File: penguin-robot.l

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euslisp 9.31%2Bdfsg-3
links: PTS, VCS
area: main
in suites: forky, sid, trixie
size: 55,448 kB
sloc: ansic: 41,610; lisp: 3,339; makefile: 286; sh: 238; asm: 138; python: 53
file content (1651 lines) | stat: -rw-r--r-- 271,276 bytes
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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version 
;;
;;
(defclass penguin-robot
  :super robot-model
  :slots (sensors
         joint0 joint1 joint2 joint3 joint4 joint5 joint6 joint7 joint8 joint9 joint10 joint11 joint12 joint13 joint14 ))
(defmethod penguin-robot
  (:init
   (&rest args &key (name "penguin") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
   (let (c bc
         blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 blink8 blink9 blink10 blink11 blink12 blink13 blink14 blink15
                 )
     (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 -80.0 -10.0 -60.0) (float-vector -80.0 -10.0 -100.0) (float-vector -40.0 -10.0 -100.0) (float-vector -40.0 -10.0 -60.0)))
         (instance face :init :vertices (list (float-vector -40.0 -10.0 -100.0) (float-vector -40.0 10.0 -100.0) (float-vector -40.0 10.0 -60.0) (float-vector -40.0 -10.0 -60.0)))
         (instance face :init :vertices (list (float-vector -40.0 10.0 -100.0) (float-vector -80.0 10.0 -100.0) (float-vector -80.0 10.0 -60.0) (float-vector -40.0 10.0 -60.0)))
         (instance face :init :vertices (list (float-vector -80.0 10.0 -60.0) (float-vector -80.0 -10.0 -60.0) (float-vector -40.0 -10.0 -60.0) (float-vector -40.0 10.0 -60.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -74.5 -7.79423 -60.0) (float-vector -77.7942 -4.5 -60.0) (float-vector -79.0 -2.442491e-15 -60.0) (float-vector -77.7942 4.5 -60.0) (float-vector -74.5 7.79423 -60.0) (float-vector -70.0 9.0 -60.0) (float-vector -65.5 7.79423 -60.0) (float-vector -62.2058 4.5 -60.0) (float-vector -61.0 -1.887379e-14 -60.0) (float-vector -62.2058 -4.5 -60.0) (float-vector -65.5 -7.79423 -60.0) (float-vector -70.0 -9.0 -60.0)))
))
         (instance face :init :vertices (list (float-vector -80.0 10.0 -100.0) (float-vector -80.0 -10.0 -100.0) (float-vector -80.0 -10.0 -60.0) (float-vector -80.0 10.0 -60.0)))
         (instance face :init :vertices (list (float-vector -80.0 -10.0 -100.0) (float-vector -80.0 10.0 -100.0) (float-vector -40.0 10.0 -100.0) (float-vector -40.0 -10.0 -100.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -77.7942 -4.5 -100.0) (float-vector -74.5 -7.79423 -100.0) (float-vector -70.0 -9.0 -100.0) (float-vector -65.5 -7.79423 -100.0) (float-vector -62.2058 -4.5 -100.0) (float-vector -61.0 -1.887379e-14 -100.0) (float-vector -62.2058 4.5 -100.0) (float-vector -65.5 7.79423 -100.0) (float-vector -70.0 9.0 -100.0) (float-vector -74.5 7.79423 -100.0) (float-vector -77.7942 4.5 -100.0) (float-vector -79.0 -2.442491e-15 -100.0)))
))
         (instance face :init :vertices (list (float-vector -70.0 -9.0 -58.0) (float-vector -70.0 -9.0 -60.0) (float-vector -65.5 -7.79423 -60.0) (float-vector -65.5 -7.79423 -58.0)))
         (instance face :init :vertices (list (float-vector -70.0 -9.0 -100.0) (float-vector -70.0 -9.0 -102.0) (float-vector -65.5 -7.79423 -102.0) (float-vector -65.5 -7.79423 -100.0)))
         (instance face :init :vertices (list (float-vector -62.2058 -4.5 -60.0) (float-vector -62.2058 -4.5 -58.0) (float-vector -65.5 -7.79423 -58.0) (float-vector -65.5 -7.79423 -60.0)))
         (instance face :init :vertices (list (float-vector -65.5 -7.79423 -102.0) (float-vector -62.2058 -4.5 -102.0) (float-vector -62.2058 -4.5 -100.0) (float-vector -65.5 -7.79423 -100.0)))
         (instance face :init :vertices (list (float-vector -61.0 -1.887379e-14 -60.0) (float-vector -61.0 -1.887379e-14 -58.0) (float-vector -62.2058 -4.5 -58.0) (float-vector -62.2058 -4.5 -60.0)))
         (instance face :init :vertices (list (float-vector -62.2058 -4.5 -102.0) (float-vector -61.0 -1.887379e-14 -102.0) (float-vector -61.0 -1.887379e-14 -100.0) (float-vector -62.2058 -4.5 -100.0)))
         (instance face :init :vertices (list (float-vector -62.2058 4.5 -60.0) (float-vector -62.2058 4.5 -58.0) (float-vector -61.0 -1.887379e-14 -58.0) (float-vector -61.0 -1.887379e-14 -60.0)))
         (instance face :init :vertices (list (float-vector -61.0 -1.887379e-14 -102.0) (float-vector -62.2058 4.5 -102.0) (float-vector -62.2058 4.5 -100.0) (float-vector -61.0 -1.887379e-14 -100.0)))
         (instance face :init :vertices (list (float-vector -65.5 7.79423 -60.0) (float-vector -65.5 7.79423 -58.0) (float-vector -62.2058 4.5 -58.0) (float-vector -62.2058 4.5 -60.0)))
         (instance face :init :vertices (list (float-vector -62.2058 4.5 -102.0) (float-vector -65.5 7.79423 -102.0) (float-vector -65.5 7.79423 -100.0) (float-vector -62.2058 4.5 -100.0)))
         (instance face :init :vertices (list (float-vector -70.0 9.0 -60.0) (float-vector -70.0 9.0 -58.0) (float-vector -65.5 7.79423 -58.0) (float-vector -65.5 7.79423 -60.0)))
         (instance face :init :vertices (list (float-vector -65.5 7.79423 -102.0) (float-vector -70.0 9.0 -102.0) (float-vector -70.0 9.0 -100.0) (float-vector -65.5 7.79423 -100.0)))
         (instance face :init :vertices (list (float-vector -74.5 7.79423 -60.0) (float-vector -74.5 7.79423 -58.0) (float-vector -70.0 9.0 -58.0) (float-vector -70.0 9.0 -60.0)))
         (instance face :init :vertices (list (float-vector -70.0 9.0 -102.0) (float-vector -74.5 7.79423 -102.0) (float-vector -74.5 7.79423 -100.0) (float-vector -70.0 9.0 -100.0)))
         (instance face :init :vertices (list (float-vector -77.7942 4.5 -60.0) (float-vector -77.7942 4.5 -58.0) (float-vector -74.5 7.79423 -58.0) (float-vector -74.5 7.79423 -60.0)))
         (instance face :init :vertices (list (float-vector -74.5 7.79423 -102.0) (float-vector -77.7942 4.5 -102.0) (float-vector -77.7942 4.5 -100.0) (float-vector -74.5 7.79423 -100.0)))
         (instance face :init :vertices (list (float-vector -79.0 -2.442491e-15 -60.0) (float-vector -79.0 -2.442491e-15 -58.0) (float-vector -77.7942 4.5 -58.0) (float-vector -77.7942 4.5 -60.0)))
         (instance face :init :vertices (list (float-vector -77.7942 4.5 -102.0) (float-vector -79.0 -2.442491e-15 -102.0) (float-vector -79.0 -2.442491e-15 -100.0) (float-vector -77.7942 4.5 -100.0)))
         (instance face :init :vertices (list (float-vector -77.7942 -4.5 -60.0) (float-vector -77.7942 -4.5 -58.0) (float-vector -79.0 -2.442491e-15 -58.0) (float-vector -79.0 -2.442491e-15 -60.0)))
         (instance face :init :vertices (list (float-vector -79.0 -2.442491e-15 -102.0) (float-vector -77.7942 -4.5 -102.0) (float-vector -77.7942 -4.5 -100.0) (float-vector -79.0 -2.442491e-15 -100.0)))
         (instance face :init :vertices (list (float-vector -74.5 -7.79423 -60.0) (float-vector -74.5 -7.79423 -58.0) (float-vector -77.7942 -4.5 -58.0) (float-vector -77.7942 -4.5 -60.0)))
         (instance face :init :vertices (list (float-vector -77.7942 -4.5 -102.0) (float-vector -74.5 -7.79423 -102.0) (float-vector -74.5 -7.79423 -100.0) (float-vector -77.7942 -4.5 -100.0)))
         (instance face :init :vertices (list (float-vector -74.5 -7.79423 -58.0) (float-vector -70.0 -9.0 -58.0) (float-vector -65.5 -7.79423 -58.0) (float-vector -62.2058 -4.5 -58.0) (float-vector -61.0 -1.887379e-14 -58.0) (float-vector -62.2058 4.5 -58.0) (float-vector -65.5 7.79423 -58.0) (float-vector -70.0 9.0 -58.0) (float-vector -74.5 7.79423 -58.0) (float-vector -77.7942 4.5 -58.0) (float-vector -79.0 -2.442491e-15 -58.0) (float-vector -77.7942 -4.5 -58.0)))
         (instance face :init :vertices (list (float-vector -70.0 -9.0 -58.0) (float-vector -74.5 -7.79423 -58.0) (float-vector -74.5 -7.79423 -60.0) (float-vector -70.0 -9.0 -60.0)))
         (instance face :init :vertices (list (float-vector -74.5 -7.79423 -102.0) (float-vector -70.0 -9.0 -102.0) (float-vector -70.0 -9.0 -100.0) (float-vector -74.5 -7.79423 -100.0)))
         (instance face :init :vertices (list (float-vector -70.0 -9.0 -102.0) (float-vector -74.5 -7.79423 -102.0) (float-vector -77.7942 -4.5 -102.0) (float-vector -79.0 -2.442491e-15 -102.0) (float-vector -77.7942 4.5 -102.0) (float-vector -74.5 7.79423 -102.0) (float-vector -70.0 9.0 -102.0) (float-vector -65.5 7.79423 -102.0) (float-vector -62.2058 4.5 -102.0) (float-vector -61.0 -1.887379e-14 -102.0) (float-vector -62.2058 -4.5 -102.0) (float-vector -65.5 -7.79423 -102.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 80.0 -40.0 -60.0) (float-vector 80.0 -40.0 -100.0) (float-vector 40.0 -40.0 -100.0) (float-vector 40.0 -40.0 -60.0)))
         (instance face :init :vertices (list (float-vector 40.0 -40.0 -100.0) (float-vector 40.0 -60.0 -100.0) (float-vector 40.0 -60.0 -60.0) (float-vector 40.0 -40.0 -60.0)))
         (instance face :init :vertices (list (float-vector 40.0 -60.0 -100.0) (float-vector 80.0 -60.0 -100.0) (float-vector 80.0 -60.0 -60.0) (float-vector 40.0 -60.0 -60.0)))
         (instance face :init :vertices (list (float-vector 80.0 -60.0 -60.0) (float-vector 80.0 -40.0 -60.0) (float-vector 40.0 -40.0 -60.0) (float-vector 40.0 -60.0 -60.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 74.5 -42.2058 -60.0) (float-vector 77.7942 -45.5 -60.0) (float-vector 79.0 -50.0 -60.0) (float-vector 77.7942 -54.5 -60.0) (float-vector 74.5 -57.7942 -60.0) (float-vector 70.0 -59.0 -60.0) (float-vector 65.5 -57.7942 -60.0) (float-vector 62.2058 -54.5 -60.0) (float-vector 61.0 -50.0 -60.0) (float-vector 62.2058 -45.5 -60.0) (float-vector 65.5 -42.2058 -60.0) (float-vector 70.0 -41.0 -60.0)))
))
         (instance face :init :vertices (list (float-vector 80.0 -60.0 -100.0) (float-vector 80.0 -40.0 -100.0) (float-vector 80.0 -40.0 -60.0) (float-vector 80.0 -60.0 -60.0)))
         (instance face :init :vertices (list (float-vector 80.0 -40.0 -100.0) (float-vector 80.0 -60.0 -100.0) (float-vector 40.0 -60.0 -100.0) (float-vector 40.0 -40.0 -100.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 77.7942 -45.5 -100.0) (float-vector 74.5 -42.2058 -100.0) (float-vector 70.0 -41.0 -100.0) (float-vector 65.5 -42.2058 -100.0) (float-vector 62.2058 -45.5 -100.0) (float-vector 61.0 -50.0 -100.0) (float-vector 62.2058 -54.5 -100.0) (float-vector 65.5 -57.7942 -100.0) (float-vector 70.0 -59.0 -100.0) (float-vector 74.5 -57.7942 -100.0) (float-vector 77.7942 -54.5 -100.0) (float-vector 79.0 -50.0 -100.0)))
))
         (instance face :init :vertices (list (float-vector 70.0 -41.0 -58.0) (float-vector 70.0 -41.0 -60.0) (float-vector 65.5 -42.2058 -60.0) (float-vector 65.5 -42.2058 -58.0)))
         (instance face :init :vertices (list (float-vector 70.0 -41.0 -100.0) (float-vector 70.0 -41.0 -102.0) (float-vector 65.5 -42.2058 -102.0) (float-vector 65.5 -42.2058 -100.0)))
         (instance face :init :vertices (list (float-vector 62.2058 -45.5 -60.0) (float-vector 62.2058 -45.5 -58.0) (float-vector 65.5 -42.2058 -58.0) (float-vector 65.5 -42.2058 -60.0)))
         (instance face :init :vertices (list (float-vector 65.5 -42.2058 -102.0) (float-vector 62.2058 -45.5 -102.0) (float-vector 62.2058 -45.5 -100.0) (float-vector 65.5 -42.2058 -100.0)))
         (instance face :init :vertices (list (float-vector 61.0 -50.0 -60.0) (float-vector 61.0 -50.0 -58.0) (float-vector 62.2058 -45.5 -58.0) (float-vector 62.2058 -45.5 -60.0)))
         (instance face :init :vertices (list (float-vector 62.2058 -45.5 -102.0) (float-vector 61.0 -50.0 -102.0) (float-vector 61.0 -50.0 -100.0) (float-vector 62.2058 -45.5 -100.0)))
         (instance face :init :vertices (list (float-vector 62.2058 -54.5 -60.0) (float-vector 62.2058 -54.5 -58.0) (float-vector 61.0 -50.0 -58.0) (float-vector 61.0 -50.0 -60.0)))
         (instance face :init :vertices (list (float-vector 61.0 -50.0 -102.0) (float-vector 62.2058 -54.5 -102.0) (float-vector 62.2058 -54.5 -100.0) (float-vector 61.0 -50.0 -100.0)))
         (instance face :init :vertices (list (float-vector 65.5 -57.7942 -60.0) (float-vector 65.5 -57.7942 -58.0) (float-vector 62.2058 -54.5 -58.0) (float-vector 62.2058 -54.5 -60.0)))
         (instance face :init :vertices (list (float-vector 62.2058 -54.5 -102.0) (float-vector 65.5 -57.7942 -102.0) (float-vector 65.5 -57.7942 -100.0) (float-vector 62.2058 -54.5 -100.0)))
         (instance face :init :vertices (list (float-vector 70.0 -59.0 -60.0) (float-vector 70.0 -59.0 -58.0) (float-vector 65.5 -57.7942 -58.0) (float-vector 65.5 -57.7942 -60.0)))
         (instance face :init :vertices (list (float-vector 65.5 -57.7942 -102.0) (float-vector 70.0 -59.0 -102.0) (float-vector 70.0 -59.0 -100.0) (float-vector 65.5 -57.7942 -100.0)))
         (instance face :init :vertices (list (float-vector 74.5 -57.7942 -60.0) (float-vector 74.5 -57.7942 -58.0) (float-vector 70.0 -59.0 -58.0) (float-vector 70.0 -59.0 -60.0)))
         (instance face :init :vertices (list (float-vector 70.0 -59.0 -102.0) (float-vector 74.5 -57.7942 -102.0) (float-vector 74.5 -57.7942 -100.0) (float-vector 70.0 -59.0 -100.0)))
         (instance face :init :vertices (list (float-vector 77.7942 -54.5 -60.0) (float-vector 77.7942 -54.5 -58.0) (float-vector 74.5 -57.7942 -58.0) (float-vector 74.5 -57.7942 -60.0)))
         (instance face :init :vertices (list (float-vector 74.5 -57.7942 -102.0) (float-vector 77.7942 -54.5 -102.0) (float-vector 77.7942 -54.5 -100.0) (float-vector 74.5 -57.7942 -100.0)))
         (instance face :init :vertices (list (float-vector 79.0 -50.0 -60.0) (float-vector 79.0 -50.0 -58.0) (float-vector 77.7942 -54.5 -58.0) (float-vector 77.7942 -54.5 -60.0)))
         (instance face :init :vertices (list (float-vector 77.7942 -54.5 -102.0) (float-vector 79.0 -50.0 -102.0) (float-vector 79.0 -50.0 -100.0) (float-vector 77.7942 -54.5 -100.0)))
         (instance face :init :vertices (list (float-vector 77.7942 -45.5 -60.0) (float-vector 77.7942 -45.5 -58.0) (float-vector 79.0 -50.0 -58.0) (float-vector 79.0 -50.0 -60.0)))
         (instance face :init :vertices (list (float-vector 79.0 -50.0 -102.0) (float-vector 77.7942 -45.5 -102.0) (float-vector 77.7942 -45.5 -100.0) (float-vector 79.0 -50.0 -100.0)))
         (instance face :init :vertices (list (float-vector 74.5 -42.2058 -60.0) (float-vector 74.5 -42.2058 -58.0) (float-vector 77.7942 -45.5 -58.0) (float-vector 77.7942 -45.5 -60.0)))
         (instance face :init :vertices (list (float-vector 77.7942 -45.5 -102.0) (float-vector 74.5 -42.2058 -102.0) (float-vector 74.5 -42.2058 -100.0) (float-vector 77.7942 -45.5 -100.0)))
