diff --git a/doc/irtviewer.tex b/doc/irtviewer.tex
index 49a23ff5..efd787a3 100644
--- a/doc/irtviewer.tex
+++ b/doc/irtviewer.tex
@@ -44,3 +44,42 @@ \section{ロボットビューワ}
 
 
 \input{irtviewer-func}
+
+
+\subsection{Animation GIF}
+
+\verb+with-save-animgif+ マクロを用いることでAnimation Gifファイルを生成することが出来る．
+
+
+{\baselineskip=10pt
+\begin{verbatim}
+(with-save-animgif "file"
+  (dotimes (a 45)
+    (send *robot* :larm-shoulder-r :joint-angle (* a 4))
+    (send *irtviewer*:draw-objects)))
+\end{verbatim}
+}
+
+\verb+with-save-mpeg+を用いることで\verb+mpeg+ファイルの生成も可能である．
+
+\subsection{Eps}
+
+\verb+irtdraw-save+ を用いることでEpsファイルを生成することが出来る．
+
+{\baselineskip=10pt
+\begin{verbatim}
+(defun irtdraw-demo-hand nil
+  (load "irteus/demo/demo.l")
+  (hand-grasp)
+  (irtdraw-save :fname "hand-grasp.eps"
+                :bodies (cons (cadr (objects))
+                              (send (car (objects)) :bodies)))
+  )
+(defun irtdraw-dual-arm nil
+  (load "irteus/demo/demo.l")
+  (dual-arm-ik)
+  (irtdraw-save :fname "dual-arm.eps"
+                :bodies (flatten (send-all (objects) :bodies)))
+  )
+\end{verbatim}
+}
diff --git a/irteus/Makefile b/irteus/Makefile
index 51fed4ae..6e4921b4 100644
--- a/irteus/Makefile
+++ b/irteus/Makefile
@@ -94,7 +94,7 @@ MODULES.L=irt_modules.l
 EUSLIB_MODULES.L=$(addprefix $(EUSDIR)/lib/,$(MODULES.L))
 
 IRTEUS=irtmath irtutil irtgraph gnuplotlib pgsql time
-IRTEUSG=irtgeo pqp bullet irtcollision irtscene irtmodel irtsensor irtdyna irtrobot irtbvh irtcollada irtpointcloud irtstl irtwrl
+IRTEUSG=irtgeo pqp bullet irtcollision irtscene irtmodel irtsensor irtdyna irtrobot irtbvh irtcollada irtpointcloud irtstl irtwrl irtdraw
 IRTEUSX=irtx
 IRTEUSIMG=irtimage eusjpeg png
 IRTEUSGL=irtgl irtglrgb irtviewer
@@ -253,6 +253,7 @@ $(INSTALLOBJDIR)/irtdyna.$(OSFX): irtdyna.l
 $(INSTALLOBJDIR)/irtcollada.$(OSFX): irtcollada.l
 $(INSTALLOBJDIR)/irtstl.$(OSFX): irtstl.l
 $(INSTALLOBJDIR)/irtwrl.$(OSFX): irtwrl.l
+$(INSTALLOBJDIR)/irtdraw.$(OSFX): irtdraw.l
 $(INSTALLOBJDIR)/irtsensor.$(OSFX): irtsensor.l
 $(INSTALLOBJDIR)/irtpointcloud.$(OSFX): irtpointcloud.l
 $(INSTALLOBJDIR)/irtrobot.$(OSFX): irtrobot.l
diff --git a/irteus/compile_irtg.l b/irteus/compile_irtg.l
index eab860cc..fc1801c5 100644
--- a/irteus/compile_irtg.l
+++ b/irteus/compile_irtg.l
@@ -61,6 +61,7 @@
 (comp:compile-file-if-src-newer "irtcollada.l" user::*objdir*)
 (comp:compile-file-if-src-newer "irtstl.l" user::*objdir*)
 (comp:compile-file-if-src-newer "irtwrl.l" user::*objdir*)
+(comp:compile-file-if-src-newer "irtdraw.l" user::*objdir*)
 (comp:compile-file-if-src-newer "irtpointcloud.l" user::*objdir*)
 
 (exit 0)
diff --git a/irteus/irtdraw.l b/irteus/irtdraw.l
new file mode 100644
index 00000000..466142ec
--- /dev/null
+++ b/irteus/irtdraw.l
@@ -0,0 +1,1155 @@
+;;;
+;;;	Kdraw primitives by M.Inaba 1991.9.3
+;;;	2023.3.28 created for idraw imported from rbrain/jsk/kdraw.l
+;;;	to install idraw : sudo apt install ivtools-dev ivtools-bin
+;;;
+;;;     (Add line type, arrow, MLine by N.Sawasaki 5 Sep. 1991)
+;;;     (Add Poly, Elli, BSpl, CBSpl, Rect, pattern
+;;;                                  by N.Sawasaki 6 Sep. 1991)
+;;;     (Add Coordinate Transfomation by N.Sawasaki 7 Sep. 1991)
+;;;
+;;; $Log$
+;;; Revision 1.3  2007-01-29 14:16:11  kojima
+;;; add draw-arc and use colors in draw-lines,draw-arc
+;;;
+;;; Revision 1.2  2005/05/04 23:00:54  inaba
+;;; extend bounding box
+;;;
+;;; Revision 1.1.1.1  2000/03/13 10:37:01  kanehiro
+;;; EusLisp library
+;;;
+;;; Revision 1.6  1999/11/29 14:58:01  kanehiro
+;;; fixed line width and bounding box
+;;;
+;;; Revision 1.5  1998/07/31 04:56:43  kanehiro
+;;; added :drawtext-primitive and kdraw-text-primitive
+;;;
+;;; Revision 1.4  1997/04/03 12:48:41  kanehiro
+;;; merged change in branch jsk3_0
+;;;
+;;; Revision 1.3.2.2  1997/03/28 04:27:02  kanehiro
+;;; cahnged :drawin-line-list -> :drawn-image
+;;;
+;;; Revision 1.3.2.1  1997/02/25 06:07:32  kanehiro
+;;; moved color difinition -> jskgl.l and changed color name string -> symbol
+;;;
+;;; Revision 1.3  1996/10/16 12:02:20  eus
+;;; start logging
+;;;
+(provide :irtdraw "$Id$")
+(in-package "GEOMETRY")
+
+(proclaim '(special *kdraw* *kdraw-coord*))
+(defclass kdraw-viewsurface
+  :super viewsurface
+  :slots (color strm fname)  )
+
+(defmethod kdraw-viewsurface
+  (:init (&rest args
+		&key ((:color c) 0)
+		((:fname f) "kdrawout.eps")
+		(open t)
+		&allow-other-keys)
+	 (setq fname f)
+	 (setq color c)
+	 (if open (send self :open fname))
+	 self)
+  (:open (&optional (f fname))
+	 (setq strm (open-kdraw-file (setq fname f))))
+  (:close nil (close-kdraw-file strm))
+  (:set-erase-mode ())
+  (:set-show-mode ())
+  (:clear ()
+	  (send self :close)
+	  (send self :open fname))
+  (:flush () t)
+  (:line-width (width) nil)
+  (:line-style (dash) nil)
+  (:drawline-primitive
+   (x0 y0 x1 y1 width &optional color)
+   (kdraw-line-primitive x0 y0 x1 y1 width strm color)) ;bug fixed by Y.K. 4/16/92
+  (:drawtext-primitive
+   (x0 y0 textstring &optional color)
+   (kdraw-text-primitive x0 y0 textstring strm))
+  (:draw-arc
+   (x0 y0 w h ang1 ang2 width &optional color)
+   (let* ((sc 100) (1persc (/ 1.0 sc)))
+     (kdraw-arc (float-vector (* sc x0) (* sc y0))
+		(* sc w) (* sc h) ang1 ang2
+		:xscale 1persc :yscale 1persc
+		:offset #f(2 -312)
+		:type (list 'norm (1+ width))
+		:color color)
+     ))
+  (:begin-pict nil (kdraw-begin-pict strm))
+  (:end-pict nil (kdraw-end-pict strm))  
+  )
+;;;
+(defun kdraw-viewsurface-copy (vs fname)
