ISO/IEC FCD 19774 — Humanoid animation (H-Anim)

Annex A

(normative)

Nominal body dimensions and levels of articulation

A.1 Introduction

This annex specifies the nominal body dimensions and levels of articulation necessary to ensure that humanoids are interchangeable.

Table A.1 contains the table of contents for this clause.

A.2 Levels of articulation

Some types of humanoid animation are independent of the body's actual dimensions. For example, tilting the head to a specific angle shall have the same effect on any humanoid that has a skullbase Joint object.

However, some animations will be dependent on the lengths of individual segments or on the ratios of the segment lengths. For example, touching the tip of the finger to the tip of the nose will require a knowledge of the body's dimensions.

The following tables provide suggested placements for the joint centres for each Joint object, and for the placement of Site objects that are used as end effectors. Any humanoid that is built to these dimensions will be able to share animations with any other humanoid built to these dimensions. Humanoids that are sized differently, but which use the same ratios of segment lengths, may be able to share certain animations provided that the application adjusts the animation values accordingly.

Since many applications may not need the full set of joints, the following tables have been arranged into four “Levels of Articulation” (LOA). Building to a particular LOA ensures that the humanoid will be compatible with animations and other humanoids built to the same (or higher) LOA.

Suggested body dimensions and levels of articulation are provided for information only and are not required by the H-Anim specification.

The source examples of each LOA that are listed after the tables contain no actual geometry, except for diamonds at the Joint object centres in some examples. They are provided as sample source code only.

A.3 Level of articulation zero

A.3.1 Definition

LOA Zero supports the HumanoidRoot Joint object only. This is the minimum legal H-Anim humanoid. Table A.2 specifies the default centre for the HumanoidRoot Joint object. Table A.3 specifies the default translations for the sites of LOA Zero.

A.3.2 Examples

A.3.2.1 LOA 0 Example source in VRML

#VRML V2.0 utf8 eMpTyWorlds V3.29.70

PROTO Humanoid [
 exposedField    SFVec3f    center       0 0 0
 exposedField    MFNode     humanoidBody          [ ]
 exposedField    MFString   info         [ ]
 exposedField    MFNode     joints       [ ]
 exposedField    SFString   name         ""
 exposedField    SFRotation rotation     0 0 1 0
 exposedField    SFVec3f    scale        1 1 1
 exposedField    SFRotation scaleOrientation      0 0 1 0
 exposedField    MFNode     segments     [ ]
 exposedField    MFNode     sites        [ ]
 exposedField    SFVec3f    translation           0 0 0
 exposedField    SFString   version      "200x"
 exposedField    MFNode     viewpoints            [ ]
 field           SFVec3f    bboxCenter            0 0 0
 field           SFVec3f    bboxSize     -1 -1 -1
]
{
 Transform {
  center           IS center
  rotation         IS rotation
  scale            IS scale
  scaleOrientation IS scaleOrientation
  translation      IS translation
  children [
   Group {
    children IS humanoidBody 
   }
   Group {
    children IS viewpoints
   }
  ]
 }
}


PROTO Joint [
 exposedField SFVec3f    center    0 0 0
 exposedField MFNode     children           []
 exposedField SFRotation limitOrientation   0 0 1 0
 exposedField MFFloat    llimit    []
 exposedField SFString   name      ""
 exposedField SFRotation rotation           0 0 1 0
 exposedField SFVec3f    scale     1 1 1
 exposedField SFRotation scaleOrientation   0 0 1 0
 exposedField MFFloat    stiffness          [1 1 1]
 exposedField SFVec3f    translation        0 0 0
 exposedField MFFloat    ulimit    []
] 
{ 
 Transform {
  center IS center 
  children IS children
  rotation IS rotation
  scale IS scale 
  scaleOrientation IS scaleOrientation
  translation IS translation
 }
}


PROTO Segment [
 eventIn         MFNode      addChildren
 eventIn         MFNode      removeChildren
 exposedField    SFVec3f     centerOfMass      0 0 0
 exposedField    MFNode      children          []
 exposedField    SFNode      coord    NULL
 exposedField    MFNode      displacers        []
 exposedField    SFString    name     ""
 exposedField    SFFloat     mass     0 
 exposedField    SFVec3f     momentsOfInertia  1 1 1
 field           SFVec3f     bboxCenter        0 0 0
 field           SFVec3f     bboxSize          -1 -1 -1
] 
{ 
 Group {
  addChildren IS addChildren
  bboxCenter IS bboxCenter
  bboxSize IS bboxSize
  children IS children
  removeChildren IS removeChildren
 }
}


PROTO Site [
 eventIn         MFNode      addChildren
 eventIn         MFNode      removeChildren
 exposedField    SFVec3f     center            0 0 0
 exposedField    MFNode      children          []
 exposedField    SFString    name     "" 
 exposedField    SFRotation  rotation          0 0 1 0
 exposedField    SFVec3f     scale    1 1 1
 exposedField    SFRotation  scaleOrientation  0 0 1 0
 exposedField    SFVec3f     translation       0 0 0
]
{ 
 Transform {
  addChildren IS addChildren
  removeChildren IS removeChildren
  center IS center
  children IS children
  rotation IS rotation
  scale IS scale
  scaleOrientation IS scaleOrientation
  translation IS translation
 }
}