         (instance face :init :vertices (list (float-vector 74.5 -42.2058 -58.0) (float-vector 70.0 -41.0 -58.0) (float-vector 65.5 -42.2058 -58.0) (float-vector 62.2058 -45.5 -58.0) (float-vector 61.0 -50.0 -58.0) (float-vector 62.2058 -54.5 -58.0) (float-vector 65.5 -57.7942 -58.0) (float-vector 70.0 -59.0 -58.0) (float-vector 74.5 -57.7942 -58.0) (float-vector 77.7942 -54.5 -58.0) (float-vector 79.0 -50.0 -58.0) (float-vector 77.7942 -45.5 -58.0)))
         (instance face :init :vertices (list (float-vector 70.0 -41.0 -58.0) (float-vector 74.5 -42.2058 -58.0) (float-vector 74.5 -42.2058 -60.0) (float-vector 70.0 -41.0 -60.0)))
         (instance face :init :vertices (list (float-vector 74.5 -42.2058 -102.0) (float-vector 70.0 -41.0 -102.0) (float-vector 70.0 -41.0 -100.0) (float-vector 74.5 -42.2058 -100.0)))
         (instance face :init :vertices (list (float-vector 70.0 -41.0 -102.0) (float-vector 74.5 -42.2058 -102.0) (float-vector 77.7942 -45.5 -102.0) (float-vector 79.0 -50.0 -102.0) (float-vector 77.7942 -54.5 -102.0) (float-vector 74.5 -57.7942 -102.0) (float-vector 70.0 -59.0 -102.0) (float-vector 65.5 -57.7942 -102.0) (float-vector 62.2058 -54.5 -102.0) (float-vector 61.0 -50.0 -102.0) (float-vector 62.2058 -45.5 -102.0) (float-vector 65.5 -42.2058 -102.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -110.0 145.0) (float-vector 10.0 -110.0 105.0) (float-vector 10.0 -70.0 105.0) (float-vector 10.0 -70.0 145.0)))
         (instance face :init :vertices (list (float-vector 10.0 -70.0 105.0) (float-vector -10.0 -70.0 105.0) (float-vector -10.0 -70.0 145.0) (float-vector 10.0 -70.0 145.0)))
         (instance face :init :vertices (list (float-vector -10.0 -70.0 105.0) (float-vector -10.0 -110.0 105.0) (float-vector -10.0 -110.0 145.0) (float-vector -10.0 -70.0 145.0)))
         (instance face :init :vertices (list (float-vector -10.0 -110.0 145.0) (float-vector 10.0 -110.0 145.0) (float-vector 10.0 -70.0 145.0) (float-vector -10.0 -70.0 145.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 7.79423 -104.5 145.0) (float-vector 4.5 -107.794 145.0) (float-vector 7.105427e-15 -109.0 145.0) (float-vector -4.5 -107.794 145.0) (float-vector -7.79423 -104.5 145.0) (float-vector -9.0 -100.0 145.0) (float-vector -7.79423 -95.5 145.0) (float-vector -4.5 -92.2058 145.0) (float-vector 2.753353e-14 -91.0 145.0) (float-vector 4.5 -92.2058 145.0) (float-vector 7.79423 -95.5 145.0) (float-vector 9.0 -100.0 145.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -110.0 105.0) (float-vector 10.0 -110.0 105.0) (float-vector 10.0 -110.0 145.0) (float-vector -10.0 -110.0 145.0)))
         (instance face :init :vertices (list (float-vector 10.0 -110.0 105.0) (float-vector -10.0 -110.0 105.0) (float-vector -10.0 -70.0 105.0) (float-vector 10.0 -70.0 105.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.5 -107.794 105.0) (float-vector 7.79423 -104.5 105.0) (float-vector 9.0 -100.0 105.0) (float-vector 7.79423 -95.5 105.0) (float-vector 4.5 -92.2058 105.0) (float-vector 2.753353e-14 -91.0 105.0) (float-vector -4.5 -92.2058 105.0) (float-vector -7.79423 -95.5 105.0) (float-vector -9.0 -100.0 105.0) (float-vector -7.79423 -104.5 105.0) (float-vector -4.5 -107.794 105.0) (float-vector 7.105427e-15 -109.0 105.0)))
))
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         (instance face :init :vertices (list (float-vector -35.0 -8.0 -155.5) (float-vector -46.7275 -8.0 -149.852) (float-vector -49.6239 -8.0 -137.162) (float-vector -41.5083 -8.0 -126.985) (float-vector -28.4917 -8.0 -126.985) (float-vector -20.3761 -8.0 -137.162) (float-vector -23.2725 -8.0 -149.852))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -35.0 -8.0 -146.5) (float-vector -30.309 -8.0 -144.241) (float-vector -29.1504 -8.0 -139.165) (float-vector -32.3967 -8.0 -135.094) (float-vector -37.6033 -8.0 -135.094) (float-vector -40.8496 -8.0 -139.165) (float-vector -39.691 -8.0 -144.241)))
))
         (instance face :init :vertices (list (float-vector -30.309 -18.0 -144.241) (float-vector -30.309 -23.0 -144.241) (float-vector -35.0 -23.0 -146.5) (float-vector -35.0 -18.0 -146.5)))
         (instance face :init :vertices (list (float-vector -30.309 8.0 -144.241) (float-vector -30.309 -8.0 -144.241) (float-vector -35.0 -8.0 -146.5) (float-vector -35.0 8.0 -146.5)))
         (instance face :init :vertices (list (float-vector -35.0 18.0 -146.5) (float-vector -35.0 22.0 -146.5) (float-vector -30.309 22.0 -144.241) (float-vector -30.309 18.0 -144.241)))
         (instance face :init :vertices (list (float-vector -29.1504 -18.0 -139.165) (float-vector -29.1504 -23.0 -139.165) (float-vector -30.309 -23.0 -144.241) (float-vector -30.309 -18.0 -144.241)))
         (instance face :init :vertices (list (float-vector -29.1504 8.0 -139.165) (float-vector -29.1504 -8.0 -139.165) (float-vector -30.309 -8.0 -144.241) (float-vector -30.309 8.0 -144.241)))
         (instance face :init :vertices (list (float-vector -30.309 22.0 -144.241) (float-vector -29.1504 22.0 -139.165) (float-vector -29.1504 18.0 -139.165) (float-vector -30.309 18.0 -144.241)))
         (instance face :init :vertices (list (float-vector -32.3967 -18.0 -135.094) (float-vector -32.3967 -23.0 -135.094) (float-vector -29.1504 -23.0 -139.165) (float-vector -29.1504 -18.0 -139.165)))
         (instance face :init :vertices (list (float-vector -32.3967 8.0 -135.094) (float-vector -32.3967 -8.0 -135.094) (float-vector -29.1504 -8.0 -139.165) (float-vector -29.1504 8.0 -139.165)))
         (instance face :init :vertices (list (float-vector -29.1504 22.0 -139.165) (float-vector -32.3967 22.0 -135.094) (float-vector -32.3967 18.0 -135.094) (float-vector -29.1504 18.0 -139.165)))
         (instance face :init :vertices (list (float-vector -37.6033 -18.0 -135.094) (float-vector -37.6033 -23.0 -135.094) (float-vector -32.3967 -23.0 -135.094) (float-vector -32.3967 -18.0 -135.094)))
         (instance face :init :vertices (list (float-vector -37.6033 8.0 -135.094) (float-vector -37.6033 -8.0 -135.094) (float-vector -32.3967 -8.0 -135.094) (float-vector -32.3967 8.0 -135.094)))
         (instance face :init :vertices (list (float-vector -32.3967 22.0 -135.094) (float-vector -37.6033 22.0 -135.094) (float-vector -37.6033 18.0 -135.094) (float-vector -32.3967 18.0 -135.094)))
         (instance face :init :vertices (list (float-vector -40.8496 -18.0 -139.165) (float-vector -40.8496 -23.0 -139.165) (float-vector -37.6033 -23.0 -135.094) (float-vector -37.6033 -18.0 -135.094)))
         (instance face :init :vertices (list (float-vector -40.8496 8.0 -139.165) (float-vector -40.8496 5.0 -139.165) (float-vector -38.7244 5.0 -136.5) (float-vector -38.7244 -5.0 -136.5) (float-vector -40.8496 -5.0 -139.165) (float-vector -40.8496 -8.0 -139.165) (float-vector -37.6033 -8.0 -135.094) (float-vector -37.6033 8.0 -135.094)))
         (instance face :init :vertices (list (float-vector -37.6033 22.0 -135.094) (float-vector -40.8496 22.0 -139.165) (float-vector -40.8496 18.0 -139.165) (float-vector -37.6033 18.0 -135.094)))
         (instance face :init :vertices (list (float-vector -39.691 -18.0 -144.241) (float-vector -39.691 -23.0 -144.241) (float-vector -40.8496 -23.0 -139.165) (float-vector -40.8496 -18.0 -139.165)))
         (instance face :init :vertices (list (float-vector -39.691 8.0 -144.241)))
         (instance face :init :vertices (list (float-vector -35.0 8.0 -146.5) (float-vector -35.0 -8.0 -146.5)))
         (instance face :init :vertices (list (float-vector -39.691 -8.0 -144.241)))
         (instance face :init :vertices (list (float-vector -39.691 -5.0 -144.241) (float-vector -39.691 -8.0 -144.241) (float-vector -40.8496 -8.0 -139.165) (float-vector -40.8496 -5.0 -139.165)))
         (instance face :init :vertices (list (float-vector -39.691 5.0 -144.241)))
         (instance face :init :vertices (list (float-vector -39.691 8.0 -144.241) (float-vector -39.691 5.0 -144.241) (float-vector -40.8496 5.0 -139.165) (float-vector -40.8496 8.0 -139.165)))
         (instance face :init :vertices (list (float-vector -40.8496 22.0 -139.165) (float-vector -39.691 22.0 -144.241) (float-vector -39.691 18.0 -144.241) (float-vector -40.8496 18.0 -139.165)))
         (instance face :init :vertices (list (float-vector -39.691 -23.0 -144.241) (float-vector -35.0 -23.0 -146.5) (float-vector -30.309 -23.0 -144.241) (float-vector -29.1504 -23.0 -139.165) (float-vector -32.3967 -23.0 -135.094) (float-vector -37.6033 -23.0 -135.094) (float-vector -40.8496 -23.0 -139.165)))
         (instance face :init :vertices (list (float-vector -35.0 -23.0 -146.5) (float-vector -39.691 -23.0 -144.241) (float-vector -39.691 -18.0 -144.241) (float-vector -35.0 -18.0 -146.5)))
         (instance face :init :vertices (list (float-vector -39.691 22.0 -144.241) (float-vector -35.0 22.0 -146.5) (float-vector -35.0 18.0 -146.5) (float-vector -39.691 18.0 -144.241)))
         (instance face :init :vertices (list (float-vector -35.0 22.0 -146.5) (float-vector -39.691 22.0 -144.241) (float-vector -40.8496 22.0 -139.165) (float-vector -37.6033 22.0 -135.094) (float-vector -32.3967 22.0 -135.094) (float-vector -29.1504 22.0 -139.165) (float-vector -30.309 22.0 -144.241)))
         (instance face :init :vertices (list (float-vector -45.0 -15.0 -110.5) (float-vector -56.7275 -9.35235 -110.5) (float-vector -59.6239 3.33781 -110.5) (float-vector -51.5083 13.5145 -110.5) (float-vector -38.4917 13.5145 -110.5) (float-vector -30.3761 3.33781 -110.5) (float-vector -33.2725 -9.35235 -110.5))
                              :holes (list
         (instance hole :init :vertices (list (float-vector -48.1273 -2.49396 -110.5) (float-vector -45.0 -4.0 -110.5) (float-vector -41.8727 -2.49396 -110.5) (float-vector -41.1003 0.890084 -110.5) (float-vector -43.2645 3.60388 -110.5) (float-vector -46.7355 3.60388 -110.5) (float-vector -48.8997 0.890084 -110.5)))
))
         (instance face :init :vertices (list (float-vector -45.0 -15.0 -110.5) (float-vector -45.0 -15.0 -107.5) (float-vector -45.0 -15.0 -105.5) (float-vector -56.7275 -9.35235 -105.5) (float-vector -56.7275 -9.35235 -107.5) (float-vector -56.7275 -9.35235 -110.5)))
         (instance face :init :vertices (list (float-vector -45.0 -15.0 -105.5) (float-vector -33.2725 -9.35235 -105.5) (float-vector -30.3761 3.33781 -105.5) (float-vector -38.4917 13.5145 -105.5) (float-vector -51.5083 13.5145 -105.5) (float-vector -59.6239 3.33781 -105.5) (float-vector -56.7275 -9.35235 -105.5)))
         (instance face :init :vertices (list (float-vector -59.6239 3.33781 -105.5) (float-vector -59.6239 3.33781 -107.5) (float-vector -59.6239 3.33781 -110.5) (float-vector -56.7275 -9.35235 -110.5) (float-vector -56.7275 -9.35235 -107.5) (float-vector -56.7275 -9.35235 -105.5)))
         (instance face :init :vertices (list (float-vector -51.5083 13.5145 -105.5) (float-vector -51.5083 13.5145 -107.5) (float-vector -51.5083 13.5145 -110.5) (float-vector -59.6239 3.33781 -110.5) (float-vector -59.6239 3.33781 -107.5) (float-vector -59.6239 3.33781 -105.5)))
         (instance face :init :vertices (list (float-vector -38.4917 13.5145 -105.5) (float-vector -38.4917 13.5145 -107.5) (float-vector -38.4917 13.5145 -110.5) (float-vector -51.5083 13.5145 -110.5) (float-vector -51.5083 13.5145 -107.5) (float-vector -51.5083 13.5145 -105.5)))
         (instance face :init :vertices (list (float-vector -30.3761 3.33781 -105.5) (float-vector -30.3761 3.33781 -107.5) (float-vector -30.3761 3.33781 -110.5) (float-vector -38.4917 13.5145 -110.5) (float-vector -38.4917 13.5145 -107.5) (float-vector -38.4917 13.5145 -105.5)))
         (instance face :init :vertices (list (float-vector -33.2725 -9.35235 -105.5) (float-vector -33.2725 -9.35235 -107.5) (float-vector -33.2725 -9.35235 -110.5) (float-vector -30.3761 3.33781 -110.5) (float-vector -30.3761 3.33781 -107.5) (float-vector -30.3761 3.33781 -105.5)))
         (instance face :init :vertices (list (float-vector -33.2725 -9.35235 -107.5) (float-vector -33.2725 -9.35235 -105.5) (float-vector -45.0 -15.0 -105.5) (float-vector -45.0 -15.0 -107.5) (float-vector -45.0 -15.0 -110.5) (float-vector -33.2725 -9.35235 -110.5)))
         (instance face :init :vertices (list (float-vector -48.1273 -2.49396 -110.5) (float-vector -48.1273 -2.49396 -140.5) (float-vector -47.5 -2.79606 -140.5) (float-vector -47.5 -2.79606 -136.5) (float-vector -45.0 -4.0 -136.5) (float-vector -45.0 -4.0 -110.5)))
         (instance face :init :vertices (list (float-vector -48.1273 -2.49396 -140.5) (float-vector -48.8997 0.890084 -140.5) (float-vector -47.5 2.64527 -140.5) (float-vector -47.5 -2.79606 -140.5)))
         (instance face :init :vertices (list (float-vector -48.8997 0.890084 -110.5) (float-vector -48.8997 0.890084 -140.5) (float-vector -48.1273 -2.49396 -140.5) (float-vector -48.1273 -2.49396 -110.5)))
         (instance face :init :vertices (list (float-vector -46.7355 3.60388 -110.5) (float-vector -46.7355 3.60388 -136.5) (float-vector -47.5 2.64527 -136.5) (float-vector -47.5 2.64527 -140.5) (float-vector -48.8997 0.890084 -140.5) (float-vector -48.8997 0.890084 -110.5)))
         (instance face :init :vertices (list (float-vector -43.2645 3.60388 -110.5) (float-vector -43.2645 3.60388 -136.5) (float-vector -46.7355 3.60388 -136.5) (float-vector -46.7355 3.60388 -110.5)))
         (instance face :init :vertices (list (float-vector -41.1003 0.890084 -110.5) (float-vector -41.1003 0.890084 -136.5) (float-vector -43.2645 3.60388 -136.5) (float-vector -43.2645 3.60388 -110.5)))
         (instance face :init :vertices (list (float-vector -41.8727 -2.49396 -110.5) (float-vector -41.8727 -2.49396 -136.5) (float-vector -41.1003 0.890084 -136.5) (float-vector -41.1003 0.890084 -110.5)))
         (instance face :init :vertices (list (float-vector -41.8727 -2.49396 -136.5) (float-vector -41.8727 -2.49396 -110.5) (float-vector -45.0 -4.0 -110.5) (float-vector -45.0 -4.0 -136.5)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :gray40)
     (send (elt bc 2) :set-color :gray40)
     (send (elt bc 3) :set-color :gray40)
     (send (elt bc 4) :set-color :gray40)
     (send (elt bc 5) :set-color :gray40)
     (send (elt bc 6) :set-color :grey85)
     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :weight 718 :centroid (float-vector 5.81465 -0.120396 -20.259) :inertia-tensor #2f((4.338325e+06 -224.049 2.086590e+05) (-224.049 3.770324e+06 -1222.3) (2.086590e+05 -1222.3 1.732876e+06))))

