0 root -1 1 0 0 0 0 1 0 0 0 0 1 0 0.00805637 0 rx(-1000 1000) ry(-1000 1000) rz(-1000 1000) 
1 lhipjoint 0 1 0 0 0 0 1 0 -0.00805637 0 0 1 0 0.0392936 0 
2 rhipjoint 0 1 0 0 0 0 1 0 -0.00805637 0 0 1 0 0.0387685 0 
3 lowerback 0 1 0 0 0 0 1 0 -0.00805637 0 0 1 0 0.157239 0 rx(-20 45) ry(-30 30) rz(-30 30) 
4 lfemur 1 0.939692 0.342021 -1.0633e-07 0.133632 0.34202 -0.939693 4.99153e-08 -0.215236 -8.28458e-08 -8.32722e-08 -1 0.0822827 0.606985 1 rx(-160 20) ry(-70 70) rz(-70 60) 
5 rfemur 2 0.939693 -0.34202 1.34265e-07 -0.127991 -0.34202 -0.939693 4.49897e-08 -0.214711 1.10781e-07 -8.81979e-08 -1 0.0822826 0.630395 1 rx(-160 20) ry(-70 70) rz(-60 70) 
6 upperback 3 1 0 0 0.00217352 0 1 0 -0.00071971 0 0 1 -0.0148691 0.157634 0 rx(-20 45) ry(-30 30) rz(-30 30) 
7 ltibia 4 1 7.79704e-17 2.10284e-08 -1.56828e-06 -7.79704e-17 1 1.62101e-15 -5.70808e-07 -2.10284e-08 -1.62101e-15 1 -5.96046e-07 0.553824 1 rx(-10 170) 
8 rtibia 5 1 -4.42646e-18 -5.01038e-09 1.56828e-06 4.42646e-18 1 2.2624e-16 -5.70808e-07 5.01038e-09 -2.2624e-16 1 -6.55651e-07 0.555133 1 rx(-10 170) 
9 thorax 6 1 0 0 0.00436105 0 1 0 -9.46316e-05 0 0 1 -0.00328713 0.158772 0 rx(-20 45) ry(-30 30) rz(-30 30) 
10 lfoot 7 1 6.18174e-08 4.1502e-07 -1.99659e-06 4.1502e-07 7.54979e-08 -1 1.30306e-06 -6.18174e-08 1 7.54979e-08 -6.55651e-07 0.0317937 0 rx(-45 90) rz(-70 20) 
11 rfoot 8 1 -1.0577e-07 -1.92253e-07 2.1185e-06 -1.92253e-07 7.54979e-08 -1 2.43809e-07 1.0577e-07 1 7.54979e-08 -6.55651e-07 0.032383 0 rx(-45 90) rz(-20 70) 
12 lowerneck 9 1 0 0 0.00314082 0 1 0 -7.45027e-05 0 0 1 0.00371251 0.134985 0 rx(-20 45) ry(-30 30) rz(-30 30) 
13 lclavicle 9 1 0 0 0.00314082 0 1 0 -7.45027e-05 0 0 1 0.00371251 0.043194 0 ry(-20 10) rz(0 20) 
14 rclavicle 9 1 0 0 0.00314082 0 1 0 -7.45027e-05 0 0 1 0.00371251 0.0415577 0 ry(-10 20) rz(-20 0) 
15 ltoes 10 1 -1.13478e-14 1.50996e-07 2.04084e-08 1.13478e-14 -1 -1.50307e-07 -0.218907 1.50996e-07 1.50307e-07 -1 -0.037132 0.0958434 1 rx(-90 20) 
16 rtoes 11 1 1.11495e-14 -1.50996e-07 -2.16089e-08 -1.11495e-14 -1 -1.4768e-07 -0.222767 -1.50996e-07 1.4768e-07 -1 -0.0388021 0.0975481 1 rx(-90 20) 
17 upperneck 12 1 0 0 -0.00416485 0 1 0 -0.000714155 0 0 1 0.0132269 0.159808 0 rx(-20 45) ry(-30 30) rz(-30 30) 
18 lhumerus 13 1.25069e-07 1 -1.46257e-07 0.243143 -0.866025 1.81442e-07 0.5 0.0436449 0.5 6.4128e-08 0.866025 -0.0225042 0.366989 1 rx(-60 90) ry(-90 90) rz(-90 90) 
19 rhumerus 14 1.25666e-07 -1 1.43957e-07 -0.226815 0.866025 1.80809e-07 0.5 0.0578031 -0.5 6.18377e-08 0.866025 -0.0292608 0.386056 1 rx(-90 60) ry(-90 90) rz(-90 90) 
20 head 17 1 0 0 0.00940308 0 1 0 -0.000670613 0 0 1 -0.011201 0.160093 0 rx(-20 45) ry(-30 30) rz(-30 30) 
21 lradius 18 1 0 0 -3.72529e-07 0 1 0 -4.77791e-14 0 0 1 -6.45239e-07 0.274682 1 rx(-10 170) 
22 rradius 19 1 -1.61031e-15 -2.98023e-08 3.8743e-07 1.61031e-15 1 -5.29241e-15 -4.79156e-14 2.98023e-08 5.29241e-15 1 -6.71049e-07 0.271576 1 rx(-10 170) 
23 lwrist 21 -0.5 1.13247e-07 0.866026 -2.68221e-07 -5.35783e-08 1 -1.617e-07 -3.94112e-14 -0.866026 -1.2725e-07 -0.5 -4.64572e-07 0.140324 1 ry(-0 180) 
24 rwrist 22 -0.5 -1.13247e-07 -0.866026 2.68221e-07 4.25067e-08 1 -1.55307e-07 -3.54517e-14 0.866026 -1.14466e-07 -0.5 -4.64572e-07 0.138738 1 ry(-0 180) 
25 lhand 23 1 0 1.03316e-07 0 0 1 -7.80014e-15 0 -1.03316e-07 7.80014e-15 1 0 0.0576239 1 rx(-90 90) rz(-45 45) 
26 lthumb 23 0.707107 -0.707107 1.50813e-07 0 0.707107 0.707107 -4.38947e-08 0 -7.56023e-08 1.37679e-07 1 0 0.0667046 1 rx(-45 45) rz(-45 45) 
27 rhand 24 1 0 -7.35137e-08 0 0 1 -5.55013e-15 0 7.35137e-08 5.55013e-15 1 0 0.0501532 1 rx(-90 90) rz(-45 45) 
28 rthumb 24 0.707107 0.707107 -2.44791e-07 0 -0.707107 0.707107 5.00833e-08 0 2.08507e-07 1.37679e-07 1 0 0.0580565 1 rx(-45 45) rz(-45 45) 
29 lfingers 25 1 0 0 0 0 1 0 0 0 0 1 0 0.046458 1 rx(0 90)