+  (let ((kvs (instance kdraw-viewsurface :init :fname fname))
+	(height (send vs :height)))
+    (send kvs :begin-pict)
+    (dolist (l (send vs :drawn-image))
+      (case (length l)
+	(6
+	 (send kvs :drawline-primitive
+	       (nth 0 l) (- height (nth 1 l))
+	       (nth 2 l) (- height (nth 3 l)) (nth 4 l) (nth 5 l)))
+	(4
+	 (send kvs :drawtext-primitive
+	       (nth 0 l) (- (+ 10 height) (nth 1 l)) (nth 2 l)))
+	(8
+	 (send kvs :draw-arc
+	       (+ (nth 0 l) (* 0.5 (nth 2 l)))
+	       (- height (nth 1 l) (* 0.5 (nth 3 l)))
+	       (* 0.5 (nth 2 l)) (* 0.5 (nth 3 l))
+	       (nth 4 l) (nth 5 l) (nth 6 l) (nth 7 l)))
+	)
+      )
+    (send kvs :end-pict)  
+    (send kvs :close))
+  )
+;;;
+(defun kdraw-object (data &key (block t) (frame t) (hid t)
+			  (fname "demo.eps")
+			  ((:viewer ver))
+			  (close t))
+  (cond
+   (ver
+    (kdraw-viewer fname :viewer ver))
+   (t     (kdraw-viewer fname)))
+  (if block (send (ver . surface) :begin-pict))
+  (cond
+   (hid
+    (let ((*viewer* *kdraw-viewer*)) (hid data)))
+   (t (send ver :draw data)))
+  (if block (send (ver . surface) :end-pict))
+  (if block (send (ver . surface) :begin-pict))
+  (if frame (send ver :pane))
+  (if block (send (ver . surface) :end-pict))
+  (if close (send (ver . surface) :close)))
+;;;
+(defun kdraw-viewer (&optional (fname "demo.eps")
+			       &key ((:viewer vw)))
+  (let ((k (instance kdraw-viewsurface :init :fname fname)))
+    (cond
+     (vw (setq (vw . surface) k)
+	 (setq *kdraw-viewer* vw))
+     (t 
+      (setq *kdraw-viewer*
+	    (instance viewer
+		      :init
+		      :viewing
+		      (instance perspective-viewing :init
+				:screen-x 5
+				:screen-y 5
+				:viewdistance 40.0
+				:hither 10000.0
+				:yon 40.0
+				:pos #f(1500 1000 500)
+				:target #f(0 0 0)
+				)
+		      :viewport 
+		      (instance viewport
+				:init :width 256 :height 256
+				:xcenter 256 :ycenter 256)
+		      :viewsurface k))))
+    ))
+;;
+(defun kdraw-begin-pict (&optional (strm *kdraw*))
+  (format strm "~%Begin %I Pict~%")
+  (format strm "%I b u~%")
+  (format strm "%I cfg u~%")
+  (format strm "%I cbg u~%")
+  (format strm "%I f u~%")
+  (format strm "%I k u~%")
+  (format strm "%I p u~%")
+  (format strm "%I t u~%")
+  )
+;;
+(defun kdraw-end-pict (&optional (strm *kdraw*))
+  (format strm "End %I eop~%"))
+;;
+(defun kdraw-line-primitive (x0 y0 x1 y1 width &optional (strm *kdraw*)
+				(color (list 0 #xffffff)))
+  (format strm "Begin %I Line~%")
+  (format strm "%I b 65535~%")
+;;  (format strm "~A 0 0 [] 0 SetB~%" (1+ width)) 2023.3.28
+  (format strm "~A 0 0 [] 0 SetB~%" 2) ;; (1+ width))
+  (format strm "%I cfg~%")
+  (format strm "~A ~A ~A SetCFg~%"
+	  (/ (ash (logand (car color) #xff0000) -16) 255.0)
+	  (/ (ash (logand (car color) #x00ff00) -8) 255.0)
+	  (/ (ash (logand (car color) #x0000ff)  0) 255.0))
+  (format strm "%I cbg~%")
+  (format strm "~A ~A ~A SetCBg~%"
+	  (/ (ash (logand (cadr color) #xff0000) -16) 255.0)
+	  (/ (ash (logand (cadr color) #x00ff00) -8) 255.0)
+	  (/ (ash (logand (cadr color) #x0000ff)  0) 255.0))
+  (format strm "%I p~%")
+  (format strm "0 SetP~%")
+  (format strm "%I t~%")
+  (format strm "[ 0.01 0 0 0.01 102 188 ] concat~%")
+  (format strm "%I~%")
+  (format strm "~a ~a ~a ~a Line~%"
+	  (round (* 100 x0)) (round (* 100 y0))
+	  (round (* 100 x1)) (round (* 100 y1)))
+  (format strm "End~%")
+  )
+
+(defun kdraw-text-primitive (x0 y0 textstring &optional (strm *kdraw*))
+  (format strm "Begin %I Text~%")
+  (format strm "%I cfg Black~%")
+  (format strm "0 0 0 SetCFg~%")
+  (format strm "%I f  *-helvetica-medium-r-*-120-*~%")
+  (format strm "/Helvetica 12 SetF~%")
+  (format strm "%I t~%")
+  (format strm "[ 1 0 0 1 ~a ~a ] concat~%" (+ 102 x0 ) (+ 188 y0))
+  (format strm "%I~%")
+  (format strm "[~%")
+  (format strm "(~a)~%" textstring)
+  (format strm "] WhiteBg Text~%")
+  (format strm "End~%")
+  )
+
+;;
+;;
+(defun kdraw-check-linetype (type)
+  (cond
+   ((consp type)
+    (cond
+     ((eq (first type) 'norm)
+      (cond
+       ((eq (second type) 'bold1) '(65535 2 "[]" 0))
+       ((eq (second type) 'bold2) (list 65535 5 "[]" 0))
+       ((numberp (second type)) (list 65535 (second type) "[]" 0))))
+     ((eq (first type) 'dotted)
+      (cond
+       ((eq (second type) 'bold1) '(13107 2 "[2 2 2 2 2 2 2 2]" 15))
+       ((eq (second type) 'bold1aux) '(13107 2 "[2 2 2 2 2 2 2 2]" 15))
+       ((eq (second type) 'bold2) (list 13107 5 "[8 8]" 17))))))
+   ((eq type 'dotted) '(13107 1 "[2 2 2 2 2 2 2 2]" 15))
+   (t '(65535 1 "[]" 0)))
+  )
+;;
+(defun kdraw-check-arrow (arrow)
+  (cond
+   ((eq arrow 'start) '(1 0))
+   ((eq arrow 'end) '(0 1))
+   ((eq arrow 'both) '(1 1))
+   (t '(0 0)))
+  )
+;;
+(defun kdraw-set-pattern  (pattern strm &optional arrow)
+  (cond
+   ((or (null arrow) (eq arrow 'none))
+    (cond
+     ((and (>= pattern 0) (<= pattern 1))
+      (format strm "%I p~%")
+      (format strm "~a SetP~%" pattern))
+     (t (format strm "none SetP %I p n~%"))))
+   (t (format strm "%I p~%")
+      (format strm "0 SetP~%")))
+  )
+;;
+(defun kdraw-make-coord (&key (xscale 1)
+			      (yscale 1)
+			      (rot 0.0)
+			      (offset (float-vector 0 0))
+			      (inv nil))
+  (let* ((smat (make-matrix 2 2))
+	 (rmat (make-matrix 2 2))
+	 (theta (deg2rad rot))
+	 (sin (sin theta))
+	 (cos (cos theta)))
+    (setf (aref smat 0 0) xscale)
+    (setf (aref smat 1 1) yscale)
+    (setf (aref rmat 0 0) cos)