     ;; definition of :tail-tail-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 24.0 24.0) (float-vector 10.0 24.0 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -25.0) (float-vector -10.0 25.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 24.0 -24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 25.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 24.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 -24.0) (float-vector 10.0 24.0 24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 24.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 24.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 24.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -50.0 27.5 -15.6699) (float-vector 50.0 27.5 -15.6699) (float-vector -4.846201e-16 53.4808 -30.6699)))
         (instance face :init :vertices (list (float-vector 50.0 25.0 -20.0) (float-vector -50.0 25.0 -20.0) (float-vector -6.233980e-16 50.9808 -35.0)))
         (instance face :init :vertices (list (float-vector -50.0 27.5 -15.6699) (float-vector -50.0 25.0 -20.0) (float-vector 50.0 25.0 -20.0) (float-vector 50.0 27.5 -15.6699)))
         (instance face :init :vertices (list (float-vector -4.846201e-16 53.4808 -30.6699) (float-vector -6.233980e-16 50.9808 -35.0) (float-vector -50.0 25.0 -20.0) (float-vector -50.0 27.5 -15.6699)))
         (instance face :init :vertices (list (float-vector 50.0 27.5 -15.6699) (float-vector 50.0 25.0 -20.0) (float-vector -6.233980e-16 50.9808 -35.0) (float-vector -4.846201e-16 53.4808 -30.6699)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :grey85)
     (setq blink12 (instance bodyset-link :init (make-cascoords) :bodies bc :name :tail-tail-y :weight 16.0557 :centroid (float-vector -3.026695e-15 27.6092 -14.2223) :inertia-tensor #2f((5458.73 2.298709e-13 -2.715909e-13) (2.298709e-13 4003.79 1038.39) (-2.715909e-13 1038.39 1858.65))))

     ;; definition of :rleg-crotch-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 24.0 24.0) (float-vector 10.0 24.0 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -25.0) (float-vector -10.0 25.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 24.0 -24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 25.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 24.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 -24.0) (float-vector 10.0 24.0 24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 24.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 24.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 24.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -25.0 45.0 10.0) (float-vector -25.0 20.0 10.0) (float-vector 25.0 20.0 10.0) (float-vector 25.0 45.0 10.0) (float-vector 24.0 45.0 10.0) (float-vector 24.0 21.0 10.0) (float-vector -24.0 21.0 10.0) (float-vector -24.0 45.0 10.0)))
         (instance face :init :vertices (list (float-vector -25.0 20.0 -10.0) (float-vector 25.0 20.0 -10.0) (float-vector 25.0 20.0 10.0) (float-vector -25.0 20.0 10.0)))
         (instance face :init :vertices (list (float-vector -25.0 45.0 -10.0) (float-vector -24.0 45.0 -10.0) (float-vector -24.0 21.0 -10.0) (float-vector 24.0 21.0 -10.0) (float-vector 24.0 45.0 -10.0) (float-vector 25.0 45.0 -10.0) (float-vector 25.0 20.0 -10.0) (float-vector -25.0 20.0 -10.0)))
         (instance face :init :vertices (list (float-vector 25.0 52.0711 -7.07107) (float-vector 25.0 45.0 -10.0) (float-vector 24.0 45.0 -10.0) (float-vector 24.0 52.0711 -7.07107)))
         (instance face :init :vertices (list (float-vector -25.0 52.0711 -7.07107) (float-vector -24.0 52.0711 -7.07107) (float-vector -24.0 45.0 -10.0) (float-vector -25.0 45.0 -10.0)))
         (instance face :init :vertices (list (float-vector 25.0 55.0 0.0) (float-vector 25.0 52.0711 -7.07107) (float-vector 24.0 52.0711 -7.07107) (float-vector 24.0 55.0 0.0)))
         (instance face :init :vertices (list (float-vector -25.0 55.0 0.0) (float-vector -24.0 55.0 0.0) (float-vector -24.0 52.0711 -7.07107) (float-vector -25.0 52.0711 -7.07107)))
         (instance face :init :vertices (list (float-vector 25.0 52.0711 7.07107) (float-vector 25.0 55.0 0.0) (float-vector 24.0 55.0 0.0) (float-vector 24.0 52.0711 7.07107)))
         (instance face :init :vertices (list (float-vector -25.0 52.0711 7.07107) (float-vector -24.0 52.0711 7.07107) (float-vector -24.0 55.0 0.0) (float-vector -25.0 55.0 0.0)))
         (instance face :init :vertices (list (float-vector 25.0 45.0 10.0) (float-vector 25.0 20.0 10.0) (float-vector 25.0 20.0 -10.0) (float-vector 25.0 45.0 -10.0) (float-vector 25.0 52.0711 -7.07107) (float-vector 25.0 55.0 0.0) (float-vector 25.0 52.0711 7.07107)))
         (instance face :init :vertices (list (float-vector -25.0 52.0711 7.07107) (float-vector -25.0 55.0 0.0) (float-vector -25.0 52.0711 -7.07107) (float-vector -25.0 45.0 -10.0) (float-vector -25.0 20.0 -10.0) (float-vector -25.0 20.0 10.0) (float-vector -25.0 45.0 10.0)))
         (instance face :init :vertices (list (float-vector 25.0 52.0711 7.07107) (float-vector 24.0 52.0711 7.07107) (float-vector 24.0 45.0 10.0) (float-vector 25.0 45.0 10.0)))
         (instance face :init :vertices (list (float-vector -25.0 45.0 10.0) (float-vector -24.0 45.0 10.0) (float-vector -24.0 52.0711 7.07107) (float-vector -25.0 52.0711 7.07107)))
         (instance face :init :vertices (list (float-vector 24.0 21.0 10.0) (float-vector 24.0 45.0 10.0) (float-vector 24.0 52.0711 7.07107) (float-vector 24.0 55.0 0.0) (float-vector 24.0 52.0711 -7.07107) (float-vector 24.0 45.0 -10.0) (float-vector 24.0 21.0 -10.0)))
         (instance face :init :vertices (list (float-vector -24.0 21.0 10.0) (float-vector 24.0 21.0 10.0) (float-vector 24.0 21.0 -10.0) (float-vector -24.0 21.0 -10.0)))
         (instance face :init :vertices (list (float-vector -24.0 21.0 -10.0) (float-vector -24.0 45.0 -10.0) (float-vector -24.0 52.0711 -7.07107) (float-vector -24.0 55.0 0.0) (float-vector -24.0 52.0711 7.07107) (float-vector -24.0 45.0 10.0) (float-vector -24.0 21.0 10.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink10 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-crotch-y :weight 12.1114 :centroid (float-vector -3.741946e-14 22.5 6.496077e-15) :inertia-tensor #2f((4916.52 -6.493333e-13 5.273932e-13) (-6.493333e-13 5557.76 2.111545e-13) (5.273932e-13 2.111545e-13 4916.52))))

