascoords) :bodies bc :name :patra-lower-limb-patra-rear-link :weight 301 :centroid (float-vector -249.741 -375.994 2.18976) :inertia-tensor #2f((1.622180e+05 -93901.2 546.874) (-93901.2 83217.1 823.338) (546.874 823.338 2.037588e+05))))

     ;; definition of :patra-lower-limb-patra-front-link
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 250.0) (float-vector -5.0 5.0 250.0) (float-vector -5.0 -5.0 250.0) (float-vector 5.0 -5.0 250.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -250.0) (float-vector 5.0 5.0 -250.0) (float-vector 5.0 -5.0 -250.0) (float-vector -5.0 -5.0 -250.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 250.0) (float-vector 5.0 5.0 -250.0) (float-vector -5.0 5.0 -250.0) (float-vector -5.0 5.0 250.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 250.0) (float-vector 5.0 -5.0 -250.0) (float-vector 5.0 5.0 -250.0) (float-vector 5.0 5.0 250.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 250.0) (float-vector -5.0 -5.0 -250.0) (float-vector 5.0 -5.0 -250.0) (float-vector 5.0 -5.0 250.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 250.0) (float-vector -5.0 5.0 -250.0) (float-vector -5.0 -5.0 -250.0) (float-vector -5.0 -5.0 250.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 296.119 -450.515 -265.0) (float-vector 288.767 -423.078 -265.0) (float-vector 288.767 -423.078 -235.0) (float-vector 296.119 -450.515 -235.0)))
         (instance face :init :vertices (list (float-vector 276.859 -405.257 -265.0) (float-vector 259.743 -388.141 -265.0) (float-vector 259.743 -388.141 -235.0) (float-vector 276.859 -405.257 -235.0)))
         (instance face :init :vertices (list (float-vector 241.922 -376.233 -265.0) (float-vector 214.485 -368.881 -265.0) (float-vector 214.485 -368.881 -235.0) (float-vector 241.922 -376.233 -235.0)))
         (instance face :init :vertices (list (float-vector 185.515 -368.881 -265.0) (float-vector 158.078 -376.233 -265.0) (float-vector 158.078 -376.233 -235.0) (float-vector 185.515 -368.881 -235.0)))
         (instance face :init :vertices (list (float-vector 140.257 -388.141 -265.0) (float-vector 123.141 -405.257 -265.0) (float-vector 123.141 -405.257 -235.0) (float-vector 140.257 -388.141 -235.0)))
         (instance face :init :vertices (list (float-vector 111.233 -423.078 -265.0) (float-vector 103.881 -450.515 -265.0) (float-vector 103.881 -450.515 -235.0) (float-vector 111.233 -423.078 -235.0)))
         (instance face :init :vertices (list (float-vector 103.881 -479.485 -265.0) (float-vector 111.233 -506.922 -265.0) (float-vector 111.233 -506.922 -235.0) (float-vector 103.881 -479.485 -235.0)))
         (instance face :init :vertices (list (float-vector 123.141 -524.743 -265.0) (float-vector 140.257 -541.859 -265.0) (float-vector 140.257 -541.859 -235.0) (float-vector 123.141 -524.743 -235.0)))
         (instance face :init :vertices (list (float-vector 158.078 -553.767 -265.0) (float-vector 185.515 -561.119 -265.0) (float-vector 185.515 -561.119 -235.0) (float-vector 158.078 -553.767 -235.0)))
         (instance face :init :vertices (list (float-vector 214.485 -561.119 -265.0) (float-vector 241.922 -553.767 -265.0) (float-vector 241.922 -553.767 -235.0) (float-vector 214.485 -561.119 -235.0)))
         (instance face :init :vertices (list (float-vector 259.743 -541.859 -265.0) (float-vector 276.859 -524.743 -265.0) (float-vector 276.859 -524.743 -235.0) (float-vector 259.743 -541.859 -235.0)))
         (instance face :init :vertices (list (float-vector 288.767 -506.922 -235.0) (float-vector 296.119 -479.485 -235.0) (float-vector 299.0 -465.0 -235.0) (float-vector 296.119 -450.515 -235.0) (float-vector 288.767 -423.078 -235.0) (float-vector 276.859 -405.257 -235.0) (float-vector 259.743 -388.141 -235.0) (float-vector 241.922 -376.233 -235.0) (float-vector 214.485 -368.881 -235.0) (float-vector 200.0 -366.0 -235.0) (float-vector 185.515 -368.881 -235.0) (float-vector 158.078 -376.233 -235.0) (float-vector 140.257 -388.141 -235.0) (float-vector 123.141 -405.257 -235.0) (float-vector 111.233 -423.078 -235.0) (float-vector 103.881 -450.515 -235.0) (float-vector 101.0 -465.0 -235.0) (float-vector 103.881 -479.485 -235.0) (float-vector 111.233 -506.922 -235.0) (float-vector 123.141 -524.743 -235.0) (float-vector 140.257 -541.859 -235.0) (float-vector 158.078 -553.767 -235.0) (float-vector 185.515 -561.119 -235.0) (float-vector 200.0 -564.0 -235.0) (float-vector 214.485 -561.119 -235.0) (float-vector 241.922 -553.767 -235.0) (float-vector 259.743 -541.859 -235.0) (float-vector 276.859 -524.743 -235.0)))
         (instance face :init :vertices (list (float-vector 288.767 -506.922 -265.0) (float-vector 296.119 -479.485 -265.0) (float-vector 296.119 -479.485 -235.0) (float-vector 288.767 -506.922 -235.0)))
         (instance face :init :vertices (list (float-vector 296.119 -479.485 -265.0) (float-vector 288.767 -506.922 -265.0) (float-vector 276.859 -524.743 -265.0) (float-vector 259.743 -541.859 -265.0) (float-vector 241.922 -553.767 -265.0) (float-vector 214.485 -561.119 -265.0) (float-vector 200.0 -564.0 -265.0) (float-vector 185.515 -561.119 -265.0) (float-vector 158.078 -553.767 -265.0) (float-vector 140.257 -541.859 -265.0) (float-vector 123.141 -524.743 -265.0) (float-vector 111.233 -506.922 -265.0) (float-vector 103.881 -479.485 -265.0) (float-vector 101.0 -465.0 -265.0) (float-vector 103.881 -450.515 -265.0) (float-vector 111.233 -423.078 -265.0) (float-vector 123.141 -405.257 -265.0) (float-vector 140.257 -388.141 -265.0) (float-vector 158.078 -376.233 -265.0) (float-vector 185.515 -368.881 -265.0) (float-vector 200.0 -366.0 -265.0) (float-vector 214.485 -368.881 -265.0) (float-vector 241.922 -376.233 -265.0) (float-vector 259.743 -388.141 -265.0) (float-vector 276.859 -405.257 -265.0) (float-vector 288.767 -423.078 -265.0) (float-vector 296.119 -450.515 -265.0) (float-vector 299.0 -465.0 -265.0)))
         (instance face :init :vertices (list (float-vector 299.0 -465.0 -235.0) (float-vector 299.0 -465.0 -227.5) (float-vector 291.464 -427.114 -227.5) (float-vector 291.464 -427.114 -272.5) (float-vector 299.0 -465.0 -272.5) (float-vector 299.0 -465.0 -265.0) (float-vector 296.119 -450.515 -265.0) (float-vector 296.119 -450.515 -235.0)))
         (instance face :init :vertices (list (float-vector 291.464 -427.114 -227.5) (float-vector 270.004 -394.996 -227.5) (float-vector 270.004 -394.996 -272.5) (float-vector 291.464 -427.114 -272.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 288.767 -423.078 -265.0) (float-vector 276.859 -405.257 -265.0) (float-vector 276.859 -405.257 -235.0) (float-vector 288.767 -423.078 -235.0)))
))
         (instance face :init :vertices (list (float-vector 270.004 -394.996 -227.5) (float-vector 237.886 -373.536 -227.5) (float-vector 237.886 -373.536 -272.5) (float-vector 270.004 -394.996 -272.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 259.743 -388.141 -265.0) (float-vector 241.922 -376.233 -265.0) (float-vector 241.922 -376.233 -235.0) (float-vector 259.743 -388.141 -235.0)))
))
         (instance face :init :vertices (list (float-vector 237.886 -373.536 -227.5) (float-vector 200.0 -366.0 -227.5) (float-vector 200.0 -366.0 -235.0) (float-vector 214.485 -368.881 -235.0) (float-vector 214.485 -368.881 -265.0) (float-vector 200.0 -366.0 -265.0) (float-vector 200.0 -366.0 -272.5) (float-vector 237.886 -373.536 -272.5)))