DEF humanoid Humanoid {
 humanoidBody [
  DEF hanim_HumanoidRoot Joint {
   name           "HumanoidRoot"
   center         0.0000 0.8240 0.0277
   children [
    DEF hanim_sacrum Segment {
     name           "sacrum"
     children [
      DEF hanim_skull_tip Site {
       name         "skull_tip"
       translation    0.0050 1.7504 0.0055
       children [
       ]
      }
      DEF hanim_sellion Site {     # CAESAR Feature Point #1
       name         "sellion"
       translation    0.0058 1.6316 0.0852
       children [
       ]
      }
      DEF hanim_r_infraorbitale Site {     # CAESAR Feature Point #2
       name         "r_infraorbitale"
       translation    -0.0237 1.6171 0.0752
       children [
       ]
      }
      DEF hanim_l_infraorbitale Site {     # CAESAR Feature Point #3
       name         "l_infraorbitale"
       translation    0.0341 1.6171 0.0752
       children [
       ]
      }
      DEF hanim_supramenton Site {     # CAESAR Feature Point #4
       name         "supramenton"
       translation    0.0061 1.5410 0.0805
       children [
       ]
      }
      DEF hanim_r_tragion Site {     # CAESAR Feature Point #5
       name         "r_tragion"
       translation    -0.0646 1.6347 0.0302
       children [
       ]
      }
      DEF hanim_r_gonion Site {     # CAESAR Feature Point #6
       name         "r_gonion"
       translation    -0.0520 1.5529 0.0347
       children [
       ]
      }
      DEF hanim_l_tragion Site {     # CAESAR Feature Point #7
       name         "l_tragion"
       translation    0.0739 1.6348 0.0282
       children [
       ]
      }
      DEF hanim_l_gonion Site {     # CAESAR Feature Point #8
       name         "l_gonion"
       translation    0.0631 1.5530 0.0330
       children [
       ]
      }
      DEF hanim_nuchale Site {     # CAESAR Feature Point #9
       name         "nuchale"
       translation    0.0039 1.5972 -0.0796
       children [
       ]
      }
      DEF hanim_r_clavicale Site {     # CAESAR Feature Point #10
       name         "r_clavicale"
       translation    -0.0115 1.4943 0.0400
       children [
       ]
      }
      DEF hanim_suprasternale Site {     # CAESAR Feature Point #11
       name         "suprasternale"
       translation    0.0084 1.4714 0.0551
       children [
       ]
      }
      DEF hanim_l_clavicale Site {     # CAESAR Feature Point #12
       name         "l_clavicale"
       translation    0.0271 1.4943 0.0394
       children [
       ]
      }
      DEF hanim_r_thelion Site {     # CAESAR Feature Point #13
       name         "r_thelion"
       translation    -0.0736 1.3385 0.1217
       children [
       ]
      }
      DEF hanim_l_thelion Site {     # CAESAR Feature Point #14
       name         "l_thelion"
       translation    0.0918 1.3382 0.1192
       children [
       ]
      }
      DEF hanim_substernale Site {     # CAESAR Feature Point #15
       name         "substernale"
       translation    0.0085 1.2995 0.1147
       children [
       ]
      }
      DEF hanim_r_rib10 Site {     # CAESAR Feature Point #16
       name         "r_rib10"
       translation    -0.0711 1.1941 0.1016
       children [
       ]
      }
      DEF hanim_r_asis Site {     # CAESAR Feature Point #17
       name           "r_asis"
       translation    -0.0887 1.0021 0.1112
       children [
       ]
      }
      DEF hanim_l_rib10 Site {     # CAESAR Feature Point #18
       name           "l_rib10"
       translation    0.0871 1.1925 0.0992
       children [
       ]
      }
      DEF hanim_l_asis Site {     # CAESAR Feature Point #19
       name           "l_asis"
       translation    0.0925 0.9983 0.1052
       children [
       ]
      }
      DEF hanim_r_iliocristale Site {     # CAESAR Feature Point #20
       name           "r_iliocristale"
       translation    -0.1525 1.0628 0.0035
       children [
       ]
      }
      DEF hanim_r_trochanterion Site {     # CAESAR Feature Point #21
       name           "r_trochanterion"
       translation    -0.1689 0.8419 0.0352
       children [
       ]
      }
      DEF hanim_l_iliocristale Site {     # CAESAR Feature Point #22
       name           "l_iliocristale"
       translation    0.1612 1.0537 0.0008
       children [
       ]
      }
      DEF hanim_l_trochanterion Site {     # CAESAR Feature Point #23
       name           "l_trochanterion"
	   translation    0.1677 0.8336 0.0303
       children [
       ]
      }
      DEF hanim_cervicale Site {     # CAESAR Feature Point #24
       name         "cervicale"
       translation    0.0064 1.520 -0.0815
       children [
       ]
      }
      DEF hanim_rib10_midspine Site {     # CAESAR Feature Point #25
       name           "rib10_midspine"
       translation    0.0049 1.1908 -0.1113
       children [
       ]
      }
      DEF hanim_r_psis Site {     # CAESAR Feature Point #26
       name           "r_psis"
       translation    -0.0716 1.0190 -0.1138
       children [
       ]
      }
      DEF hanim_l_psis Site {     # CAESAR Feature Point #27
       name           "l_psis"
       translation    0.0774 1.0190 -0.1151
       children [
       ]
      }
      DEF hanim_waist_preferred_post Site {     # CAESAR Feature Point #28
       name           "waist_preferred_post"
       translation    0.0049 1.0915 -0.1091
       children [
       ]
      }
      DEF hanim_r_acromion Site {     # CAESAR Feature Point #29
       name         "r_acromion"
       translation    -0.1905 1.4791 -0.0431
       children [
       ]
      }
      DEF hanim_r_axilla_ant Site {     # CAESAR Feature Point #30
       name         "r_axilla_ant"
       translation    -0.1626 1.4072 -0.0031
       children [
       ]
      }
      DEF hanim_r_radial_styloid Site {     # CAESAR Feature Point #31
       name         "r_radial_styloid"
       translation    -0.1884 0.8676 -0.0360
       children [
       ]
      }
      DEF hanim_r_axilla_post Site {     # CAESAR Feature Point #32
       name         "r_axilla_post"
       translation    -0.1603 1.4098 -0.0826
       children [
       ]
      }
      DEF hanim_r_olecranon Site {     # CAESAR Feature Point #33
       name         "r_olecranon"
       translation    -0.1907 1.1405 -0.1065
       children [
       ]
      }
      DEF hanim_r_humeral_lateral_epicn Site {     # CAESAR Feature Point #34
       name         "r_humeral_lateral_epicn"
       translation    -0.2224 1.1517 -0.1033
       children [
       ]
      }
      DEF hanim_r_humeral_medial_epicn Site {     # CAESAR Feature Point #35
       name         "r_humeral_medial_epicn"
       translation    -0.1680 1.1298 -0.1062
       children [
       ]
      }
      DEF hanim_r_radiale Site {     # CAESAR Feature Point #36
       name         "r_radiale"
       translation    -0.2130 1.1305 -0.1091
       children [
       ]
      }
      DEF hanim_r_metacarpal_pha2 Site {     # CAESAR Feature Point #37
       name         "r_metacarpal_pha2"
       translation    -0.1977 0.8169 -0.0177
       children [
       ]
      }
      DEF hanim_r_dactylion Site {     # CAESAR Feature Point #38
       name         "r_dactylion"
       translation    -0.1941 0.6772 -0.0423
       children [
       ]
      }
      DEF hanim_r_ulnar_styloid Site {     # CAESAR Feature Point #39
       name         "r_ulnar_styloid"
       translation    -0.2117 0.8562 -0.0584
       children [
       ]
      }
      DEF hanim_r_metacarpal_pha5 Site {     # CAESAR Feature Point #40
       name         "r_metacarpal_pha5"
       translation    -0.1929 0.7890 -0.1064
       children [
       ]
      }
      DEF hanim_l_acromion Site {     # CAESAR Feature Point #41
       name         "l_acromion"
       translation    0.2032 1.4760 -0.0490
       children [
       ]
      }
      DEF hanim_l_axilla_ant Site {     # CAESAR Feature Point #42
       name         "l_axilla_ant"
       translation    0.1777 1.4065 -0.0075
       children [
       ]
      }
      DEF hanim_l_radial_styloid Site {     # CAESAR Feature Point #43
       name         "l_radial_styloid"
       translation    0.1901 0.8645 -0.0415
       children [
       ]
      }
      DEF hanim_l_axilla_post Site {     # CAESAR Feature Point #44
       name         "l_axilla_post"
       translation    0.1706 1.4072 -0.0875
       children [
       ]
      }
      DEF hanim_l_olecranon Site {     # CAESAR Feature Point #45
       name         "l_olecranon"
       translation    0.1962 1.1375 -0.1123
       children [
       ]
      }
      DEF hanim_l_humeral_lateral_epicn Site {     # CAESAR Feature Point #46
       name         "l_humeral_lateral_epicn "
       translation    0.2280 1.1482 -0.1100
       children [
       ]
      }
      DEF hanim_l_humeral_medial_epicn Site {     # CAESAR Feature Point #47
       name         "l_humeral_medial_epicn"
       translation    0.1735 1.1272 -0.1113
       children [
       ]
      }
      DEF hanim_l_radiale Site {     # CAESAR Feature Point #48
       name         "l_radiale"
       translation    0.2182 1.1212 -0.1167
       children [
       ]
      }
      DEF hanim_l_metacarpal_pha2 Site {     # CAESAR Feature Point #49
       name         "l_metacarpal_pha2"
       translation    0.2009 0.8139 -0.0237
       children [
       ]
      }
      DEF hanim_l_dactylion Site {     # CAESAR Feature Point #50
       name         "l_dactylion"
       translation    0.2056 0.6743 -0.0482
       children [
       ]
      }
      DEF hanim_l_ulnar_styloid Site {     # CAESAR Feature Point #51
       name         "l_ulnar_styloid"
       translation    0.2142 0.8529 -0.0648
       children [
       ]
      }
      DEF hanim_l_metacarpal_pha5 Site {     # CAESAR Feature Point #52
       name         "l_metacarpal_pha5"
       translation    0.1929 0.7860 -0.1122
       children [
       ]
      }
      DEF hanim_r_knee_crease Site {     # CAESAR Feature Point #53
       name           "r_knee_crease"
       translation    -0.0825 0.4932 -0.0326
       children [
       ]
      }
      DEF hanim_r_femoral_lateral_epicn Site {     # CAESAR Feature Point #54
       name           "r_femoral_lateral_epicn"
       translation    -0.1421 0.4992 0.0310
       children [
       ]
      } 
      DEF hanim_r_femoral_medial_epicn Site {     # CAESAR Feature Point #55
       name           "r_femoral_lateral_epicn"
       translation    -0.0221 0.5014 0.0289
       children [
       ]
      }
      DEF hanim_r_metatarsal_pha5 Site {     # CAESAR Feature Point #56
       name           "r_metatarsal_pha5"
       translation    -0.1523 0.0166 0.0895
       children [
       ]
      }
      DEF hanim_r_lateral_malleolus Site {     # CAESAR Feature Point #57
       name           "r_lateral_malleolus"
       translation    -0.1006 0.0658 -0.1075
       children [
       ]
      }
      DEF hanim_r_medial_malleolus Site {     # CAESAR Feature Point #58
       name           "r_medial_malleolus"
       translation    -0.0591 0.0760 -0.0928
       children [
       ]
      }
      DEF hanim_r_sphyrion Site {     # CAESAR Feature Point #59
       name           "r_sphyrion"
       translation    -0.0603 0.0610 -0.1002
       children [
       ]
      }
      DEF hanim_r_metatarsal_pha1 Site {     # CAESAR Feature Point #60
       name           "r_metatarsal_pha1"
       translation    -0.0521 0.0260 0.0127
       children [
       ]
      }
      DEF hanim_r_calcaneous_post Site {     # CAESAR Feature Point #61
       name           "r_calcaneous_post"
       translation    -0.0692 0.0297 -0.1221
       children [
       ]
      }
      DEF hanim_r_digit2 Site {     # CAESAR Feature Point #62
       name           "r_digit2"
       translation    -0.0883 0.0134 0.1383
       children [
       ]
      }
      DEF hanim_l_knee_crease Site {     # CAESAR Feature Point #63
       name           "l_knee_crease"
       translation    0.0993 0.4881 -0.0309
       children [
       ]
      }
      DEF hanim_l_femoral_lateral_epicn Site {     # CAESAR Feature Point #64
       name           "l_femoral_lateral_epicn"
       translation    0.1598 0.4967 0.0297
       children [
       ]
      }
      DEF hanim_l_femoral_medial_epicn Site {     # CAESAR Feature Point #65
       name           "l_femoral_lateral_epicn"
       translation    0.0398 0.4946 0.0303
       children [
       ]
      }
      DEF hanim_l_metatarsal_pha5 Site {     # CAESAR Feature Point #66
       name           "l_metatarsal_pha5"
       translation    0.1825 0.0070 0.0928
       children [
       ]
      }
      DEF hanim_l_lateral_malleolus Site {     # CAESAR Feature Point #67
       name           "l_lateral_malleolus"
       translation    0.1308 0.0597 -0.1032
       children [
       ]
      }
      DEF hanim_l_medial_malleolus Site {     # CAESAR Feature Point #68
       name           "l_medial_malleolus"
       translation    0.0890 0.0716 -0.0881
       children [
       ]
      }
      DEF hanim_l_sphyrion Site {     # CAESAR Feature Point #69
       name           "l_sphyrion"
       translation    0.0890 0.0575 -0.0943
       children [
       ]
      }
      DEF hanim_l_metatarsal_pha1 Site {     # CAESAR Feature Point #70
       name           "l_metatarsal_pha1"
       translation    0.0816 0.0232 0.0106
       children [
       ]
      }
      DEF hanim_l_calcaneous_post Site {     # CAESAR Feature Point #71
       name           "l_calcaneous_post"
       translation    0.0974 0.0259 -0.1171
       children [
       ]
      }
      DEF hanim_l_digit2 Site {     # CAESAR Feature Point #72
       name           "l_digit2"
       translation    0.1195 0.0079 0.1433
       children [
       ]
      }
      DEF hanim_crotch Site {     # CAESAR Feature Point #73
       name           "crotch"
       translation    0.0034 0.8266 0.0257
       children [
       ]
      }
      DEF hanim_r_neck_base Site {     # HANIM addition to CAESAR Feature Point #74
       name           "r_neck_base"
       translation    -0.0419 1.5149 -0.0220
       children [
       ]
      }
      DEF hanim_l_neck_base Site {     # HANIM addition to CAESAR Feature Point #75
       name           "l_neck_base"
       translation    0.0646 1.5141 -0.0380
       children [
       ]
      }
      DEF hanim_navel Site {     # HANIM addition to CAESAR Feature Point #76
       name           "navel"
       translation    0.0069 1.0966 0.1017
       children [
       ]
      }
     ]
    }     # end hanim_sacrum Segment
   ]
  }     # end hanim_HumanoidRoot Joint
 ]
 joints [
  USE hanim_HumanoidRoot
 ]
 segments [
  USE hanim_sacrum
 ]
 sites [
  USE hanim_skull_tip, 
  USE hanim_sellion, USE hanim_r_infraorbitale, 
  USE hanim_l_infraorbitale, USE hanim_supramenton, 
  USE hanim_r_tragion, USE hanim_r_gonion, USE hanim_l_tragion, 
  USE hanim_l_gonion, USE hanim_nuchale, USE hanim_r_clavicale, 
  USE hanim_suprasternale, USE hanim_l_clavicale, 
  USE hanim_r_thelion, USE hanim_l_thelion,
  USE hanim_substernale, USE hanim_r_rib10, USE hanim_r_asis, 
  USE hanim_l_rib10, USE hanim_l_asis, USE hanim_r_iliocristale, 
  USE hanim_r_trochanterion, USE hanim_l_iliocristale, 
  USE hanim_l_trochanterion, USE hanim_cervicale, 
  USE hanim_rib10_midspine, USE hanim_r_psis, USE hanim_l_psis, 
  USE hanim_waist_preferred_post, USE hanim_r_acromion, 
  USE hanim_r_axilla_ant, USE hanim_r_radial_styloid, 
  USE hanim_r_axilla_post, USE hanim_r_olecranon, 
  USE hanim_r_humeral_lateral_epicn, USE hanim_r_humeral_medial_epicn, 
  USE hanim_r_radiale, USE hanim_r_metacarpal_pha2, 
  USE hanim_r_dactylion, USE hanim_r_ulnar_styloid, 
  USE hanim_r_metacarpal_pha5, USE hanim_l_acromion,
  USE hanim_l_axilla_ant, USE hanim_l_radial_styloid,
  USE hanim_l_axilla_post, USE hanim_l_olecranon, 
  USE hanim_l_humeral_lateral_epicn, USE hanim_l_humeral_medial_epicn, 
  USE hanim_l_radiale, USE hanim_l_metacarpal_pha2, 
  USE hanim_l_dactylion, USE hanim_l_ulnar_styloid, 
  USE hanim_l_metacarpal_pha5, USE hanim_r_knee_crease, 
  USE hanim_r_femoral_lateral_epicn, USE hanim_r_femoral_medial_epicn, 
  USE hanim_r_metatarsal_pha5, USE hanim_r_lateral_malleolus, 
  USE hanim_r_medial_malleolus, USE hanim_r_sphyrion, 
  USE hanim_r_metatarsal_pha1, USE hanim_r_calcaneous_post, 
  USE hanim_r_digit2, USE hanim_l_knee_crease, 
  USE hanim_l_femoral_lateral_epicn, USE hanim_l_femoral_medial_epicn, 
  USE hanim_l_metatarsal_pha5, USE hanim_l_lateral_malleolus, 
  USE hanim_l_medial_malleolus, USE hanim_l_sphyrion, 
  USE hanim_l_metatarsal_pha1, USE hanim_l_calcaneous_post, 
  USE hanim_l_digit2, USE hanim_crotch, USE hanim_r_neck_base,
  USE hanim_l_neck_base, USE hanim_navel
 ]
 version "200x"
 name "humanoid"
 info [
  "authorName=Matthew T. Beitler"
  "authorEmail=beitler@graphics.cis.upenn.edu or beitler@acm.org"
  "creationDate=05/12/99"
  "copyright=Copyright 1999-2003, Matthew T. Beitler"
  "humanoidVersion=JointCenters 200x, LOA0"
  "usageRestrictions=
    PERMISSION TO FULLY USE THIS SCENE GRAPH IS GRANTED, PROVIDED
    THIS COPYRIGHT INFORMATION AND DOCUMENTATION OF THE ORIGINAL
    AUTHOR IS INCLUDED.  This humanoid scene graph is provided
    'as-is' and without warranty of any kind, express, implied
    or otherwise, including without limitation, any warranty of
    merchantability or fitness for a particular purpose."
  "modificationDate=08/12/03"
 ]
}

DEF JointCenters_WorldInfo Group
{
 children [
  WorldInfo
  {
   title "HANIM 200x Default Joint Centers, LOA0"
   info [ "
     HANIM 200x Default Joint Centers, Level-Of-Articulation 0
     ---------------------------------------------------------
     HANIM 200x (VRML97) Author name:
       eMpTy (a.k.a. Matthew T. Beitler)
     HANIM 200x (VRML97) Author email:
       beitler@cis.upenn.edu or beitler@acm.org
     HANIM 200x (VRML97) Author homepage:
       http://www.cis.upenn.edu/~beitler
     HANIM 200x (VRML97) Compliance Date:
       August 12, 2003
     HANIM 200x Compliance Information:
       http://H-Anim.org/Specifications/H-Anim200x
     Construction Info (joint centers):
      The joint centers of this figure are based on the 
      work of Norman Badler, director of the Center for
      Human Modeling and Simulation at the University of
      Pennsylvania.  The original document which these
      joint centers are based on can be found at:
        http://www.cis.upenn.edu/~badler/anthro/89-71.ps
   "]
  }
 ]
}


