Part 1: Humanoid animation (HAnim) architecture

Annex A

(informative)

Nominal human body dimensions and levels of articulation (LOAs)

# A.1 General

## A.1.1 Overview

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

## A.1.2 Topics

Table A.1 lists the topics for this annex.

Table A.1 — Topics

A.1 General A.1.1 Overview A.1.2 Topics A.2 Levels of articulation (LOAs) A.3 Level of articulation Zero A.3.1 Definition A.3.2 Examples A.3.2.1 LOA‑0 Example in VRML A.3.2.2 LOA‑0 Example with diamonds at Joint centres A.4 Level of articulation One A.4.1 Definition A.4.2 Examples A.4.2.1 LOA‑1 Example in VRML A.4.2.2 LOA‑1 Example with diamonds at Joint centres A.5 Level of articulation Two A.5.1 Definition A.5.2 Examples A.5.2.1 LOA‑2 Example in VRML A.5.2.2 LOA‑2 Example with diamonds at Joint centres A.6 Level of articulation Three A.6.1 Definition A.6.2 Examples A.6.2.1 LOA‑3 Example in VRML A.6.2.2 LOA‑3 Example with diamonds at Joint centres A.7 Level of articulation Four A.7.1 Definition A.7.2 Examples A.7.2.1 LOA‑4 Example in VRML A.7.2.2 LOA‑4 Example with diamonds at Joint centres Table A.1 — Topics Table A.2 — LOA‑0: Suggested Joint object center value Table A.3 — LOA‑0: Suggested Site objects translation values Table A.4 — LOA‑1: Suggested Joint objects center values Table A.5 — LOA‑1: Suggested Site objects translation values Table A.6 — LOA‑2: Suggested Joint objects center values Table A.7 — LOA‑2: Suggested Site objects translation values Table A.8 — LOA‑3: Suggested Joint objects center values Table A.9 — LOA‑3: Suggested Site objects translation values Table A.10 — LOA‑4: Suggested Joint objects center values Table A.11 — LOA‑4: Suggested Site objects translation values

# A.2 Levels of articulation (LOAs)

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 are 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 requires 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 is 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 (LOAs). Building to a particular LOA ensures that the humanoid is 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 HAnim specification. The suggested values are based on the work of the [CAESAR] project and [BADLER].

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‑0 supports the humanoid_root Joint object only. This is the minimum legal HAnim humanoid. Table A.2 lists the suggested center field value for the humanoid_root Joint object. Table A.3 lists the suggested translation field values for the sites of LOA‑0.

Table A.2 — LOA‑0: Suggested Joint object center value

Joint object | Suggested center value
--- | ---
humanoid_root | 0.0000 0.8240 0.0277

Table A.3 — LOA‑0: Suggested Site objects translation values

Site object | Suggested translation value
--- | ---
skull_tip | 0.0050 1.7504 0.0055
sellion | 0.0058 1.6316 0.0852
r_infraorbitale | -0.0237 1.6171 0.0752
l_infraorbitale | 0.0341 1.6171 0.0752
supramenton | 0.0061 1.5410 0.0805
r_tragion | -0.0646 1.6347 0.0302
r_gonion | -0.0520 1.5529 0.0347
l_tragion | 0.0739 1.6348 0.0282
l_gonion | 0.0631 1.5530 0.0330
nuchale | 0.0039 1.5972 -0.0796
r_clavicale | -0.0115 1.4943 0.0400
suprasternale | 0.0084 1.4714 0.0551
l_clavicale | 0.0271 1.4943 0.0394
r_thelion | -0.0736 1.3385 0.1217
l_thelion | 0.0918 1.3382 0.1192
substernale | 0.0085 1.2995 0.1147
r_rib10 | -0.0711 1.1941 0.1016
r_asis | -0.0887 1.0021 0.1112
l_rib10 | 0.0871 1.1925 0.0992
l_asis | 0.0925 0.9983 0.1052
r_iliocristale | -0.1525 1.0628 0.0035
r_trochanterion | -0.1689 0.8419 0.0352
l_iliocristale | 0.1612 1.0537 0.0008
l_trochanterion | 0.1677 0.8336 0.0303
cervicale | 0.0064 1.520 -0.0815
spine_2_lower_back | 0.0049 1.1908 -0.1113
r_psis | -0.0716 1.0190 -0.1138
l_psis | 0.0774 1.0190 -0.1151
waist_preferred_posterior | 0.2900 1.0915 -0.1091
r_acromion | -0.1905 1.4791 -0.0431
r_axilla_proximal | -0.1626 1.4072 -0.0031
r_radial_styloid | -0.1884 0.8676 -0.0360
r_axilla_distal | -0.1603 1.4098 -0.0826
r_olecranon | -0.1907 1.1405 -0.1065
r_humeral_lateral_epicondyles | -0.2224 1.1517 -0.1033
r_humeral_medial_epicondyles | -0.1680 1.1298 -0.1062
r_radiale | -0.2130 1.1305 -0.1091
r_metacarpal_phalanx_2 | -0.1977 0.8169 -0.0177
r_dactylion | -0.1941 0.6772 -0.0423
r_ulnar_styloid | -0.2117 0.8562 -0.0584
r_metacarpal_phalanx_5 | -0.1929 0.7890 -0.1064
l_acromion | 0.2032 1.4760 -0.0490
l_axilla_proximal | 0.1777 1.4065 -0.0075
l_radial_styloid | 0.1901 0.8645 -0.0415
l_axilla_distal | 0.1706 1.4072 -0.0875
l_olecranon | -0.1962 1.1375 -0.1123
l_humeral_lateral_epicondyles | 0.2280 1.1482 -0.1100
l_humeral_medial_epicondyles | 0.1735 1.1272 -0.1113
l_radiale | 0.2182 1.1212 -0.1167
l_metacarpal_phalanx_2 | 0.2009 0.8139 -0.0237
l_dactylion | 0.2056 0.6743 -0.0482
l_ulnar_styloid | -0.2142 0.8529 -0.0648
l_metacarpal_phalanx_5 | 0.1929 0.7860 -0.1122
r_knee_crease | -0.0825 0.4932 -0.0326
r_femoral_lateral_epicondyles | -0.1421 0.4992 0.0310
r_femoral_medial_epicondyles | -0.0221 0.5014 0.0289
r_tarsal_interphalangeal_phalanx_5 | -0.1523 0.0166 0.0895
r_lateral_malleolus | -0.1006 0.0658 -0.1075
r_medial_malleolus | -0.0591 0.0760 -0.0928
r_sphyrion | -0.0603 0.0610 -0.1002
r_tarsal_interphalangeal_phalanx_1 | -0.0521 0.0260 0.0127
r_calcaneus_posterior | -0.0692 0.0297 -0.1221
r_tarsal_distal_phalanx_2 | -0.0883 0.0134 0.1383
l_knee_crease | 0.0993 0.4881 -0.0309
l_femoral_lateral_epicondyles | 0.1598 0.4967 0.0297
l_femoral_medial_epicondyles | 0.0398 0.4946 0.0303
l_tarsal_interphalangeal_phalanx_5 | 0.1825 0.0070 0.0928
l_lateral_malleolus | 0.1308 0.0597 -0.1032
l_medial_malleolus | 0.0890 0.0716 -0.0881
l_sphyrion | 0.0890 0.0575 -0.0943
l_tarsal_interphalangeal_phalanx_1 | 0.0816 0.0232 0.0106
l_calcaneus_posterior | 0.0974 0.0259 -0.1171
l_tarsal_distal_phalanx_2 | 0.1195 0.0079 0.1433
crotch | 0.0034 0.8266 0.0257
r_neck_base | -0.0419 1.5149 -0.0220
l_neck_base | 0.0646 1.5141 -0.0380
navel | 0.0069 1.0966 0.1017