     ;; definition of :rleg-crotch-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -10.0 20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 30.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector -10.0 30.0 20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0) (float-vector 10.0 30.0 20.0) (float-vector -10.0 30.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 4.5 -7.79423 20.0) (float-vector -2.842171e-14 -9.0 20.0) (float-vector -4.5 -7.79423 20.0) (float-vector -7.79423 -4.5 20.0) (float-vector -9.0 0.0 20.0) (float-vector -7.79423 4.5 20.0) (float-vector -4.5 7.79423 20.0) (float-vector 0.0 9.0 20.0) (float-vector 4.5 7.79423 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 9.0 -1.421085e-14 20.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 -10.0 20.0) (float-vector -10.0 -10.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 -10.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector 10.0 30.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.5 -7.79423 -20.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 9.0 -1.421085e-14 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 0.0 9.0 -20.0) (float-vector -4.5 7.79423 -20.0) (float-vector -7.79423 4.5 -20.0) (float-vector -9.0 1.421085e-14 -20.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -2.842171e-14 -9.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector 9.0 -1.421085e-14 22.0) (float-vector 9.0 -1.421085e-14 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 7.79423 4.5 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 -1.421085e-14 -20.0) (float-vector 9.0 -1.421085e-14 -22.0) (float-vector 7.79423 4.5 -22.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 20.0) (float-vector 4.5 7.79423 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 4.5 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 4.5 7.79423 -20.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 0.0 9.0 20.0) (float-vector 0.0 9.0 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 -22.0) (float-vector 0.0 9.0 -22.0) (float-vector 0.0 9.0 -20.0) (float-vector 4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 20.0) (float-vector -4.5 7.79423 22.0) (float-vector 0.0 9.0 22.0) (float-vector 0.0 9.0 20.0)))
         (instance face :init :vertices (list (float-vector 0.0 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 0.0 9.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 20.0) (float-vector -7.79423 4.5 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -7.79423 4.5 -20.0) (float-vector -4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 0.0 20.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 -22.0) (float-vector -9.0 1.421085e-14 -22.0) (float-vector -9.0 1.421085e-14 -20.0) (float-vector -7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 20.0) (float-vector -7.79423 -4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -9.0 0.0 20.0)))
         (instance face :init :vertices (list (float-vector -9.0 1.421085e-14 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -9.0 1.421085e-14 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 20.0) (float-vector -4.5 -7.79423 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -7.79423 -4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -9.0 20.0) (float-vector -2.842171e-14 -9.0 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 -22.0) (float-vector -2.842171e-14 -9.0 -22.0) (float-vector -2.842171e-14 -9.0 -20.0) (float-vector -4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 20.0) (float-vector 4.5 -7.79423 22.0) (float-vector -2.842171e-14 -9.0 22.0) (float-vector -2.842171e-14 -9.0 20.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector -2.842171e-14 -9.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 7.79423 -4.5 22.0) (float-vector 4.5 -7.79423 22.0) (float-vector 4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 22.0) (float-vector 9.0 -1.421085e-14 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 0.0 9.0 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -2.842171e-14 -9.0 22.0) (float-vector 4.5 -7.79423 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 -1.421085e-14 22.0) (float-vector 7.79423 -4.5 22.0) (float-vector 7.79423 -4.5 20.0) (float-vector 9.0 -1.421085e-14 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 -22.0) (float-vector 9.0 -1.421085e-14 -22.0) (float-vector 9.0 -1.421085e-14 -20.0) (float-vector 7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 -1.421085e-14 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector -2.842171e-14 -9.0 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -9.0 1.421085e-14 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector 0.0 9.0 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 7.79423 4.5 -22.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 40.0 45.0 -5.0) (float-vector 40.0 45.0 5.0) (float-vector 0.0 45.0 35.0) (float-vector -40.0 45.0 35.0) (float-vector -60.0 45.0 15.0) (float-vector -60.0 45.0 -15.0) (float-vector -40.0 45.0 -35.0) (float-vector -1.421085e-14 45.0 -35.0)))
         (instance face :init :vertices (list (float-vector 40.0 50.0 5.0) (float-vector 40.0 50.0 -5.0) (float-vector -1.421085e-14 50.0 -35.0) (float-vector -40.0 50.0 -35.0) (float-vector -60.0 50.0 -15.0) (float-vector -60.0 50.0 15.0) (float-vector -40.0 50.0 35.0) (float-vector 0.0 50.0 35.0)))
         (instance face :init :vertices (list (float-vector 40.0 45.0 -5.0) (float-vector 40.0 50.0 -5.0) (float-vector 40.0 50.0 5.0) (float-vector 40.0 45.0 5.0)))
         (instance face :init :vertices (list (float-vector -1.421085e-14 45.0 -35.0) (float-vector -1.421085e-14 50.0 -35.0) (float-vector 40.0 50.0 -5.0) (float-vector 40.0 45.0 -5.0)))
         (instance face :init :vertices (list (float-vector -40.0 45.0 -35.0) (float-vector -40.0 50.0 -35.0) (float-vector -1.421085e-14 50.0 -35.0) (float-vector -1.421085e-14 45.0 -35.0)))
         (instance face :init :vertices (list (float-vector -60.0 45.0 -15.0) (float-vector -60.0 50.0 -15.0) (float-vector -40.0 50.0 -35.0) (float-vector -40.0 45.0 -35.0)))
         (instance face :init :vertices (list (float-vector -60.0 45.0 15.0) (float-vector -60.0 50.0 15.0) (float-vector -60.0 50.0 -15.0) (float-vector -60.0 45.0 -15.0)))
         (instance face :init :vertices (list (float-vector -40.0 45.0 35.0) (float-vector -40.0 50.0 35.0) (float-vector -60.0 50.0 15.0) (float-vector -60.0 45.0 15.0)))
         (instance face :init :vertices (list (float-vector 0.0 45.0 35.0) (float-vector 0.0 50.0 35.0) (float-vector -40.0 50.0 35.0) (float-vector -40.0 45.0 35.0)))
         (instance face :init :vertices (list (float-vector 40.0 45.0 5.0) (float-vector 40.0 50.0 5.0) (float-vector 0.0 50.0 35.0) (float-vector 0.0 45.0 35.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :yellow)
     (setq blink11 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rleg-crotch-p :weight 63 :centroid (float-vector -2.37115 15.7044 2.501738e-15) :inertia-tensor #2f((16040.8 753.923 9.982515e-13) (753.923 9131.32 -1.036905e-12) (9.982515e-13 -1.036905e-12 11038.8))))

     ;; definition of :rarm-shoulder-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 24.0 24.0) (float-vector 10.0 24.0 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -25.0) (float-vector -10.0 25.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 24.0 -24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 25.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 24.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 -24.0) (float-vector 10.0 24.0 24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 24.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 24.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 24.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 25.0 50.0 -10.0) (float-vector 25.0 25.0 -10.0) (float-vector -25.0 25.0 -10.0) (float-vector -25.0 50.0 -10.0) (float-vector -24.0 50.0 -10.0) (float-vector -24.0 26.0 -10.0) (float-vector 24.0 26.0 -10.0) (float-vector 24.0 50.0 -10.0)))
         (instance face :init :vertices (list (float-vector 25.0 25.0 10.0) (float-vector -25.0 25.0 10.0) (float-vector -25.0 25.0 -10.0) (float-vector 25.0 25.0 -10.0)))
         (instance face :init :vertices (list (float-vector 25.0 50.0 10.0) (float-vector 24.0 50.0 10.0) (float-vector 24.0 26.0 10.0) (float-vector -24.0 26.0 10.0) (float-vector -24.0 50.0 10.0) (float-vector -25.0 50.0 10.0) (float-vector -25.0 25.0 10.0) (float-vector 25.0 25.0 10.0)))
         (instance face :init :vertices (list (float-vector -25.0 57.0711 7.07107) (float-vector -25.0 50.0 10.0) (float-vector -24.0 50.0 10.0) (float-vector -24.0 57.0711 7.07107)))
         (instance face :init :vertices (list (float-vector 25.0 57.0711 7.07107) (float-vector 24.0 57.0711 7.07107) (float-vector 24.0 50.0 10.0) (float-vector 25.0 50.0 10.0)))
         (instance face :init :vertices (list (float-vector -25.0 60.0 0.0) (float-vector -25.0 57.0711 7.07107) (float-vector -24.0 57.0711 7.07107) (float-vector -24.0 60.0 0.0)))
         (instance face :init :vertices (list (float-vector 25.0 60.0 0.0) (float-vector 24.0 60.0 0.0) (float-vector 24.0 57.0711 7.07107) (float-vector 25.0 57.0711 7.07107)))
         (instance face :init :vertices (list (float-vector -25.0 57.0711 -7.07107) (float-vector -25.0 60.0 0.0) (float-vector -24.0 60.0 0.0) (float-vector -24.0 57.0711 -7.07107)))
         (instance face :init :vertices (list (float-vector 25.0 57.0711 -7.07107) (float-vector 24.0 57.0711 -7.07107) (float-vector 24.0 60.0 0.0) (float-vector 25.0 60.0 0.0)))
         (instance face :init :vertices (list (float-vector -25.0 50.0 -10.0) (float-vector -25.0 25.0 -10.0) (float-vector -25.0 25.0 10.0) (float-vector -25.0 50.0 10.0) (float-vector -25.0 57.0711 7.07107) (float-vector -25.0 60.0 0.0) (float-vector -25.0 57.0711 -7.07107)))
         (instance face :init :vertices (list (float-vector 25.0 57.0711 -7.07107) (float-vector 25.0 60.0 0.0) (float-vector 25.0 57.0711 7.07107) (float-vector 25.0 50.0 10.0) (float-vector 25.0 25.0 10.0) (float-vector 25.0 25.0 -10.0) (float-vector 25.0 50.0 -10.0)))
         (instance face :init :vertices (list (float-vector -25.0 57.0711 -7.07107) (float-vector -24.0 57.0711 -7.07107) (float-vector -24.0 50.0 -10.0) (float-vector -25.0 50.0 -10.0)))
         (instance face :init :vertices (list (float-vector 25.0 50.0 -10.0) (float-vector 24.0 50.0 -10.0) (float-vector 24.0 57.0711 -7.07107) (float-vector 25.0 57.0711 -7.07107)))
         (instance face :init :vertices (list (float-vector -24.0 26.0 -10.0) (float-vector -24.0 50.0 -10.0) (float-vector -24.0 57.0711 -7.07107) (float-vector -24.0 60.0 0.0) (float-vector -24.0 57.0711 7.07107) (float-vector -24.0 50.0 10.0) (float-vector -24.0 26.0 10.0)))
         (instance face :init :vertices (list (float-vector 24.0 26.0 -10.0) (float-vector -24.0 26.0 -10.0) (float-vector -24.0 26.0 10.0) (float-vector 24.0 26.0 10.0)))
         (instance face :init :vertices (list (float-vector 24.0 26.0 10.0) (float-vector 24.0 50.0 10.0) (float-vector 24.0 57.0711 7.07107) (float-vector 24.0 60.0 0.0) (float-vector 24.0 57.0711 -7.07107) (float-vector 24.0 50.0 -10.0) (float-vector 24.0 26.0 -10.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink6 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-shoulder-y :weight 12.1114 :centroid (float-vector 1.742355e-14 25.0 9.352070e-15) :inertia-tensor #2f((5412.93 7.162699e-13 -1.852050e-27) (7.162699e-13 5557.76 2.675655e-13) (-1.852050e-27 2.675655e-13 5412.93))))

     ;; definition of :rarm-shoulder-r
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -10.0 20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 30.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector -10.0 30.0 20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0) (float-vector 10.0 30.0 20.0) (float-vector -10.0 30.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 4.5 -7.79423 20.0) (float-vector -5.684342e-14 -9.0 20.0) (float-vector -4.5 -7.79423 20.0) (float-vector -7.79423 -4.5 20.0) (float-vector -9.0 0.0 20.0) (float-vector -7.79423 4.5 20.0) (float-vector -4.5 7.79423 20.0) (float-vector 0.0 9.0 20.0) (float-vector 4.5 7.79423 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 9.0 -5.684342e-14 20.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 -10.0 20.0) (float-vector -10.0 -10.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 -10.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector 10.0 30.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.5 -7.79423 -20.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 0.0 9.0 -20.0) (float-vector -4.5 7.79423 -20.0) (float-vector -7.79423 4.5 -20.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -2.842171e-14 -9.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector 9.0 -5.684342e-14 22.0) (float-vector 9.0 -5.684342e-14 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 7.79423 4.5 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -20.0) (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 4.5 -22.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 20.0) (float-vector 4.5 7.79423 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 4.5 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 4.5 7.79423 -20.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 0.0 9.0 20.0) (float-vector 0.0 9.0 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 -22.0) (float-vector 0.0 9.0 -22.0) (float-vector 0.0 9.0 -20.0) (float-vector 4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 20.0) (float-vector -4.5 7.79423 22.0) (float-vector 0.0 9.0 22.0) (float-vector 0.0 9.0 20.0)))
         (instance face :init :vertices (list (float-vector 0.0 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 0.0 9.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 20.0) (float-vector -7.79423 4.5 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -7.79423 4.5 -20.0) (float-vector -4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 0.0 20.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 20.0) (float-vector -7.79423 -4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -9.0 0.0 20.0)))
         (instance face :init :vertices (list (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -9.0 0.0 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 20.0) (float-vector -4.5 -7.79423 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -7.79423 -4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -5.684342e-14 -9.0 20.0) (float-vector -5.684342e-14 -9.0 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 -22.0) (float-vector -2.842171e-14 -9.0 -22.0) (float-vector -2.842171e-14 -9.0 -20.0) (float-vector -4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 20.0) (float-vector 4.5 -7.79423 22.0) (float-vector -5.684342e-14 -9.0 22.0) (float-vector -5.684342e-14 -9.0 20.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector -2.842171e-14 -9.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 7.79423 -4.5 22.0) (float-vector 4.5 -7.79423 22.0) (float-vector 4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 22.0) (float-vector 9.0 -5.684342e-14 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 0.0 9.0 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -5.684342e-14 -9.0 22.0) (float-vector 4.5 -7.79423 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 -5.684342e-14 22.0) (float-vector 7.79423 -4.5 22.0) (float-vector 7.79423 -4.5 20.0) (float-vector 9.0 -5.684342e-14 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 -22.0) (float-vector 9.0 0.0 -22.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector -2.842171e-14 -9.0 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector 0.0 9.0 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 7.79423 4.5 -22.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (setq blink7 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rarm-shoulder-r :weight 53 :centroid (float-vector -7.105427e-14 9.7052 -7.061466e-15) :inertia-tensor #2f((14133.3 -4.682678e-26 -1.764617e-26) (-4.682678e-26 8833.33 -3.088080e-27) (-1.764617e-26 -3.088080e-27 8833.33))))