NavigationInfo
{
 headlight TRUE
 speed 1.5
 type ["EXAMINE", "ANY"]
}

A.3.2.2 LOA Zero example with diamonds at Joint centers

#VRML V2.0 utf8 eMpTyWorlds V3.29.70

PROTO Humanoid [
 exposedField    SFVec3f    center       0 0 0
 exposedField    MFNode     humanoidBody          [ ]
 exposedField    MFString   info         [ ]
 exposedField    MFNode     joints       [ ]
 exposedField    SFString   name         ""
 exposedField    SFRotation rotation     0 0 1 0
 exposedField    SFVec3f    scale        1 1 1
 exposedField    SFRotation scaleOrientation      0 0 1 0
 exposedField    MFNode     segments     [ ]
 exposedField    MFNode     sites        [ ]
 exposedField    SFVec3f    translation           0 0 0
 exposedField    SFString   version      "200x"
 exposedField    MFNode     viewpoints            [ ]
 field           SFVec3f    bboxCenter            0 0 0
 field           SFVec3f    bboxSize     -1 -1 -1
]
{
 Transform {
  center           IS center
  rotation         IS rotation
  scale            IS scale
  scaleOrientation IS scaleOrientation
  translation      IS translation
  children [
   Group {
    children IS humanoidBody 
   }
   Group {
    children IS viewpoints
   }
  ]
 }
}


PROTO Joint [
 exposedField SFVec3f    center    0 0 0
 exposedField MFNode     children           []
 exposedField SFRotation limitOrientation   0 0 1 0
 exposedField MFFloat    llimit    []
 exposedField SFString   name      ""
 exposedField SFRotation rotation           0 0 1 0
 exposedField SFVec3f    scale     1 1 1
 exposedField SFRotation scaleOrientation   0 0 1 0
 exposedField MFFloat    stiffness          [1 1 1]
 exposedField SFVec3f    translation        0 0 0
 exposedField MFFloat    ulimit    []
] 
{ 
 Group {
  children [
   Transform {
    center IS center 
    children IS children
    rotation IS rotation
    scale IS scale 
    scaleOrientation IS scaleOrientation
    translation IS translation
   }
   Transform {
    translation IS center
    children [
     Shape { 
      geometry 
       IndexedFaceSet {
        coord Coordinate {
         point [ 
          0 0.01 0, -0.01 0 0, 0 0 0.01, 
          0.01 0 0, 0 0 -0.01, 0 -0.01 0 
         ]
        }
        coordIndex [ 
         0, 1, 2, -1, 0, 2, 3, -1, 0, 3, 4, -1, 0, 4, 1, -1,
         5, 2, 1, -1, 5, 3, 2, -1, 5, 4, 3, -1, 5, 1, 4, -1 
        ]
        creaseAngle 0.5
       }
      appearance 
       Appearance { 
        material 
         Material { diffuseColor 1 1 0 } 
       } 
     } 
    ]
   }
  ]
 }
}


PROTO Segment [
 eventIn         MFNode      addChildren
 eventIn         MFNode      removeChildren
 exposedField    SFVec3f     centerOfMass      0 0 0
 exposedField    MFNode      children          []
 exposedField    SFNode      coord    NULL
 exposedField    MFNode      displacers        []
 exposedField    SFString    name     ""
 exposedField    SFFloat     mass     0 
 exposedField    SFVec3f     momentsOfInertia  1 1 1
 field           SFVec3f     bboxCenter        0 0 0
 field           SFVec3f     bboxSize          -1 -1 -1
] 
{ 
 Group {
  addChildren IS addChildren
  bboxCenter IS bboxCenter
  bboxSize IS bboxSize
  children IS children
  removeChildren IS removeChildren
 }
}


PROTO Site [
 eventIn         MFNode      addChildren
 eventIn         MFNode      removeChildren
 exposedField    SFVec3f     center            0 0 0
 exposedField    MFNode      children          []
 exposedField    SFString    name     "" 
 exposedField    SFRotation  rotation          0 0 1 0
 exposedField    SFVec3f     scale    1 1 1
 exposedField    SFRotation  scaleOrientation  0 0 1 0
 exposedField    SFVec3f     translation       0 0 0
]
{ 
 Transform {
  addChildren IS addChildren
  removeChildren IS removeChildren
  center IS center
  children IS children
  rotation IS rotation
  scale IS scale
  scaleOrientation IS scaleOrientation
  translation IS translation
 }
}