         (instance face :init :vertices (list (float-vector 200.0 -366.0 -227.5) (float-vector 162.114 -373.536 -227.5) (float-vector 162.114 -373.536 -272.5) (float-vector 200.0 -366.0 -272.5) (float-vector 200.0 -366.0 -265.0) (float-vector 185.515 -368.881 -265.0) (float-vector 185.515 -368.881 -235.0) (float-vector 200.0 -366.0 -235.0)))
         (instance face :init :vertices (list (float-vector 162.114 -373.536 -227.5) (float-vector 129.996 -394.996 -227.5) (float-vector 129.996 -394.996 -272.5) (float-vector 162.114 -373.536 -272.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 158.078 -376.233 -265.0) (float-vector 140.257 -388.141 -265.0) (float-vector 140.257 -388.141 -235.0) (float-vector 158.078 -376.233 -235.0)))
))
         (instance face :init :vertices (list (float-vector 129.996 -394.996 -227.5) (float-vector 108.536 -427.114 -227.5) (float-vector 108.536 -427.114 -272.5) (float-vector 129.996 -394.996 -272.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 123.141 -405.257 -265.0) (float-vector 111.233 -423.078 -265.0) (float-vector 111.233 -423.078 -235.0) (float-vector 123.141 -405.257 -235.0)))
))
         (instance face :init :vertices (list (float-vector 108.536 -427.114 -227.5) (float-vector 101.0 -465.0 -227.5) (float-vector 101.0 -465.0 -235.0) (float-vector 103.881 -450.515 -235.0) (float-vector 103.881 -450.515 -265.0) (float-vector 101.0 -465.0 -265.0) (float-vector 101.0 -465.0 -272.5) (float-vector 108.536 -427.114 -272.5)))
         (instance face :init :vertices (list (float-vector 101.0 -465.0 -227.5) (float-vector 108.536 -502.886 -227.5) (float-vector 108.536 -502.886 -272.5) (float-vector 101.0 -465.0 -272.5) (float-vector 101.0 -465.0 -265.0) (float-vector 103.881 -479.485 -265.0) (float-vector 103.881 -479.485 -235.0) (float-vector 101.0 -465.0 -235.0)))
         (instance face :init :vertices (list (float-vector 108.536 -502.886 -227.5) (float-vector 129.996 -535.004 -227.5) (float-vector 129.996 -535.004 -272.5) (float-vector 108.536 -502.886 -272.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 111.233 -506.922 -265.0) (float-vector 123.141 -524.743 -265.0) (float-vector 123.141 -524.743 -235.0) (float-vector 111.233 -506.922 -235.0)))
))
         (instance face :init :vertices (list (float-vector 129.996 -535.004 -227.5) (float-vector 162.114 -556.464 -227.5) (float-vector 162.114 -556.464 -272.5) (float-vector 129.996 -535.004 -272.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 140.257 -541.859 -265.0) (float-vector 158.078 -553.767 -265.0) (float-vector 158.078 -553.767 -235.0) (float-vector 140.257 -541.859 -235.0)))
))
         (instance face :init :vertices (list (float-vector 162.114 -556.464 -227.5) (float-vector 200.0 -564.0 -227.5) (float-vector 200.0 -564.0 -235.0) (float-vector 185.515 -561.119 -235.0) (float-vector 185.515 -561.119 -265.0) (float-vector 200.0 -564.0 -265.0) (float-vector 200.0 -564.0 -272.5) (float-vector 162.114 -556.464 -272.5)))
         (instance face :init :vertices (list (float-vector 200.0 -564.0 -227.5) (float-vector 237.886 -556.464 -227.5) (float-vector 237.886 -556.464 -272.5) (float-vector 200.0 -564.0 -272.5) (float-vector 200.0 -564.0 -265.0) (float-vector 214.485 -561.119 -265.0) (float-vector 214.485 -561.119 -235.0) (float-vector 200.0 -564.0 -235.0)))
         (instance face :init :vertices (list (float-vector 237.886 -556.464 -227.5) (float-vector 270.004 -535.004 -227.5) (float-vector 270.004 -535.004 -272.5) (float-vector 237.886 -556.464 -272.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 241.922 -553.767 -265.0) (float-vector 259.743 -541.859 -265.0) (float-vector 259.743 -541.859 -235.0) (float-vector 241.922 -553.767 -235.0)))
))
         (instance face :init :vertices (list (float-vector 270.004 -535.004 -227.5) (float-vector 291.464 -502.886 -227.5) (float-vector 291.464 -502.886 -272.5) (float-vector 270.004 -535.004 -272.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 276.859 -524.743 -265.0) (float-vector 288.767 -506.922 -265.0) (float-vector 288.767 -506.922 -235.0) (float-vector 276.859 -524.743 -235.0)))
))
         (instance face :init :vertices (list (float-vector 291.464 -502.886 -227.5) (float-vector 299.0 -465.0 -227.5) (float-vector 299.0 -465.0 -235.0) (float-vector 296.119 -479.485 -235.0) (float-vector 296.119 -479.485 -265.0) (float-vector 299.0 -465.0 -265.0) (float-vector 299.0 -465.0 -272.5) (float-vector 291.464 -502.886 -272.5)))
         (instance face :init :vertices (list (float-vector 321.5 -465.0 -280.0) (float-vector 299.0 -465.0 -272.5) (float-vector 291.464 -427.114 -272.5) (float-vector 312.251 -418.504 -280.0)))
         (instance face :init :vertices (list (float-vector 270.004 -394.996 -272.5) (float-vector 285.913 -379.087 -280.0) (float-vector 312.251 -418.504 -280.0) (float-vector 291.464 -427.114 -272.5)))
         (instance face :init :vertices (list (float-vector 237.886 -373.536 -272.5) (float-vector 246.496 -352.749 -280.0) (float-vector 285.913 -379.087 -280.0) (float-vector 270.004 -394.996 -272.5)))
         (instance face :init :vertices (list (float-vector 200.0 -366.0 -272.5) (float-vector 200.0 -343.5 -280.0) (float-vector 246.496 -352.749 -280.0) (float-vector 237.886 -373.536 -272.5)))
         (instance face :init :vertices (list (float-vector 162.114 -373.536 -272.5) (float-vector 153.504 -352.749 -280.0) (float-vector 200.0 -343.5 -280.0) (float-vector 200.0 -366.0 -272.5)))
         (instance face :init :vertices (list (float-vector 129.996 -394.996 -272.5) (float-vector 114.087 -379.087 -280.0) (float-vector 153.504 -352.749 -280.0) (float-vector 162.114 -373.536 -272.5)))
         (instance face :init :vertices (list (float-vector 108.536 -427.114 -272.5) (float-vector 87.7486 -418.504 -280.0) (float-vector 114.087 -379.087 -280.0) (float-vector 129.996 -394.996 -272.5)))
         (instance face :init :vertices (list (float-vector 101.0 -465.0 -272.5) (float-vector 78.5 -465.0 -280.0) (float-vector 87.7486 -418.504 -280.0) (float-vector 108.536 -427.114 -272.5)))
         (instance face :init :vertices (list (float-vector 108.536 -502.886 -272.5) (float-vector 87.7486 -511.496 -280.0) (float-vector 78.5 -465.0 -280.0) (float-vector 101.0 -465.0 -272.5)))
         (instance face :init :vertices (list (float-vector 129.996 -535.004 -272.5) (float-vector 114.087 -550.913 -280.0) (float-vector 87.7486 -511.496 -280.0) (float-vector 108.536 -502.886 -272.5)))
         (instance face :init :vertices (list (float-vector 162.114 -556.464 -272.5) (float-vector 153.504 -577.251 -280.0) (float-vector 114.087 -550.913 -280.0) (float-vector 129.996 -535.004 -272.5)))
         (instance face :init :vertices (list (float-vector 200.0 -564.0 -272.5) (float-vector 200.0 -586.5 -280.0) (float-vector 153.504 -577.251 -280.0) (float-vector 162.114 -556.464 -272.5)))
         (instance face :init :vertices (list (float-vector 237.886 -556.464 -272.5) (float-vector 246.496 -577.251 -280.0) (float-vector 200.0 -586.5 -280.0) (float-vector 200.0 -564.0 -272.5)))