+    (setf (aref rmat 0 1) sin)
+    (setf (aref rmat 1 0) (- sin))
+    (setf (aref rmat 1 1) cos)
+    (cond
+     (inv (list (m* rmat smat) offset))
+     (t (list (m* smat rmat) offset))))
+  )
+;;
+(defun kdraw-make-trans-string (tcoord)
+  (cond
+   ((null tcoord) *kdraw-coord-string*)
+   (t (make-coord-string (m* (first *kdraw-coord*) (first tcoord))
+			 (v+ (second *kdraw-coord*) (second tcoord)))))
+  )
+;;
+(defun kdraw-line (p0 p1 &key (type 'norm)
+		      (arrow 'none)
+		      (xscale 1)
+		      (yscale 1)
+		      (rot 0.0)
+		      (offset (float-vector 0 0))
+		      (inv nil)
+		      (trans-coord nil)
+		      ((:stream strm) *kdraw*))
+  (let ((adata (kdraw-check-arrow arrow))
+	(tdata (kdraw-check-linetype type)))
+    (format strm "Begin %I Line~%")
+    (format strm "%I b ~a~%" (first tdata))
+    (format strm "~a ~a ~a ~a ~a SetB~%"
+	    (second tdata) (first adata) (second adata) (third tdata) (fourth tdata))
+    (format strm "%I cfg Black~%")
+    (format strm "0 0 0 SetCFg~%")
+    (format strm "%I cbg White~%")
+    (format strm "1 1 1 SetCBg~%")
+    (format strm "none SetP %I p n~%")
+    (format strm "%I t~%")
+    (if (null trans-coord)
+	(setq trans-coord (kdraw-make-coord :xscale xscale
+					    :yscale yscale
+					    :rot rot
+					    :offset offset
+					    :inv inv)))
+    (format strm "~a concat~%" (kdraw-make-trans-string trans-coord))
+    (format strm "%I~%")
+    (format strm "~a ~a ~a ~a Line~%"
+	    (round (aref p0 0)) (round (aref p0 1))
+	    (round (aref p1 0)) (round (aref p1 1)))
+    (format strm "%I 1~%")
+    (format strm "End~%"))
+  strm)
+;;
+(defun kdraw-arc (p0 w h ang1 ang2 &key (type 'norm)
+		     (arrow 'none)
+		     (xscale 1)
+		     (yscale 1)
+		     (rot 0.0)
+		     (offset (float-vector 0 0))
+		     (inv nil)
+		     (trans-coord nil)
+		     ((:stream strm) *kdraw*)
+		     (color (list 0 #xffffff)))
+  (let ((adata (kdraw-check-arrow arrow))
+ 	(tdata (kdraw-check-linetype type)))
+    (format strm "Begin %I Arc~%")
+    (format strm "%I b ~a~%" (first tdata))
+    (format strm "~a ~a ~a ~a ~a SetB~%"
+ 	    (second tdata) (first adata) (second adata) (third tdata) (fourth tdata))
+    (format strm "%I cfg~%")
+    (format strm "~A ~A ~A SetCFg~%"
+	    (/ (ash (logand (car color) #xff0000) -16) 255.0)
+	    (/ (ash (logand (car color) #x00ff00) -8) 255.0)
+	    (/ (ash (logand (car color) #x0000ff)  0) 255.0))
+    (format strm "%I cbg~%")
+    (format strm "~A ~A ~A SetCBg~%"
+	    (/ (ash (logand (cadr color) #xff0000) -16) 255.0)
+	    (/ (ash (logand (cadr color) #x00ff00) -8) 255.0)
+	    (/ (ash (logand (cadr color) #x0000ff)  0) 255.0))
+    (format strm "%I p~%")
+    (format strm "0 SetP~%")
+    (format strm "%I t~%")
+    (if (null trans-coord)
+	(setq trans-coord (kdraw-make-coord :xscale xscale
+					    :yscale yscale
+					    :rot rot
+					    :offset offset
+					    :inv inv)))
+    (format strm "~a concat~%" (kdraw-make-trans-string trans-coord))
+    (format strm "%I~%")
+    (format strm "~a ~a ~a ~a ~a ~a Arc~%"
+	    (round (elt p0 0)) (round (elt p0 1))
+	    (round w) (round h)
+	    (round (rad2deg ang1)) (round (rad2deg ang2)))
+    (format strm "End~%"))
+  strm)
+;;
+(defun kdraw-polyline (plist &key (type 'norm)
+			     (arrow 'none)
+			     (pattern -1)
+			     (xscale 1)
+			     (yscale 1)
+			     (rot 0.0)
+			     (offset (float-vector 0 0))
+			     (inv nil)
+			     (trans-coord nil)
+			     ((:stream strm) *kdraw*))
+  (let ((len (length plist))
+	(adata (kdraw-check-arrow arrow))
+	(tdata (kdraw-check-linetype type)))
+    (format strm "Begin %I MLine~%")
+    (format strm "%I b ~a~%" (first tdata))
+    (format strm "~a ~a ~a ~a ~a SetB~%"
+	    (second tdata) (first adata) (second adata) (third tdata) (fourth tdata))
+    (format strm "%I cfg Black~%")
+    (format strm "0 0 0 SetCFg~%")
+    (format strm "%I cbg White~%")
+    (format strm "1 1 1 SetCBg~%")
+    (kdraw-set-pattern pattern strm arrow)
+    (format strm "%I t~%")
+    (if (null trans-coord)
+	(setq trans-coord (kdraw-make-coord :xscale xscale
+					    :yscale yscale
+					    :rot rot
+					    :offset offset
+					    :inv inv)))
+    (format strm "~a concat~%" (kdraw-make-trans-string trans-coord))
+    (format strm "%I ~a~%" len)
+    (dolist (pv plist)
+	    (format strm "~a ~a ~%" (round (aref pv 0)) (round (aref pv 1))))
+    (format strm "~a MLine~%" len)
+    (format strm "End~%"))
+  strm)
+;;
+(defun kdraw-polygon (plist &key (type 'norm)
+			    (pattern -1)
+			    (xscale 1)
+			    (yscale 1)
+			    (rot 0.0)
+			    (offset (float-vector 0 0))
+			    (inv nil)
+			    (trans-coord nil)
+			    ((:stream strm) *kdraw*))
+  (let ((len (length plist))
+	(tdata (kdraw-check-linetype type)))
+    (format strm "Begin %I Poly~%")
+    (format strm "%I b ~a~%" (first tdata))
+    (format strm "~a 0 0 ~a ~a SetB~%"
+	    (second tdata) (third tdata) (fourth tdata))
+    (format strm "%I cfg Black~%")
+    (format strm "0 0 0 SetCFg~%")
+    (format strm "%I cbg White~%")
+    (format strm "1 1 1 SetCBg~%")
+    (kdraw-set-pattern pattern strm)
+    (format strm "%I t~%")
+    (if (null trans-coord)
+	(setq trans-coord (kdraw-make-coord :xscale xscale
+					    :yscale yscale
+					    :rot rot
+					    :offset offset
+					    :inv inv)))
+    (format strm "~a concat~%" (kdraw-make-trans-string trans-coord))
+    (format strm "%I ~a~%" len)
+    (dolist (pv plist)