DEF humanoid Humanoid {
 humanoidBody [
  DEF hanim_HumanoidRoot Joint {
   name           "HumanoidRoot"
   center         0.0000 0.8240 0.0277
   children [
    DEF hanim_sacrum Segment {
     name           "sacrum"
     children [
      DEF hanim_skull_tip Site {
       name         "skull_tip"
       translation    0.0050 1.7504 0.0055
       children [
       ]
      }
      DEF hanim_sellion Site {     # CAESAR Feature Point #1
       name         "sellion"
       translation    0.0058 1.6316 0.0852
       children [
       ]
      }
      DEF hanim_r_infraorbitale Site {     # CAESAR Feature Point #2
       name         "r_infraorbitale"
       translation    -0.0237 1.6171 0.0752
       children [
       ]
      }
      DEF hanim_l_infraorbitale Site {     # CAESAR Feature Point #3
       name         "l_infraorbitale"
       translation    0.0341 1.6171 0.0752
       children [
       ]
      }
      DEF hanim_supramenton Site {     # CAESAR Feature Point #4
       name         "supramenton"
       translation    0.0061 1.5410 0.0805
       children [
       ]
      }
      DEF hanim_r_tragion Site {     # CAESAR Feature Point #5
       name         "r_tragion"
       translation    -0.0646 1.6347 0.0302
       children [
       ]
      }
      DEF hanim_r_gonion Site {     # CAESAR Feature Point #6
       name         "r_gonion"
       translation    -0.0520 1.5529 0.0347
       children [
       ]
      }
      DEF hanim_l_tragion Site {     # CAESAR Feature Point #7
       name         "l_tragion"
       translation    0.0739 1.6348 0.0282
       children [
       ]
      }
      DEF hanim_l_gonion Site {     # CAESAR Feature Point #8
       name         "l_gonion"
       translation    0.0631 1.5530 0.0330
       children [
       ]
      }
      DEF hanim_nuchale Site {     # CAESAR Feature Point #9
       name         "nuchale"
       translation    0.0039 1.5972 -0.0796
       children [
       ]
      }
      DEF hanim_r_clavicale Site {     # CAESAR Feature Point #10
       name         "r_clavicale"
       translation    -0.0115 1.4943 0.0400
       children [
       ]
      }
      DEF hanim_suprasternale Site {     # CAESAR Feature Point #11
       name         "suprasternale"
       translation    0.0084 1.4714 0.0551
       children [
       ]
      }
      DEF hanim_l_clavicale Site {     # CAESAR Feature Point #12
       name         "l_clavicale"
       translation    0.0271 1.4943 0.0394
       children [
       ]
      }
      DEF hanim_r_thelion Site {     # CAESAR Feature Point #13
       name         "r_thelion"
       translation    -0.0736 1.3385 0.1217
       children [
       ]
      }
      DEF hanim_l_thelion Site {     # CAESAR Feature Point #14
       name         "l_thelion"
       translation    0.0918 1.3382 0.1192
       children [
       ]
      }
      DEF hanim_substernale Site {     # CAESAR Feature Point #15
       name         "substernale"
       translation    0.0085 1.2995 0.1147
       children [
       ]
      }
      DEF hanim_r_rib10 Site {     # CAESAR Feature Point #16
       name         "r_rib10"
       translation    -0.0711 1.1941 0.1016
       children [
       ]
      }
      DEF hanim_r_asis Site {     # CAESAR Feature Point #17
       name           "r_asis"
       translation    -0.0887 1.0021 0.1112
       children [
       ]
      }
      DEF hanim_l_rib10 Site {     # CAESAR Feature Point #18
       name           "l_rib10"
       translation    0.0871 1.1925 0.0992
       children [
       ]
      }
      DEF hanim_l_asis Site {     # CAESAR Feature Point #19
       name           "l_asis"
       translation    0.0925 0.9983 0.1052
       children [
       ]
      }
      DEF hanim_r_iliocristale Site {     # CAESAR Feature Point #20
       name           "r_iliocristale"
       translation    -0.1525 1.0628 0.0035
       children [
       ]
      }
      DEF hanim_r_trochanterion Site {     # CAESAR Feature Point #21
       name           "r_trochanterion"
       translation    -0.1689 0.8419 0.0352
       children [
       ]
      }
      DEF hanim_l_iliocristale Site {     # CAESAR Feature Point #22
       name           "l_iliocristale"
       translation    0.1612 1.0537 0.0008
       children [
       ]
      }
      DEF hanim_l_trochanterion Site {     # CAESAR Feature Point #23
       name           "l_trochanterion"
	   translation    0.1677 0.8336 0.0303
       children [
       ]
      }
      DEF hanim_cervicale Site {     # CAESAR Feature Point #24
       name         "cervicale"
       translation    0.0064 1.520 -0.0815
       children [
       ]
      }
      DEF hanim_rib10_midspine Site {     # CAESAR Feature Point #25
       name           "rib10_midspine"
       translation    0.0049 1.1908 -0.1113
       children [
       ]
      }
      DEF hanim_r_psis Site {     # CAESAR Feature Point #26
       name           "r_psis"
       translation    -0.0716 1.0190 -0.1138
       children [
       ]
      }
      DEF hanim_l_psis Site {     # CAESAR Feature Point #27
       name           "l_psis"
       translation    0.0774 1.0190 -0.1151
       children [
       ]
      }
      DEF hanim_waist_preferred_post Site {     # CAESAR Feature Point #28
       name           "waist_preferred_post"
       translation    0.0049 1.0915 -0.1091
       children [
       ]
      }
      DEF hanim_r_acromion Site {     # CAESAR Feature Point #29
       name         "r_acromion"
       translation    -0.1905 1.4791 -0.0431
       children [
       ]
      }
      DEF hanim_r_axilla_ant Site {     # CAESAR Feature Point #30
       name         "r_axilla_ant"
       translation    -0.1626 1.4072 -0.0031
       children [
       ]
      }
      DEF hanim_r_radial_styloid Site {     # CAESAR Feature Point #31
       name         "r_radial_styloid"
       translation    -0.1884 0.8676 -0.0360
       children [
       ]
      }
      DEF hanim_r_axilla_post Site {     # CAESAR Feature Point #32
       name         "r_axilla_post"
       translation    -0.1603 1.4098 -0.0826
       children [
       ]
      }
      DEF hanim_r_olecranon Site {     # CAESAR Feature Point #33
       name         "r_olecranon"
       translation    -0.1907 1.1405 -0.1065
       children [
       ]
      }
      DEF hanim_r_humeral_lateral_epicn Site {     # CAESAR Feature Point #34
       name         "r_humeral_lateral_epicn"
       translation    -0.2224 1.1517 -0.1033
       children [
       ]
      }
      DEF hanim_r_humeral_medial_epicn Site {     # CAESAR Feature Point #35
       name         "r_humeral_medial_epicn"
       translation    -0.1680 1.1298 -0.1062
       children [
       ]
      }
      DEF hanim_r_radiale Site {     # CAESAR Feature Point #36
       name         "r_radiale"
       translation    -0.2130 1.1305 -0.1091
       children [
       ]
      }
      DEF hanim_r_metacarpal_pha2 Site {     # CAESAR Feature Point #37
       name         "r_metacarpal_pha2"
       translation    -0.1977 0.8169 -0.0177
       children [
       ]
      }
      DEF hanim_r_dactylion Site {     # CAESAR Feature Point #38
       name         "r_dactylion"
       translation    -0.1941 0.6772 -0.0423
       children [
       ]
      }
      DEF hanim_r_ulnar_styloid Site {     # CAESAR Feature Point #39
       name         "r_ulnar_styloid"
       translation    -0.2117 0.8562 -0.0584
       children [
       ]
      }
      DEF hanim_r_metacarpal_pha5 Site {     # CAESAR Feature Point #40
       name         "r_metacarpal_pha5"
       translation    -0.1929 0.7890 -0.1064
       children [
       ]
      }
      DEF hanim_l_acromion Site {     # CAESAR Feature Point #41
       name         "l_acromion"
       translation    0.2032 1.4760 -0.0490
       children [
       ]
      }
      DEF hanim_l_axilla_ant Site {     # CAESAR Feature Point #42
       name         "l_axilla_ant"
       translation    0.1777 1.4065 -0.0075
       children [
       ]
      }
      DEF hanim_l_radial_styloid Site {     # CAESAR Feature Point #43
       name         "l_radial_styloid"
       translation    0.1901 0.8645 -0.0415
       children [
       ]
      }
      DEF hanim_l_axilla_post Site {     # CAESAR Feature Point #44
       name         "l_axilla_post"
       translation    0.1706 1.4072 -0.0875
       children [
       ]
      }
      DEF hanim_l_olecranon Site {     # CAESAR Feature Point #45
       name         "l_olecranon"
       translation    0.1962 1.1375 -0.1123
       children [
       ]
      }
      DEF hanim_l_humeral_lateral_epicn Site {     # CAESAR Feature Point #46
       name         "l_humeral_lateral_epicn "
       translation    0.2280 1.1482 -0.1100
       children [
       ]
      }
      DEF hanim_l_humeral_medial_epicn Site {     # CAESAR Feature Point #47
       name         "l_humeral_medial_epicn"
       translation    0.1735 1.1272 -0.1113
       children [
       ]
      }
      DEF hanim_l_radiale Site {     # CAESAR Feature Point #48
       name         "l_radiale"
       translation    0.2182 1.1212 -0.1167
       children [
       ]
      }
      DEF hanim_l_metacarpal_pha2 Site {     # CAESAR Feature Point #49
       name         "l_metacarpal_pha2"
       translation    0.2009 0.8139 -0.0237
       children [
       ]
      }
      DEF hanim_l_dactylion Site {     # CAESAR Feature Point #50
       name         "l_dactylion"
       translation    0.2056 0.6743 -0.0482
       children [
       ]
      }
      DEF hanim_l_ulnar_styloid Site {     # CAESAR Feature Point #51
       name         "l_ulnar_styloid"
       translation    0.2142 0.8529 -0.0648
       children [
       ]
      }
      DEF hanim_l_metacarpal_pha5 Site {     # CAESAR Feature Point #52
       name         "l_metacarpal_pha5"
       translation    0.1929 0.7860 -0.1122
       children [
       ]
      }
      DEF hanim_r_knee_crease Site {     # CAESAR Feature Point #53
       name           "r_knee_crease"
       translation    -0.0825 0.4932 -0.0326
       children [
       ]
      }
      DEF hanim_r_femoral_lateral_epicn Site {     # CAESAR Feature Point #54
       name           "r_femoral_lateral_epicn"
       translation    -0.1421 0.4992 0.0310
       children [
       ]
      } 
      DEF hanim_r_femoral_medial_epicn Site {     # CAESAR Feature Point #55
       name           "r_femoral_lateral_epicn"
       translation    -0.0221 0.5014 0.0289
       children [
       ]
      }
      DEF hanim_r_metatarsal_pha5 Site {     # CAESAR Feature Point #56
       name           "r_metatarsal_pha5"
       translation    -0.1523 0.0166 0.0895
       children [
       ]
      }
      DEF hanim_r_lateral_malleolus Site {     # CAESAR Feature Point #57
       name           "r_lateral_malleolus"
       translation    -0.1006 0.0658 -0.1075
       children [
       ]
      }
      DEF hanim_r_medial_malleolus Site {     # CAESAR Feature Point #58
       name           "r_medial_malleolus"
       translation    -0.0591 0.0760 -0.0928
       children [
       ]
      }
      DEF hanim_r_sphyrion Site {     # CAESAR Feature Point #59
       name           "r_sphyrion"
       translation    -0.0603 0.0610 -0.1002
       children [
       ]
      }
      DEF hanim_r_metatarsal_pha1 Site {     # CAESAR Feature Point #60
       name           "r_metatarsal_pha1"
       translation    -0.0521 0.0260 0.0127
       children [
       ]
      }
      DEF hanim_r_calcaneous_post Site {     # CAESAR Feature Point #61
       name           "r_calcaneous_post"
       translation    -0.0692 0.0297 -0.1221
       children [
       ]
      }
      DEF hanim_r_digit2 Site {     # CAESAR Feature Point #62
       name           "r_digit2"
       translation    -0.0883 0.0134 0.1383
       children [
       ]
      }
      DEF hanim_l_knee_crease Site {     # CAESAR Feature Point #63
       name           "l_knee_crease"
       translation    0.0993 0.4881 -0.0309
       children [
       ]
      }
      DEF hanim_l_femoral_lateral_epicn Site {     # CAESAR Feature Point #64
       name           "l_femoral_lateral_epicn"
       translation    0.1598 0.4967 0.0297
       children [
       ]
      }
      DEF hanim_l_femoral_medial_epicn Site {     # CAESAR Feature Point #65
       name           "l_femoral_lateral_epicn"
       translation    0.0398 0.4946 0.0303
       children [
       ]
      }
      DEF hanim_l_metatarsal_pha5 Site {     # CAESAR Feature Point #66
       name           "l_metatarsal_pha5"
       translation    0.1825 0.0070 0.0928
       children [
       ]
      }
      DEF hanim_l_lateral_malleolus Site {     # CAESAR Feature Point #67
       name           "l_lateral_malleolus"
       translation    0.1308 0.0597 -0.1032
       children [
       ]
      }
      DEF hanim_l_medial_malleolus Site {     # CAESAR Feature Point #68
       name           "l_medial_malleolus"
       translation    0.0890 0.0716 -0.0881
       children [
       ]
      }
      DEF hanim_l_sphyrion Site {     # CAESAR Feature Point #69
       name           "l_sphyrion"
       translation    0.0890 0.0575 -0.0943
       children [
       ]
      }
      DEF hanim_l_metatarsal_pha1 Site {     # CAESAR Feature Point #70
       name           "l_metatarsal_pha1"
       translation    0.0816 0.0232 0.0106
       children [
       ]
      }
      DEF hanim_l_calcaneous_post Site {     # CAESAR Feature Point #71
       name           "l_calcaneous_post"
       translation    0.0974 0.0259 -0.1171
       children [
       ]
      }
      DEF hanim_l_digit2 Site {     # CAESAR Feature Point #72
       name           "l_digit2"
       translation    0.1195 0.0079 0.1433
       children [
       ]
      }
      DEF hanim_crotch Site {     # CAESAR Feature Point #73
       name           "crotch"
       translation    0.0034 0.8266 0.0257
       children [
       ]
      }
      DEF hanim_r_neck_base Site {     # HANIM addition to CAESAR Feature Point #74
       name           "r_neck_base"
       translation    -0.0419 1.5149 -0.0220
       children [
       ]
      }
      DEF hanim_l_neck_base Site {     # HANIM addition to CAESAR Feature Point #75
       name           "l_neck_base"
       translation    0.0646 1.5141 -0.0380
       children [
       ]
      }
      DEF hanim_navel Site {     # HANIM addition to CAESAR Feature Point #76
       name           "navel"
       translation    0.0069 1.0966 0.1017
       children [
       ]
      }
     ]
    }     # end hanim_sacrum Segment
   ]
  }     # end hanim_HumanoidRoot Joint
 ]
 joints [
  USE hanim_HumanoidRoot
 ]
 segments [
  USE hanim_sacrum
 ]
 sites [
  USE hanim_skull_tip,  
  USE hanim_sellion, USE hanim_r_infraorbitale, 
  USE hanim_l_infraorbitale, USE hanim_supramenton, 
  USE hanim_r_tragion, USE hanim_r_gonion, USE hanim_l_tragion, 
  USE hanim_l_gonion, USE hanim_nuchale, USE hanim_r_clavicale, 
  USE hanim_suprasternale, USE hanim_l_clavicale, 
  USE hanim_r_thelion, USE hanim_l_thelion,
  USE hanim_substernale, USE hanim_r_rib10, USE hanim_r_asis, 
  USE hanim_l_rib10, USE hanim_l_asis, USE hanim_r_iliocristale, 
  USE hanim_r_trochanterion, USE hanim_l_iliocristale, 
  USE hanim_l_trochanterion, USE hanim_cervicale, 
  USE hanim_rib10_midspine, USE hanim_r_psis, USE hanim_l_psis, 
  USE hanim_waist_preferred_post, USE hanim_r_acromion, 
  USE hanim_r_axilla_ant, USE hanim_r_radial_styloid, 
  USE hanim_r_axilla_post, USE hanim_r_olecranon, 
  USE hanim_r_humeral_lateral_epicn, USE hanim_r_humeral_medial_epicn, 
  USE hanim_r_radiale, USE hanim_r_metacarpal_pha2, 
  USE hanim_r_dactylion, USE hanim_r_ulnar_styloid, 
  USE hanim_r_metacarpal_pha5, USE hanim_l_acromion,
  USE hanim_l_axilla_ant, USE hanim_l_radial_styloid,
  USE hanim_l_axilla_post, USE hanim_l_olecranon, 
  USE hanim_l_humeral_lateral_epicn, USE hanim_l_humeral_medial_epicn, 
  USE hanim_l_radiale, USE hanim_l_metacarpal_pha2, 
  USE hanim_l_dactylion, USE hanim_l_ulnar_styloid, 
  USE hanim_l_metacarpal_pha5, USE hanim_r_knee_crease, 
  USE hanim_r_femoral_lateral_epicn, USE hanim_r_femoral_medial_epicn, 
  USE hanim_r_metatarsal_pha5, USE hanim_r_lateral_malleolus, 
  USE hanim_r_medial_malleolus, USE hanim_r_sphyrion, 
  USE hanim_r_metatarsal_pha1, USE hanim_r_calcaneous_post, 
  USE hanim_r_digit2, USE hanim_l_knee_crease, 
  USE hanim_l_femoral_lateral_epicn, USE hanim_l_femoral_medial_epicn, 
  USE hanim_l_metatarsal_pha5, USE hanim_l_lateral_malleolus, 
  USE hanim_l_medial_malleolus, USE hanim_l_sphyrion, 
  USE hanim_l_metatarsal_pha1, USE hanim_l_calcaneous_post, 
  USE hanim_l_digit2, USE hanim_crotch, USE hanim_r_neck_base,
  USE hanim_l_neck_base, USE hanim_navel
 ]
 version "200x"
 name "humanoid"
 info [
  "authorName=Matthew T. Beitler"
  "authorEmail=beitler@cis.upenn.edu or beitler@acm.org"
  "creationDate=05/12/99"
  "copyright=Copyright 1999-2003, Matthew T. Beitler"
  "humanoidVersion=JointCenters 200x, LOA0"
  "usageRestrictions=
    PERMISSION TO FULLY USE THIS SCENE GRAPH IS GRANTED, PROVIDED
    THIS COPYRIGHT INFORMATION AND DOCUMENTATION OF THE ORIGINAL
    AUTHOR IS INCLUDED.  This humanoid scene graph is provided
    'as-is' and without warranty of any kind, express, implied
    or otherwise, including without limitation, any warranty of
    merchantability or fitness for a particular purpose."
  "modificationDate=08/12/03"
 ]
}

DEF JointCenters_WorldInfo Group
{
 children [
  WorldInfo
  {
   title "HANIM 200x Default Joint Centers, LOA0"
   info [ "
     HANIM 200x Default Joint Centers, Level-Of-Articulation 0
     ---------------------------------------------------------
     HANIM 200x (VRML97) Author name:
       eMpTy (a.k.a. Matthew T. Beitler)
     HANIM 200x (VRML97) Author email:
       beitler@cis.upenn.edu or beitler@acm.org
     HANIM 200x (VRML97) Author homepage:
       http://www.cis.upenn.edu/~beitler
     HANIM 200x (VRML97) Compliance Date:
       August 12, 2003
     HANIM 200x Compliance Information:
       http://H-Anim.org/Specifications/H-Anim200x
     Construction Info (joint centers):
      The joint centers of this figure are based on the 
      work of Norman Badler, director of the Center for
      Human Modeling and Simulation at the University of
      Pennsylvania.  The original document which these
      joint centers are based on can be found at:
        http://www.cis.upenn.edu/~badler/anthro/89-71.ps
   "]
  }
 ]
}


NavigationInfo
{
 headlight TRUE
 speed 1.5
 type ["EXAMINE", "ANY"]
}

A.4 Level of articulation One

A.4.1 Definition

LOA One specifies a typical low-end real-time 3D hierarchy. Table A.4 specifies the default centers for the joints of LOA One. Table A.5 specifies the default translations for the sites of LOA One.