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         (instance face :init :vertices (list (float-vector 7.70685 -57.6344 305.0) (float-vector 7.70685 -57.6344 275.0) (float-vector -1.82977 -64.4218 275.0) (float-vector -1.82977 -64.4218 305.0)))
         (instance face :init :vertices (list (float-vector 19.115 -55.0131 305.0) (float-vector 19.115 -55.0131 275.0) (float-vector 7.70685 -57.6344 275.0) (float-vector 7.70685 -57.6344 305.0)))
         (instance face :init :vertices (list (float-vector 30.6579 -56.957 305.0) (float-vector 30.6579 -56.957 275.0) (float-vector 19.115 -55.0131 275.0) (float-vector 19.115 -55.0131 305.0)))
         (instance face :init :vertices (list (float-vector 40.5782 -63.1702 305.0) (float-vector 40.5782 -63.1702 275.0) (float-vector 30.6579 -56.957 275.0) (float-vector 30.6579 -56.957 305.0)))
         (instance face :init :vertices (list (float-vector 47.3656 -72.7068 305.0) (float-vector 47.3656 -72.7068 275.0) (float-vector 40.5782 -63.1702 275.0) (float-vector 40.5782 -63.1702 305.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :green)
     (gl::transparent (elt bc 0) 0.0)
     (send (elt bc 1) :set-color :gainsboro)
     (send (elt bc 2) :set-color :gainsboro)
     (send (elt bc 3) :set-color :lightgray)
     (send (elt bc 4) :set-color :lightgray)
     (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :patra-lower-limb-patra-front-link :weight 401 :centroid (float-vector 156.518 -378.478 -7.398842e-13) :inertia-tensor #2f((1.640875e+05 59238.7 1.148942e-10) (59238.7 45339.6 -2.778270e-10) (1.148942e-10 -2.778270e-10 1.677604e+05))))

     ;; definition of :patra-back-limb-patra-back-link
     (setq bc (list
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector -5.0 5.0 -100.0) (float-vector 5.0 5.0 -100.0) (float-vector 5.0 -5.0 -100.0) (float-vector -5.0 -5.0 -100.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 100.0) (float-vector 5.0 5.0 -100.0) (float-vector -5.0 5.0 -100.0) (float-vector -5.0 5.0 100.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 100.0) (float-vector 5.0 -5.0 -100.0) (float-vector 5.0 5.0 -100.0) (float-vector 5.0 5.0 100.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 100.0) (float-vector -5.0 -5.0 -100.0) (float-vector 5.0 -5.0 -100.0) (float-vector 5.0 -5.0 100.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 100.0) (float-vector -5.0 5.0 -100.0) (float-vector -5.0 -5.0 -100.0) (float-vector -5.0 -5.0 100.0)))
       ))
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector -10.0 790.0 90.0) (float-vector -10.0 790.0 -90.0) (float-vector -10.0 610.0 -110.0) (float-vector -10.0 610.0 110.0)))
         (instance face :init :vertices (list (float-vector 70.0 790.0 -90.0) (float-vector -10.0 790.0 -90.0) (float-vector -10.0 790.0 90.0) (float-vector 70.0 790.0 90.0)))
         (instance face :init :vertices (list (float-vector 70.0 610.0 -110.0) (float-vector -10.0 610.0 -110.0) (float-vector -10.0 790.0 -90.0) (float-vector 70.0 790.0 -90.0)))
         (instance face :init :vertices (list (float-vector 70.0 610.0 110.0) (float-vector -10.0 610.0 110.0) (float-vector -10.0 610.0 -110.0) (float-vector 70.0 610.0 -110.0)))
         (instance face :init :vertices (list (float-vector 70.0 790.0 90.0) (float-vector -10.0 790.0 90.0) (float-vector -10.0 610.0 110.0) (float-vector 70.0 610.0 110.0)))
       ))
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector -0.281906 203.018 -234.0) (float-vector -2.47723 200.0 -235.0) (float-vector -4.67256 196.982 -234.0)))
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         (instance face :init :vertices (list (float-vector 10.8189 190.329 -205.0) (float-vector 134.0 100.727 -205.0) (float-vector 134.0 110.002 -207.01) (float-vector 14.2289 197.122 -207.01) (float-vector 12.9904 192.5 -205.813)))
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         (instance face :init :vertices (list (float-vector 134.0 98.6252 -205.456) (float-vector 134.0 100.727 -205.0) (float-vector 10.8189 190.329 -205.0) (float-vector 7.5 187.01 -206.242) (float-vector 3.94223 186.056 -207.01) (float-vector 130.588 93.9348 -207.01)))
         (instance face :init :vertices (list (float-vector -10.0625 189.572 -212.405)))
         (instance face :init :vertices (list (float-vector -6.23658 186.671 -212.5) (float-vector 127.359 89.4948 -212.5) (float-vector 130.588 93.9348 -207.01) (float-vector 3.94223 186.056 -207.01) (float-vector 1.136868e-13 185.0 -210.183)))
         (instance face :init :vertices (list (float-vector -10.1186 189.495 -212.5)))
         (instance face :init :vertices (list (float-vector -11.3008 187.87 -220.0) (float-vector 126.176 87.8697 -220.0) (float-vector 127.359 89.4948 -212.5) (float-vector -6.23658 186.671 -212.5)))
         (instance face :init :vertices (list (float-vector -7.5 187.01 -225.748)))
         (instance face :init :vertices (list (float-vector -6.23658 186.671 -227.5) (float-vector 127.359 89.4948 -227.5) (float-vector 126.176 87.8697 -220.0) (float-vector -11.3008 187.87 -220.0)))
         (instance face :init :vertices (list (float-vector -10.1186 189.495 -227.5)))
         (instance face :init :vertices (list (float-vector 3.94223 186.056 -232.99) (float-vector 130.588 93.9348 -232.99) (float-vector 127.359 89.4948 -227.5) (float-vector -6.23658 186.671 -227.5) (float-vector 1.136868e-13 185.0 -229.817)))
         (instance face :init :vertices (list (float-vector 8.14729 187.657 -234.0)))
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         (instance face :init :vertices (list (float-vector -2.47723 200.0 -235.0) (float-vector 134.0 100.727 -235.0) (float-vector 134.0 98.6252 -234.544) (float-vector 130.588 93.9348 -232.99)))
         (instance face :init :vertices (list (float-vector 14.2289 197.122 -232.99) (float-vector 134.0 110.002 -232.99) (float-vector 134.0 100.727 -235.0) (float-vector -2.47723 200.0 -235.0) (float-vector -0.281906 203.018 -234.0) (float-vector 13.1841 193.223 -234.0)))
         (instance face :init :vertices (list (float-vector 13.8848 204.162 -227.5) (float-vector 136.462 115.0 -227.5) (float-vector 134.0 115.0 -228.948) (float-vector 134.0 110.002 -232.99) (float-vector 14.2289 197.122 -232.99) (float-vector 15.0 200.0 -230.21)))
         (instance face :init :vertices (list (float-vector 139.878 115.0 -220.0) (float-vector 136.462 115.0 -227.5) (float-vector 13.8848 204.162 -227.5) (float-vector 13.0578 207.249 -220.0)))
         (instance face :init :vertices (list (float-vector 134.0 85.0 -257.5) (float-vector 404.0 85.0 -257.5) (float-vector 404.0 85.0 -182.5) (float-vector 134.0 85.0 -182.5)))
         (instance face :init :vertices (list (float-vector 134.0 85.0 -257.5) (float-vector 134.0 115.0 -257.5) (float-vector 404.0 115.0 -257.5) (float-vector 404.0 85.0 -257.5)))
         (instance face :init :vertices (list (float-vector 134.0 115.0 -257.5) (float-vector 134.0 115.0 -228.948) (float-vector 136.462 115.0 -227.5) (float-vector 139.878 115.0 -220.0) (float-vector 136.462 115.0 -212.5) (float-vector 134.0 115.0 -211.052) (float-vector 134.0 115.0 -182.5) (float-vector 404.0 115.0 -182.5) (float-vector 404.0 115.0 -257.5)))
         (instance face :init :vertices (list (float-vector 404.0 115.0 -182.5) (float-vector 404.0 85.0 -182.5) (float-vector 404.0 85.0 -257.5) (float-vector 404.0 115.0 -257.5)))
