1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135

118

bone 4# right leg bone2 (mid1)
seg -3,0,-2.5 -3,-4,-2.5
hinge 3 -3,0,-2.5 0,0,1# knee1 - 1 DOF (pitch)

bone 5# right leg bone3 (mid2)
seg -3,-4,-2.5 -3,-9.5,-2.5
hinge 4 -3,-4,-2.5 0,0,1# knee2 - 1 DOF (pitch)

bone 6# right leg bone4 (lower)
seg -4.8,-9.5,-2.5 -1.3,-9.5,-2.5
hinge 5 -3,-9.5,-2.5 0,0,1# knee3 - 1 DOF (pitch)

bone 7# right foot
seg -4.1,-10.4,-2.5 -7.6,-10.4,-2.5
seg -5.6,-10.4,-3.9 -5.6,-10.4,-1.1
uhinge 6 -4.8,-9.5,-2.5 0,0,1 1,0,0# ankle - 2 DOF
#(pitch, roll)

bone 8# left leg bone1 (upper)
seg 0,0,2.4 -3,0,2.4
uhinge 1 0,0,2.5 -1,0,0 0,0,1# hip - 2 DOF
#(roll, pitch)

bone 9# right leg bone2 (mid1)
seg -3,0,2.5 -3,-4,2.5
hinge 8 -3,0,2.5 0,0,1# knee1 - 1 DOF (pitch)

bone 10# left leg bone3 (mid2)
seg -3,-4,2.5 -3,-9.5,2.5
hinge 9 -3,-4,2.5 0,0,1# knee2 - 1 DOF (pitch)

bone 11# left leg bone4 (lower)
seg -4.8,-9.5,2.5 -1.3,-9.5,2.5
hinge 10 -3,-9.5,2.5 0,0,1# knee3 - 1 DOF (pitch)

bone 12# left foot
seg -4.1,-10.4,2.5 -7.6,-10.4,2.5
seg -5.6,-10.4,1.1 -5.6,-10.4,3.9
uhinge 11 -4.8,-9.5,2.5 0,0,1 1,0,0# ankle - 2 DOF
#(pitch, roll)


### JOINT STRENGTH PARAMETERS----------------------------------------------

kpd hinge 21000 33# neck pitch (z)


kpd hinge 3:01000 33# right hip roll (x)
kpd hinge 3:11000 33# right hip pitch (z)

kpd hinge 41000 33# right knee1 pitch (z)
kpd hinge 51000 33# right knee2 pitch (z)
kpd hinge 61000 33# right knee3 pitch (z)

kpd hinge 7:01001.5# right ankle pitch (z)
kpd hinge 7:11001.5# right ankle roll (x)


kpd hinge 8:01000 33# left hip roll (x)
kpd hinge 8:11000 33# left hip pitch (z)

kpd hinge 91000 33# left knee1 pitch (z)
kpd hinge 101000 33# left knee2 pitch (z)
kpd hinge 111000 33# left knee3 pitch (z)

[CONVERTED BY MYRMIDON]