     ;; definition of :lleg-crotch-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 24.0 24.0) (float-vector 10.0 24.0 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -25.0) (float-vector -10.0 25.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 24.0 -24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector 0.0 -10.0 -25.0) (float-vector 0.0 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 0.0 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 0.0 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector 0.0 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 0.0 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 25.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 0.0 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 24.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 -24.0) (float-vector 10.0 24.0 24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 24.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 24.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector 0.0 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 24.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 25.0 45.0 -10.0) (float-vector 25.0 20.0 -10.0) (float-vector -25.0 20.0 -10.0) (float-vector -25.0 45.0 -10.0) (float-vector -24.0 45.0 -10.0) (float-vector -24.0 21.0 -10.0) (float-vector 24.0 21.0 -10.0) (float-vector 24.0 45.0 -10.0)))
         (instance face :init :vertices (list (float-vector 25.0 20.0 10.0) (float-vector -25.0 20.0 10.0) (float-vector -25.0 20.0 -10.0) (float-vector 25.0 20.0 -10.0)))
         (instance face :init :vertices (list (float-vector 25.0 45.0 10.0) (float-vector 24.0 45.0 10.0) (float-vector 24.0 21.0 10.0) (float-vector -24.0 21.0 10.0) (float-vector -24.0 45.0 10.0) (float-vector -25.0 45.0 10.0) (float-vector -25.0 20.0 10.0) (float-vector 25.0 20.0 10.0)))
         (instance face :init :vertices (list (float-vector -25.0 52.0711 7.07107) (float-vector -25.0 45.0 10.0) (float-vector -24.0 45.0 10.0) (float-vector -24.0 52.0711 7.07107)))
         (instance face :init :vertices (list (float-vector 25.0 52.0711 7.07107) (float-vector 24.0 52.0711 7.07107) (float-vector 24.0 45.0 10.0) (float-vector 25.0 45.0 10.0)))
         (instance face :init :vertices (list (float-vector -25.0 55.0 1.421085e-14) (float-vector -25.0 52.0711 7.07107) (float-vector -24.0 52.0711 7.07107) (float-vector -24.0 55.0 1.421085e-14)))
         (instance face :init :vertices (list (float-vector 25.0 55.0 0.0) (float-vector 24.0 55.0 0.0) (float-vector 24.0 52.0711 7.07107) (float-vector 25.0 52.0711 7.07107)))
         (instance face :init :vertices (list (float-vector -25.0 52.0711 -7.07107) (float-vector -25.0 55.0 1.421085e-14) (float-vector -24.0 55.0 1.421085e-14) (float-vector -24.0 52.0711 -7.07107)))
         (instance face :init :vertices (list (float-vector 25.0 52.0711 -7.07107) (float-vector 24.0 52.0711 -7.07107) (float-vector 24.0 55.0 0.0) (float-vector 25.0 55.0 0.0)))
         (instance face :init :vertices (list (float-vector -25.0 45.0 -10.0) (float-vector -25.0 20.0 -10.0) (float-vector -25.0 20.0 10.0) (float-vector -25.0 45.0 10.0) (float-vector -25.0 52.0711 7.07107) (float-vector -25.0 55.0 1.421085e-14) (float-vector -25.0 52.0711 -7.07107)))
         (instance face :init :vertices (list (float-vector 25.0 52.0711 -7.07107) (float-vector 25.0 55.0 0.0) (float-vector 25.0 52.0711 7.07107) (float-vector 25.0 45.0 10.0) (float-vector 25.0 20.0 10.0) (float-vector 25.0 20.0 -10.0) (float-vector 25.0 45.0 -10.0)))
         (instance face :init :vertices (list (float-vector -25.0 52.0711 -7.07107) (float-vector -24.0 52.0711 -7.07107) (float-vector -24.0 45.0 -10.0) (float-vector -25.0 45.0 -10.0)))
         (instance face :init :vertices (list (float-vector 25.0 45.0 -10.0) (float-vector 24.0 45.0 -10.0) (float-vector 24.0 52.0711 -7.07107) (float-vector 25.0 52.0711 -7.07107)))
         (instance face :init :vertices (list (float-vector -24.0 21.0 -10.0) (float-vector -24.0 45.0 -10.0) (float-vector -24.0 52.0711 -7.07107) (float-vector -24.0 55.0 1.421085e-14) (float-vector -24.0 52.0711 7.07107) (float-vector -24.0 45.0 10.0) (float-vector -24.0 21.0 10.0)))
         (instance face :init :vertices (list (float-vector 24.0 21.0 -10.0) (float-vector -24.0 21.0 -10.0) (float-vector -24.0 21.0 10.0) (float-vector 24.0 21.0 10.0)))
         (instance face :init :vertices (list (float-vector 24.0 21.0 10.0) (float-vector 24.0 45.0 10.0) (float-vector 24.0 52.0711 7.07107) (float-vector 24.0 55.0 0.0) (float-vector 24.0 52.0711 -7.07107) (float-vector 24.0 45.0 -10.0) (float-vector 24.0 21.0 -10.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink8 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-crotch-y :weight 12.1114 :centroid (float-vector 3.370167e-14 22.5 3.236158e-15) :inertia-tensor #2f((4916.52 5.217192e-13 5.273932e-13) (5.217192e-13 5557.76 2.210915e-13) (5.273932e-13 2.210915e-13 4916.52))))

     ;; definition of :lleg-crotch-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -10.0 20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 30.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector -10.0 30.0 20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0) (float-vector 10.0 30.0 20.0) (float-vector -10.0 30.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 4.5 -7.79423 20.0) (float-vector -1.421085e-14 -9.0 20.0) (float-vector -4.5 -7.79423 20.0) (float-vector -7.79423 -4.5 20.0) (float-vector -9.0 0.0 20.0) (float-vector -7.79423 4.5 20.0) (float-vector -4.5 7.79423 20.0) (float-vector 1.421085e-14 9.0 20.0) (float-vector 4.5 7.79423 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 9.0 -1.421085e-14 20.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 -10.0 20.0) (float-vector -10.0 -10.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 -10.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector 10.0 30.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.5 -7.79423 -20.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 1.421085e-14 9.0 -20.0) (float-vector -4.5 7.79423 -20.0) (float-vector -7.79423 4.5 -20.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -1.421085e-14 -9.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector 9.0 -1.421085e-14 22.0) (float-vector 9.0 -1.421085e-14 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 7.79423 4.5 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -20.0) (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 4.5 -22.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 20.0) (float-vector 4.5 7.79423 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 4.5 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 4.5 7.79423 -20.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 1.421085e-14 9.0 20.0) (float-vector 1.421085e-14 9.0 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 -22.0) (float-vector 1.421085e-14 9.0 -22.0) (float-vector 1.421085e-14 9.0 -20.0) (float-vector 4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 20.0) (float-vector -4.5 7.79423 22.0) (float-vector 1.421085e-14 9.0 22.0) (float-vector 1.421085e-14 9.0 20.0)))
         (instance face :init :vertices (list (float-vector 1.421085e-14 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 1.421085e-14 9.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 20.0) (float-vector -7.79423 4.5 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -7.79423 4.5 -20.0) (float-vector -4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 0.0 20.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 20.0) (float-vector -7.79423 -4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -9.0 0.0 20.0)))
         (instance face :init :vertices (list (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -9.0 0.0 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 20.0) (float-vector -4.5 -7.79423 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -7.79423 -4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -1.421085e-14 -9.0 20.0) (float-vector -1.421085e-14 -9.0 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 -22.0) (float-vector -1.421085e-14 -9.0 -22.0) (float-vector -1.421085e-14 -9.0 -20.0) (float-vector -4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 20.0) (float-vector 4.5 -7.79423 22.0) (float-vector -1.421085e-14 -9.0 22.0) (float-vector -1.421085e-14 -9.0 20.0)))
         (instance face :init :vertices (list (float-vector -1.421085e-14 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector -1.421085e-14 -9.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 7.79423 -4.5 22.0) (float-vector 4.5 -7.79423 22.0) (float-vector 4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 22.0) (float-vector 9.0 -1.421085e-14 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 1.421085e-14 9.0 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -1.421085e-14 -9.0 22.0) (float-vector 4.5 -7.79423 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 -1.421085e-14 22.0) (float-vector 7.79423 -4.5 22.0) (float-vector 7.79423 -4.5 20.0) (float-vector 9.0 -1.421085e-14 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 -22.0) (float-vector 9.0 0.0 -22.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector -1.421085e-14 -9.0 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector 1.421085e-14 9.0 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 7.79423 4.5 -22.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 40.0 45.0 -5.0) (float-vector 40.0 45.0 5.0) (float-vector -1.421085e-14 45.0 35.0) (float-vector -40.0 45.0 35.0) (float-vector -60.0 45.0 15.0) (float-vector -60.0 45.0 -15.0) (float-vector -40.0 45.0 -35.0) (float-vector -2.842171e-14 45.0 -35.0)))
         (instance face :init :vertices (list (float-vector 40.0 50.0 5.0) (float-vector 40.0 50.0 -5.0) (float-vector -2.842171e-14 50.0 -35.0) (float-vector -40.0 50.0 -35.0) (float-vector -60.0 50.0 -15.0) (float-vector -60.0 50.0 15.0) (float-vector -40.0 50.0 35.0) (float-vector -1.421085e-14 50.0 35.0)))
         (instance face :init :vertices (list (float-vector 40.0 45.0 -5.0) (float-vector 40.0 50.0 -5.0) (float-vector 40.0 50.0 5.0) (float-vector 40.0 45.0 5.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 45.0 -35.0) (float-vector -2.842171e-14 50.0 -35.0) (float-vector 40.0 50.0 -5.0) (float-vector 40.0 45.0 -5.0)))
         (instance face :init :vertices (list (float-vector -40.0 45.0 -35.0) (float-vector -40.0 50.0 -35.0) (float-vector -2.842171e-14 50.0 -35.0) (float-vector -2.842171e-14 45.0 -35.0)))
         (instance face :init :vertices (list (float-vector -60.0 45.0 -15.0) (float-vector -60.0 50.0 -15.0) (float-vector -40.0 50.0 -35.0) (float-vector -40.0 45.0 -35.0)))
         (instance face :init :vertices (list (float-vector -60.0 45.0 15.0) (float-vector -60.0 50.0 15.0) (float-vector -60.0 50.0 -15.0) (float-vector -60.0 45.0 -15.0)))
         (instance face :init :vertices (list (float-vector -40.0 45.0 35.0) (float-vector -40.0 50.0 35.0) (float-vector -60.0 50.0 15.0) (float-vector -60.0 45.0 15.0)))
         (instance face :init :vertices (list (float-vector -1.421085e-14 45.0 35.0) (float-vector -1.421085e-14 50.0 35.0) (float-vector -40.0 50.0 35.0) (float-vector -40.0 45.0 35.0)))
         (instance face :init :vertices (list (float-vector 40.0 45.0 5.0) (float-vector 40.0 50.0 5.0) (float-vector -1.421085e-14 50.0 35.0) (float-vector -1.421085e-14 45.0 35.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :yellow)
     (setq blink9 (instance bodyset-link :init (make-cascoords) :bodies bc :name :lleg-crotch-p :weight 63 :centroid (float-vector -2.37115 15.7044 2.501738e-15) :inertia-tensor #2f((16040.8 753.923 9.982515e-13) (753.923 9131.32 -1.036905e-12) (9.982515e-13 -1.036905e-12 11038.8))))

     ;; definition of :larm-shoulder-y
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 0.0 25.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 24.0 24.0) (float-vector 10.0 24.0 -24.0) (float-vector 10.0 0.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 25.0 -25.0) (float-vector -10.0 25.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector 10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -10.0 0.0 -25.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 24.0 -24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 25.0 -25.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 25.0) (float-vector -10.0 0.0 25.0) (float-vector -10.0 0.0 24.0) (float-vector -7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector -7.07107 -7.07107 -25.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector -3.155444e-30 -10.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -3.155444e-30 -10.0 24.0)))
         (instance face :init :vertices (list (float-vector -3.155444e-30 -10.0 -25.0) (float-vector -3.155444e-30 -10.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector -3.155444e-30 -10.0 25.0) (float-vector -3.155444e-30 -10.0 24.0) (float-vector 7.07107 -7.07107 24.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector -3.155444e-30 -10.0 -24.0) (float-vector -3.155444e-30 -10.0 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 25.0) (float-vector 10.0 25.0 25.0) (float-vector -10.0 25.0 25.0) (float-vector -10.0 0.0 25.0) (float-vector -7.07107 -7.07107 25.0) (float-vector -3.155444e-30 -10.0 25.0) (float-vector 7.07107 -7.07107 25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 -25.0) (float-vector -3.155444e-30 -10.0 -25.0) (float-vector -7.07107 -7.07107 -25.0) (float-vector -10.0 0.0 -25.0) (float-vector -10.0 25.0 -25.0) (float-vector 10.0 25.0 -25.0) (float-vector 10.0 0.0 -25.0)))
         (instance face :init :vertices (list (float-vector 7.07107 -7.07107 25.0) (float-vector 7.07107 -7.07107 24.0) (float-vector 10.0 0.0 24.0) (float-vector 10.0 0.0 25.0)))
         (instance face :init :vertices (list (float-vector 10.0 0.0 -25.0) (float-vector 10.0 0.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 7.07107 -7.07107 -25.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 24.0) (float-vector 10.0 0.0 24.0) (float-vector 7.07107 -7.07107 24.0) (float-vector -3.155444e-30 -10.0 24.0) (float-vector -7.07107 -7.07107 24.0) (float-vector -10.0 0.0 24.0) (float-vector -10.0 24.0 24.0)))
         (instance face :init :vertices (list (float-vector 10.0 24.0 -24.0) (float-vector 10.0 24.0 24.0) (float-vector -10.0 24.0 24.0) (float-vector -10.0 24.0 -24.0)))
         (instance face :init :vertices (list (float-vector -10.0 24.0 -24.0) (float-vector -10.0 0.0 -24.0) (float-vector -7.07107 -7.07107 -24.0) (float-vector -3.155444e-30 -10.0 -24.0) (float-vector 7.07107 -7.07107 -24.0) (float-vector 10.0 0.0 -24.0) (float-vector 10.0 24.0 -24.0)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -25.0 50.0 10.0) (float-vector -25.0 25.0 10.0) (float-vector 25.0 25.0 10.0) (float-vector 25.0 50.0 10.0) (float-vector 24.0 50.0 10.0) (float-vector 24.0 26.0 10.0) (float-vector -24.0 26.0 10.0) (float-vector -24.0 50.0 10.0)))
         (instance face :init :vertices (list (float-vector -25.0 25.0 -10.0) (float-vector 25.0 25.0 -10.0) (float-vector 25.0 25.0 10.0) (float-vector -25.0 25.0 10.0)))
         (instance face :init :vertices (list (float-vector -25.0 50.0 -10.0) (float-vector -24.0 50.0 -10.0) (float-vector -24.0 26.0 -10.0) (float-vector 24.0 26.0 -10.0) (float-vector 24.0 50.0 -10.0) (float-vector 25.0 50.0 -10.0) (float-vector 25.0 25.0 -10.0) (float-vector -25.0 25.0 -10.0)))
         (instance face :init :vertices (list (float-vector 25.0 57.0711 -7.07107) (float-vector 25.0 50.0 -10.0) (float-vector 24.0 50.0 -10.0) (float-vector 24.0 57.0711 -7.07107)))
         (instance face :init :vertices (list (float-vector -25.0 57.0711 -7.07107) (float-vector -24.0 57.0711 -7.07107) (float-vector -24.0 50.0 -10.0) (float-vector -25.0 50.0 -10.0)))
         (instance face :init :vertices (list (float-vector 25.0 60.0 0.0) (float-vector 25.0 57.0711 -7.07107) (float-vector 24.0 57.0711 -7.07107) (float-vector 24.0 60.0 0.0)))
         (instance face :init :vertices (list (float-vector -25.0 60.0 0.0) (float-vector -24.0 60.0 0.0) (float-vector -24.0 57.0711 -7.07107) (float-vector -25.0 57.0711 -7.07107)))
         (instance face :init :vertices (list (float-vector 25.0 57.0711 7.07107) (float-vector 25.0 60.0 0.0) (float-vector 24.0 60.0 0.0) (float-vector 24.0 57.0711 7.07107)))
         (instance face :init :vertices (list (float-vector -25.0 57.0711 7.07107) (float-vector -24.0 57.0711 7.07107) (float-vector -24.0 60.0 0.0) (float-vector -25.0 60.0 0.0)))
         (instance face :init :vertices (list (float-vector 25.0 50.0 10.0) (float-vector 25.0 25.0 10.0) (float-vector 25.0 25.0 -10.0) (float-vector 25.0 50.0 -10.0) (float-vector 25.0 57.0711 -7.07107) (float-vector 25.0 60.0 0.0) (float-vector 25.0 57.0711 7.07107)))
         (instance face :init :vertices (list (float-vector -25.0 57.0711 7.07107) (float-vector -25.0 60.0 0.0) (float-vector -25.0 57.0711 -7.07107) (float-vector -25.0 50.0 -10.0) (float-vector -25.0 25.0 -10.0) (float-vector -25.0 25.0 10.0) (float-vector -25.0 50.0 10.0)))
         (instance face :init :vertices (list (float-vector 25.0 57.0711 7.07107) (float-vector 24.0 57.0711 7.07107) (float-vector 24.0 50.0 10.0) (float-vector 25.0 50.0 10.0)))
         (instance face :init :vertices (list (float-vector -25.0 50.0 10.0) (float-vector -24.0 50.0 10.0) (float-vector -24.0 57.0711 7.07107) (float-vector -25.0 57.0711 7.07107)))
         (instance face :init :vertices (list (float-vector 24.0 26.0 10.0) (float-vector 24.0 50.0 10.0) (float-vector 24.0 57.0711 7.07107) (float-vector 24.0 60.0 0.0) (float-vector 24.0 57.0711 -7.07107) (float-vector 24.0 50.0 -10.0) (float-vector 24.0 26.0 -10.0)))
         (instance face :init :vertices (list (float-vector -24.0 26.0 10.0) (float-vector 24.0 26.0 10.0) (float-vector 24.0 26.0 -10.0) (float-vector -24.0 26.0 -10.0)))
         (instance face :init :vertices (list (float-vector -24.0 26.0 -10.0) (float-vector -24.0 50.0 -10.0) (float-vector -24.0 57.0711 -7.07107) (float-vector -24.0 60.0 0.0) (float-vector -24.0 57.0711 7.07107) (float-vector -24.0 50.0 10.0) (float-vector -24.0 26.0 10.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (send (elt bc 1) :set-color :gray90)
     (setq blink4 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-shoulder-y :weight 12.1114 :centroid (float-vector -3.282795e-15 25.0 4.064602e-15) :inertia-tensor #2f((5412.93 -1.525585e-13 1.269990e-29) (-1.525585e-13 5557.76 3.426502e-13) (1.269990e-29 3.426502e-13 5412.93))))