         (instance face :init :vertices (list (float-vector 134.0 115.0 -182.5) (float-vector 134.0 85.0 -182.5) (float-vector 404.0 85.0 -182.5) (float-vector 404.0 115.0 -182.5)))
         (instance face :init :vertices (list (float-vector 134.0 85.0 -182.5) (float-vector 134.0 115.0 -182.5) (float-vector 134.0 115.0 -211.052) (float-vector 134.0 110.002 -207.01) (float-vector 134.0 100.727 -205.0) (float-vector 134.0 98.6252 -205.456) (float-vector 134.0 98.6252 -234.544) (float-vector 134.0 100.727 -235.0) (float-vector 134.0 110.002 -232.99) (float-vector 134.0 115.0 -228.948) (float-vector 134.0 115.0 -257.5) (float-vector 134.0 85.0 -257.5)))
         (instance face :init :vertices (list (float-vector 15.0 200.0 -230.21) (float-vector 15.0 200.0 -234.0) (float-vector 12.9904 207.5 -234.0) (float-vector 12.9904 207.5 -120.0) (float-vector 15.0 200.0 -120.0) (float-vector 15.0 200.0 -209.79) (float-vector 13.8848 204.162 -212.5) (float-vector 13.0578 207.249 -220.0) (float-vector 13.8848 204.162 -227.5)))
         (instance face :init :vertices (list (float-vector 12.9904 207.5 -234.0) (float-vector 7.5 212.99 -234.0) (float-vector 7.5 212.99 -120.0) (float-vector 12.9904 207.5 -120.0)))
         (instance face :init :vertices (list (float-vector 7.5 212.99 -234.0) (float-vector 5.684342e-14 215.0 -234.0) (float-vector 5.684342e-14 215.0 -120.0) (float-vector 7.5 212.99 -120.0)))
         (instance face :init :vertices (list (float-vector 5.684342e-14 215.0 -234.0) (float-vector -7.5 212.99 -234.0) (float-vector -7.5 212.99 -120.0) (float-vector 5.684342e-14 215.0 -120.0)))
         (instance face :init :vertices (list (float-vector -7.5 212.99 -234.0) (float-vector -12.9904 207.5 -234.0) (float-vector -12.9904 207.5 -120.0) (float-vector -7.5 212.99 -120.0)))
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         (instance face :init :vertices (list (float-vector -7.5 187.01 -234.0) (float-vector 1.136868e-13 185.0 -234.0) (float-vector 1.136868e-13 185.0 -229.817) (float-vector -6.23658 186.671 -227.5) (float-vector -7.5 187.01 -225.748)))
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         (instance face :init :vertices (list (float-vector 7.5 187.01 -234.0)))
         (instance face :init :vertices (list (float-vector 12.9904 192.5 -120.0) (float-vector 15.0 200.0 -120.0) (float-vector 12.9904 207.5 -120.0) (float-vector 7.5 212.99 -120.0) (float-vector 5.684342e-14 215.0 -120.0) (float-vector -7.5 212.99 -120.0) (float-vector -12.9904 207.5 -120.0) (float-vector -15.0 200.0 -120.0) (float-vector -12.9904 192.5 -120.0) (float-vector -7.5 187.01 -120.0) (float-vector 1.136868e-13 185.0 -120.0) (float-vector 7.5 187.01 -120.0)))
         (instance face :init :vertices (list (float-vector 15.0 200.0 -120.0) (float-vector 12.9904 192.5 -120.0) (float-vector 12.9904 192.5 -205.813) (float-vector 14.2289 197.122 -207.01) (float-vector 15.0 200.0 -209.79)))
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       ))
       (instance faceset :init :faces (list
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         (instance face :init :vertices (list (float-vector 15.0 200.0 120.0) (float-vector 15.0 200.0 209.79) (float-vector 14.2289 197.122 207.01) (float-vector 12.9904 192.5 205.813) (float-vector 12.9904 192.5 120.0)))
         (instance face :init :vertices (list (float-vector 15.0 200.0 230.21) (float-vector 15.0 200.0 234.0) (float-vector 13.1841 193.223 234.0) (float-vector 14.2289 197.122 232.99)))
         (instance face :init :vertices (list (float-vector 7.5 187.01 206.242) (float-vector 7.5 187.01 120.0) (float-vector 12.9904 192.5 120.0) (float-vector 12.9904 192.5 205.813) (float-vector 10.8189 190.329 205.0)))
         (instance face :init :vertices (list (float-vector 8.14729 187.657 234.0)))
         (instance face :init :vertices (list (float-vector 2.273737e-13 185.0 210.183) (float-vector 2.273737e-13 185.0 120.0) (float-vector 7.5 187.01 120.0) (float-vector 7.5 187.01 206.242) (float-vector 3.94223 186.056 207.01)))
         (instance face :init :vertices (list (float-vector 7.5 187.01 234.0) (float-vector 2.273737e-13 185.0 234.0) (float-vector 2.273737e-13 185.0 229.817)))
         (instance face :init :vertices (list (float-vector -7.5 187.01 214.252) (float-vector -7.5 187.01 120.0) (float-vector 2.273737e-13 185.0 120.0) (float-vector 2.273737e-13 185.0 210.183) (float-vector -6.23658 186.671 212.5)))
         (instance face :init :vertices (list (float-vector 2.273737e-13 185.0 234.0) (float-vector -7.5 187.01 234.0) (float-vector -7.5 187.01 225.748) (float-vector -6.23658 186.671 227.5) (float-vector 2.273737e-13 185.0 229.817)))
         (instance face :init :vertices (list (float-vector -7.5 187.01 225.748)))
         (instance face :init :vertices (list (float-vector -7.5 187.01 234.0) (float-vector -12.9904 192.5 234.0) (float-vector -12.9904 192.5 120.0) (float-vector -7.5 187.01 120.0)))
         (instance face :init :vertices (list (float-vector -12.9904 192.5 234.0) (float-vector -15.0 200.0 234.0) (float-vector -15.0 200.0 120.0) (float-vector -12.9904 192.5 120.0)))
         (instance face :init :vertices (list (float-vector -15.0 200.0 234.0) (float-vector -12.9904 207.5 234.0) (float-vector -12.9904 207.5 120.0) (float-vector -15.0 200.0 120.0)))
         (instance face :init :vertices (list (float-vector -12.9904 207.5 234.0) (float-vector -7.5 212.99 234.0) (float-vector -7.5 212.99 120.0) (float-vector -12.9904 207.5 120.0)))
         (instance face :init :vertices (list (float-vector -7.5 212.99 234.0) (float-vector 1.705303e-13 215.0 234.0) (float-vector 1.705303e-13 215.0 120.0) (float-vector -7.5 212.99 120.0)))
         (instance face :init :vertices (list (float-vector 1.705303e-13 215.0 234.0) (float-vector 7.5 212.99 234.0) (float-vector 7.5 212.99 120.0) (float-vector 1.705303e-13 215.0 120.0)))
         (instance face :init :vertices (list (float-vector 7.5 212.99 234.0) (float-vector 12.9904 207.5 234.0) (float-vector 12.9904 207.5 120.0) (float-vector 7.5 212.99 120.0)))
         (instance face :init :vertices (list (float-vector 12.9904 207.5 120.0) (float-vector 15.0 200.0 120.0) (float-vector 12.9904 192.5 120.0) (float-vector 7.5 187.01 120.0) (float-vector 2.273737e-13 185.0 120.0) (float-vector -7.5 187.01 120.0) (float-vector -12.9904 192.5 120.0) (float-vector -15.0 200.0 120.0) (float-vector -12.9904 207.5 120.0) (float-vector -7.5 212.99 120.0) (float-vector 1.705303e-13 215.0 120.0) (float-vector 7.5 212.99 120.0)))
         (instance face :init :vertices (list (float-vector 12.9904 207.5 234.0) (float-vector 15.0 200.0 234.0) (float-vector 15.0 200.0 230.21) (float-vector 13.8848 204.162 227.5) (float-vector 13.0578 207.249 220.0) (float-vector 13.8848 204.162 212.5) (float-vector 15.0 200.0 209.79) (float-vector 15.0 200.0 120.0) (float-vector 12.9904 207.5 120.0)))
         (instance face :init :vertices (list (float-vector 15.0 200.0 234.0) (float-vector 12.9904 207.5 234.0) (float-vector 7.5 212.99 234.0) (float-vector 1.705303e-13 215.0 234.0) (float-vector -7.5 212.99 234.0) (float-vector -12.9904 207.5 234.0) (float-vector -15.0 200.0 234.0) (float-vector -12.9904 192.5 234.0) (float-vector -7.5 187.01 234.0) (float-vector 2.273737e-13 185.0 234.0) (float-vector 7.5 187.01 234.0) (float-vector 8.14729 187.657 234.0) (float-vector -4.67256 196.982 234.0) (float-vector -0.281906 203.018 234.0) (float-vector 13.1841 193.223 234.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -19.0 10.0 -114.5) (float-vector 41.0 10.0 -114.5) (float-vector 41.0 10.0 -95.5) (float-vector -19.0 10.0 -95.5)))