A.4.2 Examples

A.4.2.1 LOA One example source in VRML

#VRML V2.0 utf8 eMpTyWorlds V3.29.70

PROTO Humanoid [
 exposedField    SFVec3f    center                0 0 0
 exposedField    MFNode     humanoidBody          [ ]
 exposedField    MFString   info                  [ ]
 exposedField    MFNode     joints                [ ]
 exposedField    SFString   name                  ""
 exposedField    SFRotation rotation              0 0 1 0
 exposedField    SFVec3f    scale                 1 1 1
 exposedField    SFRotation scaleOrientation      0 0 1 0
 exposedField    MFNode     segments              [ ]
 exposedField    MFNode     sites                 [ ]
 exposedField    SFVec3f    translation           0 0 0
 exposedField    SFString   version               "200x"
 exposedField    MFNode     viewpoints            [ ]
 field           SFVec3f    bboxCenter            0 0 0
 field           SFVec3f    bboxSize              -1 -1 -1
]
{
 Transform {
  center           IS center
  rotation         IS rotation
  scale            IS scale
  scaleOrientation IS scaleOrientation
  translation      IS translation
  children [
   Group {
    children IS humanoidBody 
   }
   Group {
    children IS viewpoints
   }
  ]
 }
}


PROTO Joint [
 exposedField SFVec3f    center             0 0 0
 exposedField MFNode     children           []
 exposedField SFRotation limitOrientation   0 0 1 0
 exposedField MFFloat    llimit             []
 exposedField SFString   name               ""
 exposedField SFRotation rotation           0 0 1 0
 exposedField SFVec3f    scale              1 1 1
 exposedField SFRotation scaleOrientation   0 0 1 0
 exposedField MFFloat    stiffness          [1 1 1]
 exposedField SFVec3f    translation        0 0 0
 exposedField MFFloat    ulimit             []
] 
{ 
 Transform {
  center IS center 
  children IS children
  rotation IS rotation
  scale IS scale 
  scaleOrientation IS scaleOrientation
  translation IS translation
 }
}


PROTO Segment [
 eventIn         MFNode      addChildren
 eventIn         MFNode      removeChildren
 exposedField    SFVec3f     centerOfMass      0 0 0
 exposedField    MFNode      children          []
 exposedField    SFNode      coord             NULL
 exposedField    MFNode      displacers        []
 exposedField    SFString    name              ""
 exposedField    SFFloat     mass              0 
 exposedField    SFVec3f     momentsOfInertia  1 1 1
 field           SFVec3f     bboxCenter        0 0 0
 field           SFVec3f     bboxSize          -1 -1 -1
] 
{ 
 Group {
  addChildren IS addChildren
  bboxCenter IS bboxCenter
  bboxSize IS bboxSize
  children IS children
  removeChildren IS removeChildren
 }
}


PROTO Site [
 eventIn         MFNode      addChildren
 eventIn         MFNode      removeChildren
 exposedField    SFVec3f     center            0 0 0
 exposedField    MFNode      children          []
 exposedField    SFString    name              "" 
 exposedField    SFRotation  rotation          0 0 1 0
 exposedField    SFVec3f     scale             1 1 1
 exposedField    SFRotation  scaleOrientation  0 0 1 0
 exposedField    SFVec3f     translation       0 0 0
]
{ 
 Transform {
  addChildren IS addChildren
  removeChildren IS removeChildren
  center IS center
  children IS children
  rotation IS rotation
  scale IS scale
  scaleOrientation IS scaleOrientation
  translation IS translation
 }
}


DEF humanoid Humanoid {
 humanoidBody [
  DEF hanim_HumanoidRoot Joint {
   name           "HumanoidRoot"
   center         0.0000 0.8240 0.0277
   children [
    DEF hanim_sacroiliac Joint {
     name           "sacroiliac"
     center         0.0000 0.9149 0.0016
     children [
      DEF hanim_l_hip Joint {
       name           "l_hip"
       center         0.0961 0.9124 -0.0001
       children [
        DEF hanim_l_knee Joint {
         name           "l_knee"
         center         0.1040 0.4867 0.0308
         children [
          DEF hanim_l_ankle Joint {
           name           "l_ankle"
           center         0.1101 0.0656 -0.0736
           children [
            DEF hanim_l_midtarsal Joint {
             name           "l_midtarsal"
             center         0.1086 0.0001 0.0368
             children [
              DEF hanim_l_middistal Segment {
               name           "l_middistal"
               children [
                DEF hanim_l_middistal_tip Site {
                 name           "l_middistal_tip"
                 translation    0.1354 0.0016 0.1476
                 children [
                 ]
                }
                DEF hanim_l_metatarsal_pha5 Site {     # CAESAR Feature Point #66
                 name           "l_metatarsal_pha5"
                 translation    0.1825 0.0070 0.0928
                 children [
                 ]
                }
                DEF hanim_l_metatarsal_pha1 Site {     # CAESAR Feature Point #70
                 name           "l_metatarsal_pha1"
                 translation    0.0816 0.0232 0.0106
                 children [
                 ]
                }
                DEF hanim_l_digit2 Site {     # CAESAR Feature Point #72
                 name           "l_digit2"
                 translation    0.1195 0.0079 0.1433
                 children [
                 ]
                }
               ]
              }     # end hanim_l_middistal Segment     
             ]
            }     # end hanim_l_midtarsal Joint
            DEF hanim_l_hindfoot Segment {
             name           "l_hindfoot"
             children [
              DEF hanim_l_lateral_malleolus Site {     # CAESAR Feature Point #67
               name           "l_lateral_malleolus"
               translation    0.1308 0.0597 -0.1032
               children [
               ]
              }
              DEF hanim_l_medial_malleolus Site {     # CAESAR Feature Point #68
               name           "l_medial_malleolus"
               translation    0.0890 0.0716 -0.0881
               children [
               ]
              }
              DEF hanim_l_sphyrion Site {     # CAESAR Feature Point #69
               name           "l_sphyrion"
               translation    0.0890 0.0575 -0.0943
               children [
               ]
              }
              DEF hanim_l_calcaneous_post Site {     # CAESAR Feature Point #71
               name           "l_calcaneous_post"
               translation    0.0974 0.0259 -0.1171
               children [
               ]
              }
             ]
            }     # end hanim_l_hindfoot Segment
           ]
          }     # end hanim_l_ankle Joint
          DEF hanim_l_calf Segment {
           name           "l_calf"
           children [
           ]
          }     # end hanim_l_calf Segment
         ]
        }     # end hanim_l_knee Joint
        DEF hanim_l_thigh Segment {
         name           "l_thigh"
         children [
          DEF hanim_l_knee_crease Site {     # CAESAR Feature Point #63
           name           "l_knee_crease"
           translation    0.0993 0.4881 -0.0309
           children [
           ]
          }
          DEF hanim_l_femoral_lateral_epicn Site {     # CAESAR Feature Point #64
           name           "l_femoral_lateral_epicn"
           translation    0.1598 0.4967 0.0297
           children [
           ]
          }
          DEF hanim_l_femoral_medial_epicn Site {     # CAESAR Feature Point #65
           name           "l_femoral_lateral_epicn"
           translation    0.0398 0.4946 0.0303
           children [
           ]
          }
         ]
        }     # end hanim_l_thigh Segment
       ]
      }     # end hanim_l_hip Joint
      DEF hanim_r_hip Joint {
       name           "r_hip"
       center         -0.0950 0.9171 0.0029
       children [
        DEF hanim_r_knee Joint {
         name           "r_knee"
         center         -0.0867 0.4913 0.0318
         children [
          DEF hanim_r_ankle Joint {
           name           "r_ankle"
           center         -0.0801 0.0712 -0.0766
           children [
            DEF hanim_r_midtarsal Joint {
             name           "r_midtarsal"
             center         -0.0801 0.0000 0.0368
             children [
              DEF hanim_r_middistal Segment {
               name           "r_middistal"
               children [
                DEF hanim_r_middistal_tip Site {
                 name           "r_middistal_tip"
                 translation    -0.1043 -0.0227 0.1450
                 children [
                 ]
                }
                DEF hanim_r_metatarsal_pha5 Site {     # CAESAR Feature Point #56
                 name           "r_metatarsal_pha5"
                 translation    -0.1523 0.0166 0.0895
                 children [
                 ]
                }
                DEF hanim_r_metatarsal_pha1 Site {     # CAESAR Feature Point #60
                 name           "r_metatarsal_pha1"
                 translation    -0.0521 0.0260 0.0127
                 children [
                 ]
                }
                DEF hanim_r_digit2 Site {     # CAESAR Feature Point #62
                 name           "r_digit2"
                 translation    -0.0883 0.0134 0.1383
                 children [
                 ]
                }
               ]
              }     # end hanim_r_middistal Segment
             ]
            }     # end hanim_r_midtarsal Joint
            DEF hanim_r_hindfoot Segment {
             name           "r_hindfoot"
             children [
              DEF hanim_r_lateral_malleolus Site {     # CAESAR Feature Point #57
               name           "r_lateral_malleolus"
               translation    -0.1006 0.0658 -0.1075
               children [
               ]
              }
              DEF hanim_r_medial_malleolus Site {     # CAESAR Feature Point #58
               name           "r_medial_malleolus"
               translation    -0.0591 0.0760 -0.0928
               children [
               ]
              }
              DEF hanim_r_sphyrion Site {     # CAESAR Feature Point #59
               name           "r_sphyrion"
               translation    -0.0603 0.0610 -0.1002
               children [
               ]
              }
              DEF hanim_r_calcaneous_post Site {     # CAESAR Feature Point #61
               name           "r_calcaneous_post"
               translation    -0.0692 0.0297 -0.1221
               children [
               ]
              }
             ]
            }     # end hanim_r_hindfoot Segment
           ]
          }     # end hanim_r_ankle Joint
          DEF hanim_r_calf Segment {
           name           "r_calf"
           children [
           ]
          }     # end hanim_r_calf Segment
         ]
        }     # end hanim_r_knee Joint
        DEF hanim_r_thigh Segment {
         name           "r_thigh"
         children [
          DEF hanim_r_knee_crease Site {     # CAESAR Feature Point #53
           name           "r_knee_crease"
           translation    -0.0825 0.4932 -0.0326
           children [
           ]
          }
          DEF hanim_r_femoral_lateral_epicn Site {     # CAESAR Feature Point #54
           name           "r_femoral_lateral_epicn"
           translation    -0.1421 0.4992 0.0310
           children [
           ]
          }
          DEF hanim_r_femoral_medial_epicn Site {     # CAESAR Feature Point #55
           name           "r_femoral_lateral_epicn"
           translation    -0.0221 0.5014 0.0289
           children [
           ]
          }
         ]
        }     # end hanim_r_thigh Segment
       ]
      }     # end hanim_r_hip Joint
      DEF hanim_pelvis Segment {
       name           "pelvis"
       children [
       ]
      }     # end hanim_pelvis Segment
     ]
    }     # end hanim_sacroiliac Joint
    DEF hanim_vl5 Joint {
     name           "vl5"
     center         0.0028 1.0568 -0.0776
     children [
      DEF hanim_skullbase Joint {
       name         "skullbase"
       center       0.0044 1.6209 0.0236
       children [
        DEF hanim_skull Segment {
         name         "skull"
         children [
          DEF hanim_skull_tip Site {
           name         "skull_tip"
           translation    0.0050 1.7504 0.0055
           children [
           ]
          }
          DEF hanim_sellion Site {     # CAESAR Feature Point #1
           name         "sellion"
           translation    0.0058 1.6316 0.0852
           children [
           ]
          }
          DEF hanim_r_infraorbitale Site {     # CAESAR Feature Point #2
           name         "r_infraorbitale"
           translation    -0.0237 1.6171 0.0752
           children [
           ]
          }
          DEF hanim_l_infraorbitale Site {     # CAESAR Feature Point #3
           name         "l_infraorbitale"
           translation    0.0341 1.6171 0.0752
           children [
           ]
          }
          DEF hanim_supramenton Site {     # CAESAR Feature Point #4
           name         "supramenton"
           translation    0.0061 1.5410 0.0805
             children [
           ]
          }
          DEF hanim_r_tragion Site {     # CAESAR Feature Point #5
           name         "r_tragion"
           translation    -0.0646 1.6347 0.0302
           children [
           ]
          }
          DEF hanim_r_gonion Site {     # CAESAR Feature Point #6
           name         "r_gonion"
           translation    -0.0520 1.5529 0.0347
           children [
           ]
          }
          DEF hanim_l_tragion Site {     # CAESAR Feature Point #7
           name         "l_tragion"
           translation    0.0739 1.6348 0.0282
           children [
           ]
          }
          DEF hanim_l_gonion Site {     # CAESAR Feature Point #8
           name         "l_gonion"
           translation    0.0631 1.5530 0.0330
           children [
           ]
          }
          DEF hanim_nuchale Site {     # CAESAR Feature Point #9
           name         "nuchale"
           translation    0.0039 1.5972 -0.0796
           children [
           ]
          }
         ]
        }     # end hanim_skull Segment
       ]
      }     # end hanim_skullbase Joint
      DEF hanim_l_shoulder Joint {
       name         "l_shoulder"
       center       0.2029 1.4376 -0.0387
       children [
        DEF hanim_l_elbow Joint {
         name         "l_elbow"
         center       0.2014 1.1357 -0.0682
         children [
          DEF hanim_l_wrist Joint {
           name         "l_wrist"
           center       0.1984 0.8663 -0.0583
           children [
            DEF hanim_l_hand Segment {
             name         "l_hand"
             children [
              DEF hanim_l_hand_tip Site {
               name         "l_hand_tip"
               translation    0.2080 0.6731 -0.0491
               children [
               ]
              }
              DEF hanim_l_metacarpal_pha2 Site {     # CAESAR Feature Point #49
               name         "l_metacarpal_pha2"
               translation    0.2009 0.8139 -0.0237
               children [
               ]
              }
              DEF hanim_l_dactylion Site {     # CAESAR Feature Point #50
               name         "l_dactylion"
               translation    0.2056 0.6743 -0.0482
               children [
               ]
              }
              DEF hanim_l_ulnar_styloid Site {     # CAESAR Feature Point #51
               name         "l_ulnar_styloid"
               translation    0.2142 0.8529 -0.0648
               children [
               ]
              }
              DEF hanim_l_metacarpal_pha5 Site {     # CAESAR Feature Point #52
               name         "l_metacarpal_pha5"
               translation    0.1929 0.7860 -0.1122
               children [
               ]
              }
             ]
            }     # end hanim_l_hand Segment
           ]
          }     # end hanim_l_wrist Joint
          DEF hanim_l_forearm Segment {
           name         "l_forearm"
           children [
            DEF hanim_l_radial_styloid Site {     # CAESAR Feature Point #43
             name         "l_radial_styloid"
             translation    0.1901 0.8645 -0.0415
             children [
             ]
            }
            DEF hanim_l_olecranon Site {     # CAESAR Feature Point #45
             name         "l_olecranon"
             translation    0.1962 1.1375 -0.1123
             children [
             ]
            }
            DEF hanim_l_humeral_medial_epicn Site {     # CAESAR Feature Point #47
             name         "l_humeral_medial_epicn"
             translation    0.1735 1.1272 -0.1113
             children [
             ]
            }
            DEF hanim_l_radiale Site {     # CAESAR Feature Point #48
             name         "l_radiale"
             translation    0.2182 1.1212 -0.1167
             children [
             ]
            }
           ]
          }     # end hanim_l_forearm Segment
         ]
        }     # end hanim_l_elbow Joint
        DEF hanim_l_upperarm Segment {
         name         "l_upperarm"
         children [
          DEF hanim_l_humeral_lateral_epicn Site {     # CAESAR Feature Point #46
           name         "l_humeral_lateral_epicn "
           translation    0.2280 1.1482 -0.1100
           children [
           ]
          }
         ]
        }     # end hanim_l_upperarm Segment
       ]
      }     # end hanim_l_shoulder Joint
      DEF hanim_r_shoulder Joint {
       name         "r_shoulder"
       center       -0.1907 1.4407 -0.0325
       children [
        DEF hanim_r_elbow Joint {
         name         "r_elbow"
         center       -0.1949 1.1388 -0.0620
         children [
          DEF hanim_r_wrist Joint {
           name         "r_wrist"
           center       -0.1959 0.8694 -0.0521
           children [
            DEF hanim_r_hand Segment {
             name         "r_hand"
             children [
              DEF hanim_r_hand_tip Site {
               name         "r_hand_tip"
               translation    -0.1969 0.6758 -0.0427
               children [
               ]
              }
              DEF hanim_r_metacarpal_pha2 Site {     # CAESAR Feature Point #37
               name         "r_metacarpal_pha2"
               translation    -0.1977 0.8169 -0.0177
               children [
               ]
              }
              DEF hanim_r_dactylion Site {     # CAESAR Feature Point #38
               name         "r_dactylion"
               translation    -0.1941 0.6772 -0.0423
               children [
               ]
              }
              DEF hanim_r_ulnar_styloid Site {     # CAESAR Feature Point #39
               name         "r_ulnar_styloid"
               translation    -0.2117 0.8562 -0.0584
               children [
               ]
              }
              DEF hanim_r_metacarpal_pha5 Site {     # CAESAR Feature Point #40
               name         "r_metacarpal_pha5"
               translation    -0.1929 0.7890 -0.1064
               children [
               ]
              }
             ]
            }     # end hanim_r_hand Segment
           ]
          }     # end hanim_r_wrist Joint
          DEF hanim_r_forearm Segment {
           name         "r_forearm"
           children [
            DEF hanim_r_radial_styloid Site {     # CAESAR Feature Point #31
             name         "r_radial_styloid"
             translation    -0.1884 0.8676 -0.0360
             children [
             ]
            }
            DEF hanim_r_olecranon Site {     # CAESAR Feature Point #33
             name         "r_olecranon"
             translation    -0.1907 1.1405 -0.1065
             children [
             ]
            }
            DEF hanim_r_humeral_medial_epicn Site {     # CAESAR Feature Point #35
             name         "r_humeral_medial_epicn"
             translation    -0.1680 1.1298 -0.1062
             children [
             ]
            }
            DEF hanim_r_radiale Site {     # CAESAR Feature Point #36
             name         "r_radiale"
             translation    -0.2130 1.1305 -0.1091
             children [
             ]
            }
           ]
          }     # end hanim_r_forearm Segment
         ]
        }     # end hanim_r_elbow Joint
        DEF hanim_r_upperarm Segment {
         name         "r_upperarm"
         children [
          DEF hanim_r_humeral_lateral_epicn Site {     # CAESAR Feature Point #34
           name         "r_humeral_lateral_epicn"
           translation    -0.2224 1.1517 -0.1033
           children [
           ]
          }
         ]
        }     # end hanim_r_upperarm Segment
       ]
      }     # end hanim_r_shoulder Joint
      DEF hanim_l5 Segment {
       name           "l5"
       children [
        DEF hanim_r_clavicale Site {     # CAESAR Feature Point #10
         name         "r_clavicale"
         translation    -0.0115 1.4943 0.0400
         children [
         ]
        }
        DEF hanim_suprasternale Site {     # CAESAR Feature Point #11
         name         "suprasternale"
         translation    0.0084 1.4714 0.0551
         children [
         ]
        }
        DEF hanim_l_clavicale Site {     # CAESAR Feature Point #12
         name         "l_clavicale"
         translation    0.0271 1.4943 0.0394
         children [
         ]
        }
        DEF hanim_r_thelion Site {     # CAESAR Feature Point #13
         name           "r_thelion"
         translation    -0.0736 1.3385 0.1217
         children [
         ]
        }
        DEF hanim_l_thelion Site {     # CAESAR Feature Point #14
         name           "l_thelion"
         translation    0.0918 1.3382 0.1192
         children [
         ]
        }
        DEF hanim_substernale Site {     # CAESAR Feature Point #15
         name         "substernale"
         translation    0.0085 1.2995 0.1147
         children [
         ]
        }
        DEF hanim_r_rib10 Site {     # CAESAR Feature Point #16
         name           "r_rib10"
         translation    -0.0711 1.1941 0.1016
         children [
         ]
        }
        DEF hanim_l_rib10 Site {     # CAESAR Feature Point #18
         name           "l_rib10"
         translation    0.0871 1.1925 0.0992
         children [
         ]
        }
        DEF hanim_cervicale Site {     # CAESAR Feature Point #24
         name         "cervicale"
         translation    0.0064 1.520 -0.0815
         children [
         ]
        }
        DEF hanim_rib10_midspine Site {     # CAESAR Feature Point #25
         name           "rib10_midspine"
         translation    0.0049 1.1908 -0.1113
         children [
         ]
        }
        DEF hanim_waist_preferred_post Site {     # CAESAR Feature Point #28
         name           "waist_preferred_post "
         translation    0.0049 1.0915 -0.1091
         children [
         ]
        }
        DEF hanim_r_acromion Site {     # CAESAR Feature Point #29
         name         "r_acromion"
         translation    -0.1905 1.4791 -0.0431
         children [
         ]
        }
        DEF hanim_r_axilla_ant Site {     # CAESAR Feature Point #30
         name         "r_axilla_ant"
         translation    -0.1626 1.4072 -0.0031
         children [
         ]
        }
        DEF hanim_r_axilla_post Site {     # CAESAR Feature Point #32
         name         "r_axilla_post"
         translation    -0.1603 1.4098 -0.0826
         children [
         ]
        }
        DEF hanim_l_acromion Site {     # CAESAR Feature Point #41
         name         "l_acromion"
         translation    0.2032 1.4760 -0.0490
         children [
         ]
        }
        DEF hanim_l_axilla_ant Site {     # CAESAR Feature Point #42
         name         "l_axilla_ant"
         translation    0.1777 1.4065 -0.0075
         children [
         ]
        }
        DEF hanim_l_axilla_post Site {     # CAESAR Feature Point #44
         name         "l_axilla_post"
         translation    0.1706 1.4072 -0.0875
         children [
         ]
        }
        DEF hanim_r_neck_base Site {     # HANIM addition to CAESAR Feature Point #74
         name           "r_neck_base"
         translation    -0.0419 1.5149 -0.0220
         children [
         ]
        }
        DEF hanim_l_neck_base Site {     # HANIM addition to CAESAR Feature Point #75
         name           "l_neck_base"
         translation    0.0646 1.5141 -0.0380
         children [
         ]
        }