+	    (format strm "~a ~a ~%" (round (aref pv 0)) (round (aref pv 1))))
+    (format strm "~a Poly~%" len)
+    (format strm "End~%"))
+  strm)
+;;
+(defun kdraw-elli (cv rx ry &key (type 'norm)
+		      (pattern -1)
+		      (xscale 1)
+		      (yscale 1)
+		      (rot 0.0)
+		      (offset (float-vector 0 0))
+		      (inv nil)
+		      (trans-coord nil)
+		      ((:stream strm) *kdraw*))
+  (let ((tdata (kdraw-check-linetype type)))
+    (format strm "Begin %I Elli~%")
+    (format strm "%I b ~a~%" (first tdata))
+    (format strm "~a 0 0 ~a ~a SetB~%"
+	    (second tdata) (third tdata) (fourth tdata))
+    (format strm "%I cfg Black~%")
+    (format strm "0 0 0 SetCFg~%")
+    (format strm "%I cbg White~%")
+    (format strm "1 1 1 SetCBg~%")
+    (kdraw-set-pattern pattern strm)
+    (format strm "%I t~%")
+    (if (null trans-coord)
+	(setq trans-coord (kdraw-make-coord :xscale xscale
+					    :yscale yscale
+					    :rot rot
+					    :offset offset
+					    :inv inv)))
+    (format strm "~a concat~%" (kdraw-make-trans-string trans-coord))
+    (format strm "%I~%")
+    (format strm "~a ~a ~a ~a Elli~%"
+	    (round (aref cv 0)) (round (aref cv 1)) (round rx) (round ry))
+    (format strm "End~%"))
+  strm)
+;;
+(defun kdraw-bspl (plist &key (type 'norm)
+			 (arrow 'none)
+			 (pattern -1)
+			 (xscale 1)
+			 (yscale 1)
+			 (rot 0.0)
+			 (offset (float-vector 0 0))
+			 (inv nil)
+			 (trans-coord nil)
+			 ((:stream strm) *kdraw*))
+  (let ((len (length plist))
+	(adata (kdraw-check-arrow arrow))
+	(tdata (kdraw-check-linetype type)))
+    (format strm "Begin %I BSpl~%")
+    (format strm "%I b ~a~%" (first tdata))
+    (format strm "~a ~a ~a ~a ~a SetB~%"
+	    (second tdata) (first adata) (second adata) (third tdata) (fourth tdata))
+    (format strm "%I cfg Black~%")
+    (format strm "0 0 0 SetCFg~%")
+    (format strm "%I cbg White~%")
+    (format strm "1 1 1 SetCBg~%")
+    (kdraw-set-pattern pattern strm arrow)
+    (format strm "%I t~%")
+    (if (null trans-coord)
+	(setq trans-coord (kdraw-make-coord :xscale xscale
+					    :yscale yscale
+					    :rot rot
+					    :offset offset
+					    :inv inv)))
+    (format strm "~a concat~%" (kdraw-make-trans-string trans-coord))
+    (format strm "%I ~a~%" len)
+    (dolist (pv plist)
+	    (format strm "~a ~a ~%" (round (aref pv 0)) (round (aref pv 1))))
+    (format strm "~a BSpl~%" len)
+    (format strm "End~%"))
+  strm)
+;;
+(defun kdraw-cbspl (plist &key (type 'norm)
+			  (pattern -1)
+			  (xscale 1)
+			  (yscale 1)
+			  (rot 0.0)
+			  (offset (float-vector 0 0))
+			  (inv nil)
+			  (trans-coord nil)
+			  ((:stream strm) *kdraw*))
+  (let ((len (length plist))
+	(tdata (kdraw-check-linetype type)))
+    (format strm "Begin %I CBSpl~%")
+    (format strm "%I b ~a~%" (first tdata))
+    (format strm "~a 0 0 ~a ~a SetB~%"
+	    (second tdata) (third tdata) (fourth tdata))
+    (format strm "%I cfg Black~%")
+    (format strm "0 0 0 SetCFg~%")
+    (format strm "%I cbg White~%")
+    (format strm "1 1 1 SetCBg~%")
+    (kdraw-set-pattern pattern strm)
+    (format strm "%I t~%")
+    (if (null trans-coord)
+	(setq trans-coord (kdraw-make-coord :xscale xscale
+					    :yscale yscale
+					    :rot rot
+					    :offset offset
+					    :inv inv)))
+    (format strm "~a concat~%" (kdraw-make-trans-string trans-coord))
+    (format strm "%I ~a~%" len)
+    (dolist (pv plist)
+	    (format strm "~a ~a ~%" (round (aref pv 0)) (round (aref pv 1))))
+    (format strm "~a CBSpl~%" len)
+    (format strm "End~%"))
+  strm)
+;;
+(defun kdraw-rect (sv ev &key (type 'norm)
+		      (pattern -1)
+		      (xscale 1)
+		      (yscale 1)
+		      (rot 0.0)
+		      (offset (float-vector 0 0))
+		      (inv nil)
+		      (trans-coord nil)
+		      ((:stream strm) *kdraw*))
+  (let ((tdata (kdraw-check-linetype type)))
+    (format strm "Begin %I Rect~%")
+    (format strm "%I b ~a~%" (first tdata))
+    (format strm "~a 0 0 ~a ~a SetB~%"
+	    (second tdata) (third tdata) (fourth tdata))
+    (format strm "%I cfg Black~%")
+    (format strm "0 0 0 SetCFg~%")
+    (format strm "%I cbg White~%")
+    (format strm "1 1 1 SetCBg~%")
+    (kdraw-set-pattern pattern strm)
+    (format strm "%I t~%")
+    (if (null trans-coord)
+	(setq trans-coord (kdraw-make-coord :xscale xscale
+					    :yscale yscale
+					    :rot rot
+					    :offset offset
+					    :inv inv)))
+    (format strm "~a concat~%" (kdraw-make-trans-string trans-coord))
+    (format strm "%I~%")
+    (format strm "~a ~a ~a ~a Rect~%"
+	    (round (aref sv 0)) (round (aref sv 1))
+	    (round (aref ev 0)) (round (aref ev 1)))
+    (format strm "End~%"))
+  strm)
+;;
+(defmacro format-to-string (x &rest args)
+  `(let ((strm (make-string-output-stream)))
+     (format strm ,x ,@args)
+     (subseq (strm . buffer) 0 (strm . count)))
+  )
+;;
+(defun make-coord-string (tmat offset)
+  (format-to-string "[~a ~a ~a ~a ~a ~a ]"
+		    (aref tmat 0 0) (aref tmat 0 1)
+		    (aref tmat 1 0) (aref tmat 1 1)
+		    (aref offset 0) (aref offset 1))
+  )
+;;
+(defun kdraw-get-page-info () *kdraw-coord*)
+;;
+(defun kdraw-page-setup (&key
+			 (xscale 1)
+			 (yscale 1)
+			 (rot 0.0)
+			 (offset (float-vector 0 0))
+			 (inv nil)			 
+			 (trans-coord nil)
+			 (default nil))
+  (cond
+   (default
+     (setq *kdraw-coord* *kdraw-default-coord*
+	   *kdraw-coord-string* *kdraw-default-coord-string*))
+   (t
+    (if (null trans-coord)
+	(setq trans-coord (kdraw-make-coord :xscale xscale
+					    :yscale yscale