         (instance face :init :vertices (list (float-vector -19.0 10.0 -114.5) (float-vector -19.0 20.0 -114.5) (float-vector 5.684342e-14 20.0 -114.5) (float-vector 0.0 30.0 -114.5) (float-vector 41.0 30.0 -114.5) (float-vector 41.0 10.0 -114.5)))
         (instance face :init :vertices (list (float-vector 0.0 30.0 -114.5) (float-vector 0.0 30.0 -95.5) (float-vector 41.0 30.0 -95.5) (float-vector 41.0 30.0 -114.5)))
         (instance face :init :vertices (list (float-vector 41.0 30.0 -95.5) (float-vector 41.0 10.0 -95.5) (float-vector 41.0 10.0 -114.5) (float-vector 41.0 30.0 -114.5)))
         (instance face :init :vertices (list (float-vector 0.0 30.0 -95.5) (float-vector 5.684342e-14 20.0 -95.5) (float-vector -19.0 20.0 -95.5) (float-vector -19.0 10.0 -95.5) (float-vector 41.0 10.0 -95.5) (float-vector 41.0 30.0 -95.5)))
         (instance face :init :vertices (list (float-vector -19.0 20.0 -95.5) (float-vector -19.0 20.0 -114.5) (float-vector -19.0 10.0 -114.5) (float-vector -19.0 10.0 -95.5)))
         (instance face :init :vertices (list (float-vector 5.684342e-14 20.0 -114.5) (float-vector 5.684342e-14 20.0 -115.0) (float-vector -5.684342e-14 520.0 -115.0) (float-vector -5.684342e-14 539.134 -111.194) (float-vector 0.0 555.355 -100.355) (float-vector 0.0 566.194 -84.1342) (float-vector 5.684342e-14 570.0 -65.0) (float-vector 5.684342e-14 570.0 65.0) (float-vector 0.0 566.194 84.1342) (float-vector 0.0 555.355 100.355) (float-vector -5.684342e-14 539.134 111.194) (float-vector -5.684342e-14 520.0 115.0) (float-vector 5.684342e-14 20.0 115.0) (float-vector 5.684342e-14 20.0 114.5) (float-vector 0.0 30.0 114.5) (float-vector 0.0 30.0 95.5) (float-vector 5.684342e-14 20.0 95.5) (float-vector 5.684342e-14 20.0 95.0) (float-vector -5.684342e-14 520.0 95.0) (float-vector -5.684342e-14 531.481 92.7164) (float-vector 0.0 541.213 86.2132) (float-vector 0.0 547.716 76.4805) (float-vector 0.0 550.0 65.0) (float-vector 0.0 550.0 -65.0) (float-vector 0.0 547.716 -76.4805) (float-vector 0.0 541.213 -86.2132) (float-vector -5.684342e-14 531.481 -92.7164) (float-vector -5.684342e-14 520.0 -95.0) (float-vector 5.684342e-14 20.0 -95.0) (float-vector 5.684342e-14 20.0 -95.5) (float-vector 0.0 30.0 -95.5) (float-vector 0.0 30.0 -114.5)))
         (instance face :init :vertices (list (float-vector 5.684342e-14 20.0 -95.0) (float-vector -20.0 20.0 -95.0) (float-vector -20.0 20.0 -115.0) (float-vector 5.684342e-14 20.0 -115.0) (float-vector 5.684342e-14 20.0 -114.5) (float-vector -19.0 20.0 -114.5) (float-vector -19.0 20.0 -95.5) (float-vector 5.684342e-14 20.0 -95.5)))
         (instance face :init :vertices (list (float-vector -20.0 20.0 -95.0) (float-vector -20.0 520.0 -95.0) (float-vector -20.0 531.481 -92.7164) (float-vector -20.0 541.213 -86.2132) (float-vector -20.0 547.716 -76.4805) (float-vector -20.0 550.0 -65.0) (float-vector -20.0 550.0 65.0) (float-vector -20.0 547.716 76.4805) (float-vector -20.0 541.213 86.2132) (float-vector -20.0 531.481 92.7164) (float-vector -20.0 520.0 95.0) (float-vector -20.0 20.0 95.0) (float-vector -20.0 20.0 115.0) (float-vector -20.0 520.0 115.0) (float-vector -20.0 539.134 111.194) (float-vector -20.0 555.355 100.355) (float-vector -20.0 566.194 84.1342) (float-vector -20.0 570.0 65.0) (float-vector -20.0 570.0 -65.0) (float-vector -20.0 566.194 -84.1342) (float-vector -20.0 555.355 -100.355) (float-vector -20.0 539.134 -111.194) (float-vector -20.0 520.0 -115.0) (float-vector -20.0 20.0 -115.0)))
         (instance face :init :vertices (list (float-vector -20.0 520.0 -115.0) (float-vector -5.684342e-14 520.0 -115.0) (float-vector 5.684342e-14 20.0 -115.0) (float-vector -20.0 20.0 -115.0)))
         (instance face :init :vertices (list (float-vector -20.0 539.134 -111.194) (float-vector -5.684342e-14 539.134 -111.194) (float-vector -5.684342e-14 520.0 -115.0) (float-vector -20.0 520.0 -115.0)))
         (instance face :init :vertices (list (float-vector -20.0 555.355 -100.355) (float-vector 0.0 555.355 -100.355) (float-vector -5.684342e-14 539.134 -111.194) (float-vector -20.0 539.134 -111.194)))
         (instance face :init :vertices (list (float-vector -20.0 566.194 -84.1342) (float-vector 0.0 566.194 -84.1342) (float-vector 0.0 555.355 -100.355) (float-vector -20.0 555.355 -100.355)))
         (instance face :init :vertices (list (float-vector -20.0 570.0 -65.0) (float-vector 5.684342e-14 570.0 -65.0) (float-vector 0.0 566.194 -84.1342) (float-vector -20.0 566.194 -84.1342)))
         (instance face :init :vertices (list (float-vector -20.0 570.0 65.0) (float-vector 5.684342e-14 570.0 65.0) (float-vector 5.684342e-14 570.0 -65.0) (float-vector -20.0 570.0 -65.0)))
         (instance face :init :vertices (list (float-vector -20.0 566.194 84.1342) (float-vector 0.0 566.194 84.1342) (float-vector 5.684342e-14 570.0 65.0) (float-vector -20.0 570.0 65.0)))
         (instance face :init :vertices (list (float-vector -20.0 555.355 100.355) (float-vector 0.0 555.355 100.355) (float-vector 0.0 566.194 84.1342) (float-vector -20.0 566.194 84.1342)))
         (instance face :init :vertices (list (float-vector -20.0 539.134 111.194) (float-vector -5.684342e-14 539.134 111.194) (float-vector 0.0 555.355 100.355) (float-vector -20.0 555.355 100.355)))
         (instance face :init :vertices (list (float-vector -20.0 520.0 115.0) (float-vector -5.684342e-14 520.0 115.0) (float-vector -5.684342e-14 539.134 111.194) (float-vector -20.0 539.134 111.194)))
         (instance face :init :vertices (list (float-vector -20.0 20.0 115.0) (float-vector 5.684342e-14 20.0 115.0) (float-vector -5.684342e-14 520.0 115.0) (float-vector -20.0 520.0 115.0)))
         (instance face :init :vertices (list (float-vector -20.0 20.0 95.0) (float-vector 5.684342e-14 20.0 95.0) (float-vector 5.684342e-14 20.0 95.5) (float-vector -19.0 20.0 95.5) (float-vector -19.0 20.0 114.5) (float-vector 5.684342e-14 20.0 114.5) (float-vector 5.684342e-14 20.0 115.0) (float-vector -20.0 20.0 115.0)))
         (instance face :init :vertices (list (float-vector -20.0 520.0 95.0) (float-vector -5.684342e-14 520.0 95.0) (float-vector 5.684342e-14 20.0 95.0) (float-vector -20.0 20.0 95.0)))
         (instance face :init :vertices (list (float-vector -20.0 531.481 92.7164) (float-vector -5.684342e-14 531.481 92.7164) (float-vector -5.684342e-14 520.0 95.0) (float-vector -20.0 520.0 95.0)))
         (instance face :init :vertices (list (float-vector -20.0 541.213 86.2132) (float-vector 0.0 541.213 86.2132) (float-vector -5.684342e-14 531.481 92.7164) (float-vector -20.0 531.481 92.7164)))
         (instance face :init :vertices (list (float-vector -20.0 547.716 76.4805) (float-vector 0.0 547.716 76.4805) (float-vector 0.0 541.213 86.2132) (float-vector -20.0 541.213 86.2132)))
         (instance face :init :vertices (list (float-vector -20.0 550.0 65.0) (float-vector 0.0 550.0 65.0) (float-vector 0.0 547.716 76.4805) (float-vector -20.0 547.716 76.4805)))