## 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_humanoid_root Joint {
       name           "humanoid_root"
       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_spine_2_lower_back Site {     # CAESAR Feature Point #25
           name           "spine_2_lower_back"
           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_posterior Site {     # CAESAR Feature Point #28
           name           "waist_preferred_posterior"
           translation    0.2900 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_proximal Site {     # CAESAR Feature Point #30
           name         "r_axilla_proximal"
           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_distal Site {     # CAESAR Feature Point #32
           name         "r_axilla_distal"
           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_epicondyles Site {     # CAESAR Feature Point #34
           name         "r_humeral_lateral_epicondyles"
           translation    -0.2224 1.1517 -0.1033
           children [
           ]
          }
          DEF hanim_r_humeral_medial_epicondyles Site {     # CAESAR Feature Point #35
           name         "r_humeral_medial_epicondyles"
           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_phalanx_2 Site {     # CAESAR Feature Point #37
           name         "r_metacarpal_phalanx_2"
           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_phalanx_5 Site {     # CAESAR Feature Point #40
           name         "r_metacarpal_phalanx_5"
           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_proximal Site {     # CAESAR Feature Point #42
           name         "l_axilla_proximal"
           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_distal Site {     # CAESAR Feature Point #44
           name         "l_axilla_distal"
           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_epicondyles Site {     # CAESAR Feature Point #46
           name         "l_humeral_lateral_epicondyles "
           translation    0.2280 1.1482 -0.1100
           children [
           ]
          }
          DEF hanim_l_humeral_medial_epicondyles Site {     # CAESAR Feature Point #47
           name         "l_humeral_medial_epicondyles"
           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_phalanx_2 Site {     # CAESAR Feature Point #49
           name         "l_metacarpal_phalanx_2"
           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_phalanx_5 Site {     # CAESAR Feature Point #52
           name         "l_metacarpal_phalanx_5"
           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_epicondyles Site {     # CAESAR Feature Point #54
           name           "r_femoral_lateral_epicondyles"
           translation    -0.1421 0.4992 0.0310
           children [
           ]
          }
          DEF hanim_r_femoral_medial_epicondyles Site {     # CAESAR Feature Point #55
           name           "r_femoral_lateral_epicondyles"
           translation    -0.0221 0.5014 0.0289
           children [
           ]
          }
          DEF hanim_r_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #56
           name           "r_tarsal_interphalangeal_phalanx_5"
           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_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #60
           name           "r_tarsal_interphalangeal_phalanx_1"
           translation    -0.0521 0.0260 0.0127
           children [
           ]
          }
          DEF hanim_r_calcaneus_posterior Site {     # CAESAR Feature Point #61
           name           "r_calcaneus_posterior"
           translation    -0.0692 0.0297 -0.1221
           children [
           ]
          }
          DEF hanim_r_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #62
           name           "r_tarsal_distal_phalanx_2"
           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_epicondyles Site {     # CAESAR Feature Point #64
           name           "l_femoral_lateral_epicondyles"
           translation    0.1598 0.4967 0.0297
           children [
           ]
          }
          DEF hanim_l_femoral_medial_epicondyles Site {     # CAESAR Feature Point #65
           name           "l_femoral_lateral_epicondyles"
           translation    0.0398 0.4946 0.0303
           children [
           ]
          }
          DEF hanim_l_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #66
           name           "l_tarsal_interphalangeal_phalanx_5"
           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_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #70
           name           "l_tarsal_interphalangeal_phalanx_1"
           translation    0.0816 0.0232 0.0106
           children [
           ]
          }
          DEF hanim_l_calcaneus_posterior Site {     # CAESAR Feature Point #71
           name           "l_calcaneus_posterior"
           translation    0.0974 0.0259 -0.1171
           children [
           ]
          }
          DEF hanim_l_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #72
           name           "l_tarsal_distal_phalanx_2"
           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_humanoid_root Joint
     ]
     joints [
      USE hanim_humanoid_root
     ]
     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_spine_2_lower_back, USE hanim_r_psis, USE hanim_l_psis,
      USE hanim_waist_preferred_posterior, USE hanim_r_acromion,
      USE hanim_r_axilla_proximal, USE hanim_r_radial_styloid,
      USE hanim_r_axilla_distal, USE hanim_r_olecranon,
      USE hanim_r_humeral_lateral_epicondyles, USE hanim_r_humeral_medial_epicondyles,
      USE hanim_r_radiale, USE hanim_r_metacarpal_phalanx_2,
      USE hanim_r_dactylion, USE hanim_r_ulnar_styloid,
      USE hanim_r_metacarpal_phalanx_5, USE hanim_l_acromion,
      USE hanim_l_axilla_proximal, USE hanim_l_radial_styloid,
      USE hanim_l_axilla_distal, USE hanim_l_olecranon,
      USE hanim_l_humeral_lateral_epicondyles, USE hanim_l_humeral_medial_epicondyles,
      USE hanim_l_radiale, USE hanim_l_metacarpal_phalanx_2,
      USE hanim_l_dactylion, USE hanim_l_ulnar_styloid,
      USE hanim_l_metacarpal_phalanx_5, USE hanim_r_knee_crease,
      USE hanim_r_femoral_lateral_epicondyles, USE hanim_r_femoral_medial_epicondyles,
      USE hanim_r_tarsal_interphalangeal_phalanx_5, USE hanim_r_lateral_malleolus,
      USE hanim_r_medial_malleolus, USE hanim_r_sphyrion,
      USE hanim_r_tarsal_interphalangeal_phalanx_1, USE hanim_r_calcaneus_posterior,
      USE hanim_r_tarsal_distal_phalanx_2, USE hanim_l_knee_crease,
      USE hanim_l_femoral_lateral_epicondyles, USE hanim_l_femoral_medial_epicondyles,
      USE hanim_l_tarsal_interphalangeal_phalanx_5, USE hanim_l_lateral_malleolus,
      USE hanim_l_medial_malleolus, USE hanim_l_sphyrion,
      USE hanim_l_tarsal_interphalangeal_phalanx_1, USE hanim_l_calcaneus_posterior,
      USE hanim_l_tarsal_distal_phalanx_2, 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, LOA‑0"
       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 modelling 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‑0 example with diamonds at Joint centres

    #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_humanoid_root Joint {
       name           "humanoid_root"
       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_spine_2_lower_back Site {     # CAESAR Feature Point #25
           name           "spine_2_lower_back"
           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_posterior Site {     # CAESAR Feature Point #28
           name           "waist_preferred_posterior"
           translation    0.2900 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_proximal Site {     # CAESAR Feature Point #30
           name         "r_axilla_proximal"
           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_distal Site {     # CAESAR Feature Point #32
           name         "r_axilla_distal"
           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_epicondyles Site {     # CAESAR Feature Point #34
           name         "r_humeral_lateral_epicondyles"
           translation    -0.2224 1.1517 -0.1033
           children [
           ]
          }
          DEF hanim_r_humeral_medial_epicondyles Site {     # CAESAR Feature Point #35
           name         "r_humeral_medial_epicondyles"
           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_phalanx_2 Site {     # CAESAR Feature Point #37
           name         "r_metacarpal_phalanx_2"
           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_phalanx_5 Site {     # CAESAR Feature Point #40
           name         "r_metacarpal_phalanx_5"
           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_proximal Site {     # CAESAR Feature Point #42
           name         "l_axilla_proximal"
           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_distal Site {     # CAESAR Feature Point #44
           name         "l_axilla_distal"
           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_epicondyles Site {     # CAESAR Feature Point #46
           name         "l_humeral_lateral_epicondyles "
           translation    0.2280 1.1482 -0.1100
           children [
           ]
          }
          DEF hanim_l_humeral_medial_epicondyles Site {     # CAESAR Feature Point #47
           name         "l_humeral_medial_epicondyles"
           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_phalanx_2 Site {     # CAESAR Feature Point #49
           name         "l_metacarpal_phalanx_2"
           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_phalanx_5 Site {     # CAESAR Feature Point #52
           name         "l_metacarpal_phalanx_5"
           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_epicondyles Site {     # CAESAR Feature Point #54
           name           "r_femoral_lateral_epicondyles"
           translation    -0.1421 0.4992 0.0310
           children [
           ]
          }
          DEF hanim_r_femoral_medial_epicondyles Site {     # CAESAR Feature Point #55
           name           "r_femoral_lateral_epicondyles"
           translation    -0.0221 0.5014 0.0289
           children [
           ]
          }
          DEF hanim_r_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #56
           name           "r_tarsal_interphalangeal_phalanx_5"
           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_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #60
           name           "r_tarsal_interphalangeal_phalanx_1"
           translation    -0.0521 0.0260 0.0127
           children [
           ]
          }
          DEF hanim_r_calcaneus_posterior Site {     # CAESAR Feature Point #61
           name           "r_calcaneus_posterior"
           translation    -0.0692 0.0297 -0.1221
           children [
           ]
          }
          DEF hanim_r_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #62
           name           "r_tarsal_distal_phalanx_2"
           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_epicondyles Site {     # CAESAR Feature Point #64
           name           "l_femoral_lateral_epicondyles"
           translation    0.1598 0.4967 0.0297
           children [
           ]
          }
          DEF hanim_l_femoral_medial_epicondyles Site {     # CAESAR Feature Point #65
           name           "l_femoral_lateral_epicondyles"
           translation    0.0398 0.4946 0.0303
           children [
           ]
          }
          DEF hanim_l_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #66
           name           "l_tarsal_interphalangeal_phalanx_5"
           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_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #70
           name           "l_tarsal_interphalangeal_phalanx_1"
           translation    0.0816 0.0232 0.0106
           children [
           ]
          }
          DEF hanim_l_calcaneus_posterior Site {     # CAESAR Feature Point #71
           name           "l_calcaneus_posterior"
           translation    0.0974 0.0259 -0.1171
           children [
           ]
          }
          DEF hanim_l_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #72
           name           "l_tarsal_distal_phalanx_2"
           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_humanoid_root Joint
     ]
     joints [
      USE hanim_humanoid_root
     ]
     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_spine_2_lower_back, USE hanim_r_psis, USE hanim_l_psis,
      USE hanim_waist_preferred_posterior, USE hanim_r_acromion,
      USE hanim_r_axilla_proximal, USE hanim_r_radial_styloid,
      USE hanim_r_axilla_distal, USE hanim_r_olecranon,
      USE hanim_r_humeral_lateral_epicondyles, USE hanim_r_humeral_medial_epicondyles,
      USE hanim_r_radiale, USE hanim_r_metacarpal_phalanx_2,
      USE hanim_r_dactylion, USE hanim_r_ulnar_styloid,
      USE hanim_r_metacarpal_phalanx_5, USE hanim_l_acromion,
      USE hanim_l_axilla_proximal, USE hanim_l_radial_styloid,
      USE hanim_l_axilla_distal, USE hanim_l_olecranon,
      USE hanim_l_humeral_lateral_epicondyles, USE hanim_l_humeral_medial_epicondyles,
      USE hanim_l_radiale, USE hanim_l_metacarpal_phalanx_2,
      USE hanim_l_dactylion, USE hanim_l_ulnar_styloid,
      USE hanim_l_metacarpal_phalanx_5, USE hanim_r_knee_crease,
      USE hanim_r_femoral_lateral_epicondyles, USE hanim_r_femoral_medial_epicondyles,
      USE hanim_r_tarsal_interphalangeal_phalanx_5, USE hanim_r_lateral_malleolus,
      USE hanim_r_medial_malleolus, USE hanim_r_sphyrion,
      USE hanim_r_tarsal_interphalangeal_phalanx_1, USE hanim_r_calcaneus_posterior,
      USE hanim_r_tarsal_distal_phalanx_2, USE hanim_l_knee_crease,
      USE hanim_l_femoral_lateral_epicondyles, USE hanim_l_femoral_medial_epicondyles,
      USE hanim_l_tarsal_interphalangeal_phalanx_5, USE hanim_l_lateral_malleolus,
      USE hanim_l_medial_malleolus, USE hanim_l_sphyrion,
      USE hanim_l_tarsal_interphalangeal_phalanx_1, USE hanim_l_calcaneus_posterior,
      USE hanim_l_tarsal_distal_phalanx_2, 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, LOA‑0"
      "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, LOA‑0"
       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 modelling 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‑1 specifies a typical low-end real-time 3D hierarchy. Table A.4 lists the suggested center field values for the joints of LOA‑1. Table A.5 lists the suggested translation field values for the sites of LOA‑1.