+					    :rot rot
+					    :offset offset
+					    :inv inv)))
+    (setq *kdraw-coord* trans-coord
+	  *kdraw-coord-string* (make-coord-string (first trans-coord)
+						  (second trans-coord)))))
+  *kdraw-coord*)
+;;
+(defun close-kdraw-file (&optional (strm *kdraw*))
+  (format strm "~%End %I eop~%")
+  (format strm "showpage~%")
+  (format strm "%%Trailer~%")
+  (format strm "end~%~%")
+  (close strm)
+  )
+#|
+(defun open-kdraw-file (fname)
+  (let ((dat nil))
+    (setq *kdraw* (open fname :direction :output))
+    (with-open-file
+     (f "kdrawhead.eps" :direction :input)
+     (while (setq dat (read-line f nil nil))
+       (format *kdraw* "~a~%" dat))
+     )))
+|#
+(defun open-kdraw-file (fname)
+  (let ((strm nil))
+    (setq strm (open fname :direction :output))
+    (setq *kdraw* strm)
+    (setq *kdraw-coord* (list (unit-matrix 2) (float-vector 100 500))
+	  *kdraw-coord-string* "[1 0 0 1 100 500 ]"
+	  *kdraw-default-coord* *kdraw-coord*
+	  *kdraw-default-coord-string* *kdraw-coord*)    ;; added by N.S
+
+    (format strm "%!PS-Adobe-2.0 EPSF-1.2~%")
+    (format strm "%%Creator: idraw~%")
+    (format strm "%%DocumentFonts:~%")
+    (format strm "%%Pages: 1~%")
+    (format strm "%%BoundingBox: 0 -600 500 600~%")
+    (format strm "%%EndComments~%")
+    (format strm "~%")
+    (format strm "%%BeginIdrawPrologue~%")
+    (format strm "/arrowhead {~%")
+    (format strm "0 begin~%")
+    (format strm "transform originalCTM itransform~%")
+    (format strm "/taily exch def~%")
+    (format strm "/tailx exch def~%")
+    (format strm "transform originalCTM itransform~%")
+    (format strm "/tipy exch def~%")
+    (format strm "/tipx exch def~%")
+    (format strm "/dy tipy taily sub def~%")
+    (format strm "/dx tipx tailx sub def~%")
+    (format strm "/angle dx 0 ne dy 0 ne or { dy dx atan } { 90 } ifelse def~%")
+    (format strm "gsave~%")
+    (format strm "originalCTM setmatrix~%")
+    (format strm "tipx tipy translate~%")
+    (format strm "angle rotate~%")
+    (format strm "newpath~%")
+    (format strm "arrowHeight neg arrowWidth 2 div moveto~%")
+    (format strm "0 0 lineto~%")
+    (format strm "arrowHeight neg arrowWidth 2 div neg lineto~%")
+    (format strm "patternNone not {~%")
+    (format strm "originalCTM setmatrix~%")
+    (format strm "/padtip arrowHeight 2 exp 0.25 arrowWidth 2 exp mul add sqrt brushWidth mul~%")
+    (format strm "arrowWidth div def~%")
+    (format strm "/padtail brushWidth 2 div def~%")
+    (format strm "tipx tipy translate~%")
+    (format strm "angle rotate~%")
+    (format strm "padtip 0 translate~%")
+    (format strm "arrowHeight padtip add padtail add arrowHeight div dup scale~%")
+    (format strm "arrowheadpath~%")
+    (format strm "ifill~%")
+    (format strm "} if~%")
+    (format strm "brushNone not {~%")
+    (format strm "originalCTM setmatrix~%")
+    (format strm "tipx tipy translate~%")
+    (format strm "angle rotate~%")
+    (format strm "arrowheadpath~%")
+    (format strm "istroke~%")
+    (format strm "} if~%")
+    (format strm "grestore~%")
+    (format strm "end~%")
+    (format strm "} dup 0 9 dict put def~%")
+    (format strm "~%")
+    (format strm "/arrowheadpath {~%")
+    (format strm "newpath~%")
+    (format strm "arrowHeight neg arrowWidth 2 div moveto~%")
+    (format strm "0 0 lineto~%")
+    (format strm "arrowHeight neg arrowWidth 2 div neg lineto~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/leftarrow {~%")
+    (format strm "0 begin~%")
+    (format strm "y exch get /taily exch def~%")
+    (format strm "x exch get /tailx exch def~%")
+    (format strm "y exch get /tipy exch def~%")
+    (format strm "x exch get /tipx exch def~%")
+    (format strm "brushLeftArrow { tipx tipy tailx taily arrowhead } if~%")
+    (format strm "end~%")
+    (format strm "} dup 0 4 dict put def~%")
+    (format strm "~%")
+    (format strm "/rightarrow {~%")
+    (format strm "0 begin~%")
+    (format strm "y exch get /tipy exch def~%")
+    (format strm "x exch get /tipx exch def~%")
+    (format strm "y exch get /taily exch def~%")
+    (format strm "x exch get /tailx exch def~%")
+    (format strm "brushRightArrow { tipx tipy tailx taily arrowhead } if~%")
+    (format strm "end~%")
+    (format strm "} dup 0 4 dict put def~%")
+    (format strm "~%")
+    (format strm "%%EndIdrawPrologue~%")
+    (format strm "~%")
+    (format strm "/arrowHeight 11 def~%")
+    (format strm "/arrowWidth 5 def~%")
+    (format strm "~%")
+    (format strm "/IdrawDict 50 dict def~%")
+    (format strm "IdrawDict begin~%")
+    (format strm "~%")
+    (format strm "/none null def~%")
+    (format strm "/numGraphicParameters 17 def~%")
+    (format strm "/stringLimit 65535 def~%")
+    (format strm "~%")
+    (format strm "/Begin {~%")
+    (format strm "save~%")
+    (format strm "numGraphicParameters dict begin~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/End {~%")
+    (format strm "end~%")
+    (format strm "restore~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/SetB {~%")
+    (format strm "dup type /nulltype eq {~%")
+    (format strm "pop~%")
+    (format strm "false /brushRightArrow idef~%")
+    (format strm "false /brushLeftArrow idef~%")
+    (format strm "true /brushNone idef~%")
+    (format strm "} {~%")
+    (format strm "/brushDashOffset idef~%")
+    (format strm "/brushDashArray idef~%")
+    (format strm "0 ne /brushRightArrow idef~%")
+    (format strm "0 ne /brushLeftArrow idef~%")