     ;; definition of :larm-shoulder-r
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -10.0 20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 30.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector -10.0 30.0 20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0) (float-vector 10.0 30.0 20.0) (float-vector -10.0 30.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 4.5 -7.79423 20.0) (float-vector -2.842171e-14 -9.0 20.0) (float-vector -4.5 -7.79423 20.0) (float-vector -7.79423 -4.5 20.0) (float-vector -9.0 0.0 20.0) (float-vector -7.79423 4.5 20.0) (float-vector -4.5 7.79423 20.0) (float-vector 0.0 9.0 20.0) (float-vector 4.5 7.79423 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 9.0 0.0 20.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 -10.0 20.0) (float-vector -10.0 -10.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 -10.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector 10.0 30.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.5 -7.79423 -20.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 0.0 9.0 -20.0) (float-vector -4.5 7.79423 -20.0) (float-vector -7.79423 4.5 -20.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -4.5 -7.79423 -20.0) (float-vector 0.0 -9.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector 9.0 0.0 22.0) (float-vector 9.0 0.0 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 7.79423 4.5 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -20.0) (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 4.5 -22.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 20.0) (float-vector 4.5 7.79423 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 4.5 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 4.5 7.79423 -20.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 0.0 9.0 20.0) (float-vector 0.0 9.0 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 -22.0) (float-vector 2.842171e-14 9.0 -22.0) (float-vector 0.0 9.0 -20.0) (float-vector 4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 20.0) (float-vector -4.5 7.79423 22.0) (float-vector 0.0 9.0 22.0) (float-vector 0.0 9.0 20.0)))
         (instance face :init :vertices (list (float-vector 2.842171e-14 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 0.0 9.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 20.0) (float-vector -7.79423 4.5 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -7.79423 4.5 -20.0) (float-vector -4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 0.0 20.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -9.0 0.0 -20.0) (float-vector -7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 20.0) (float-vector -7.79423 -4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -9.0 0.0 20.0)))
         (instance face :init :vertices (list (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -9.0 0.0 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 20.0) (float-vector -4.5 -7.79423 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -7.79423 -4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -2.842171e-14 -9.0 20.0) (float-vector -2.842171e-14 -9.0 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 -22.0) (float-vector 0.0 -9.0 -22.0) (float-vector 0.0 -9.0 -20.0) (float-vector -4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 20.0) (float-vector 4.5 -7.79423 22.0) (float-vector -2.842171e-14 -9.0 22.0) (float-vector -2.842171e-14 -9.0 20.0)))
         (instance face :init :vertices (list (float-vector 0.0 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector 0.0 -9.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 7.79423 -4.5 22.0) (float-vector 4.5 -7.79423 22.0) (float-vector 4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 22.0) (float-vector 9.0 0.0 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 0.0 9.0 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -9.0 0.0 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -2.842171e-14 -9.0 22.0) (float-vector 4.5 -7.79423 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 22.0) (float-vector 7.79423 -4.5 22.0) (float-vector 7.79423 -4.5 20.0) (float-vector 9.0 0.0 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 -22.0) (float-vector 9.0 0.0 -22.0) (float-vector 9.0 0.0 -20.0) (float-vector 7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 0.0 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 0.0 -9.0 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -9.0 0.0 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector 2.842171e-14 9.0 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 7.79423 4.5 -22.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (setq blink5 (instance bodyset-link :init (make-cascoords) :bodies bc :name :larm-shoulder-r :weight 53 :centroid (float-vector 7.105427e-15 9.7052 1.765366e-15) :inertia-tensor #2f((14133.3 -2.871799e-27 6.362489e-29) (-2.871799e-27 8833.33 6.362489e-29) (6.362489e-29 6.362489e-29 8833.33))))

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

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

     ;; definition of :head-neck-p
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 10.0 -10.0 20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 30.0 -20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 30.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector -10.0 30.0 20.0) (float-vector 10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 30.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 -10.0 20.0) (float-vector -10.0 30.0 20.0)))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 20.0) (float-vector 10.0 -10.0 20.0) (float-vector 10.0 30.0 20.0) (float-vector -10.0 30.0 20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 4.5 -7.79423 20.0) (float-vector 0.0 -9.0 20.0) (float-vector -4.5 -7.79423 20.0) (float-vector -7.79423 -4.5 20.0) (float-vector -9.0 8.437695e-15 20.0) (float-vector -7.79423 4.5 20.0) (float-vector -4.5 7.79423 20.0) (float-vector 0.0 9.0 20.0) (float-vector 4.5 7.79423 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 9.0 -5.329071e-15 20.0)))
))
         (instance face :init :vertices (list (float-vector -10.0 -10.0 -20.0) (float-vector 10.0 -10.0 -20.0) (float-vector 10.0 -10.0 20.0) (float-vector -10.0 -10.0 20.0)))
         (instance face :init :vertices (list (float-vector 10.0 -10.0 -20.0) (float-vector -10.0 -10.0 -20.0) (float-vector -10.0 30.0 -20.0) (float-vector 10.0 30.0 -20.0))
                              :holes (list
         (instance hole :init :vertices (list (float-vector 4.5 -7.79423 -20.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 9.0 1.332268e-15 -20.0) (float-vector 7.79423 4.5 -20.0) (float-vector 4.5 7.79423 -20.0) (float-vector 0.0 9.0 -20.0) (float-vector -4.5 7.79423 -20.0) (float-vector -7.79423 4.5 -20.0) (float-vector -9.0 1.509903e-14 -20.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -4.5 -7.79423 -20.0) (float-vector 0.0 -9.0 -20.0)))
))
         (instance face :init :vertices (list (float-vector 9.0 -5.662137e-15 22.0) (float-vector 9.0 -5.329071e-15 20.0) (float-vector 7.79423 4.5 20.0) (float-vector 7.79423 4.5 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 1.332268e-15 -20.0) (float-vector 9.0 1.665335e-15 -22.0) (float-vector 7.79423 4.5 -22.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 20.0) (float-vector 4.5 7.79423 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 4.5 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 4.5 7.79423 -20.0) (float-vector 7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 0.0 9.0 20.0) (float-vector 0.0 9.0 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 7.79423 -22.0) (float-vector 0.0 9.0 -22.0) (float-vector 0.0 9.0 -20.0) (float-vector 4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 20.0) (float-vector -4.5 7.79423 22.0) (float-vector 0.0 9.0 22.0) (float-vector 0.0 9.0 20.0)))
         (instance face :init :vertices (list (float-vector 0.0 9.0 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector -4.5 7.79423 -20.0) (float-vector 0.0 9.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 20.0) (float-vector -7.79423 4.5 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -4.5 7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 7.79423 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -7.79423 4.5 -20.0) (float-vector -4.5 7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector -9.0 8.437695e-15 20.0) (float-vector -9.0 8.104628e-15 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -7.79423 4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 4.5 -22.0) (float-vector -9.0 1.543210e-14 -22.0) (float-vector -9.0 1.509903e-14 -20.0) (float-vector -7.79423 4.5 -20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 20.0) (float-vector -7.79423 -4.5 22.0) (float-vector -9.0 8.104628e-15 22.0) (float-vector -9.0 8.437695e-15 20.0)))
         (instance face :init :vertices (list (float-vector -9.0 1.543210e-14 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -7.79423 -4.5 -20.0) (float-vector -9.0 1.509903e-14 -20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 20.0) (float-vector -4.5 -7.79423 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -7.79423 -4.5 20.0)))
         (instance face :init :vertices (list (float-vector -7.79423 -4.5 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -4.5 -7.79423 -20.0) (float-vector -7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 0.0 -9.0 20.0) (float-vector 0.0 -9.0 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector -4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector -4.5 -7.79423 -22.0) (float-vector 0.0 -9.0 -22.0) (float-vector 0.0 -9.0 -20.0) (float-vector -4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 20.0) (float-vector 4.5 -7.79423 22.0) (float-vector 0.0 -9.0 22.0) (float-vector 0.0 -9.0 20.0)))
         (instance face :init :vertices (list (float-vector 0.0 -9.0 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 4.5 -7.79423 -20.0) (float-vector 0.0 -9.0 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 20.0) (float-vector 7.79423 -4.5 22.0) (float-vector 4.5 -7.79423 22.0) (float-vector 4.5 -7.79423 20.0)))
         (instance face :init :vertices (list (float-vector 4.5 -7.79423 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 7.79423 -4.5 -20.0) (float-vector 4.5 -7.79423 -20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 22.0) (float-vector 9.0 -5.662137e-15 22.0) (float-vector 7.79423 4.5 22.0) (float-vector 4.5 7.79423 22.0) (float-vector 0.0 9.0 22.0) (float-vector -4.5 7.79423 22.0) (float-vector -7.79423 4.5 22.0) (float-vector -9.0 8.104628e-15 22.0) (float-vector -7.79423 -4.5 22.0) (float-vector -4.5 -7.79423 22.0) (float-vector 0.0 -9.0 22.0) (float-vector 4.5 -7.79423 22.0)))
         (instance face :init :vertices (list (float-vector 9.0 -5.662137e-15 22.0) (float-vector 7.79423 -4.5 22.0) (float-vector 7.79423 -4.5 20.0) (float-vector 9.0 -5.329071e-15 20.0)))
         (instance face :init :vertices (list (float-vector 7.79423 -4.5 -22.0) (float-vector 9.0 1.665335e-15 -22.0) (float-vector 9.0 1.332268e-15 -20.0) (float-vector 7.79423 -4.5 -20.0)))
         (instance face :init :vertices (list (float-vector 9.0 1.665335e-15 -22.0) (float-vector 7.79423 -4.5 -22.0) (float-vector 4.5 -7.79423 -22.0) (float-vector 0.0 -9.0 -22.0) (float-vector -4.5 -7.79423 -22.0) (float-vector -7.79423 -4.5 -22.0) (float-vector -9.0 1.543210e-14 -22.0) (float-vector -7.79423 4.5 -22.0) (float-vector -4.5 7.79423 -22.0) (float-vector 0.0 9.0 -22.0) (float-vector 4.5 7.79423 -22.0) (float-vector 7.79423 4.5 -22.0)))
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         (instance face :init :vertices (list (float-vector -19.5 -6.162331e-15 16.85) (float-vector -20.2369 -2.75 16.85) (float-vector -20.2369 -2.75 14.85) (float-vector -19.5 -5.274152e-15 14.85)))
         (instance face :init :vertices (list (float-vector -20.2369 -2.75 -16.85) (float-vector -19.5 8.803476e-15 -16.85) (float-vector -19.5 7.915297e-15 -14.85) (float-vector -20.2369 -2.75 -14.85)))
         (instance face :init :vertices (list (float-vector -19.5 8.803476e-15 -16.85) (float-vector -20.2369 -2.75 -16.85) (float-vector -22.25 -4.76314 -16.85) (float-vector -25.0 -5.5 -16.85) (float-vector -27.75 -4.76314 -16.85) (float-vector -29.7631 -2.75 -16.85) (float-vector -30.5 1.607544e-14 -16.85) (float-vector -29.7631 2.75 -16.85) (float-vector -27.75 4.76314 -16.85) (float-vector -25.0 5.5 -16.85) (float-vector -22.25 4.76314 -16.85) (float-vector -20.2369 2.75 -16.85)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -35.0 -63.0 -25.9808) (float-vector -35.0 -78.0 -30.0) (float-vector -35.0 -93.0 -25.9808) (float-vector -35.0 -103.981 -15.0) (float-vector -35.0 -108.0 -3.818820e-14) (float-vector -35.0 -103.981 15.0) (float-vector -35.0 -93.0 25.9808) (float-vector -35.0 -78.0 30.0) (float-vector -35.0 -63.0 25.9808) (float-vector -35.0 -52.0192 15.0) (float-vector -35.0 -48.0 2.864723e-14) (float-vector -35.0 -52.0192 -15.0)))
         (instance face :init :vertices (list (float-vector -25.0 -78.0 -30.0) (float-vector -25.0 -63.0 -25.9808) (float-vector -25.0 -52.0192 -15.0) (float-vector -25.0 -48.0 2.492883e-14) (float-vector -25.0 -52.0192 15.0) (float-vector -25.0 -63.0 25.9808) (float-vector -25.0 -78.0 30.0) (float-vector -25.0 -93.0 25.9808) (float-vector -25.0 -103.981 15.0) (float-vector -25.0 -108.0 -4.190659e-14) (float-vector -25.0 -103.981 -15.0) (float-vector -25.0 -93.0 -25.9808)))
         (instance face :init :vertices (list (float-vector -35.0 -63.0 -25.9808) (float-vector -25.0 -63.0 -25.9808) (float-vector -25.0 -78.0 -30.0) (float-vector -35.0 -78.0 -30.0)))
         (instance face :init :vertices (list (float-vector -35.0 -52.0192 -15.0) (float-vector -25.0 -52.0192 -15.0) (float-vector -25.0 -63.0 -25.9808) (float-vector -35.0 -63.0 -25.9808)))
         (instance face :init :vertices (list (float-vector -35.0 -48.0 2.864723e-14) (float-vector -25.0 -48.0 2.492883e-14) (float-vector -25.0 -52.0192 -15.0) (float-vector -35.0 -52.0192 -15.0)))
         (instance face :init :vertices (list (float-vector -35.0 -52.0192 15.0) (float-vector -25.0 -52.0192 15.0) (float-vector -25.0 -48.0 2.492883e-14) (float-vector -35.0 -48.0 2.864723e-14)))
         (instance face :init :vertices (list (float-vector -35.0 -63.0 25.9808) (float-vector -25.0 -63.0 25.9808) (float-vector -25.0 -52.0192 15.0) (float-vector -35.0 -52.0192 15.0)))
         (instance face :init :vertices (list (float-vector -35.0 -78.0 30.0) (float-vector -25.0 -78.0 30.0) (float-vector -25.0 -63.0 25.9808) (float-vector -35.0 -63.0 25.9808)))
         (instance face :init :vertices (list (float-vector -35.0 -93.0 25.9808) (float-vector -25.0 -93.0 25.9808) (float-vector -25.0 -78.0 30.0) (float-vector -35.0 -78.0 30.0)))
         (instance face :init :vertices (list (float-vector -35.0 -103.981 15.0) (float-vector -25.0 -103.981 15.0) (float-vector -25.0 -93.0 25.9808) (float-vector -35.0 -93.0 25.9808)))
         (instance face :init :vertices (list (float-vector -35.0 -108.0 -3.818820e-14) (float-vector -25.0 -108.0 -4.190659e-14) (float-vector -25.0 -103.981 15.0) (float-vector -35.0 -103.981 15.0)))
         (instance face :init :vertices (list (float-vector -35.0 -103.981 -15.0) (float-vector -25.0 -103.981 -15.0) (float-vector -25.0 -108.0 -4.190659e-14) (float-vector -35.0 -108.0 -3.818820e-14)))
         (instance face :init :vertices (list (float-vector -35.0 -93.0 -25.9808) (float-vector -25.0 -93.0 -25.9808) (float-vector -25.0 -103.981 -15.0) (float-vector -35.0 -103.981 -15.0)))
         (instance face :init :vertices (list (float-vector -35.0 -78.0 -30.0) (float-vector -25.0 -78.0 -30.0) (float-vector -25.0 -93.0 -25.9808) (float-vector -35.0 -93.0 -25.9808)))
       ))
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector -23.0 -64.0 -24.2487) (float-vector -23.0 -78.0 -28.0) (float-vector -23.0 -92.0 -24.2487) (float-vector -23.0 -102.249 -14.0) (float-vector -23.0 -106.0 -4.429968e-14) (float-vector -23.0 -102.249 14.0) (float-vector -23.0 -92.0 24.2487) (float-vector -23.0 -78.0 28.0) (float-vector -23.0 -64.0 24.2487) (float-vector -23.0 -53.7513 14.0) (float-vector -23.0 -50.0 2.364597e-14) (float-vector -23.0 -53.7513 -14.0)))
         (instance face :init :vertices (list (float-vector -13.0 -78.0 -28.0) (float-vector -13.0 -64.0 -24.2487) (float-vector -13.0 -53.7513 -14.0) (float-vector -13.0 -50.0 1.942009e-14) (float-vector -13.0 -53.7513 14.0) (float-vector -13.0 -64.0 24.2487) (float-vector -13.0 -78.0 28.0) (float-vector -13.0 -92.0 24.2487) (float-vector -13.0 -102.249 14.0) (float-vector -13.0 -106.0 -4.852556e-14) (float-vector -13.0 -102.249 -14.0) (float-vector -13.0 -92.0 -24.2487)))
         (instance face :init :vertices (list (float-vector -23.0 -64.0 -24.2487) (float-vector -13.0 -64.0 -24.2487) (float-vector -13.0 -78.0 -28.0) (float-vector -23.0 -78.0 -28.0)))
         (instance face :init :vertices (list (float-vector -23.0 -53.7513 -14.0) (float-vector -13.0 -53.7513 -14.0) (float-vector -13.0 -64.0 -24.2487) (float-vector -23.0 -64.0 -24.2487)))
         (instance face :init :vertices (list (float-vector -23.0 -50.0 2.364597e-14) (float-vector -13.0 -50.0 1.942009e-14) (float-vector -13.0 -53.7513 -14.0) (float-vector -23.0 -53.7513 -14.0)))
         (instance face :init :vertices (list (float-vector -23.0 -53.7513 14.0) (float-vector -13.0 -53.7513 14.0) (float-vector -13.0 -50.0 1.942009e-14) (float-vector -23.0 -50.0 2.364597e-14)))
         (instance face :init :vertices (list (float-vector -23.0 -64.0 24.2487) (float-vector -13.0 -64.0 24.2487) (float-vector -13.0 -53.7513 14.0) (float-vector -23.0 -53.7513 14.0)))
         (instance face :init :vertices (list (float-vector -23.0 -78.0 28.0) (float-vector -13.0 -78.0 28.0) (float-vector -13.0 -64.0 24.2487) (float-vector -23.0 -64.0 24.2487)))
         (instance face :init :vertices (list (float-vector -23.0 -92.0 24.2487) (float-vector -13.0 -92.0 24.2487) (float-vector -13.0 -78.0 28.0) (float-vector -23.0 -78.0 28.0)))
         (instance face :init :vertices (list (float-vector -23.0 -102.249 14.0) (float-vector -13.0 -102.249 14.0) (float-vector -13.0 -92.0 24.2487) (float-vector -23.0 -92.0 24.2487)))
         (instance face :init :vertices (list (float-vector -23.0 -106.0 -4.429968e-14) (float-vector -13.0 -106.0 -4.852556e-14) (float-vector -13.0 -102.249 14.0) (float-vector -23.0 -102.249 14.0)))
         (instance face :init :vertices (list (float-vector -23.0 -102.249 -14.0) (float-vector -13.0 -102.249 -14.0) (float-vector -13.0 -106.0 -4.852556e-14) (float-vector -23.0 -106.0 -4.429968e-14)))
         (instance face :init :vertices (list (float-vector -23.0 -92.0 -24.2487) (float-vector -13.0 -92.0 -24.2487) (float-vector -13.0 -102.249 -14.0) (float-vector -23.0 -102.249 -14.0)))
         (instance face :init :vertices (list (float-vector -23.0 -78.0 -28.0) (float-vector -13.0 -78.0 -28.0) (float-vector -13.0 -92.0 -24.2487) (float-vector -23.0 -92.0 -24.2487)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray40)
     (send (elt bc 1) :set-color :grey85)
     (send (elt bc 2) :set-color :grey85)
     (send (elt bc 3) :set-color :grey85)
     (send (elt bc 4) :set-color :gray40)
     (send (elt bc 5) :set-color :gray40)
     (send (elt bc 6) :set-color :gray40)
     (send (elt bc 7) :set-color :yellow)
     (send (elt bc 8) :set-color :yellow)
     (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-neck-p :weight 266 :centroid (float-vector -45.731 -14.6336 -3.693067e-14) :inertia-tensor #2f((1.048782e+05 -1.208009e+05 -4.347400e-11) (-1.208009e+05 2.497800e+05 -3.090198e-11) (-4.347400e-11 -3.090198e-11 3.040415e+05))))