        DEF hanim_navel Site {     # HANIM addition to CAESAR Feature Point #76
         name           "navel"
         translation    0.0069 1.0966 0.1017
         children [
         ]
        }
       ]
      }     # end hanim_l5 Segment
     ]
    }     # end hanim_vl5 Joint
    DEF hanim_sacrum Segment {
     name           "sacrum"
     children [
      DEF hanim_r_asis Site {     # CAESAR Feature Point #17
       name           "r_asis"
       translation    -0.0887 1.0021 0.1112
       children [
       ]
      }
      DEF hanim_l_asis Site {     # CAESAR Feature Point #19
       name           "l_asis"
       translation    0.0925 0.9983 0.1052
       children [
       ]
      }
      DEF hanim_r_iliocristale Site {     # CAESAR Feature Point #20
       name           "r_iliocristale"
       translation    -0.1525 1.0628 0.0035
       children [
       ]
      }
      DEF hanim_r_trochanterion Site {     # CAESAR Feature Point #21
       name           "r_trochanterion"
       translation    -0.1689 0.8419 0.0352
       children [
       ]
      }
      DEF hanim_l_iliocristale Site {     # CAESAR Feature Point #22
       name           "l_iliocristale"
       translation    0.1612 1.0537 0.0008
       children [
       ]
      }
      DEF hanim_l_trochanterion Site {     # CAESAR Feature Point #23
       name           "l_trochanterion"
	   translation    0.1677 0.8336 0.0303
       children [
       ]
      }
      DEF hanim_r_psis Site {     # CAESAR Feature Point #26
       name           "r_psis"
       translation    -0.0716 1.0190 -0.1138
       children [
       ]
      }
      DEF hanim_l_psis Site {     # CAESAR Feature Point #27
       name           "l_psis"
       translation    0.0774 1.0190 -0.1151
       children [
       ]
      }
      DEF hanim_crotch Site {     # CAESAR Feature Point #73
       name           "crotch"
       translation    0.0034 0.8266 0.0257
       children [
       ]
      }
     ]
    }     # end hanim_sacrum Segment
   ]
  }     # end hanim_HumanoidRoot Joint
 ]
 joints [
  USE hanim_HumanoidRoot, USE hanim_sacroiliac, 
  USE hanim_l_hip, USE hanim_l_knee, 
  USE hanim_l_ankle, USE hanim_l_midtarsal, 
  USE hanim_r_hip, USE hanim_r_knee, 
  USE hanim_r_ankle, USE hanim_r_midtarsal, 
  USE hanim_vl5, USE hanim_skullbase, 
  USE hanim_l_shoulder, USE hanim_l_elbow, 
  USE hanim_l_wrist, USE hanim_r_shoulder, 
  USE hanim_r_elbow, USE hanim_r_wrist
 ]
 segments [
  USE hanim_l_middistal, USE hanim_l_hindfoot, 
  USE hanim_l_calf, USE hanim_l_thigh, 
  USE hanim_r_middistal, USE hanim_r_hindfoot, 
  USE hanim_r_calf, USE hanim_r_thigh, 
  USE hanim_pelvis, USE hanim_skull, 
  USE hanim_l_hand, USE hanim_l_forearm, 
  USE hanim_l_upperarm, USE hanim_r_hand, 
  USE hanim_r_forearm, USE hanim_r_upperarm, 
  USE hanim_l5, USE hanim_sacrum, 
 ]
 sites [
  USE hanim_l_middistal_tip, USE hanim_l_metatarsal_pha5, 
  USE hanim_l_metatarsal_pha1, USE hanim_l_digit2, 
  USE hanim_l_lateral_malleolus, USE hanim_l_medial_malleolus,  
  USE hanim_l_sphyrion, USE hanim_l_calcaneous_post,  
  USE hanim_l_knee_crease, USE hanim_l_femoral_lateral_epicn,  
  USE hanim_l_femoral_medial_epicn, USE hanim_r_middistal_tip, 
  USE hanim_r_metatarsal_pha5, USE hanim_r_metatarsal_pha1,  
  USE hanim_r_digit2, USE hanim_r_lateral_malleolus,  
  USE hanim_r_medial_malleolus, USE hanim_r_sphyrion,  
  USE hanim_r_calcaneous_post, USE hanim_r_knee_crease,  
  USE hanim_r_femoral_lateral_epicn, USE hanim_r_femoral_medial_epicn,  
  USE hanim_skull_tip, USE hanim_sellion, USE hanim_r_infraorbitale,
  USE hanim_l_infraorbitale, USE hanim_supramenton,
  USE hanim_r_tragion, USE hanim_r_gonion, USE hanim_l_tragion,
  USE hanim_l_gonion, USE hanim_nuchale, USE hanim_l_hand_tip, 
  USE hanim_l_metacarpal_pha2,  USE hanim_l_dactylion,  
  USE hanim_l_ulnar_styloid, USE hanim_l_metacarpal_pha5,  
  USE hanim_l_radial_styloid, USE hanim_l_olecranon,  
  USE hanim_l_humeral_medial_epicn, USE hanim_l_radiale,  
  USE hanim_l_humeral_lateral_epicn, USE hanim_r_hand_tip, 
  USE hanim_r_metacarpal_pha2, USE hanim_r_dactylion,  
  USE hanim_r_ulnar_styloid, USE hanim_r_metacarpal_pha5,  
  USE hanim_r_radial_styloid, USE hanim_r_olecranon,  
  USE hanim_r_humeral_medial_epicn, USE hanim_r_radiale,  
  USE hanim_r_humeral_lateral_epicn, USE hanim_r_clavicale,  
  USE hanim_suprasternale, USE hanim_l_clavicale,  
  USE hanim_r_thelion, USE hanim_l_thelion, USE hanim_substernale,  
  USE hanim_r_rib10, USE hanim_l_rib10, USE hanim_cervicale,  
  USE hanim_rib10_midspine, USE hanim_waist_preferred_post,  
  USE hanim_r_acromion, USE hanim_r_axilla_ant,  
  USE hanim_r_axilla_post, USE hanim_l_acromion,  
  USE hanim_l_axilla_ant, USE hanim_l_axilla_post,  
  USE hanim_r_neck_base, USE hanim_l_neck_base, USE hanim_navel,
  USE hanim_r_asis, USE hanim_l_asis, USE hanim_r_iliocristale,  
  USE hanim_r_trochanterion, USE hanim_l_iliocristale,  
  USE hanim_l_trochanterion, USE hanim_r_psis, USE hanim_l_psis,  
  USE hanim_crotch
 ]
 version "200x"
 name "humanoid"
 info [
  "authorName=Matthew T. Beitler"
  "authorEmail=beitler@cis.upenn.edu or beitler@acm.org"
  "creationDate=05/12/99"
  "copyright=Copyright 1999-2003, Matthew T. Beitler"
  "humanoidVersion=JointCenters 200x, LOA1"
  "usageRestrictions=
    PERMISSION TO FULLY USE THIS SCENE GRAPH IS GRANTED, PROVIDED
    THIS COPYRIGHT INFORMATION AND DOCUMENTATION OF THE ORIGINAL
    AUTHOR IS INCLUDED.  This humanoid scene graph is provided
    'as-is' and without warranty of any kind, express, implied
    or otherwise, including without limitation, any warranty of
    merchantability or fitness for a particular purpose."
  "modificationDate=08/12/03"
 ]
}