+    (format strm "/brushWidth idef~%")
+    (format strm "false /brushNone idef~%")
+    (format strm "} ifelse~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/SetCFg {~%")
+    (format strm "/fgblue idef~%")
+    (format strm "/fggreen idef~%")
+    (format strm "/fgred idef~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/SetCBg {~%")
+    (format strm "/bgblue idef~%")
+    (format strm "/bggreen idef~%")
+    (format strm "/bgred idef~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/SetF {~%")
+    (format strm "/printSize idef~%")
+    (format strm "/printFont idef~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/SetP {~%")
+    (format strm "dup type /nulltype eq {~%")
+    (format strm "pop true /patternNone idef~%")
+    (format strm "} {~%")
+    (format strm "dup -1 eq {~%")
+    (format strm "/patternGrayLevel idef~%")
+    (format strm "/patternString idef~%")
+    (format strm "} {~%")
+    (format strm "/patternGrayLevel idef~%")
+    (format strm "} ifelse~%")
+    (format strm "false /patternNone idef~%")
+    (format strm "} ifelse~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/BSpl {~%")
+    (format strm "0 begin~%")
+    (format strm "storexyn~%")
+    (format strm "newpath~%")
+    (format strm "n 1 gt {~%")
+    (format strm "0 0 0 0 0 0 1 1 true subspline~%")
+    (format strm "n 2 gt {~%")
+    (format strm "0 0 0 0 1 1 2 2 false subspline~%")
+    (format strm "1 1 n 3 sub {~%")
+    (format strm "/i exch def~%")
+    (format strm "i 1 sub dup i dup i 1 add dup i 2 add dup false subspline~%")
+    (format strm "} for~%")
+    (format strm "n 3 sub dup n 2 sub dup n 1 sub dup 2 copy false subspline~%")
+    (format strm "} if~%")
+    (format strm "n 2 sub dup n 1 sub dup 2 copy 2 copy false subspline~%")
+    (format strm "patternNone not brushLeftArrow not brushRightArrow not and and { ifill } if~%")
+    (format strm "brushNone not { istroke } if~%")
+    (format strm "0 0 1 1 leftarrow~%")
+    (format strm "n 2 sub dup n 1 sub dup rightarrow~%")
+    (format strm "} if~%")
+    (format strm "end~%")
+    (format strm "} dup 0 4 dict put def~%")
+    (format strm "~%")
+    (format strm "/Circ {~%")
+    (format strm "newpath~%")
+    (format strm "0 360 arc~%")
+    (format strm "closepath~%")
+    (format strm "patternNone not { ifill } if~%")
+    (format strm "brushNone not { istroke } if~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/CBSpl {~%")
+    (format strm "0 begin~%")
+    (format strm "dup 2 gt {~%")
+    (format strm "storexyn~%")
+    (format strm "newpath~%")
+    (format strm "n 1 sub dup 0 0 1 1 2 2 true subspline~%")
+    (format strm "1 1 n 3 sub {~%")
+    (format strm "/i exch def~%")
+    (format strm "i 1 sub dup i dup i 1 add dup i 2 add dup false subspline~%")
+    (format strm "} for~%")
+    (format strm "n 3 sub dup n 2 sub dup n 1 sub dup 0 0 false subspline~%")
+    (format strm "n 2 sub dup n 1 sub dup 0 0 1 1 false subspline~%")
+    (format strm "patternNone not { ifill } if~%")
+    (format strm "brushNone not { istroke } if~%")
+    (format strm "} {~%")
+    (format strm "Poly~%")
+    (format strm "} ifelse~%")
+    (format strm "end~%")
+    (format strm "} dup 0 4 dict put def~%")
+    (format strm "~%")
+    (format strm "/Elli {~%")
+    (format strm "0 begin~%")
+    (format strm "newpath~%")
+    (format strm "4 2 roll~%")
+    (format strm "translate~%")
+    (format strm "scale~%")
+    (format strm "0 0 1 0 360 arc~%")
+    (format strm "closepath~%")
+    (format strm "patternNone not { ifill } if~%")
+    (format strm "brushNone not { istroke } if~%")
+    (format strm "end~%")
+    (format strm "} dup 0 1 dict put def~%")
+    (format strm "~%")
+    (format strm "/Line {~%")
+    (format strm "0 begin~%")
+    (format strm "2 storexyn~%")
+    (format strm "newpath~%")
+    (format strm "x 0 get y 0 get moveto~%")
+    (format strm "x 1 get y 1 get lineto~%")
+    (format strm "brushNone not { istroke } if~%")
+    (format strm "0 0 1 1 leftarrow~%")
+    (format strm "0 0 1 1 rightarrow~%")
+    (format strm "end~%")
+    (format strm "} dup 0 4 dict put def~%")
+    (format strm "~%")
+    (format strm "/MLine {~%")
+    (format strm "0 begin~%")
+    (format strm "storexyn~%")
+    (format strm "newpath~%")
+    (format strm "n 1 gt {~%")
+    (format strm "x 0 get y 0 get moveto~%")
+    (format strm "1 1 n 1 sub {~%")
+    (format strm "/i exch def~%")
+    (format strm "x i get y i get lineto~%")
+    (format strm "} for~%")
+    (format strm "patternNone not brushLeftArrow not brushRightArrow not and and { ifill } if~%")
+    (format strm "brushNone not { istroke } if~%")
+    (format strm "0 0 1 1 leftarrow~%")
+    (format strm "n 2 sub dup n 1 sub dup rightarrow~%")
+    (format strm "} if~%")
+    (format strm "end~%")
+    (format strm "} dup 0 4 dict put def~%")
+    (format strm "~%")
+    (format strm "/Poly {~%")
+    (format strm "3 1 roll~%")
+    (format strm "newpath~%")
+    (format strm "moveto~%")
+    (format strm "-1 add~%")
+    (format strm "{ lineto } repeat~%")
+    (format strm "closepath~%")
+    (format strm "patternNone not { ifill } if~%")
+    (format strm "brushNone not { istroke } if~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/Rect {~%")
+    (format strm "0 begin~%")
+    (format strm "/t exch def~%")
+    (format strm "/r exch def~%")
+    (format strm "/b exch def~%")
+    (format strm "/l exch def~%")