     ;; definition of :head-mouth
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 7.5 0.0 -19.0) (float-vector 7.5 15.0 -19.0) (float-vector 7.5 15.0 19.0) (float-vector 7.5 0.0 19.0) (float-vector 7.5 0.0 18.0) (float-vector 7.5 14.0 18.0) (float-vector 7.5 14.0 -18.0) (float-vector 7.5 0.0 -18.0)))
         (instance face :init :vertices (list (float-vector -7.5 15.0 -19.0) (float-vector -7.5 15.0 19.0) (float-vector 7.5 15.0 19.0) (float-vector 7.5 15.0 -19.0)))
         (instance face :init :vertices (list (float-vector -7.5 0.0 -19.0) (float-vector -7.5 0.0 -18.0) (float-vector -7.5 14.0 -18.0) (float-vector -7.5 14.0 18.0) (float-vector -7.5 0.0 18.0) (float-vector -7.5 0.0 19.0) (float-vector -7.5 15.0 19.0) (float-vector -7.5 15.0 -19.0)))
         (instance face :init :vertices (list (float-vector -5.3033 -5.3033 19.0) (float-vector -7.5 0.0 19.0) (float-vector -7.5 0.0 18.0) (float-vector -5.3033 -5.3033 18.0)))
         (instance face :init :vertices (list (float-vector -5.3033 -5.3033 -19.0) (float-vector -5.3033 -5.3033 -18.0) (float-vector -7.5 0.0 -18.0) (float-vector -7.5 0.0 -19.0)))
         (instance face :init :vertices (list (float-vector 0.0 -7.5 19.0) (float-vector -5.3033 -5.3033 19.0) (float-vector -5.3033 -5.3033 18.0) (float-vector 0.0 -7.5 18.0)))
         (instance face :init :vertices (list (float-vector 0.0 -7.5 -19.0) (float-vector 0.0 -7.5 -18.0) (float-vector -5.3033 -5.3033 -18.0) (float-vector -5.3033 -5.3033 -19.0)))
         (instance face :init :vertices (list (float-vector 5.3033 -5.3033 19.0) (float-vector 0.0 -7.5 19.0) (float-vector 0.0 -7.5 18.0) (float-vector 5.3033 -5.3033 18.0)))
         (instance face :init :vertices (list (float-vector 5.3033 -5.3033 -19.0) (float-vector 5.3033 -5.3033 -18.0) (float-vector 0.0 -7.5 -18.0) (float-vector 0.0 -7.5 -19.0)))
         (instance face :init :vertices (list (float-vector 7.5 0.0 19.0) (float-vector 7.5 15.0 19.0) (float-vector -7.5 15.0 19.0) (float-vector -7.5 0.0 19.0) (float-vector -5.3033 -5.3033 19.0) (float-vector 0.0 -7.5 19.0) (float-vector 5.3033 -5.3033 19.0)))
         (instance face :init :vertices (list (float-vector 5.3033 -5.3033 -19.0) (float-vector 0.0 -7.5 -19.0) (float-vector -5.3033 -5.3033 -19.0) (float-vector -7.5 0.0 -19.0) (float-vector -7.5 15.0 -19.0) (float-vector 7.5 15.0 -19.0) (float-vector 7.5 0.0 -19.0)))
         (instance face :init :vertices (list (float-vector 5.3033 -5.3033 19.0) (float-vector 5.3033 -5.3033 18.0) (float-vector 7.5 0.0 18.0) (float-vector 7.5 0.0 19.0)))
         (instance face :init :vertices (list (float-vector 7.5 0.0 -19.0) (float-vector 7.5 0.0 -18.0) (float-vector 5.3033 -5.3033 -18.0) (float-vector 5.3033 -5.3033 -19.0)))
         (instance face :init :vertices (list (float-vector 7.5 14.0 18.0) (float-vector 7.5 0.0 18.0) (float-vector 5.3033 -5.3033 18.0) (float-vector 0.0 -7.5 18.0) (float-vector -5.3033 -5.3033 18.0) (float-vector -7.5 0.0 18.0) (float-vector -7.5 14.0 18.0)))
         (instance face :init :vertices (list (float-vector 7.5 14.0 -18.0) (float-vector 7.5 14.0 18.0) (float-vector -7.5 14.0 18.0) (float-vector -7.5 14.0 -18.0)))
         (instance face :init :vertices (list (float-vector -7.5 14.0 -18.0) (float-vector -7.5 0.0 -18.0) (float-vector -5.3033 -5.3033 -18.0) (float-vector 0.0 -7.5 -18.0) (float-vector 5.3033 -5.3033 -18.0) (float-vector 7.5 0.0 -18.0) (float-vector 7.5 14.0 -18.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (setq blink15 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-mouth :weight 3.10257 :centroid (float-vector 2.813749e-12 9.33329 3.275434e-14) :inertia-tensor #2f((876.37 5.293779e-17 -2.030239e-25) (5.293779e-17 778.627 -2.842171e-14) (-2.030239e-25 -2.842171e-14 214.089))))

     ;; definition of :head-brow-l
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 7.0 0.0 -21.0) (float-vector 7.0 17.0 -21.0) (float-vector 7.0 17.0 21.0) (float-vector 7.0 0.0 21.0) (float-vector 7.0 0.0 20.0) (float-vector 7.0 16.0 20.0) (float-vector 7.0 16.0 -20.0) (float-vector 7.0 0.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.0 17.0 -21.0) (float-vector -7.0 17.0 21.0) (float-vector 7.0 17.0 21.0) (float-vector 7.0 17.0 -21.0)))
         (instance face :init :vertices (list (float-vector -7.0 -3.552714e-15 -21.0) (float-vector -7.0 -3.552714e-15 -20.0) (float-vector -7.0 16.0 -20.0) (float-vector -7.0 16.0 20.0) (float-vector -7.0 -3.552714e-15 20.0) (float-vector -7.0 -3.552714e-15 21.0) (float-vector -7.0 17.0 21.0) (float-vector -7.0 17.0 -21.0)))
         (instance face :init :vertices (list (float-vector -4.94975 -4.94975 21.0) (float-vector -7.0 -3.552714e-15 21.0) (float-vector -7.0 -3.552714e-15 20.0) (float-vector -4.94975 -4.94975 20.0)))
         (instance face :init :vertices (list (float-vector -4.94975 -4.94975 -21.0) (float-vector -4.94975 -4.94975 -20.0) (float-vector -7.0 -3.552714e-15 -20.0) (float-vector -7.0 -3.552714e-15 -21.0)))
         (instance face :init :vertices (list (float-vector 0.0 -7.0 21.0) (float-vector -4.94975 -4.94975 21.0) (float-vector -4.94975 -4.94975 20.0) (float-vector 0.0 -7.0 20.0)))
         (instance face :init :vertices (list (float-vector 0.0 -7.0 -21.0) (float-vector 0.0 -7.0 -20.0) (float-vector -4.94975 -4.94975 -20.0) (float-vector -4.94975 -4.94975 -21.0)))
         (instance face :init :vertices (list (float-vector 4.94975 -4.94975 21.0) (float-vector 0.0 -7.0 21.0) (float-vector 0.0 -7.0 20.0) (float-vector 4.94975 -4.94975 20.0)))
         (instance face :init :vertices (list (float-vector 4.94975 -4.94975 -21.0) (float-vector 4.94975 -4.94975 -20.0) (float-vector 0.0 -7.0 -20.0) (float-vector 0.0 -7.0 -21.0)))
         (instance face :init :vertices (list (float-vector 7.0 0.0 21.0) (float-vector 7.0 17.0 21.0) (float-vector -7.0 17.0 21.0) (float-vector -7.0 -3.552714e-15 21.0) (float-vector -4.94975 -4.94975 21.0) (float-vector 0.0 -7.0 21.0) (float-vector 4.94975 -4.94975 21.0)))
         (instance face :init :vertices (list (float-vector 4.94975 -4.94975 -21.0) (float-vector 0.0 -7.0 -21.0) (float-vector -4.94975 -4.94975 -21.0) (float-vector -7.0 -3.552714e-15 -21.0) (float-vector -7.0 17.0 -21.0) (float-vector 7.0 17.0 -21.0) (float-vector 7.0 0.0 -21.0)))
         (instance face :init :vertices (list (float-vector 4.94975 -4.94975 21.0) (float-vector 4.94975 -4.94975 20.0) (float-vector 7.0 0.0 20.0) (float-vector 7.0 0.0 21.0)))
         (instance face :init :vertices (list (float-vector 7.0 0.0 -21.0) (float-vector 7.0 0.0 -20.0) (float-vector 4.94975 -4.94975 -20.0) (float-vector 4.94975 -4.94975 -21.0)))
         (instance face :init :vertices (list (float-vector 7.0 16.0 20.0) (float-vector 7.0 0.0 20.0) (float-vector 4.94975 -4.94975 20.0) (float-vector 0.0 -7.0 20.0) (float-vector -4.94975 -4.94975 20.0) (float-vector -7.0 -3.552714e-15 20.0) (float-vector -7.0 16.0 20.0)))
         (instance face :init :vertices (list (float-vector 7.0 16.0 -20.0) (float-vector 7.0 16.0 20.0) (float-vector -7.0 16.0 20.0) (float-vector -7.0 16.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.0 16.0 -20.0) (float-vector -7.0 -3.552714e-15 -20.0) (float-vector -4.94975 -4.94975 -20.0) (float-vector 0.0 -7.0 -20.0) (float-vector 4.94975 -4.94975 -20.0) (float-vector 7.0 0.0 -20.0) (float-vector 7.0 16.0 -20.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (setq blink14 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-brow-l :weight 3.1714 :centroid (float-vector 1.122658e-11 10.9788 -2.160050e-12) :inertia-tensor #2f((1080.27 -6.769651e-16 7.791820e-23) (-6.769651e-16 950.901 -4.263256e-14) (7.791820e-23 -4.263256e-14 232.965))))