         (instance face :init :vertices (list (float-vector -20.0 550.0 -65.0) (float-vector 0.0 550.0 -65.0) (float-vector 0.0 550.0 65.0) (float-vector -20.0 550.0 65.0)))
         (instance face :init :vertices (list (float-vector -20.0 547.716 -76.4805) (float-vector 0.0 547.716 -76.4805) (float-vector 0.0 550.0 -65.0) (float-vector -20.0 550.0 -65.0)))
         (instance face :init :vertices (list (float-vector -20.0 541.213 -86.2132) (float-vector 0.0 541.213 -86.2132) (float-vector 0.0 547.716 -76.4805) (float-vector -20.0 547.716 -76.4805)))
         (instance face :init :vertices (list (float-vector -20.0 531.481 -92.7164) (float-vector -5.684342e-14 531.481 -92.7164) (float-vector 0.0 541.213 -86.2132) (float-vector -20.0 541.213 -86.2132)))
         (instance face :init :vertices (list (float-vector -20.0 520.0 -95.0) (float-vector -5.684342e-14 520.0 -95.0) (float-vector -5.684342e-14 531.481 -92.7164) (float-vector -20.0 531.481 -92.7164)))
         (instance face :init :vertices (list (float-vector -5.684342e-14 520.0 -95.0) (float-vector -20.0 520.0 -95.0) (float-vector -20.0 20.0 -95.0) (float-vector 5.684342e-14 20.0 -95.0)))
         (instance face :init :vertices (list (float-vector -19.0 20.0 95.5) (float-vector -19.0 10.0 95.5) (float-vector -19.0 10.0 114.5) (float-vector -19.0 20.0 114.5)))
         (instance face :init :vertices (list (float-vector -19.0 10.0 114.5) (float-vector 41.0 10.0 114.5) (float-vector 41.0 30.0 114.5) (float-vector 0.0 30.0 114.5) (float-vector 5.684342e-14 20.0 114.5) (float-vector -19.0 20.0 114.5)))
         (instance face :init :vertices (list (float-vector 41.0 10.0 114.5) (float-vector 41.0 10.0 95.5) (float-vector 41.0 30.0 95.5) (float-vector 41.0 30.0 114.5)))
         (instance face :init :vertices (list (float-vector 41.0 30.0 95.5) (float-vector 0.0 30.0 95.5) (float-vector 0.0 30.0 114.5) (float-vector 41.0 30.0 114.5)))
         (instance face :init :vertices (list (float-vector 41.0 10.0 95.5) (float-vector -19.0 10.0 95.5) (float-vector -19.0 20.0 95.5) (float-vector 5.684342e-14 20.0 95.5) (float-vector 0.0 30.0 95.5) (float-vector 41.0 30.0 95.5)))
         (instance face :init :vertices (list (float-vector -19.0 10.0 95.5) (float-vector 41.0 10.0 95.5) (float-vector 41.0 10.0 114.5) (float-vector -19.0 10.0 114.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :green)
     (gl::transparent (elt bc 0) 0.0)
     (send (elt bc 1) :set-color :gray)
     (send (elt bc 2) :set-color :dimgray)
     (send (elt bc 3) :set-color :dimgray)
     (send (elt bc 4) :set-color :dimgray)
     (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :patra-back-limb-patra-back-link :weight 401 :centroid (float-vector 112.572 307.987 0.810285) :inertia-tensor #2f((98198.5 -34670.7 -91.2153) (-34670.7 16014.8 -249.557) (-91.2153 -249.557 1.075453e+05))))

     ;; definition of :patra-foot-limb-patra-foot-link
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 5.0 5.0 200.0) (float-vector -5.0 5.0 200.0) (float-vector -5.0 -5.0 200.0) (float-vector 5.0 -5.0 200.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 -200.0) (float-vector 5.0 5.0 -200.0) (float-vector 5.0 -5.0 -200.0) (float-vector -5.0 -5.0 -200.0)))
         (instance face :init :vertices (list (float-vector 5.0 5.0 200.0) (float-vector 5.0 5.0 -200.0) (float-vector -5.0 5.0 -200.0) (float-vector -5.0 5.0 200.0)))
         (instance face :init :vertices (list (float-vector 5.0 -5.0 200.0) (float-vector 5.0 -5.0 -200.0) (float-vector 5.0 5.0 -200.0) (float-vector 5.0 5.0 200.0)))
         (instance face :init :vertices (list (float-vector -5.0 -5.0 200.0) (float-vector -5.0 -5.0 -200.0) (float-vector 5.0 -5.0 -200.0) (float-vector 5.0 -5.0 200.0)))
         (instance face :init :vertices (list (float-vector -5.0 5.0 200.0) (float-vector -5.0 5.0 -200.0) (float-vector -5.0 -5.0 -200.0) (float-vector -5.0 -5.0 200.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 101.0 -400.0 59.7321) (float-vector 100.0 -400.0 60.0) (float-vector 95.0 -400.0 58.6603) (float-vector 91.3397 -400.0 55.0) (float-vector 90.0 -400.0 50.0) (float-vector 91.3397 -400.0 45.0) (float-vector 95.0 -400.0 41.3397) (float-vector 100.0 -400.0 40.0) (float-vector 101.0 -400.0 40.2679)))
         (instance face :init :vertices (list (float-vector 110.0 -390.0 50.0) (float-vector 110.0 -200.0 50.0) (float-vector 110.0 -60.0 50.0) (float-vector 108.66 -60.0 55.0) (float-vector 108.66 -390.0 55.0)))
         (instance face :init :vertices (list (float-vector 110.0 -60.0 50.0) (float-vector 108.66 -60.0 45.0) (float-vector 105.0 -60.0 41.3397) (float-vector 100.0 -60.0 40.0) (float-vector 95.0 -60.0 41.3397) (float-vector 91.3397 -60.0 45.0) (float-vector 90.0 -60.0 50.0) (float-vector 91.3397 -60.0 55.0) (float-vector 95.0 -60.0 58.6603) (float-vector 100.0 -60.0 60.0) (float-vector 105.0 -60.0 58.6603) (float-vector 108.66 -60.0 55.0)))
         (instance face :init :vertices (list (float-vector 105.0 -60.0 58.6603) (float-vector 105.0 -390.0 58.6603) (float-vector 108.66 -390.0 55.0) (float-vector 108.66 -60.0 55.0)))
         (instance face :init :vertices (list (float-vector 100.0 -60.0 60.0) (float-vector 100.0 -400.0 60.0) (float-vector 101.0 -400.0 59.7321) (float-vector 101.0 -390.0 59.7321) (float-vector 105.0 -390.0 58.6603) (float-vector 105.0 -60.0 58.6603)))
         (instance face :init :vertices (list (float-vector 95.0 -60.0 58.6603) (float-vector 95.0 -400.0 58.6603) (float-vector 100.0 -400.0 60.0) (float-vector 100.0 -60.0 60.0)))
         (instance face :init :vertices (list (float-vector 91.3397 -60.0 55.0) (float-vector 91.3397 -400.0 55.0) (float-vector 95.0 -400.0 58.6603) (float-vector 95.0 -60.0 58.6603)))
         (instance face :init :vertices (list (float-vector 90.0 -60.0 50.0) (float-vector 90.0 -400.0 50.0) (float-vector 91.3397 -400.0 55.0) (float-vector 91.3397 -60.0 55.0)))
         (instance face :init :vertices (list (float-vector 91.3397 -60.0 45.0) (float-vector 91.3397 -400.0 45.0) (float-vector 90.0 -400.0 50.0) (float-vector 90.0 -60.0 50.0)))
         (instance face :init :vertices (list (float-vector 95.0 -60.0 41.3397) (float-vector 95.0 -400.0 41.3397) (float-vector 91.3397 -400.0 45.0) (float-vector 91.3397 -60.0 45.0)))
         (instance face :init :vertices (list (float-vector 100.0 -60.0 40.0) (float-vector 100.0 -400.0 40.0) (float-vector 95.0 -400.0 41.3397) (float-vector 95.0 -60.0 41.3397)))
         (instance face :init :vertices (list (float-vector 105.0 -60.0 41.3397) (float-vector 105.0 -390.0 41.3397) (float-vector 101.0 -390.0 40.2679) (float-vector 101.0 -400.0 40.2679) (float-vector 100.0 -400.0 40.0) (float-vector 100.0 -60.0 40.0)))
         (instance face :init :vertices (list (float-vector 108.66 -60.0 45.0) (float-vector 108.66 -390.0 45.0) (float-vector 105.0 -390.0 41.3397) (float-vector 105.0 -60.0 41.3397)))
         (instance face :init :vertices (list (float-vector 108.66 -390.0 45.0) (float-vector 108.66 -60.0 45.0) (float-vector 110.0 -60.0 50.0) (float-vector 110.0 -200.0 50.0) (float-vector 110.0 -390.0 50.0)))
         (instance face :init :vertices (list (float-vector 120.0 -187.654 -113.478) (float-vector 110.0 -187.654 -113.478) (float-vector 110.0 -180.0 -115.0) (float-vector 120.0 -180.0 -115.0)))