+    (format strm "newpath~%")
+    (format strm "l b moveto~%")
+    (format strm "l t lineto~%")
+    (format strm "r t lineto~%")
+    (format strm "r b lineto~%")
+    (format strm "closepath~%")
+    (format strm "patternNone not { ifill } if~%")
+    (format strm "brushNone not { istroke } if~%")
+    (format strm "end~%")
+    (format strm "} dup 0 4 dict put def~%")
+    (format strm "~%")
+    (format strm "/Text {~%")
+    (format strm "ishow~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/idef {~%")
+    (format strm "dup where { pop pop pop } { exch def } ifelse~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/ifill {~%")
+    (format strm "0 begin~%")
+    (format strm "gsave~%")
+    (format strm "patternGrayLevel -1 ne {~%")
+    (format strm "fgred bgred fgred sub patternGrayLevel mul add~%")
+    (format strm "fggreen bggreen fggreen sub patternGrayLevel mul add~%")
+    (format strm "fgblue bgblue fgblue sub patternGrayLevel mul add setrgbcolor~%")
+    (format strm "eofill~%")
+    (format strm "} {~%")
+    (format strm "eoclip~%")
+    (format strm "originalCTM setmatrix~%")
+    (format strm "pathbbox /t exch def /r exch def /b exch def /l exch def~%")
+    (format strm "/w r l sub ceiling cvi def~%")
+    (format strm "/h t b sub ceiling cvi def~%")
+    (format strm "/imageByteWidth w 8 div ceiling cvi def~%")
+    (format strm "/imageHeight h def~%")
+    (format strm "bgred bggreen bgblue setrgbcolor~%")
+    (format strm "eofill~%")
+    (format strm "fgred fggreen fgblue setrgbcolor~%")
+    (format strm "w 0 gt h 0 gt and {~%")
+    (format strm "l w add b translate w neg h scale~%")
+    (format strm "w h true [w 0 0 h neg 0 h] { patternproc } imagemask~%")
+    (format strm "} if~%")
+    (format strm "} ifelse~%")
+    (format strm "grestore~%")
+    (format strm "end~%")
+    (format strm "} dup 0 8 dict put def~%")
+    (format strm "~%")
+    (format strm "/istroke {~%")
+    (format strm "gsave~%")
+    (format strm "brushDashOffset -1 eq {~%")
+    (format strm "[] 0 setdash~%")
+    (format strm "1 setgray~%")
+    (format strm "} {~%")
+    (format strm "brushDashArray brushDashOffset setdash~%")
+    (format strm "fgred fggreen fgblue setrgbcolor~%")
+    (format strm "} ifelse~%")
+    (format strm "brushWidth setlinewidth~%")
+    (format strm "originalCTM setmatrix~%")
+    (format strm "stroke~%")
+    (format strm "grestore~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/ishow {~%")
+    (format strm "0 begin~%")
+    (format strm "gsave~%")
+    (format strm "fgred fggreen fgblue setrgbcolor~%")
+    (format strm "/fontDict printFont printSize scalefont dup setfont def~%")
+    (format strm "/descender fontDict begin 0 /FontBBox load 1 get FontMatrix end~%")
+    (format strm "transform exch pop def~%")
+    (format strm "/vertoffset 1 printSize sub descender sub def {~%")
+    (format strm "0 vertoffset moveto show~%")
+    (format strm "/vertoffset vertoffset printSize sub def~%")
+    (format strm "} forall~%")
+    (format strm "grestore~%")
+    (format strm "end~%")
+    (format strm "} dup 0 3 dict put def~%")
+    (format strm "/patternproc {~%")
+    (format strm "0 begin~%")
+    (format strm "/patternByteLength patternString length def~%")
+    (format strm "/patternHeight patternByteLength 8 mul sqrt cvi def~%")
+    (format strm "/patternWidth patternHeight def~%")
+    (format strm "/patternByteWidth patternWidth 8 idiv def~%")
+    (format strm "/imageByteMaxLength imageByteWidth imageHeight mul~%")
+    (format strm "stringLimit patternByteWidth sub min def~%")
+    (format strm "/imageMaxHeight imageByteMaxLength imageByteWidth idiv patternHeight idiv~%")
+    (format strm "patternHeight mul patternHeight max def~%")
+    (format strm "/imageHeight imageHeight imageMaxHeight sub store~%")
+    (format strm "/imageString imageByteWidth imageMaxHeight mul patternByteWidth add string def~%")
+    (format strm "0 1 imageMaxHeight 1 sub {~%")
+    (format strm "/y exch def~%")
+    (format strm "/patternRow y patternByteWidth mul patternByteLength mod def~%")
+    (format strm "/patternRowString patternString patternRow patternByteWidth getinterval def~%")
+    (format strm "/imageRow y imageByteWidth mul def~%")
+    (format strm "0 patternByteWidth imageByteWidth 1 sub {~%")
+    (format strm "/x exch def~%")
+    (format strm "imageString imageRow x add patternRowString putinterval~%")
+    (format strm "} for~%")
+    (format strm "} for~%")
+    (format strm "imageString~%")
+    (format strm "end~%")
+    (format strm "} dup 0 12 dict put def~%")
+    (format strm "~%")
+    (format strm "/min {~%")
+    (format strm "dup 3 2 roll dup 4 3 roll lt { exch } if pop~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/max {~%")
+    (format strm "dup 3 2 roll dup 4 3 roll gt { exch } if pop~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/midpoint {~%")
+    (format strm "0 begin~%")
+    (format strm "/y1 exch def~%")
+    (format strm "/x1 exch def~%")
+    (format strm "/y0 exch def~%")
+    (format strm "/x0 exch def~%")
+    (format strm "x0 x1 add 2 div~%")
+    (format strm "y0 y1 add 2 div~%")
+    (format strm "end~%")
+    (format strm "} dup 0 4 dict put def~%")
+    (format strm "~%")
+    (format strm "/thirdpoint {~%")
+    (format strm "0 begin~%")
+    (format strm "/y1 exch def~%")
+    (format strm "/x1 exch def~%")
+    (format strm "/y0 exch def~%")
+    (format strm "/x0 exch def~%")