     ;; definition of :head-brow-r
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 7.0 -3.552714e-15 -21.0) (float-vector 7.0 17.0 -21.0) (float-vector 7.0 17.0 21.0) (float-vector 7.0 0.0 21.0) (float-vector 7.0 0.0 20.0) (float-vector 7.0 16.0 20.0) (float-vector 7.0 16.0 -20.0) (float-vector 7.0 -3.552714e-15 -20.0)))
         (instance face :init :vertices (list (float-vector -7.0 17.0 -21.0) (float-vector -7.0 17.0 21.0) (float-vector 7.0 17.0 21.0) (float-vector 7.0 17.0 -21.0)))
         (instance face :init :vertices (list (float-vector -7.0 -3.552714e-15 -21.0) (float-vector -7.0 -3.552714e-15 -20.0) (float-vector -7.0 16.0 -20.0) (float-vector -7.0 16.0 20.0) (float-vector -7.0 0.0 20.0) (float-vector -7.0 0.0 21.0) (float-vector -7.0 17.0 21.0) (float-vector -7.0 17.0 -21.0)))
         (instance face :init :vertices (list (float-vector -4.94975 -4.94975 21.0) (float-vector -7.0 0.0 21.0) (float-vector -7.0 0.0 20.0) (float-vector -4.94975 -4.94975 20.0)))
         (instance face :init :vertices (list (float-vector -4.94975 -4.94975 -21.0) (float-vector -4.94975 -4.94975 -20.0) (float-vector -7.0 -3.552714e-15 -20.0) (float-vector -7.0 -3.552714e-15 -21.0)))
         (instance face :init :vertices (list (float-vector 0.0 -7.0 21.0) (float-vector -4.94975 -4.94975 21.0) (float-vector -4.94975 -4.94975 20.0) (float-vector 0.0 -7.0 20.0)))
         (instance face :init :vertices (list (float-vector 0.0 -7.0 -21.0) (float-vector 0.0 -7.0 -20.0) (float-vector -4.94975 -4.94975 -20.0) (float-vector -4.94975 -4.94975 -21.0)))
         (instance face :init :vertices (list (float-vector 4.94975 -4.94975 21.0) (float-vector 0.0 -7.0 21.0) (float-vector 0.0 -7.0 20.0) (float-vector 4.94975 -4.94975 20.0)))
         (instance face :init :vertices (list (float-vector 4.94975 -4.94975 -21.0) (float-vector 4.94975 -4.94975 -20.0) (float-vector 0.0 -7.0 -20.0) (float-vector 0.0 -7.0 -21.0)))
         (instance face :init :vertices (list (float-vector 7.0 0.0 21.0) (float-vector 7.0 17.0 21.0) (float-vector -7.0 17.0 21.0) (float-vector -7.0 0.0 21.0) (float-vector -4.94975 -4.94975 21.0) (float-vector 0.0 -7.0 21.0) (float-vector 4.94975 -4.94975 21.0)))
         (instance face :init :vertices (list (float-vector 4.94975 -4.94975 -21.0) (float-vector 0.0 -7.0 -21.0) (float-vector -4.94975 -4.94975 -21.0) (float-vector -7.0 -3.552714e-15 -21.0) (float-vector -7.0 17.0 -21.0) (float-vector 7.0 17.0 -21.0) (float-vector 7.0 -3.552714e-15 -21.0)))
         (instance face :init :vertices (list (float-vector 4.94975 -4.94975 21.0) (float-vector 4.94975 -4.94975 20.0) (float-vector 7.0 0.0 20.0) (float-vector 7.0 0.0 21.0)))
         (instance face :init :vertices (list (float-vector 7.0 -3.552714e-15 -21.0) (float-vector 7.0 -3.552714e-15 -20.0) (float-vector 4.94975 -4.94975 -20.0) (float-vector 4.94975 -4.94975 -21.0)))
         (instance face :init :vertices (list (float-vector 7.0 16.0 20.0) (float-vector 7.0 0.0 20.0) (float-vector 4.94975 -4.94975 20.0) (float-vector 0.0 -7.0 20.0) (float-vector -4.94975 -4.94975 20.0) (float-vector -7.0 0.0 20.0) (float-vector -7.0 16.0 20.0)))
         (instance face :init :vertices (list (float-vector 7.0 16.0 -20.0) (float-vector 7.0 16.0 20.0) (float-vector -7.0 16.0 20.0) (float-vector -7.0 16.0 -20.0)))
         (instance face :init :vertices (list (float-vector -7.0 16.0 -20.0) (float-vector -7.0 -3.552714e-15 -20.0) (float-vector -4.94975 -4.94975 -20.0) (float-vector 0.0 -7.0 -20.0) (float-vector 4.94975 -4.94975 -20.0) (float-vector 7.0 -3.552714e-15 -20.0) (float-vector 7.0 16.0 -20.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :gray90)
     (setq blink13 (instance bodyset-link :init (make-cascoords) :bodies bc :name :head-brow-r :weight 3.1714 :centroid (float-vector 3.410605e-12 10.9788 3.126388e-13) :inertia-tensor #2f((1080.27 -6.769652e-16 -3.074287e-24) (-6.769652e-16 950.901 -4.263256e-14) (-3.074287e-24 -4.263256e-14 232.965))))

     ;; definition of assoc
     (send blink11 :newcoords (make-coords :pos (float-vector -1.421085e-14 45.0 0.0) :rot #2f((3.885781e-16 0.0 1.0) (-1.0 -1.665335e-16 3.885781e-16) (2.220446e-16 -1.0 -5.551115e-17))))
     (send blink10 :assoc blink11)
     (send blink7 :newcoords (make-coords :pos (float-vector -1.110223e-14 50.0 0.0) :rot #2f((-1.110223e-16 1.110223e-16 -1.0) (1.0 -3.330669e-16 -1.110223e-16) (-3.330669e-16 -1.0 -1.110223e-16))))
     (send blink6 :assoc blink7)
     (send blink9 :newcoords (make-coords :pos (float-vector -7.105427e-15 45.0 0.0) :rot #2f((-4.440892e-16 -2.220446e-16 -1.0) (-1.0 -4.440892e-16 4.440892e-16) (-4.440892e-16 1.0 -2.220446e-16))))
     (send blink8 :assoc blink9)
     (send blink5 :newcoords (make-coords :pos (float-vector -1.110223e-14 50.0 0.0) :rot #2f((-5.551115e-17 3.330669e-16 1.0) (1.0 0.0 0.0) (0.0 1.0 -3.330669e-16))))
     (send blink4 :assoc blink5)
     (send blink13 :newcoords (make-coords :pos (float-vector -95.0 -40.0 -25.0) :rot #2f((1.0 -1.373831e-16 -6.084108e-16) (6.084108e-16 3.330669e-16 1.0) (-1.373831e-16 -1.0 3.330669e-16))))
     (send blink3 :assoc blink13)
     (send blink14 :newcoords (make-coords :pos (float-vector -95.0 -40.0 25.0) :rot #2f((1.0 4.317754e-16 5.887847e-16) (5.887847e-16 -2.220446e-16 -1.0) (-4.317754e-16 1.0 -2.220446e-16))))
     (send blink3 :assoc blink14)
     (send blink15 :newcoords (make-coords :pos (float-vector -25.0 -7.275626e-15 0.0) :rot #2f((-1.0 4.440892e-16 4.440892e-16) (-4.440892e-16 -1.0 -4.440892e-16) (4.440892e-16 -4.440892e-16 1.0))))
     (send blink3 :assoc blink15)
     (send blink3 :newcoords (make-coords :pos (float-vector 7.960204e-15 65.0 -1.443290e-14) :rot #2f((-2.220446e-16 2.220446e-16 -1.0) (-1.0 -2.220446e-16 2.220446e-16) (-2.220446e-16 1.0 2.220446e-16))))
     (send blink2 :assoc blink3)
     (send blink2 :newcoords (make-coords :pos (float-vector 0.0 0.0 60.0) :rot #2f((-1.0 0.0 0.0) (0.0 2.220446e-16 1.0) (0.0 1.0 -2.220446e-16))))
     (send blink1 :assoc blink2)
     (send blink1 :newcoords (make-coords :pos (float-vector 0.0 0.0 60.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink1)
     (send blink4 :newcoords (make-coords :pos (float-vector -2.220446e-14 100.0 125.0) :rot #2f((-1.0 -4.440892e-16 -1.224647e-16) (-4.440892e-16 1.0 -3.951857e-32) (1.224647e-16 1.486667e-32 -1.0))))
     (send blink0 :assoc blink4)
     (send blink8 :newcoords (make-coords :pos (float-vector 70.0 50.0 -80.0) :rot #2f((-2.220446e-16 1.0 -1.232595e-32) (1.0 2.220446e-16 1.224647e-16) (1.224647e-16 1.232595e-32 -1.0))))
     (send blink0 :assoc blink8)
     (send blink6 :newcoords (make-coords :pos (float-vector 2.220446e-14 -100.0 125.0) :rot #2f((-1.0 0.0 0.0) (0.0 -1.0 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink6)
     (send blink10 :newcoords (make-coords :pos (float-vector 70.0 -50.0 -80.0) :rot #2f((-2.220446e-16 1.0 0.0) (-1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink10)
     (send blink12 :newcoords (make-coords :pos (float-vector -70.0 -1.554312e-14 -80.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
     (send blink0 :assoc blink12)
     (send self :assoc blink0)

     ;; definition of end-coords

     ;; definition of joint

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

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

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

     ;; definition of :head-brow-r
     (setq joint12 (instance rotational-joint :init
			     :parent-link blink3 :child-link blink13 :name :head-brow-r :axis :-z
			     :min  -46.0 :max  107.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :head-brow-l
     (setq joint13 (instance rotational-joint :init
			     :parent-link blink3 :child-link blink14 :name :head-brow-l :axis :-z
			     :min -103.0 :max   51.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :head-mouth
     (setq joint14 (instance rotational-joint :init
			     :parent-link blink3 :child-link blink15 :name :head-mouth :axis :-z
			     :min  -64.0 :max   89.0 :max-joint-velocity 5 :max-joint-torque 100))

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

     ;; definition of :larm-shoulder-r
     (setq joint4 (instance rotational-joint :init
			     :parent-link blink4 :child-link blink5 :name :larm-shoulder-r :axis :-z
			     :min -120.0 :max   50.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-crotch-y
     (setq joint7 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink8 :name :lleg-crotch-y :axis :-z
			     :min  -74.0 :max  110.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :lleg-crotch-p
     (setq joint8 (instance rotational-joint :init
			     :parent-link blink8 :child-link blink9 :name :lleg-crotch-p :axis :-z
			     :min  -17.0 :max  167.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-shoulder-y
     (setq joint5 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink6 :name :rarm-shoulder-y :axis :-z
			     :min  -76.0 :max   95.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rarm-shoulder-r
     (setq joint6 (instance rotational-joint :init
			     :parent-link blink6 :child-link blink7 :name :rarm-shoulder-r :axis :-z
			     :min -161.0 :max   10.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-crotch-y
     (setq joint9 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink10 :name :rleg-crotch-y :axis :-z
			     :min  -95.0 :max   86.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :rleg-crotch-p
     (setq joint10 (instance rotational-joint :init
			     :parent-link blink10 :child-link blink11 :name :rleg-crotch-p :axis :-z
			     :min  -15.0 :max  166.0 :max-joint-velocity 5 :max-joint-torque 100))

     ;; definition of :tail-tail-y
     (setq joint11 (instance rotational-joint :init
			     :parent-link blink0 :child-link blink12 :name :tail-tail-y :axis :-z
			     :min -125.0 :max   56.0 :max-joint-velocity 5 :max-joint-torque 100))

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

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

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

     self))

  (:head-neck-y (&rest args) (forward-message-to joint0 args))
  (:head-neck-r (&rest args) (forward-message-to joint1 args))
  (:head-neck-p (&rest args) (forward-message-to joint2 args))
  (:head-brow-r (&rest args) (forward-message-to joint12 args))
  (:head-brow-l (&rest args) (forward-message-to joint13 args))
  (:head-mouth (&rest args) (forward-message-to joint14 args))
  (:larm-shoulder-y (&rest args) (forward-message-to joint3 args))
  (:larm-shoulder-r (&rest args) (forward-message-to joint4 args))
  (:lleg-crotch-y (&rest args) (forward-message-to joint7 args))
  (:lleg-crotch-p (&rest args) (forward-message-to joint8 args))
  (:rarm-shoulder-y (&rest args) (forward-message-to joint5 args))
  (:rarm-shoulder-r (&rest args) (forward-message-to joint6 args))
  (:rleg-crotch-y (&rest args) (forward-message-to joint9 args))
  (:rleg-crotch-p (&rest args) (forward-message-to joint10 args))
  (:tail-tail-y (&rest args) (forward-message-to joint11 args))
  (:handle (&rest args) (forward-message-to-all (list ) args))
  (:attention (&rest args) (forward-message-to-all (list ) args))
  (:button (&rest args) (forward-message-to-all (list ) args))
  )

(defun penguin (&rest args) (instance* penguin-robot :init args))
;; (format *error-output* "(instance penguin-robot :init) for generating model~%")