         (instance face :init :vertices (list (float-vector 120.0 -187.654 -113.478) (float-vector 120.0 -194.142 -109.142) (float-vector 110.0 -194.142 -109.142) (float-vector 110.0 -187.654 -113.478)))
         (instance face :init :vertices (list (float-vector 120.0 -194.142 -109.142) (float-vector 120.0 -198.478 -102.654) (float-vector 110.0 -198.478 -102.654) (float-vector 110.0 -194.142 -109.142)))
         (instance face :init :vertices (list (float-vector 120.0 -198.478 -102.654) (float-vector 120.0 -200.0 -95.0) (float-vector 110.0 -200.0 -95.0) (float-vector 110.0 -198.478 -102.654)))
         (instance face :init :vertices (list (float-vector 120.0 -200.0 -95.0) (float-vector 120.0 -200.0 95.0) (float-vector 110.0 -200.0 95.0) (float-vector 110.0 -200.0 50.0) (float-vector 110.0 -200.0 -50.0) (float-vector 110.0 -200.0 -95.0)))
         (instance face :init :vertices (list (float-vector 120.0 -200.0 95.0) (float-vector 120.0 -198.478 102.654) (float-vector 110.0 -198.478 102.654) (float-vector 110.0 -200.0 95.0)))
         (instance face :init :vertices (list (float-vector 120.0 -198.478 102.654) (float-vector 120.0 -194.142 109.142) (float-vector 110.0 -194.142 109.142) (float-vector 110.0 -198.478 102.654)))
         (instance face :init :vertices (list (float-vector 120.0 -194.142 109.142) (float-vector 120.0 -187.654 113.478) (float-vector 110.0 -187.654 113.478) (float-vector 110.0 -194.142 109.142)))
         (instance face :init :vertices (list (float-vector 120.0 -187.654 113.478) (float-vector 120.0 -180.0 115.0) (float-vector 110.0 -180.0 115.0) (float-vector 110.0 -187.654 113.478)))
         (instance face :init :vertices (list (float-vector 120.0 -180.0 115.0) (float-vector 120.0 -70.0 115.0) (float-vector 110.0 -70.0 115.0) (float-vector 110.0 -180.0 115.0)))
         (instance face :init :vertices (list (float-vector 120.0 -70.0 115.0) (float-vector 120.0 -62.3463 113.478) (float-vector 110.0 -62.3463 113.478) (float-vector 110.0 -70.0 115.0)))
         (instance face :init :vertices (list (float-vector 120.0 -62.3463 113.478) (float-vector 120.0 -55.8579 109.142) (float-vector 110.0 -55.8579 109.142) (float-vector 110.0 -62.3463 113.478)))
         (instance face :init :vertices (list (float-vector 120.0 -55.8579 109.142) (float-vector 120.0 -51.5224 102.654) (float-vector 110.0 -51.5224 102.654) (float-vector 110.0 -55.8579 109.142)))
         (instance face :init :vertices (list (float-vector 120.0 -51.5224 102.654) (float-vector 120.0 -50.0 95.0) (float-vector 110.0 -50.0 95.0) (float-vector 110.0 -51.5224 102.654)))
         (instance face :init :vertices (list (float-vector 120.0 -50.0 95.0) (float-vector 120.0 -50.0 -95.0) (float-vector 110.0 -50.0 -95.0) (float-vector 110.0 -50.0 95.0)))
         (instance face :init :vertices (list (float-vector 120.0 -50.0 -95.0) (float-vector 120.0 -51.5224 -102.654) (float-vector 110.0 -51.5224 -102.654) (float-vector 110.0 -50.0 -95.0)))
         (instance face :init :vertices (list (float-vector 120.0 -51.5224 -102.654) (float-vector 120.0 -55.8579 -109.142) (float-vector 110.0 -55.8579 -109.142) (float-vector 110.0 -51.5224 -102.654)))
         (instance face :init :vertices (list (float-vector 120.0 -55.8579 -109.142) (float-vector 120.0 -62.3463 -113.478) (float-vector 110.0 -62.3463 -113.478) (float-vector 110.0 -55.8579 -109.142)))
         (instance face :init :vertices (list (float-vector 120.0 -62.3463 -113.478) (float-vector 120.0 -70.0 -115.0) (float-vector 110.0 -70.0 -115.0) (float-vector 110.0 -62.3463 -113.478)))
         (instance face :init :vertices (list (float-vector 110.0 -70.0 -115.0) (float-vector 110.0 -180.0 -115.0) (float-vector 110.0 -187.654 -113.478) (float-vector 110.0 -194.142 -109.142) (float-vector 110.0 -198.478 -102.654) (float-vector 110.0 -200.0 -95.0) (float-vector 110.0 -200.0 -50.0) (float-vector 110.0 -200.0 50.0) (float-vector 110.0 -200.0 95.0) (float-vector 110.0 -198.478 102.654) (float-vector 110.0 -194.142 109.142) (float-vector 110.0 -187.654 113.478) (float-vector 110.0 -180.0 115.0) (float-vector 110.0 -70.0 115.0) (float-vector 110.0 -62.3463 113.478) (float-vector 110.0 -55.8579 109.142) (float-vector 110.0 -51.5224 102.654) (float-vector 110.0 -50.0 95.0) (float-vector 110.0 -50.0 -95.0) (float-vector 110.0 -51.5224 -102.654) (float-vector 110.0 -55.8579 -109.142) (float-vector 110.0 -62.3463 -113.478)))
         (instance face :init :vertices (list (float-vector 120.0 -70.0 -115.0) (float-vector 120.0 -180.0 -115.0) (float-vector 110.0 -180.0 -115.0) (float-vector 110.0 -70.0 -115.0)))
         (instance face :init :vertices (list (float-vector 120.0 -180.0 -115.0) (float-vector 120.0 -70.0 -115.0) (float-vector 120.0 -62.3463 -113.478) (float-vector 120.0 -55.8579 -109.142) (float-vector 120.0 -51.5224 -102.654) (float-vector 120.0 -50.0 -95.0) (float-vector 120.0 -50.0 95.0) (float-vector 120.0 -51.5224 102.654) (float-vector 120.0 -55.8579 109.142) (float-vector 120.0 -62.3463 113.478) (float-vector 120.0 -70.0 115.0) (float-vector 120.0 -180.0 115.0) (float-vector 120.0 -187.654 113.478) (float-vector 120.0 -194.142 109.142) (float-vector 120.0 -198.478 102.654) (float-vector 120.0 -200.0 95.0) (float-vector 120.0 -200.0 -95.0) (float-vector 120.0 -198.478 -102.654) (float-vector 120.0 -194.142 -109.142) (float-vector 120.0 -187.654 -113.478)))
         (instance face :init :vertices (list (float-vector 108.66 -390.0 -55.0) (float-vector 108.66 -60.0 -55.0) (float-vector 110.0 -60.0 -50.0) (float-vector 110.0 -200.0 -50.0) (float-vector 110.0 -390.0 -50.0)))
         (instance face :init :vertices (list (float-vector 105.0 -390.0 -58.6603) (float-vector 105.0 -60.0 -58.6603) (float-vector 108.66 -60.0 -55.0) (float-vector 108.66 -390.0 -55.0)))
         (instance face :init :vertices (list (float-vector 101.0 -400.0 -59.7321) (float-vector 100.0 -400.0 -60.0) (float-vector 100.0 -60.0 -60.0) (float-vector 105.0 -60.0 -58.6603) (float-vector 105.0 -390.0 -58.6603) (float-vector 101.0 -390.0 -59.7321)))
         (instance face :init :vertices (list (float-vector 100.0 -400.0 -60.0) (float-vector 95.0 -400.0 -58.6603) (float-vector 95.0 -60.0 -58.6603) (float-vector 100.0 -60.0 -60.0)))
         (instance face :init :vertices (list (float-vector 95.0 -400.0 -58.6603) (float-vector 91.3397 -400.0 -55.0) (float-vector 91.3397 -60.0 -55.0) (float-vector 95.0 -60.0 -58.6603)))
         (instance face :init :vertices (list (float-vector 91.3397 -400.0 -55.0) (float-vector 90.0 -400.0 -50.0) (float-vector 90.0 -60.0 -50.0) (float-vector 91.3397 -60.0 -55.0)))
         (instance face :init :vertices (list (float-vector 90.0 -400.0 -50.0) (float-vector 91.3397 -400.0 -45.0) (float-vector 91.3397 -60.0 -45.0) (float-vector 90.0 -60.0 -50.0)))
         (instance face :init :vertices (list (float-vector 91.3397 -400.0 -45.0) (float-vector 95.0 -400.0 -41.3397) (float-vector 95.0 -60.0 -41.3397) (float-vector 91.3397 -60.0 -45.0)))
         (instance face :init :vertices (list (float-vector 95.0 -400.0 -41.3397) (float-vector 100.0 -400.0 -40.0) (float-vector 100.0 -60.0 -40.0) (float-vector 95.0 -60.0 -41.3397)))