Table A.4 — LOA‑1: Suggested Joint objects center values

Joint object | Suggested center value
--- | ---
humanoid_root | 0.0000 0.8240 0.0277
sacroiliac | 0.0000 0.9149 0.0016
l_hip | 0.0961 0.9124 -0.0001
l_knee | 0.1040 0.4867 0.0308
l_talocrural | 0.1101 0.0656 -0.0736
l_metatarsophalangeal_ | 0.1086 0.0001 0.0368
r_hip | -0.0950 0.9171 0.0029
r_knee | -0.0867 0.4913 0.0318
r_talocrural | -0.0801 0.0712 -0.0766
r_metatarsophalangeal_ | -0.0801 0.0000 0.0368
vl5 | 0.0028 1.0568 -0.0776
skullbase | 0.0044 1.6209 0.0236
l_shoulder | 0.2029 1.4376 -0.0387
l_elbow | 0.2014 1.1357 -0.0682
l_radiocarpal | 0.1984 0.8663 -0.0583
r_shoulder | -0.1907 1.4407 -0.0325
r_elbow | -0.1949 1.1388 -0.0620
r_radiocarpal | -0.1959 0.8694 -0.0521

Table A.5 — LOA‑1: Suggested Site objects translation values

Site object | Suggested translation value
--- | ---
l_middistal_tip | 0.1354 0.0016 0.1476
l_tarsal_interphalangeal_phalanx_5 | 0.1825 0.0070 0.0928
l_tarsal_interphalangeal_phalanx_1 | 0.0816 0.0232 0.0106
l_tarsal_distal_phalanx_2 | 0.1195 0.0079 0.1433
l_lateral_malleolus | 0.1308 0.0597 -0.1032
l_medial_malleolus | 0.0890 0.0716 -0.0881
l_sphyrion | 0.0890 0.0575 -0.0943
l_calcaneus_posterior | 0.0974 0.0259 -0.1171
l_knee_crease | 0.0993 0.4881 -0.0309
l_femoral_lateral_epicondyles | 0.1598 0.4967 0.0297
l_femoral_medial_epicondyles | 0.0398 0.4946 0.0303
r_middistal_tip | -0.1043 -0.0227 0.1450
r_tarsal_interphalangeal_phalanx_5 | -0.1523 0.0166 0.0895
r_tarsal_interphalangeal_phalanx_1 | -0.0521 0.0260 0.0127
r_tarsal_distal_phalanx_2 | -0.0883 0.0134 0.1383
r_lateral_malleolus | -0.1006 0.0658 -0.1075
r_medial_malleolus | -0.0591 0.0760 -0.0928
r_sphyrion | -0.0603 0.0610 -0.1002
r_calcaneus_posterior | -0.0692 0.0297 -0.1221
r_knee_crease | -0.0825 0.4932 -0.0326
r_femoral_lateral_epicondyles | -0.1421 0.4992 0.0310
r_femoral_medial_epicondyles | -0.0221 0.5014 0.0289
skull_tip | 0.0050 1.7504 0.0055
sellion | 0.0058 1.6316 0.0852
r_infraorbitale | -0.0237 1.6171 0.0752
l_infraorbitale | 0.0341 1.6171 0.0752
supramenton | 0.0061 1.5410 0.0805
r_tragion | -0.0646 1.6347 0.0302
r_gonion | -0.0520 1.5529 0.0347
l_tragion | 0.0739 1.6348 0.0282
l_gonion | 0.0631 1.5530 0.0330
nuchale | 0.0039 1.5972 -0.0796
l_hand_tip | 0.2080 0.6731 -0.0491
l_metacarpal_phalanx_2 | 0.2009 0.8139 -0.0237
l_dactylion | 0.2056 0.6743 -0.0482
l_ulnar_styloid | -0.2142 0.8529 -0.0648
l_metacarpal_phalanx_5 | 0.1929 0.7860 -0.1122
l_radial_styloid | 0.1901 0.8645 -0.0415
l_olecranon | -0.1962 1.1375 -0.1123
l_humeral_medial_epicondyles | 0.1735 1.1272 -0.1113
l_radiale | 0.2182 1.1212 -0.1167
l_humeral_lateral_epicondyles | 0.2280 1.1482 -0.1100
r_hand_tip | -0.1969 0.6758 -0.0427
r_metacarpal_phalanx_2 | -0.1977 0.8169 -0.0177
r_dactylion | -0.1941 0.6772 -0.0423
r_ulnar_styloid | -0.2117 0.8562 -0.0584
r_metacarpal_phalanx_5 | -0.1929 0.7890 -0.1064
r_radial_styloid | -0.1884 0.8676 -0.0360
r_olecranon | -0.1907 1.1405 -0.1065
r_humeral_medial_epicondyles | -0.1680 1.1298 -0.1062
r_radiale | -0.2130 1.1305 -0.1091
r_humeral_lateral_epicondyles | -0.2224 1.1517 -0.1033
r_clavicale | -0.0115 1.4943 0.0400
suprasternale | 0.0084 1.4714 0.0551
l_clavicale | 0.0271 1.4943 0.0394
r_thelion | -0.0736 1.3385 0.1217
l_thelion | 0.0918 1.3382 0.1192
substernale | 0.0085 1.2995 0.1147
r_rib10 | -0.0711 1.1941 0.1016
l_rib10 | 0.0871 1.1925 0.0992
cervicale | 0.0064 1.520 -0.0815
spine_2_lower_back | 0.0049 1.1908 -0.1113
waist_preferred_posterior | 0.2900 1.0915 -0.1091
r_acromion | -0.1905 1.4791 -0.0431
r_axilla_proximal | -0.1626 1.4072 -0.0031
r_axilla_distal | -0.1603 1.4098 -0.0826
l_acromion | 0.2032 1.4760 -0.0490
l_axilla_proximal | 0.1777 1.4065 -0.0075
l_axilla_distal | 0.1706 1.4072 -0.0875
r_neck_base | -0.0419 1.5149 -0.0220
l_neck_base | 0.0646 1.5141 -0.0380
navel | 0.0069 1.0966 0.1017
r_asis | -0.0887 1.0021 0.1112
l_asis | 0.0925 0.9983 0.1052
r_iliocristale | -0.1525 1.0628 0.0035
r_trochanterion | -0.1689 0.8419 0.0352
l_iliocristale | 0.1612 1.0537 0.0008
l_trochanterion | 0.1677 0.8336 0.0303
r_psis | -0.0716 1.0190 -0.1138
l_psis | 0.0774 1.0190 -0.1151
crotch | 0.0034 0.8266 0.0257