+    (format strm "x0 2 mul x1 add 3 div~%")
+    (format strm "y0 2 mul y1 add 3 div~%")
+    (format strm "end~%")
+    (format strm "} dup 0 4 dict put def~%")
+    (format strm "~%")
+    (format strm "/subspline {~%")
+    (format strm "0 begin~%")
+    (format strm "/movetoNeeded exch def~%")
+    (format strm "y exch get /y3 exch def~%")
+    (format strm "x exch get /x3 exch def~%")
+    (format strm "y exch get /y2 exch def~%")
+    (format strm "x exch get /x2 exch def~%")
+    (format strm "y exch get /y1 exch def~%")
+    (format strm "x exch get /x1 exch def~%")
+    (format strm "y exch get /y0 exch def~%")
+    (format strm "x exch get /x0 exch def~%")
+    (format strm "x1 y1 x2 y2 thirdpoint~%")
+    (format strm "/p1y exch def~%")
+    (format strm "/p1x exch def~%")
+    (format strm "x2 y2 x1 y1 thirdpoint~%")
+    (format strm "/p2y exch def~%")
+    (format strm "/p2x exch def~%")
+    (format strm "x1 y1 x0 y0 thirdpoint~%")
+    (format strm "p1x p1y midpoint~%")
+    (format strm "/p0y exch def~%")
+    (format strm "/p0x exch def~%")
+    (format strm "x2 y2 x3 y3 thirdpoint~%")
+    (format strm "p2x p2y midpoint~%")
+    (format strm "/p3y exch def~%")
+    (format strm "/p3x exch def~%")
+    (format strm "movetoNeeded { p0x p0y moveto } if~%")
+    (format strm "p1x p1y p2x p2y p3x p3y curveto~%")
+    (format strm "end~%")
+    (format strm "} dup 0 17 dict put def~%")
+    (format strm "~%")
+    (format strm "/storexyn {~%")
+    (format strm "/n exch def~%")
+    (format strm "/y n array def~%")
+    (format strm "/x n array def~%")
+    (format strm "n 1 sub -1 0 {~%")
+    (format strm "/i exch def~%")
+    (format strm "y i 3 2 roll put~%")
+    (format strm "x i 3 2 roll put~%")
+    (format strm "} for~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/SSten {~%")
+    (format strm "fgred fggreen fgblue setrgbcolor~%")
+    (format strm "dup true exch 1 0 0 -1 0 6 -1 roll matrix astore~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/FSten {~%")
+    (format strm "dup 3 -1 roll dup 4 1 roll exch~%")
+    (format strm "newpath~%")
+    (format strm "0 0 moveto~%")
+    (format strm "dup 0 exch lineto~%")
+    (format strm "exch dup 3 1 roll exch lineto~%")
+    (format strm "0 lineto~%")
+    (format strm "closepath~%")
+    (format strm "bgred bggreen bgblue setrgbcolor~%")
+    (format strm "eofill~%")
+    (format strm "SSten~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "/Rast {~%")
+    (format strm "exch dup 3 1 roll 1 0 0 -1 0 6 -1 roll matrix astore~%")
+    (format strm "} def~%")
+    (format strm "~%")
+    (format strm "%%EndProlog~%")
+    (format strm "~%")
+    (format strm "%I Idraw 13 Grid 8 8 ~%")
+    (format strm "~%")
+    (format strm "%%Page: 1 1~%")
+    (format strm "~%")
+    (format strm "Begin~%")
+    (format strm "%I b u~%")
+    (format strm "%I cfg u~%")
+    (format strm "%I cbg u~%")
+    (format strm "%I f u~%")
+    (format strm "%I p u~%")
+    (format strm "%I t~%")
+    (format strm "[ 0.747198 0 0 0.747198 0 0 ] concat~%")
+    (format strm "/originalCTM matrix currentmatrix def~%")
+    (format strm "~%")
+    strm))
+
+;;;(eval-when (eval) (format t ";; loaded kdraw.l~%"))
+;;;(eval-when (load) (format t ";; loaded kdraw.o~%"))
+;;; (in-package "USER")
+
+(export '(irtdraw-save))
+
+(defun irtdraw-save (&key (fname (format nil "~A.eps" (send user::*robot* :name)))
+                       (y 300) (bodies (send user::*robot* :bodies)))
+  (let (p1)
+  (hid2 bodies (send user::*irtviewer* :viewer))
+  (geo::open-kdraw-file fname)
+  ;;(dolist (ei *hid*)
+  ;;(send *viewer* :draw-edge-image ei t))
+  ;;(send *viewer* :draw *hid*)
+  (dolist (ei *hid*)
+    (dolist (v (send ei :visible-segments))
+      ;;(send *viewer* :draw-line-ndc (car v) (cadr v) nil (send ei :color))
+      (setq p1 (send (user::*viewer* . geo::port) :ndc-line-to-screen (car v) (cadr v) t))
+      ;;(if p1 (send (user::*viewer* . geo::surface) :draw-line (car p1) (cadr p1)))
+      ;;(if p1 (format t ";; ~A ~A ~%" (car p1) (cadr p1)))
+      (geo::kdraw-line (float-vector (elt (car p1) 0) (- y (elt (car p1) 1)))
+		       (float-vector (elt (cadr p1) 0) (- y (elt (cadr p1) 1))))
+      ))
+  #|
+  (geo::kdraw-line
+  (scale scale (v+ #f(1 0 0) (ei . geo::pvert2)))
+  (scale scale (v+ #f(1 0 0) (ei . geo::nvert2))))
+  |#
+  (geo::close-kdraw-file)
+  ))
+;;
+
+#|
+(defun irtdraw-demo-hand nil
+  (load "irteus/demo/demo.l")
+  (hand-grasp)
+  (irtdraw-save :fname "hand-grasp.eps"
+		:bodies (cons (cadr (objects))
+			    (send (car (objects)) :bodies)))
+  )
+(defun irtdraw-dual-arm nil
+  (load "irteus/demo/demo.l")
+  (dual-arm-ik)
+  (irtdraw-save :fname "dual-arm.eps"
+		:bodies (flatten (send-all (objects) :bodies)))
+  )
+|#
diff --git a/irteus/irtext.l b/irteus/irtext.l
index b2141688..260e4357 100644
--- a/irteus/irtext.l
+++ b/irteus/irtext.l
@@ -53,7 +53,7 @@
   (load-library
    (format nil "~A~A/lib/libirteusg"
 	   *eusdir* (unix:getenv "ARCHDIR"))
-   '("irtgeo" "euspqp" "pqp" "irtscene" "irtmodel" "irtdyna" "irtrobot" "irtsensor" "irtbvh" "irtcollada" "irtstl" "irtwrl" "irtpointcloud" "eusbullet" "bullet" "irtcollision"))
+   '("irtgeo" "euspqp" "pqp" "irtscene" "irtmodel" "irtdyna" "irtrobot" "irtsensor" "irtbvh" "irtcollada" "irtstl" "irtwrl" "irtdraw" "irtpointcloud" "eusbullet" "bullet" "irtcollision"))
   (in-package "USER")
   (import '(collada::convert-irtmodel-to-collada collada::eus2collada)))
 (defun load-irteusx ()