         (instance face :init :vertices (list (float-vector 100.0 -400.0 -40.0) (float-vector 101.0 -400.0 -40.2679) (float-vector 101.0 -390.0 -40.2679) (float-vector 105.0 -390.0 -41.3397) (float-vector 105.0 -60.0 -41.3397) (float-vector 100.0 -60.0 -40.0)))
         (instance face :init :vertices (list (float-vector 101.0 -400.0 -40.2679) (float-vector 100.0 -400.0 -40.0) (float-vector 95.0 -400.0 -41.3397) (float-vector 91.3397 -400.0 -45.0) (float-vector 90.0 -400.0 -50.0) (float-vector 91.3397 -400.0 -55.0) (float-vector 95.0 -400.0 -58.6603) (float-vector 100.0 -400.0 -60.0) (float-vector 101.0 -400.0 -59.7321)))
         (instance face :init :vertices (list (float-vector 108.66 -390.0 -45.0) (float-vector 108.66 -60.0 -45.0) (float-vector 105.0 -60.0 -41.3397) (float-vector 105.0 -390.0 -41.3397)))
         (instance face :init :vertices (list (float-vector 108.66 -60.0 -45.0) (float-vector 110.0 -60.0 -50.0) (float-vector 108.66 -60.0 -55.0) (float-vector 105.0 -60.0 -58.6603) (float-vector 100.0 -60.0 -60.0) (float-vector 95.0 -60.0 -58.6603) (float-vector 91.3397 -60.0 -55.0) (float-vector 90.0 -60.0 -50.0) (float-vector 91.3397 -60.0 -45.0) (float-vector 95.0 -60.0 -41.3397) (float-vector 100.0 -60.0 -40.0) (float-vector 105.0 -60.0 -41.3397)))
         (instance face :init :vertices (list (float-vector 110.0 -60.0 -50.0) (float-vector 108.66 -60.0 -45.0) (float-vector 108.66 -390.0 -45.0) (float-vector 110.0 -390.0 -50.0) (float-vector 110.0 -200.0 -50.0)))
         (instance face :init :vertices (list (float-vector 101.0 -390.0 59.7321) (float-vector 101.0 -400.0 59.7321)))
         (instance face :init :vertices (list (float-vector 101.0 -400.0 40.2679)))
         (instance face :init :vertices (list (float-vector 101.0 -390.0 -40.2679)))
         (instance face :init :vertices (list (float-vector 101.0 -400.0 -40.2679) (float-vector 101.0 -400.0 -59.7321)))
         (instance face :init :vertices (list (float-vector 101.0 -390.0 -160.0) (float-vector 101.0 -410.0 -160.0) (float-vector 101.0 -410.0 160.0) (float-vector 101.0 -390.0 160.0) (float-vector 101.0 -390.0 59.7321) (float-vector 101.0 -390.0 40.2679) (float-vector 101.0 -390.0 -40.2679) (float-vector 101.0 -390.0 -59.7321)))
         (instance face :init :vertices (list (float-vector 101.0 -410.0 160.0) (float-vector 361.0 -410.0 160.0) (float-vector 361.0 -390.0 160.0) (float-vector 101.0 -390.0 160.0)))
         (instance face :init :vertices (list (float-vector 361.0 -410.0 160.0) (float-vector 361.0 -410.0 -160.0) (float-vector 361.0 -390.0 -160.0) (float-vector 361.0 -390.0 160.0)))
         (instance face :init :vertices (list (float-vector 101.0 -390.0 40.2679))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 101.0 -390.0 -59.7321) (float-vector 105.0 -390.0 -58.6603) (float-vector 108.66 -390.0 -55.0)))
         (instance hole :init :vertices (list (float-vector 108.66 -390.0 45.0) (float-vector 110.0 -390.0 50.0) (float-vector 108.66 -390.0 55.0) (float-vector 105.0 -390.0 58.6603)))
))
         (instance face :init :vertices (list (float-vector 105.0 -390.0 41.3397)))
         (instance face :init :vertices (list (float-vector 110.0 -390.0 -50.0)))
         (instance face :init :vertices (list (float-vector 108.66 -390.0 -45.0) (float-vector 105.0 -390.0 -41.3397)))
         (instance face :init :vertices (list (float-vector 361.0 -390.0 -160.0) (float-vector 101.0 -390.0 -160.0) (float-vector 101.0 -390.0 -59.7321) (float-vector 101.0 -390.0 -40.2679) (float-vector 101.0 -390.0 40.2679) (float-vector 101.0 -390.0 59.7321) (float-vector 101.0 -390.0 160.0) (float-vector 361.0 -390.0 160.0)))
         (instance face :init :vertices (list (float-vector 361.0 -410.0 -160.0) (float-vector 101.0 -410.0 -160.0) (float-vector 101.0 -390.0 -160.0) (float-vector 361.0 -390.0 -160.0)))
         (instance face :init :vertices (list (float-vector 101.0 -410.0 -160.0) (float-vector 361.0 -410.0 -160.0) (float-vector 361.0 -410.0 160.0) (float-vector 101.0 -410.0 160.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :green)
     (gl::transparent (elt bc 0) 0.0)
     (send (elt bc 1) :set-color :dimgray)
     (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :patra-foot-limb-patra-foot-link :weight 101 :centroid (float-vector 200.83 -337.754 1.616818e-14) :inertia-tensor #2f((1.274191e+05 67831.1 -5.073597e-12) (67831.1 53674.4 8.532709e-12) (-5.073597e-12 8.532709e-12 1.544269e+05))))

     ;; definition of assoc
     (send blink3 :newcoords (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 8.673617e-19 -4.336809e-19) (-8.673617e-19 1.0 1.880791e-37) (4.336809e-19 1.880791e-37 1.0))))
     (send blink4 :assoc blink3)
     (send blink1 :newcoords (make-coords :pos (float-vector 100.0 5.048710e-29 400.0) :rot #2f((1.0 -6.133174e-19 1.013505e-18) (1.013505e-18 -2.220446e-16 -1.0) (6.133174e-19 1.0 -2.220446e-16))))
     (send blink0 :assoc blink1)
     (send blink2 :newcoords (make-coords :pos (float-vector -300.0 5.048710e-29 440.0) :rot #2f((1.0 -6.133174e-19 1.013505e-18) (1.013505e-18 -2.220446e-16 -1.0) (6.133174e-19 1.0 -2.220446e-16))))
     (send blink0 :assoc blink2)
     (send blink4 :newcoords (make-coords :pos (float-vector 0.0 0.0 410.0) :rot #2f((1.0 -6.133174e-19 1.013505e-18) (1.013505e-18 -2.220446e-16 -1.0) (6.133174e-19 1.0 -2.220446e-16))))
     (send blink0 :assoc blink4)
     (send self :assoc blink0)

     ;; definition of end-coords

     ;; definition of joint

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

     ;; definition of :patra-back-limb-back
     (setq joint1 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink2 :name :patra-back-limb-back :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :patra-lower-limb-rear
     (setq joint3 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink4 :name :patra-lower-limb-rear :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :patra-lower-limb-front
     (setq joint2 (instance rotational-joint :init
			     :parent-link blink4 :child-link blink3 :name :patra-lower-limb-front :axis :-z
			     :min  -90.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))

     (setq patra-foot-limb-root-link blink1)
     (setq patra-foot-limb (list blink1))
     (setq patra-back-limb-root-link blink2)
     (setq patra-back-limb (list blink2))
     (setq patra-lower-limb-root-link blink4)
     (setq patra-lower-limb (list blink4 blink3))

     ;; init-ending 
     (setq links (list blink0 blink1 blink2 blink3 blink4))
     (setq joint-list (list joint0 joint1 joint2 joint3))
     ;; definition of collision-avoidance-links
     (setq collision-avoidance-links
       (list
        ))

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

     self))

  (:reset-pose () (send self :angle-vector (float-vector 0.0 0.0 0.0 0.0)))
  (:patra-foot-limb-foot (&rest args) (forward-message-to joint0 args))
  (:patra-back-limb-back (&rest args) (forward-message-to joint1 args))
  (:patra-lower-limb-rear (&rest args) (forward-message-to joint3 args))
  (:patra-lower-limb-front (&rest args) (forward-message-to joint2 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 patra (&rest args) (instance* patra-robot :init args))
;; (format *error-output* "(instance patra-robot :init) for generating model~%")