## A.4.2 Examples

### A.4.2.1 LOA‑1 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_humanoid_root Joint {
       name           "humanoid_root"
       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_talocrural Joint {
               name           "l_talocrural"
               center         0.1101 0.0656 -0.0736
               children [
                DEF hanim_l_metatarsophalangeal_ Joint {
                 name           "l_metatarsophalangeal_"
                 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_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #66
                     name           "l_tarsal_interphalangeal_phalanx_5"
                     translation    0.1825 0.0070 0.0928
                     children [
                     ]
                    }
                    DEF hanim_l_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #70
                     name           "l_tarsal_interphalangeal_phalanx_1"
                     translation    0.0816 0.0232 0.0106
                     children [
                     ]
                    }
                    DEF hanim_l_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #72
                     name           "l_tarsal_distal_phalanx_2"
                     translation    0.1195 0.0079 0.1433
                     children [
                     ]
                    }
                   ]
                  }     # end hanim_l_middistal Segment
                 ]
                }     # end hanim_l_metatarsophalangeal_ 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_calcaneus_posterior Site {     # CAESAR Feature Point #71
                   name           "l_calcaneus_posterior"
                   translation    0.0974 0.0259 -0.1171
                   children [
                   ]
                  }
                 ]
                }     # end hanim_l_hindfoot Segment
               ]
              }     # end hanim_l_talocrural 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_epicondyles Site {     # CAESAR Feature Point #64
               name           "l_femoral_lateral_epicondyles"
               translation    0.1598 0.4967 0.0297
               children [
               ]
              }
              DEF hanim_l_femoral_medial_epicondyles Site {     # CAESAR Feature Point #65
               name           "l_femoral_lateral_epicondyles"
               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_talocrural Joint {
               name           "r_talocrural"
               center         -0.0801 0.0712 -0.0766
               children [
                DEF hanim_r_metatarsophalangeal_ Joint {
                 name           "r_metatarsophalangeal_"
                 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_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #56
                     name           "r_tarsal_interphalangeal_phalanx_5"
                     translation    -0.1523 0.0166 0.0895
                     children [
                     ]
                    }
                    DEF hanim_r_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #60
                     name           "r_tarsal_interphalangeal_phalanx_1"
                     translation    -0.0521 0.0260 0.0127
                     children [
                     ]
                    }
                    DEF hanim_r_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #62
                     name           "r_tarsal_distal_phalanx_2"
                     translation    -0.0883 0.0134 0.1383
                     children [
                     ]
                    }
                   ]
                  }     # end hanim_r_middistal Segment
                 ]
                }     # end hanim_r_metatarsophalangeal_ 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_calcaneus_posterior Site {     # CAESAR Feature Point #61
                   name           "r_calcaneus_posterior"
                   translation    -0.0692 0.0297 -0.1221
                   children [
                   ]
                  }
                 ]
                }     # end hanim_r_hindfoot Segment
               ]
              }     # end hanim_r_talocrural 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_epicondyles Site {     # CAESAR Feature Point #54
               name           "r_femoral_lateral_epicondyles"
               translation    -0.1421 0.4992 0.0310
               children [
               ]
              }
              DEF hanim_r_femoral_medial_epicondyles Site {     # CAESAR Feature Point #55
               name           "r_femoral_lateral_epicondyles"
               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_radiocarpal Joint {
               name         "l_radiocarpal"
               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_phalanx_2 Site {     # CAESAR Feature Point #49
                   name         "l_metacarpal_phalanx_2"
                   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_phalanx_5 Site {     # CAESAR Feature Point #52
                   name         "l_metacarpal_phalanx_5"
                   translation    0.1929 0.7860 -0.1122
                   children [
                   ]
                  }
                 ]
                }     # end hanim_l_hand Segment
               ]
              }     # end hanim_l_radiocarpal 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_epicondyles Site {     # CAESAR Feature Point #47
                 name         "l_humeral_medial_epicondyles"
                 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_epicondyles Site {     # CAESAR Feature Point #46
               name         "l_humeral_lateral_epicondyles "
               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_radiocarpal Joint {
               name         "r_radiocarpal"
               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_phalanx_2 Site {     # CAESAR Feature Point #37
                   name         "r_metacarpal_phalanx_2"
                   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_phalanx_5 Site {     # CAESAR Feature Point #40
                   name         "r_metacarpal_phalanx_5"
                   translation    -0.1929 0.7890 -0.1064
                   children [
                   ]
                  }
                 ]
                }     # end hanim_r_hand Segment
               ]
              }     # end hanim_r_radiocarpal 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_epicondyles Site {     # CAESAR Feature Point #35
                 name         "r_humeral_medial_epicondyles"
                 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_epicondyles Site {     # CAESAR Feature Point #34
               name         "r_humeral_lateral_epicondyles"
               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_spine_2_lower_back Site {     # CAESAR Feature Point #25
             name           "spine_2_lower_back"
             translation    0.0049 1.1908 -0.1113
             children [
             ]
            }
            DEF hanim_waist_preferred_posterior Site {     # CAESAR Feature Point #28
             name           "waist_preferred_posterior "
             translation    0.2900 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_proximal Site {     # CAESAR Feature Point #30
             name         "r_axilla_proximal"
             translation    -0.1626 1.4072 -0.0031
             children [
             ]
            }
            DEF hanim_r_axilla_distal Site {     # CAESAR Feature Point #32
             name         "r_axilla_distal"
             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_proximal Site {     # CAESAR Feature Point #42
             name         "l_axilla_proximal"
             translation    0.1777 1.4065 -0.0075
             children [
             ]
            }
            DEF hanim_l_axilla_distal Site {     # CAESAR Feature Point #44
             name         "l_axilla_distal"
             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_humanoid_root Joint
     ]
     joints [
      USE hanim_humanoid_root, USE hanim_sacroiliac,
      USE hanim_l_hip, USE hanim_l_knee,
      USE hanim_l_talocrural, USE hanim_l_metatarsophalangeal_,
      USE hanim_r_hip, USE hanim_r_knee,
      USE hanim_r_talocrural, USE hanim_r_metatarsophalangeal_,
      USE hanim_vl5, USE hanim_skullbase,
      USE hanim_l_shoulder, USE hanim_l_elbow,
      USE hanim_l_radiocarpal, USE hanim_r_shoulder,
      USE hanim_r_elbow, USE hanim_r_radiocarpal
     ]
     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_tarsal_interphalangeal_phalanx_5,
      USE hanim_l_tarsal_interphalangeal_phalanx_1, USE hanim_l_tarsal_distal_phalanx_2,
      USE hanim_l_lateral_malleolus, USE hanim_l_medial_malleolus,
      USE hanim_l_sphyrion, USE hanim_l_calcaneus_posterior,
      USE hanim_l_knee_crease, USE hanim_l_femoral_lateral_epicondyles,
      USE hanim_l_femoral_medial_epicondyles, USE hanim_r_middistal_tip,
      USE hanim_r_tarsal_interphalangeal_phalanx_5, USE hanim_r_tarsal_interphalangeal_phalanx_1,
      USE hanim_r_tarsal_distal_phalanx_2, USE hanim_r_lateral_malleolus,
      USE hanim_r_medial_malleolus, USE hanim_r_sphyrion,
      USE hanim_r_calcaneus_posterior, USE hanim_r_knee_crease,
      USE hanim_r_femoral_lateral_epicondyles, USE hanim_r_femoral_medial_epicondyles,
      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_phalanx_2,  USE hanim_l_dactylion,
      USE hanim_l_ulnar_styloid, USE hanim_l_metacarpal_phalanx_5,
      USE hanim_l_radial_styloid, USE hanim_l_olecranon,
      USE hanim_l_humeral_medial_epicondyles, USE hanim_l_radiale,
      USE hanim_l_humeral_lateral_epicondyles, USE hanim_r_hand_tip,
      USE hanim_r_metacarpal_phalanx_2, USE hanim_r_dactylion,
      USE hanim_r_ulnar_styloid, USE hanim_r_metacarpal_phalanx_5,
      USE hanim_r_radial_styloid, USE hanim_r_olecranon,
      USE hanim_r_humeral_medial_epicondyles, USE hanim_r_radiale,
      USE hanim_r_humeral_lateral_epicondyles, 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_spine_2_lower_back, USE hanim_waist_preferred_posterior,
      USE hanim_r_acromion, USE hanim_r_axilla_proximal,
      USE hanim_r_axilla_distal, USE hanim_l_acromion,
      USE hanim_l_axilla_proximal, USE hanim_l_axilla_distal,
      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, LOA‑1"
      "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, LOA‑1"
       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 Modelling 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‑1 example with diamonds at Joint centres