DEF JointCenters_WorldInfo Group
{
 children [
  WorldInfo
  {
   title "HANIM 200x Default Joint Centers, LOA1"
   info [ "
     HANIM 200x Default Joint Centers, Level-Of-Articulation 1
     --------------------------------------------------------
     HANIM 200x (VRML97) Author name:
       eMpTy (a.k.a. Matthew T. Beitler)
     HANIM 200x (VRML97) Author email:
       beitler@cis.upenn.edu or beitler@acm.org
     HANIM 200x (VRML97) Author homepage:
       http://www.cis.upenn.edu/~beitler
     HANIM 200x (VRML97) Compliance Date:
       August 12, 2003
     HANIM 200x Compliance Information:
       http://H-Anim.org/Specifications/H-Anim200x
     Construction Info (joint centers):
      The joint centers of this figure are based on the 
      work of Norman Badler, director of the Center for
      Human Modeling and Simulation at the University of
      Pennsylvania.  The original document which these
      joint centers are based on can be found at:
        http://www.cis.upenn.edu/~badler/anthro/89-71.ps
   "]
  }
 ]
}


NavigationInfo
{
 headlight TRUE
 speed 1.5
 type ["EXAMINE", "ANY"]
}

A.4.2.2 LOA One example with diamonds at Joint centers

#VRML V2.0 utf8 eMpTyWorlds V3.29.70

PROTO Humanoid [
 exposedField    SFVec3f    center                0 0 0
 exposedField    MFNode     humanoidBody          [ ]
 exposedField    MFString   info                  [ ]
 exposedField    MFNode     joints                [ ]
 exposedField    SFString   name                  ""
 exposedField    SFRotation rotation              0 0 1 0
 exposedField    SFVec3f    scale                 1 1 1
 exposedField    SFRotation scaleOrientation      0 0 1 0
 exposedField    MFNode     segments              [ ]
 exposedField    MFNode     sites                 [ ]
 exposedField    SFVec3f    translation           0 0 0
 exposedField    SFString   version               "200x"
 exposedField    MFNode     viewpoints            [ ]
 field           SFVec3f    bboxCenter            0 0 0
 field           SFVec3f    bboxSize              -1 -1 -1
]
{
 Transform {
  center           IS center
  rotation         IS rotation
  scale            IS scale
  scaleOrientation IS scaleOrientation
  translation      IS translation
  children [
   Group {
    children IS humanoidBody 
   }
   Group {
    children IS viewpoints
   }
  ]
 }
}


PROTO Joint [
 exposedField SFVec3f    center             0 0 0
 exposedField MFNode     children           []
 exposedField SFRotation limitOrientation   0 0 1 0
 exposedField MFFloat    llimit             []
 exposedField SFString   name               ""
 exposedField SFRotation rotation           0 0 1 0
 exposedField SFVec3f    scale              1 1 1
 exposedField SFRotation scaleOrientation   0 0 1 0
 exposedField MFFloat    stiffness          [1 1 1]
 exposedField SFVec3f    translation        0 0 0
 exposedField MFFloat    ulimit             []
] 
{ 
 Group {
  children [
   Transform {
    center IS center 
    children IS children
    rotation IS rotation
    scale IS scale 
    scaleOrientation IS scaleOrientation
    translation IS translation
   }
   Transform {
    translation IS center
    children [
     Shape { 
      geometry 
       IndexedFaceSet {
        coord Coordinate {
         point [ 
          0 0.01 0, -0.01 0 0, 0 0 0.01, 
          0.01 0 0, 0 0 -0.01, 0 -0.01 0 
         ]
        }
        coordIndex [ 
         0, 1, 2, -1, 0, 2, 3, -1, 0, 3, 4, -1, 0, 4, 1, -1,
         5, 2, 1, -1, 5, 3, 2, -1, 5, 4, 3, -1, 5, 1, 4, -1 
        ]
        creaseAngle 0.5
       }
      appearance 
       Appearance { 
        material 
         Material { diffuseColor 1 1 0 } 
       } 
     } 
    ]
   }
  ]
 }
}


PROTO Segment [
 eventIn         MFNode      addChildren
 eventIn         MFNode      removeChildren
 exposedField    SFVec3f     centerOfMass      0 0 0
 exposedField    MFNode      children          []
 exposedField    SFNode      coord             NULL
 exposedField    MFNode      displacers        []
 exposedField    SFString    name              ""
 exposedField    SFFloat     mass              0 
 exposedField    SFVec3f     momentsOfInertia  1 1 1
 field           SFVec3f     bboxCenter        0 0 0
 field           SFVec3f     bboxSize          -1 -1 -1
] 
{ 
 Group {
  addChildren IS addChildren
  bboxCenter IS bboxCenter
  bboxSize IS bboxSize
  children IS children
  removeChildren IS removeChildren
 }
}


PROTO Site [
 eventIn         MFNode      addChildren
 eventIn         MFNode      removeChildren
 exposedField    SFVec3f     center            0 0 0
 exposedField    MFNode      children          []
 exposedField    SFString    name              "" 
 exposedField    SFRotation  rotation          0 0 1 0
 exposedField    SFVec3f     scale             1 1 1
 exposedField    SFRotation  scaleOrientation  0 0 1 0
 exposedField    SFVec3f     translation       0 0 0
]
{ 
 Transform {
  addChildren IS addChildren
  removeChildren IS removeChildren
  center IS center
  children IS children
  rotation IS rotation
  scale IS scale
  scaleOrientation IS scaleOrientation
  translation IS translation
 }
}