    #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_humanoid_root Joint {
       name           "humanoid_root"
       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_talocrural Joint {
               name           "l_talocrural"
               center         0.1101 0.0656 -0.0736
               children [
                DEF hanim_l_metatarsophalangeal_ Joint {
                 name           "l_metatarsophalangeal_"
                 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_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #66
                     name           "l_tarsal_interphalangeal_phalanx_5"
                     translation    0.1825 0.0070 0.0928
                     children [
                     ]
                    }
                    DEF hanim_l_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #70
                     name           "l_tarsal_interphalangeal_phalanx_1"
                     translation    0.0816 0.0232 0.0106
                     children [
                     ]
                    }
                    DEF hanim_l_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #72
                     name           "l_tarsal_distal_phalanx_2"
                     translation    0.1195 0.0079 0.1433
                     children [
                     ]
                    }
                   ]
                  }     # end hanim_l_middistal Segment
                 ]
                }     # end hanim_l_metatarsophalangeal_ 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_calcaneus_posterior Site {     # CAESAR Feature Point #71
                   name           "l_calcaneus_posterior"
                   translation    0.0974 0.0259 -0.1171
                   children [
                   ]
                  }
                 ]
                }     # end hanim_l_hindfoot Segment
               ]
              }     # end hanim_l_talocrural 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_epicondyles Site {     # CAESAR Feature Point #64
               name           "l_femoral_lateral_epicondyles"
               translation    0.1598 0.4967 0.0297
               children [
               ]
              }
              DEF hanim_l_femoral_medial_epicondyles Site {     # CAESAR Feature Point #65
               name           "l_femoral_lateral_epicondyles"
               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_talocrural Joint {
               name           "r_talocrural"
               center         -0.0801 0.0712 -0.0766
               children [
                DEF hanim_r_metatarsophalangeal_ Joint {
                 name           "r_metatarsophalangeal_"
                 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_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #56
                     name           "r_tarsal_interphalangeal_phalanx_5"
                     translation    -0.1523 0.0166 0.0895
                     children [
                     ]
                    }
                    DEF hanim_r_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #60
                     name           "r_tarsal_interphalangeal_phalanx_1"
                     translation    -0.0521 0.0260 0.0127
                     children [
                     ]
                    }
                    DEF hanim_r_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #62
                     name           "r_tarsal_distal_phalanx_2"
                     translation    -0.0883 0.0134 0.1383
                     children [
                     ]
                    }
                   ]
                  }     # end hanim_r_middistal Segment
                 ]
                }     # end hanim_r_metatarsophalangeal_ 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_calcaneus_posterior Site {     # CAESAR Feature Point #61
                   name           "r_calcaneus_posterior"
                   translation    -0.0692 0.0297 -0.1221
                   children [
                   ]
                  }
                 ]
                }     # end hanim_r_hindfoot Segment
               ]
              }     # end hanim_r_talocrural 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_epicondyles Site {     # CAESAR Feature Point #54
               name           "r_femoral_lateral_epicondyles"
               translation    -0.1421 0.4992 0.0310
               children [
               ]
              }
              DEF hanim_r_femoral_medial_epicondyles Site {     # CAESAR Feature Point #55
               name           "r_femoral_lateral_epicondyles"
               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_radiocarpal Joint {
               name         "l_radiocarpal"
               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_phalanx_2 Site {     # CAESAR Feature Point #49
                   name         "l_metacarpal_phalanx_2"
                   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_phalanx_5 Site {     # CAESAR Feature Point #52
                   name         "l_metacarpal_phalanx_5"
                   translation    0.1929 0.7860 -0.1122
                   children [
                   ]
                  }
                 ]
                }     # end hanim_l_hand Segment
               ]
              }     # end hanim_l_radiocarpal 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_epicondyles Site {     # CAESAR Feature Point #47
                 name         "l_humeral_medial_epicondyles"
                 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_epicondyles Site {     # CAESAR Feature Point #46
               name         "l_humeral_lateral_epicondyles "
               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_radiocarpal Joint {
               name         "r_radiocarpal"
               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_phalanx_2 Site {     # CAESAR Feature Point #37
                   name         "r_metacarpal_phalanx_2"
                   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_phalanx_5 Site {     # CAESAR Feature Point #40
                   name         "r_metacarpal_phalanx_5"
                   translation    -0.1929 0.7890 -0.1064
                   children [
                   ]
                  }
                 ]
                }     # end hanim_r_hand Segment
               ]
              }     # end hanim_r_radiocarpal 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_epicondyles Site {     # CAESAR Feature Point #35
                 name         "r_humeral_medial_epicondyles"
                 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_epicondyles Site {     # CAESAR Feature Point #34
               name         "r_humeral_lateral_epicondyles"
               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_spine_2_lower_back Site {     # CAESAR Feature Point #25
             name           "spine_2_lower_back"
             translation    0.0049 1.1908 -0.1113
             children [
             ]
            }
            DEF hanim_waist_preferred_posterior Site {     # CAESAR Feature Point #28
             name           "waist_preferred_posterior"
             translation    0.2900 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_proximal Site {     # CAESAR Feature Point #30
             name         "r_axilla_proximal"
             translation    -0.1626 1.4072 -0.0031
             children [
             ]
            }
            DEF hanim_r_axilla_distal Site {     # CAESAR Feature Point #32
             name         "r_axilla_distal"
             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_proximal Site {     # CAESAR Feature Point #42
             name         "l_axilla_proximal"
             translation    0.1777 1.4065 -0.0075
             children [
             ]
            }
            DEF hanim_l_axilla_distal Site {     # CAESAR Feature Point #44
             name         "l_axilla_distal"
             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_humanoid_root Joint
     ]
     joints [
      USE hanim_humanoid_root, USE hanim_sacroiliac,
      USE hanim_l_hip, USE hanim_l_knee,
      USE hanim_l_talocrural, USE hanim_l_metatarsophalangeal_,
      USE hanim_r_hip, USE hanim_r_knee,
      USE hanim_r_talocrural, USE hanim_r_metatarsophalangeal_,
      USE hanim_vl5, USE hanim_skullbase,
      USE hanim_l_shoulder, USE hanim_l_elbow,
      USE hanim_l_radiocarpal, USE hanim_r_shoulder,
      USE hanim_r_elbow, USE hanim_r_radiocarpal
     ]
     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_tarsal_interphalangeal_phalanx_5,
      USE hanim_l_tarsal_interphalangeal_phalanx_1, USE hanim_l_tarsal_distal_phalanx_2,
      USE hanim_l_lateral_malleolus, USE hanim_l_medial_malleolus,
      USE hanim_l_sphyrion, USE hanim_l_calcaneus_posterior,
      USE hanim_l_knee_crease, USE hanim_l_femoral_lateral_epicondyles,
      USE hanim_l_femoral_medial_epicondyles, USE hanim_r_middistal_tip,
      USE hanim_r_tarsal_interphalangeal_phalanx_5, USE hanim_r_tarsal_interphalangeal_phalanx_1,
      USE hanim_r_tarsal_distal_phalanx_2, USE hanim_r_lateral_malleolus,
      USE hanim_r_medial_malleolus, USE hanim_r_sphyrion,
      USE hanim_r_calcaneus_posterior, USE hanim_r_knee_crease,
      USE hanim_r_femoral_lateral_epicondyles, USE hanim_r_femoral_medial_epicondyles,
      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_phalanx_2,  USE hanim_l_dactylion,
      USE hanim_l_ulnar_styloid, USE hanim_l_metacarpal_phalanx_5,
      USE hanim_l_radial_styloid, USE hanim_l_olecranon,
      USE hanim_l_humeral_medial_epicondyles, USE hanim_l_radiale,
      USE hanim_l_humeral_lateral_epicondyles, USE hanim_r_hand_tip,
      USE hanim_r_metacarpal_phalanx_2, USE hanim_r_dactylion,
      USE hanim_r_ulnar_styloid, USE hanim_r_metacarpal_phalanx_5,
      USE hanim_r_radial_styloid, USE hanim_r_olecranon,
      USE hanim_r_humeral_medial_epicondyles, USE hanim_r_radiale,
      USE hanim_r_humeral_lateral_epicondyles, 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_spine_2_lower_back, USE hanim_waist_preferred_posterior,
      USE hanim_r_acromion, USE hanim_r_axilla_proximal,
      USE hanim_r_axilla_distal, USE hanim_l_acromion,
      USE hanim_l_axilla_proximal, USE hanim_l_axilla_distal,
      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, LOA‑1"
      "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, LOA‑1"
       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 modelling 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.5 Level of articulation two

## A.5.1 Definition

LOA‑2 specifies a body with a simplified spine. Table A.6 lists the suggested center field values for the joints of LOA‑2. Table A.7 lists the suggested translation field values for the sites of LOA‑2.

Table A.6 — LOA‑2: Suggested Joint objects center values

Joint object | Suggested center value
--- | ---
humanoid_root | 0.0000 0.8240 0.0277
sacroiliac | 0.0000 0.9149 0.0016
l_hip | 0.0961 0.9124 -0.0001
l_knee | 0.1040 0.4867 0.0308
l_talocrural | 0.1101 0.0656 -0.0736
l_tarsotarsal_interphalangeal_ | 0.1086 0.0001 -0.0368
l_metatarsophalangeal_ | 0.1086 0.0001 0.0368
l_tarsal_interphalangeal_ | 0.1086 0.0000 0.0762
r_hip | -0.0950 0.9171 0.0029
r_knee | -0.0867 0.4913 0.0318
r_talocrural | -0.0801 0.0712 -0.0766
r_tarsotarsal_interphalangeal_ | -0.0801 0.0000 -0.0368
r_metatarsophalangeal_ | -0.0801 0.0000 0.0368
r_tarsal_interphalangeal_ | -0.0801 0.0039 0.0732
vl5 | 0.0028 1.0568 -0.0776
vl3 | 0.0041 1.1276 -0.0796
vl1 | 0.0048 1.1912 -0.0805
vt10 | 0.0056 1.2848 -0.0822
vt6 | 0.0059 1.3866 -0.0800
vt1 | 0.0065 1.4951 -0.0387
vc4 | 0.0066 1.5662 -0.0084
vc2 | 0.0066 1.5928 -0.0103
skullbase | 0.0044 1.6209 0.0236
l_sternoclavicular | 0.0820 1.4488 -0.0353
l_acromioclavicular | 0.0962 1.4269 -0.0424
l_shoulder | 0.2029 1.4376 -0.0387
l_elbow | 0.2014 1.1357 -0.0682
l_radiocarpal | 0.1984 0.8663 -0.0583
l_carpometacarpal_1 | 0.1924 0.8472 -0.0534
l_metacarpophalangeal_1 | 0.1951 0.8226 0.0246
l_carpal_interphalangeal_1 | 0.1955 0.8159 0.0464
l_carpometacarpal_2 | 0.1983 0.8024 -0.0280
l_metacarpophalangeal_2 | 0.1983 0.7815 -0.0280
l_carpal_proximal_interphalangeal_2 | 0.2017 0.7363 -0.0248
l_carpal_distal_interphalangeal_2 | 0.2028 0.7139 -0.0236
l_carpometacarpal_3 | 0.1987 0.8029 -0.0530
l_metacarpophalangeal_3 | 0.1987 0.7818 -0.0530
l_carpal_proximal_interphalangeal_3 | 0.2013 0.7273 -0.0503
l_carpal_distal_interphalangeal_3 | 0.2026 0.7011 -0.0494
l_carpometacarpal_4 | 0.1956 0.8019 -0.0794
l_metacarpophalangeal_4 | 0.1956 0.7815 -0.0794
l_carpal_proximal_interphalangeal_4 | 0.1973 0.7287 -0.0777
l_carpal_distal_interphalangeal_4 | 0.1983 0.7045 -0.0767
l_carpometacarpal_5 | 0.1925 0.8066 -0.1036
l_metacarpophalangeal_5 | 0.1925 0.7866 -0.1036
l_carpal_proximal_interphalangeal_5 | 0.1938 0.7452 -0.1024
l_carpal_distal_interphalangeal_5 | 0.1948 0.7277 -0.1017
r_sternoclavicular | -0.0694 1.4600 -0.0330
r_acromioclavicular | -0.0836 1.4281 -0.0401
r_shoulder | -0.1907 1.4407 -0.0325
r_elbow | -0.1949 1.1388 -0.0620
r_radiocarpal | -0.1959 0.8694 -0.0521
r_carpometacarpal_1 | -0.1899 0.8502 -0.0473
r_metacarpophalangeal_1 | -0.1874 0.8256 0.0306
r_carpal_interphalangeal_1 | -0.1864 0.8190 0.0506
r_carpometacarpal_2 | -0.1961 0.8055 -0.0218
r_metacarpophalangeal_2 | -0.1961 0.7846 -0.0218
r_carpal_proximal_interphalangeal_2 | -0.1954 0.7393 -0.0185
r_carpal_distal_interphalangeal_2 | -0.1945 0.7169 -0.0173
r_carpometacarpal_3 | -0.1972 0.8060 -0.0468
r_metacarpophalangeal_3 | -0.1972 0.7849 -0.0468
r_carpal_proximal_interphalangeal_3 | -0.1950 0.7304 -0.0441
r_carpal_distal_interphalangeal_3 | -0.1939 0.7042 -0.0432
r_carpometacarpal_4 | -0.1951 0.8049 -0.0732
r_metacarpophalangeal_4 | -0.1951 0.7845 -0.0732
r_carpal_proximal_interphalangeal_4 | -0.1920 0.7318 -0.0716
r_carpal_distal_interphalangeal_4 | -0.1908 0.7077 -0.0706
r_carpometacarpal_5 | -0.1926 0.8096 -0.0975
r_metacarpophalangeal_5 | -0.1926 0.7896 -0.0975
r_carpal_proximal_interphalangeal_5 | -0.1902 0.7483 -0.0963
r_carpal_distal_interphalangeal_5 | -0.1908 0.7540 -0.0960

Table A.7 — LOA‑2: Suggested Site objects translation values

Site object | Suggested translation value
--- | ---
l_tarsal_distal_phalanx_1_tip | 0.1354 0.0016 0.1476
l_tarsal_interphalangeal_phalanx_5 | 0.1825 0.0070 0.0928
l_tarsal_distal_phalanx_2 | 0.1195 0.0079 0.1433
l_tarsal_interphalangeal_phalanx_1 | 0.0816 0.0232 0.0106
l_lateral_malleolus | 0.1308 0.0597 -0.1032
l_medial_malleolus | 0.0890 0.0716 -0.0881
l_sphyrion | 0.0890 0.0575 -0.0943
l_calcaneus_posterior | 0.0974 0.0259 -0.1171
l_knee_crease | 0.0993 0.4881 -0.0309
l_femoral_lateral_epicondyles | 0.1598 0.4967 0.0297
l_femoral_medial_epicondyles | 0.0398 0.4946 0.0303
r_tarsal_distal_phalanx_1_tip | -0.1043 -0.0227 0.1450
r_tarsal_interphalangeal_phalanx_5 | -0.1523 0.0166 0.0895
r_tarsal_distal_phalanx_2 | -0.0883 0.0134 0.1383
r_tarsal_interphalangeal_phalanx_1 | -0.0521 0.0260 0.0127
r_lateral_malleolus | -0.1006 0.0658 -0.1075
r_medial_malleolus | -0.0591 0.0760 -0.0928
r_sphyrion | -0.0603 0.0610 -0.1002
r_calcaneus_posterior | -0.0692 0.0297 -0.1221
r_knee_crease | -0.0825 0.4932 -0.0326
r_femoral_lateral_epicondyles | -0.1421 0.4992 0.0310
r_femoral_medial_epicondyles | -0.0221 0.5014 0.0289
r_iliocristale | -0.1525 1.0628 0.0035
r_trochanterion | -0.1689 0.8419 0.0352
l_iliocristale | 0.1612 1.0537 0.0008
l_trochanterion | 0.1677 0.8336 0.0303
r_asis | -0.0887 1.0021 0.1112
l_asis | 0.0925 0.9983 0.1052
r_psis | -0.0716 1.0190 -0.1138
l_psis | 0.0774 1.0190 -0.1151
crotch | 0.0034 0.8266 0.0257
skull_tip | 0.0050 1.7504 0.0055
sellion | 0.0058 1.6316 0.0852
r_infraorbitale | -0.0237 1.6171 0.0752
l_infraorbitale | 0.0341 1.6171 0.0752
supramenton | 0.0061 1.5410 0.0805
r_tragion | -0.0646 1.6347 0.0302
r_gonion | -0.0520 1.5529 0.0347
l_tragion | 0.0739 1.6348 0.0282
l_gonion | 0.0631 1.5530 0.0330
nuchale | 0.0039 1.5972 -0.0796
l_carpal_distal_phalanx_1_tip | 0.1982 0.8061 0.0759
l_carpal_distal_phalanx_2_tip | 0.2089 0.6858 -0.0245
l_dactylion | 0.2056 0.6743 -0.0482
l_carpal_distal_phalanx_3_tip | 0.2080 0.6731 -0.0491
l_carpal_distal_phalanx_4_tip | 0.2035 0.6750 -0.0756
l_carpal_distal_phalanx_5_tip | 0.2014 0.7009 -0.1012
l_metacarpal_phalanx_2 | 0.2009 0.8139 -0.0237
l_ulnar_styloid | -0.2142 0.8529 -0.0648
l_metacarpal_phalanx_5 | 0.1929 0.7860 -0.1122
l_radial_styloid | 0.1901 0.8645 -0.0415
l_olecranon | -0.1962 1.1375 -0.1123
l_humeral_medial_epicondyles | 0.1735 1.1272 -0.1113
l_radiale | 0.2182 1.1212 -0.1167
l_humeral_lateral_epicondyles | 0.2280 1.1482 -0.1100
l_clavicale | 0.0271 1.4943 0.0394
l_acromion | 0.2032 1.4760 -0.0490
l_axilla_proximal | 0.1777 1.4065 -0.0075
l_axilla_distal | 0.1706 1.4072 -0.0875
r_carpal_distal_phalanx_1_tip | -0.1869 0.8090 0.0820
r_carpal_distal_phalanx_2_tip | -0.1980 0.6883 -0.0180
r_dactylion | -0.1941 0.6772 -0.0423
r_carpal_distal_phalanx_3_tip | -0.1969 0.6758 -0.0427
r_carpal_distal_phalanx_4_tip | -0.1934 0.6778 -0.0693
r_carpal_distal_phalanx_5_tip | -0.1938 0.7035 -0.0949
r_metacarpal_phalanx_2 | -0.1977 0.8169 -0.0177
r_ulnar_styloid | -0.2117 0.8562 -0.0584
r_metacarpal_phalanx_5 | -0.1929 0.7890 -0.1064
r_radial_styloid | -0.1884 0.8676 -0.0360
r_olecranon | -0.1907 1.1405 -0.1065
r_humeral_medial_epicondyles | -0.1680 1.1298 -0.1062
r_radiale | -0.2130 1.1305 -0.1091
r_humeral_lateral_epicondyles | -0.2224 1.1517 -0.1033
r_clavicale | -0.0115 1.4943 0.0400
r_acromion | -0.1905 1.4791 -0.0431
r_axilla_proximal | -0.1626 1.4072 -0.0031
r_axilla_distal | -0.1603 1.4098 -0.0826
r_neck_base | -0.0419 1.5149 -0.0220
l_neck_base | 0.0646 1.5141 -0.0380
suprasternale | 0.0084 1.4714 0.0551
cervicale | 0.0064 1.520 -0.0815
r_thelion | -0.0736 1.3385 0.1217
l_thelion | 0.0918 1.3382 0.1192
substernale | 0.0085 1.2995 0.1147
r_rib10 | -0.0711 1.1941 0.1016
l_rib10 | 0.0871 1.1925 0.0992
spine_2_lower_back | 0.0049 1.1908 -0.1113
waist_preferred_posterior | 0.2900 1.0915 -0.1091
navel | 0.0069 1.0966 0.1017