DEF humanoid Humanoid {
 humanoidBody [
  DEF hanim_HumanoidRoot Joint {
   name           "HumanoidRoot"
   center         0.0000 0.8240 0.0277
   children [
    DEF hanim_sacroiliac Joint {
     name           "sacroiliac"
     center         0.0000 0.9149 0.0016
     children [
      DEF hanim_l_hip Joint {
       name           "l_hip"
       center         0.0961 0.9124 -0.0001
       children [
        DEF hanim_l_knee Joint {
         name           "l_knee"
         center         0.1040 0.4867 0.0308
         children [
          DEF hanim_l_ankle Joint {
           name           "l_ankle"
           center         0.1101 0.0656 -0.0736
           children [
            DEF hanim_l_midtarsal Joint {
             name           "l_midtarsal"
             center         0.1086 0.0001 0.0368
             children [
              DEF hanim_l_middistal Segment {
               name           "l_middistal"
               children [
                DEF hanim_l_middistal_tip Site {
                 name           "l_middistal_tip"
                 translation    0.1354 0.0016 0.1476
                 children [
                 ]
                }
                DEF hanim_l_metatarsal_pha5 Site {     # CAESAR Feature Point #66
                 name           "l_metatarsal_pha5"
                 translation    0.1825 0.0070 0.0928
                 children [
                 ]
                }
                DEF hanim_l_metatarsal_pha1 Site {     # CAESAR Feature Point #70
                 name           "l_metatarsal_pha1"
                 translation    0.0816 0.0232 0.0106
                 children [
                 ]
                }
                DEF hanim_l_digit2 Site {     # CAESAR Feature Point #72
                 name           "l_digit2"
                 translation    0.1195 0.0079 0.1433
                 children [
                 ]
                }
               ]
              }     # end hanim_l_middistal Segment     
             ]
            }     # end hanim_l_midtarsal Joint
            DEF hanim_l_hindfoot Segment {
             name           "l_hindfoot"
             children [
              DEF hanim_l_lateral_malleolus Site {     # CAESAR Feature Point #67
               name           "l_lateral_malleolus"
               translation    0.1308 0.0597 -0.1032
               children [
               ]
              }
              DEF hanim_l_medial_malleolus Site {     # CAESAR Feature Point #68
               name           "l_medial_malleolus"
               translation    0.0890 0.0716 -0.0881
               children [
               ]
              }
              DEF hanim_l_sphyrion Site {     # CAESAR Feature Point #69
               name           "l_sphyrion"
               translation    0.0890 0.0575 -0.0943
               children [
               ]
              }
              DEF hanim_l_calcaneous_post Site {     # CAESAR Feature Point #71
               name           "l_calcaneous_post"
               translation    0.0974 0.0259 -0.1171
               children [
               ]
              }
             ]
            }     # end hanim_l_hindfoot Segment
           ]
          }     # end hanim_l_ankle Joint
          DEF hanim_l_calf Segment {
           name           "l_calf"
           children [
           ]
          }     # end hanim_l_calf Segment
         ]
        }     # end hanim_l_knee Joint
        DEF hanim_l_thigh Segment {
         name           "l_thigh"
         children [
          DEF hanim_l_knee_crease Site {     # CAESAR Feature Point #63
           name           "l_knee_crease"
           translation    0.0993 0.4881 -0.0309
           children [
           ]
          }
          DEF hanim_l_femoral_lateral_epicn Site {     # CAESAR Feature Point #64
           name           "l_femoral_lateral_epicn"
           translation    0.1598 0.4967 0.0297
           children [
           ]
          }
          DEF hanim_l_femoral_medial_epicn Site {     # CAESAR Feature Point #65
           name           "l_femoral_lateral_epicn"
           translation    0.0398 0.4946 0.0303
           children [
           ]
          }
         ]
        }     # end hanim_l_thigh Segment
       ]
      }     # end hanim_l_hip Joint
      DEF hanim_r_hip Joint {
       name           "r_hip"
       center         -0.0950 0.9171 0.0029
       children [
        DEF hanim_r_knee Joint {
         name           "r_knee"
         center         -0.0867 0.4913 0.0318
         children [
          DEF hanim_r_ankle Joint {
           name           "r_ankle"
           center         -0.0801 0.0712 -0.0766
           children [
            DEF hanim_r_midtarsal Joint {
             name           "r_midtarsal"
             center         -0.0801 0.0000 0.0368
             children [
              DEF hanim_r_middistal Segment {
               name           "r_middistal"
               children [
                DEF hanim_r_middistal_tip Site {
                 name           "r_middistal_tip"
                 translation    -0.1043 -0.0227 0.1450
                 children [
                 ]
                }
                DEF hanim_r_metatarsal_pha5 Site {     # CAESAR Feature Point #56
                 name           "r_metatarsal_pha5"
                 translation    -0.1523 0.0166 0.0895
                 children [
                 ]
                }
                DEF hanim_r_metatarsal_pha1 Site {     # CAESAR Feature Point #60
                 name           "r_metatarsal_pha1"
                 translation    -0.0521 0.0260 0.0127
                 children [
                 ]
                }
                DEF hanim_r_digit2 Site {     # CAESAR Feature Point #62
                 name           "r_digit2"
                 translation    -0.0883 0.0134 0.1383
                 children [
                 ]
                }
               ]
              }     # end hanim_r_middistal Segment
             ]
            }     # end hanim_r_midtarsal Joint
            DEF hanim_r_hindfoot Segment {
             name           "r_hindfoot"
             children [
              DEF hanim_r_lateral_malleolus Site {     # CAESAR Feature Point #57
               name           "r_lateral_malleolus"
               translation    -0.1006 0.0658 -0.1075
               children [
               ]
              }
              DEF hanim_r_medial_malleolus Site {     # CAESAR Feature Point #58
               name           "r_medial_malleolus"
               translation    -0.0591 0.0760 -0.0928
               children [
               ]
              }
              DEF hanim_r_sphyrion Site {     # CAESAR Feature Point #59
               name           "r_sphyrion"
               translation    -0.0603 0.0610 -0.1002
               children [
               ]
              }
              DEF hanim_r_calcaneous_post Site {     # CAESAR Feature Point #61
               name           "r_calcaneous_post"
               translation    -0.0692 0.0297 -0.1221
               children [
               ]
              }
             ]
            }     # end hanim_r_hindfoot Segment
           ]
          }     # end hanim_r_ankle Joint
          DEF hanim_r_calf Segment {
           name           "r_calf"
           children [
           ]
          }     # end hanim_r_calf Segment
         ]
        }     # end hanim_r_knee Joint
        DEF hanim_r_thigh Segment {
         name           "r_thigh"
         children [
          DEF hanim_r_knee_crease Site {     # CAESAR Feature Point #53
           name           "r_knee_crease"
           translation    -0.0825 0.4932 -0.0326
           children [
           ]
          }
          DEF hanim_r_femoral_lateral_epicn Site {     # CAESAR Feature Point #54
           name           "r_femoral_lateral_epicn"
           translation    -0.1421 0.4992 0.0310
           children [
           ]
          }
          DEF hanim_r_femoral_medial_epicn Site {     # CAESAR Feature Point #55
           name           "r_femoral_lateral_epicn"
           translation    -0.0221 0.5014 0.0289
           children [
           ]
          }
         ]
        }     # end hanim_r_thigh Segment
       ]
      }     # end hanim_r_hip Joint
      DEF hanim_pelvis Segment {
       name           "pelvis"
       children [
       ]
      }     # end hanim_pelvis Segment
     ]
    }     # end hanim_sacroiliac Joint
    DEF hanim_vl5 Joint {
     name           "vl5"
     center         0.0028 1.0568 -0.0776
     children [
      DEF hanim_skullbase Joint {
       name         "skullbase"
       center       0.0044 1.6209 0.0236
       children [
        DEF hanim_skull Segment {
         name         "skull"
         children [
          DEF hanim_skull_tip Site {
           name         "skull_tip"
           translation    0.0050 1.7504 0.0055
           children [
           ]
          }
          DEF hanim_sellion Site {     # CAESAR Feature Point #1
           name         "sellion"
           translation    0.0058 1.6316 0.0852
           children [
           ]
          }
          DEF hanim_r_infraorbitale Site {     # CAESAR Feature Point #2
           name         "r_infraorbitale"
           translation    -0.0237 1.6171 0.0752
           children [
           ]
          }
          DEF hanim_l_infraorbitale Site {     # CAESAR Feature Point #3
           name         "l_infraorbitale"
           translation    0.0341 1.6171 0.0752
           children [
           ]
          }
          DEF hanim_supramenton Site {     # CAESAR Feature Point #4
           name         "supramenton"
           translation    0.0061 1.5410 0.0805
             children [
           ]
          }
          DEF hanim_r_tragion Site {     # CAESAR Feature Point #5
           name         "r_tragion"
           translation    -0.0646 1.6347 0.0302
           children [
           ]
          }
          DEF hanim_r_gonion Site {     # CAESAR Feature Point #6
           name         "r_gonion"
           translation    -0.0520 1.5529 0.0347
           children [
           ]
          }
          DEF hanim_l_tragion Site {     # CAESAR Feature Point #7
           name         "l_tragion"
           translation    0.0739 1.6348 0.0282
           children [
           ]
          }
          DEF hanim_l_gonion Site {     # CAESAR Feature Point #8
           name         "l_gonion"
           translation    0.0631 1.5530 0.0330
           children [
           ]
          }
          DEF hanim_nuchale Site {     # CAESAR Feature Point #9
           name         "nuchale"
           translation    0.0039 1.5972 -0.0796
           children [
           ]
          }
         ]
        }     # end hanim_skull Segment
       ]
      }     # end hanim_skullbase Joint
      DEF hanim_l_shoulder Joint {
       name         "l_shoulder"
       center       0.2029 1.4376 -0.0387
       children [
        DEF hanim_l_elbow Joint {
         name         "l_elbow"
         center       0.2014 1.1357 -0.0682
         children [
          DEF hanim_l_wrist Joint {
           name         "l_wrist"
           center       0.1984 0.8663 -0.0583
           children [
            DEF hanim_l_hand Segment {
             name         "l_hand"
             children [
              DEF hanim_l_hand_tip Site {
               name         "l_hand_tip"
               translation    0.2080 0.6731 -0.0491
               children [
               ]
              }
              DEF hanim_l_metacarpal_pha2 Site {     # CAESAR Feature Point #49
               name         "l_metacarpal_pha2"
               translation    0.2009 0.8139 -0.0237
               children [
               ]
              }
              DEF hanim_l_dactylion Site {     # CAESAR Feature Point #50
               name         "l_dactylion"
               translation    0.2056 0.6743 -0.0482
               children [
               ]
              }
              DEF hanim_l_ulnar_styloid Site {     # CAESAR Feature Point #51
               name         "l_ulnar_styloid"
               translation    0.2142 0.8529 -0.0648
               children [
               ]
              }
              DEF hanim_l_metacarpal_pha5 Site {     # CAESAR Feature Point #52
               name         "l_metacarpal_pha5"
               translation    0.1929 0.7860 -0.1122
               children [
               ]
              }
             ]
            }     # end hanim_l_hand Segment
           ]
          }     # end hanim_l_wrist Joint
          DEF hanim_l_forearm Segment {
           name         "l_forearm"
           children [
            DEF hanim_l_radial_styloid Site {     # CAESAR Feature Point #43
             name         "l_radial_styloid"
             translation    0.1901 0.8645 -0.0415
             children [
             ]
            }
            DEF hanim_l_olecranon Site {     # CAESAR Feature Point #45
             name         "l_olecranon"
             translation    0.1962 1.1375 -0.1123
             children [
             ]
            }
            DEF hanim_l_humeral_medial_epicn Site {     # CAESAR Feature Point #47
             name         "l_humeral_medial_epicn"
             translation    0.1735 1.1272 -0.1113
             children [
             ]
            }
            DEF hanim_l_radiale Site {     # CAESAR Feature Point #48
             name         "l_radiale"
             translation    0.2182 1.1212 -0.1167
             children [
             ]
            }
           ]
          }     # end hanim_l_forearm Segment
         ]
        }     # end hanim_l_elbow Joint
        DEF hanim_l_upperarm Segment {
         name         "l_upperarm"
         children [
          DEF hanim_l_humeral_lateral_epicn Site {     # CAESAR Feature Point #46
           name         "l_humeral_lateral_epicn "
           translation    0.2280 1.1482 -0.1100
           children [
           ]
          }
         ]
        }     # end hanim_l_upperarm Segment
       ]
      }     # end hanim_l_shoulder Joint
      DEF hanim_r_shoulder Joint {
       name         "r_shoulder"
       center       -0.1907 1.4407 -0.0325
       children [
        DEF hanim_r_elbow Joint {
         name         "r_elbow"
         center       -0.1949 1.1388 -0.0620
         children [
          DEF hanim_r_wrist Joint {
           name         "r_wrist"
           center       -0.1959 0.8694 -0.0521
           children [
            DEF hanim_r_hand Segment {
             name         "r_hand"
             children [
              DEF hanim_r_hand_tip Site {
               name         "r_hand_tip"
               translation    -0.1969 0.6758 -0.0427
               children [
               ]
              }
              DEF hanim_r_metacarpal_pha2 Site {     # CAESAR Feature Point #37
               name         "r_metacarpal_pha2"
               translation    -0.1977 0.8169 -0.0177
               children [
               ]
              }
              DEF hanim_r_dactylion Site {     # CAESAR Feature Point #38
               name         "r_dactylion"
               translation    -0.1941 0.6772 -0.0423
               children [
               ]
              }
              DEF hanim_r_ulnar_styloid Site {     # CAESAR Feature Point #39
               name         "r_ulnar_styloid"
               translation    -0.2117 0.8562 -0.0584
               children [
               ]
              }
              DEF hanim_r_metacarpal_pha5 Site {     # CAESAR Feature Point #40
               name         "r_metacarpal_pha5"
               translation    -0.1929 0.7890 -0.1064
               children [
               ]
              }
             ]
            }     # end hanim_r_hand Segment
           ]
          }     # end hanim_r_wrist Joint
          DEF hanim_r_forearm Segment {
           name         "r_forearm"
           children [
            DEF hanim_r_radial_styloid Site {     # CAESAR Feature Point #31
             name         "r_radial_styloid"
             translation    -0.1884 0.8676 -0.0360
             children [
             ]
            }
            DEF hanim_r_olecranon Site {     # CAESAR Feature Point #33
             name         "r_olecranon"
             translation    -0.1907 1.1405 -0.1065
             children [
             ]
            }
            DEF hanim_r_humeral_medial_epicn Site {     # CAESAR Feature Point #35
             name         "r_humeral_medial_epicn"
             translation    -0.1680 1.1298 -0.1062
             children [
             ]
            }
            DEF hanim_r_radiale Site {     # CAESAR Feature Point #36
             name         "r_radiale"
             translation    -0.2130 1.1305 -0.1091
             children [
             ]
            }
           ]
          }     # end hanim_r_forearm Segment
         ]
        }     # end hanim_r_elbow Joint
        DEF hanim_r_upperarm Segment {
         name         "r_upperarm"
         children [
          DEF hanim_r_humeral_lateral_epicn Site {     # CAESAR Feature Point #34
           name         "r_humeral_lateral_epicn"
           translation    -0.2224 1.1517 -0.1033
           children [
           ]
          }
         ]
        }     # end hanim_r_upperarm Segment
       ]
      }     # end hanim_r_shoulder Joint
      DEF hanim_l5 Segment {
       name           "l5"
       children [
        DEF hanim_r_clavicale Site {     # CAESAR Feature Point #10
         name         "r_clavicale"
         translation    -0.0115 1.4943 0.0400
         children [
         ]
        }
        DEF hanim_suprasternale Site {     # CAESAR Feature Point #11
         name         "suprasternale"
         translation    0.0084 1.4714 0.0551
         children [
         ]
        }
        DEF hanim_l_clavicale Site {     # CAESAR Feature Point #12
         name         "l_clavicale"
         translation    0.0271 1.4943 0.0394
         children [
         ]
        }
        DEF hanim_r_thelion Site {     # CAESAR Feature Point #13
         name           "r_thelion"
         translation    -0.0736 1.3385 0.1217
         children [
         ]
        }
        DEF hanim_l_thelion Site {     # CAESAR Feature Point #14
         name           "l_thelion"
         translation    0.0918 1.3382 0.1192
         children [
         ]
        }
        DEF hanim_substernale Site {     # CAESAR Feature Point #15
         name         "substernale"
         translation    0.0085 1.2995 0.1147
         children [
         ]
        }
        DEF hanim_r_rib10 Site {     # CAESAR Feature Point #16
         name           "r_rib10"
         translation    -0.0711 1.1941 0.1016
         children [
         ]
        }
        DEF hanim_l_rib10 Site {     # CAESAR Feature Point #18
         name           "l_rib10"
         translation    0.0871 1.1925 0.0992
         children [
         ]
        }
        DEF hanim_cervicale Site {     # CAESAR Feature Point #24
         name         "cervicale"
         translation    0.0064 1.520 -0.0815
         children [
         ]
        }
        DEF hanim_rib10_midspine Site {     # CAESAR Feature Point #25
         name           "rib10_midspine"
         translation    0.0049 1.1908 -0.1113
         children [
         ]
        }
        DEF hanim_waist_preferred_post Site {     # CAESAR Feature Point #28
         name           "waist_preferred_post "
         translation    0.0049 1.0915 -0.1091
         children [
         ]
        }
        DEF hanim_r_acromion Site {     # CAESAR Feature Point #29
         name         "r_acromion"
         translation    -0.1905 1.4791 -0.0431
         children [
         ]
        }
        DEF hanim_r_axilla_