## A.5.2 Examples

### A.5.2.1 LOA‑2 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_humanoid_root Joint {
       name           "humanoid_root"
       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_talocrural Joint {
               name           "l_talocrural"
               center         0.1101 0.0656 -0.0736
               children [
                DEF hanim_l_tarsotarsal_interphalangeal_ Joint {
                 name           "l_tarsotarsal_interphalangeal_"
                 center         0.1086 0.0001 -0.0368
                 children [
                  DEF hanim_l_metatarsophalangeal_ Joint {
                   name           "l_metatarsophalangeal_"
                   center         0.1086 0.0001 0.0368
                   children [
                    DEF hanim_l_tarsal_interphalangeal_ Joint {
                     name           "l_tarsal_interphalangeal_"
                     center         0.1086 0.0000 0.0762
                     children [
                      DEF hanim_l_tarsal_distal_phalanx_1 Segment {
                       name           "l_tarsal_distal_phalanx_1"
                       children [
                        DEF hanim_l_tarsal_distal_phalanx_1_tip Site {
                         name           "l_tarsal_distal_phalanx_1_tip"
                         translation    0.1354 0.0016 0.1476
                         children [
                         ]
                        }
                        DEF hanim_l_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #66
                         name           "l_tarsal_interphalangeal_phalanx_5"
                         translation    0.1825 0.0070 0.0928
                         children [
                         ]
                        }
                        DEF hanim_l_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #72
                         name           "l_tarsal_distal_phalanx_2"
                         translation    0.1195 0.0079 0.1433
                         children [
                         ]
                        }
                       ]
                      }     # end hanim_l_tarsal_distal_phalanx_1 Segment
                     ]
                    }     # end hanim_l_tarsal_interphalangeal_ Joint
                    DEF hanim_l_middistal Segment {
                     name           "l_middistal"
                     children [
                      DEF hanim_l_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #70
                       name           "l_tarsal_interphalangeal_phalanx_1"
                       translation    0.0816 0.0232 0.0106
                       children [
                       ]
                      }
                     ]
                    }     # end hanim_l_middistal Segment
                   ]
                  }     # end hanim_l_metatarsophalangeal_ Joint
                  DEF hanim_l_midproximal Segment {
                   name           "l_midproximal"
                   children [
                   ]
                  }     # end hanim_l_midproximal Segment
                 ]
                }     # end hanim_l_tarsotarsal_interphalangeal_ 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_calcaneus_posterior Site {     # CAESAR Feature Point #71
                   name           "l_calcaneus_posterior"
                   translation    0.0974 0.0259 -0.1171
                   children [
                   ]
                  }
                 ]
                }     # end hanim_l_hindfoot Segment
               ]
              }     # end hanim_l_talocrural 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_epicondyles Site {     # CAESAR Feature Point #64
               name           "l_femoral_lateral_epicondyles"
               translation    0.1598 0.4967 0.0297
               children [
               ]
              }
              DEF hanim_l_femoral_medial_epicondyles Site {     # CAESAR Feature Point #65
               name           "l_femoral_lateral_epicondyles"
               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_talocrural Joint {
               name           "r_talocrural"
               center         -0.0801 0.0712 -0.0766
               children [
                DEF hanim_r_tarsotarsal_interphalangeal_ Joint {
                 name           "r_tarsotarsal_interphalangeal_"
                 center         -0.0801 0.0000 -0.0368
                 children [
                  DEF hanim_r_metatarsophalangeal_ Joint {
                   name           "r_metatarsophalangeal_"
                   center         -0.0801 0.0000 0.0368
                   children [
                    DEF hanim_r_tarsal_interphalangeal_ Joint {
                     name           "r_tarsal_interphalangeal_"
                     center         -0.0801 0.0039 0.0732
                     children [
                      DEF hanim_r_tarsal_distal_phalanx_1 Segment {
                       name           "r_tarsal_distal_phalanx_1"
                       children [
                        DEF hanim_r_tarsal_distal_phalanx_1_tip Site {
                         name           "r_tarsal_distal_phalanx_1_tip"
                         translation    -0.1043 -0.0227 0.1450
                         children [
                         ]
                        }
                        DEF hanim_r_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #56
                         name           "r_tarsal_interphalangeal_phalanx_5"
                         translation    -0.1523 0.0166 0.0895
                         children [
                         ]
                        }
                        DEF hanim_r_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #62
                         name           "r_tarsal_distal_phalanx_2"
                         translation    -0.0883 0.0134 0.1383
                         children [
                         ]
                        }
                       ]
                      }     # end hanim_r_tarsal_distal_phalanx_1 Segment
                     ]
                    }     # end hanim_r_tarsal_interphalangeal_ Joint
                    DEF hanim_r_middistal Segment {
                     name           "r_middistal"
                     children [
                      DEF hanim_r_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #60
                       name           "r_tarsal_interphalangeal_phalanx_1"
                       translation    -0.0521 0.0260 0.0127
                       children [
                       ]
                      }
                     ]
                    }     # end hanim_r_middistal Segment
                   ]
                  }     # end hanim_r_metatarsophalangeal_ Joint
                  DEF hanim_r_midproximal Segment {
                   name           "r_midproximal"
                   children [
                   ]
                  }     # end hanim_r_midproximal Segment
                 ]
                }
                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_calcaneus_posterior Site {     # CAESAR Feature Point #61
                   name           "r_calcaneus_posterior"
                   translation    -0.0692 0.0297 -0.1221
                   children [
                   ]
                  }
                 ]
                }     # end hanim_r_hindfoot Segment
               ]
              }     # end hanim_r_talocrural 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_epicondyles Site {     # CAESAR Feature Point #54
               name           "r_femoral_lateral_epicondyles"
               translation    -0.1421 0.4992 0.0310
               children [
               ]
              }
              DEF hanim_r_femoral_medial_epicondyles Site {     # CAESAR Feature Point #55
               name           "r_femoral_lateral_epicondyles"
               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 [
            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_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_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_pelvis Segment
         ]
        }     # end hanim_sacroiliac Joint
        DEF hanim_vl5 Joint {
         name           "vl5"
         center         0.0028 1.0568 -0.0776
         children [
          DEF hanim_vl3 Joint {
           name         "vl3"
           center       0.0041 1.1276 -0.0796
           children [
            DEF hanim_vl1 Joint {
             name         "vl1"
             center       0.0048 1.1912 -0.0805
             children [
              DEF hanim_vt10 Joint {
               name         "vt10"
               center       0.0056 1.2848 -0.0822
               children [
                DEF hanim_vt6 Joint {
                 name         "vt6"
                 center       0.0059 1.3866 -0.0800
                 children [
                  DEF hanim_vt1 Joint {
                   name         "vt1"
                   center       0.0065 1.4951 -0.0387
                   children [
                    DEF hanim_vc4 Joint {
                     name         "vc4"
                     center       0.0066 1.5662 -0.0084
                     children [
                      DEF hanim_vc2 Joint {
                       name         "vc2"
                       center       0.0066 1.5928 -0.0103
                       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_c2 Segment {
                         name         "c2"
                         children [
                         ]
                        }     # end hanim_c2 Segment
                       ]
                      }     # end hanim_vc2 Joint
                      DEF hanim_c4 Segment {
                       name         "c4"
                       children [
                       ]
                      }     # end hanim_c4 Segment
                     ]
                    }     # end hanim_vc4 Joint
                    DEF hanim_l_sternoclavicular Joint {
                     name         "l_sternoclavicular"
                     center       0.0820 1.4488 -0.0353
                     children [
                      DEF hanim_l_acromioclavicular Joint {
                       name         "l_acromioclavicular"
                       center       0.0962 1.4269 -0.0424
                       children [
                        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_radiocarpal Joint {
                             name         "l_radiocarpal"
                             center       0.1984 0.8663 -0.0583
                             children [
                              DEF hanim_l_carpometacarpal_1 Joint {
                               name         "l_carpometacarpal_1"
                               center       0.1924 0.8472 -0.0534
                               children [
                                DEF hanim_l_metacarpophalangeal_1 Joint {
                                 name         "l_metacarpophalangeal_1"
                                 center       0.1951 0.8226 0.0246
                                 children [
                                  DEF hanim_l_carpal_interphalangeal_1 Joint {
                                   name         "l_carpal_interphalangeal_1"
                                   center       0.1955 0.8159 0.0464
                                   children [
                                    DEF hanim_l_carpal_distal_phalanx_1 Segment {
                                     name         "l_carpal_distal_phalanx_1"
                                     children [
                                      DEF hanim_l_carpal_distal_phalanx_1_tip Site {
                                       name         "l_carpal_distal_phalanx_1_tip"
                                       translation    0.1982 0.8061 0.0759
                                       children [
                                       ]
                                      }
                                     ]
                                    }      # end hanim_l_carpal_distal_phalanx_1 Segment
                                   ]
                                  }     # end hanim_l_carpal_interphalangeal_1 Joint
                                  DEF hanim_l_index_proximal Segment {
                                   name         "l_index_proximal"
                                   children [
                                   ]
                                  }     # end hanim_l_thumb_proximal Segment
                                 ]
                                }     # end hanim_l_metacarpophalangeal_1 Joint
                                DEF hanim_l_index_proximal Segment {
                                 name         "l_index_proximal"
                                 children [
                                 ]
                                }     # end hanim_l_thumb_metacarpal Segment
                               ]
                              }     # end hanim_l_carpometacarpal_1 Joint
                              DEF hanim_l_carpometacarpal_2 Joint {
                               name         "l_carpometacarpal_2"
                               center       0.1983 0.8024 -0.0280
                               children [
                                DEF hanim_l_metacarpophalangeal_2 Joint {
                                 name         "l_metacarpophalangeal_2"
                                 center       0.1983 0.7815 -0.0280
                                 children [
                                  DEF hanim_l_carpal_proximal_interphalangeal_2 Joint {
                                   name         "l_carpal_proximal_interphalangeal_2"
                                   center       0.2017 0.7363 -0.0248
                                   children [
                                    DEF hanim_l_carpal_distal_interphalangeal_2 Joint {
                                     name         "l_carpal_distal_interphalangeal_2"
                                     center       0.2028 0.7139 -0.0236
                                     children [
                                      DEF hanim_l_carpal_distal_phalanx_2 Segment {
                                       name         "l_carpal_distal_phalanx_2"
                                       children [
                                        DEF hanim_l_carpal_distal_phalanx_2_tip Site {
                                         name         "l_carpal_distal_phalanx_2_tip"
                                         translation    0.2089 0.6858 -0.0245
                                         children [
                                         ]
                                        }
                                        DEF hanim_l_dactylion Site {     # CAESAR Feature Point #50
                                         name         "l_dactylion"
                                         translation    0.2056 0.6743 -0.0482
                                         children [
                                         ]
                                        }
                                       ]
                                      }     # end hanim_l_carpal_distal_phalanx_2 Segment
                                     ]
                                    }     # end hanim_l_carpal_distal_interphalangeal_2 Joint
                                    DEF hanim_l_index_middle Segment {
                                     name         "l_index_middle"
                                     children [
                                     ]
                                    }     # end hanim_l_index_middle Segment
                                   ]
                                  }     # end hanim_l_carpal_proximal_interphalangeal_2 Joint
                                  DEF hanim_l_index_proximal Segment {
                                   name         "l_index_proximal"
                                   children [
                                   ]
                                  }     # end hanim_l_index_proximal Segment
                                 ]
                                }     # end hanim_l_metacarpophalangeal_2 Joint
                                DEF hanim_l_index_metacarpal Segment {
                                 name         "l_index_metacarpal"
                                 children [
                                 ]
                                }     # end hanim_l_index_metacarpal Segment
                               ]
                              }     # end hanim_l_carpometacarpal_2 Joint
                              DEF hanim_l_carpometacarpal_3 Joint {
                               name         "l_carpometacarpal_3"
                               center       0.1987 0.8029 -0.0530
                               children [
                                DEF hanim_l_metacarpophalangeal_3 Joint {
                                 name         "l_metacarpophalangeal_3"
                                 center       0.1987 0.7818 -0.0530
                                 children [
                                  DEF hanim_l_carpal_proximal_interphalangeal_3 Joint {
                                   name         "l_carpal_proximal_interphalangeal_3"
                                   center       0.2013 0.7273 -0.0503
                                   children [
                                    DEF hanim_l_carpal_distal_interphalangeal_3 Joint {
                                     name         "l_carpal_distal_interphalangeal_3"
                                     center       0.2026 0.7011 -0.0494
                                     children [
                                      DEF hanim_l_carpal_distal_phalanx_3 Segment {
                                       name         "l_carpal_distal_phalanx_3"
                                       children [
                                        DEF hanim_l_carpal_distal_phalanx_3_tip Site {
                                         name         "l_carpal_distal_phalanx_3_tip"
                                         translation    0.2080 0.6731 -0.0491
                                         children [
                                         ]
                                        }
                                       ]
                                      }     # end hanim_l_carpal_distal_phalanx_3 Segment
                                     ]
                                    }     # end hanim_l_carpal_distal_interphalangeal_3 Joint
                                    DEF hanim_l_middle_middle Segment {
                                     name         "l_middle_middle"
                                     children [
                                     ]
                                    }     # end hanim_l_middle_middle Segment
                                   ]
                                  }     # end hanim_l_carpal_proximal_interphalangeal_3 Joint
                                  DEF hanim_l_middle_proximal Segment {
                                   name         "l_middle_proximal"
                                   children [
                                   ]
                                  }     # end hanim_l_middle_proximal Segment
                                 ]
                                }     # end hanim_l_metacarpophalangeal_3 Joint
                                DEF hanim_l_middle_metacarpal Segment {
                                 name         "l_middle_metacarpal"
                                 children [
                                 ]
                                }     # end hanim_l_middle_metacarpal Segment
                               ]
                              }     # end hanim_l_carpometacarpal_3 Joint
                              DEF hanim_l_carpometacarpal_4 Joint {
                               name         "l_carpometacarpal_4"
                               center       0.1956 0.8019 -0.0794
                               children [
                                DEF hanim_l_metacarpophalangeal_4 Joint {
                                 name         "l_metacarpophalangeal_4"
                                 center       0.1956 0.7815 -0.0794
                                 children [
                                  DEF hanim_l_carpal_proximal_interphalangeal_4 Joint {
                                   name         "l_carpal_proximal_interphalangeal_4"
                                   center       0.1973 0.7287 -0.0777
                                   children [
                                    DEF hanim_l_carpal_distal_interphalangeal_4 Joint {
                                     name         "l_carpal_distal_interphalangeal_4"
                                     center       0.1983 0.7045 -0.0767
                                     children [
                                      DEF hanim_l_carpal_distal_phalanx_4 Segment {
                                       name         "l_carpal_distal_phalanx_4"
                                       children [
                                        DEF hanim_l_carpal_distal_phalanx_4_tip Site {
                                         name         "l_carpal_distal_phalanx_4_tip"
                                         translation    0.2035 0.6750 -0.0756
                                         children [
                                         ]
                                        }
                                       ]
                                      }     # end hanim_l_carpal_distal_phalanx_4 Segment
                                     ]
                                    }     # end hanim_l_carpal_distal_interphalangeal_4 Joint
                                    DEF hanim_l_ring_middle Segment {
                                     name         "l_ring_middle"
                                     children [
                                     ]
                                    }     # end hanim_l_ring_middle Segment
                                   ]
                                  }     # end hanim_l_carpal_proximal_interphalangeal_4 Joint
                                  DEF hanim_l_ring_proximal Segment {
                                   name         "l_ring_proximal"
                                   children [
                                   ]
                                  }     # end hanim_l_ring_proximal Segment
                                 ]
                                }     # end hanim_l_metacarpophalangeal_4 Joint
                                DEF hanim_l_ring_metacarpal Segment {
                                 name         "l_ring_metacarpal"
                                 children [
                                 ]
                                }     # end hanim_l_ring_metacarpal Segment
                               ]
                              }     # end hanim_l_carpometacarpal_4 Joint
                              DEF hanim_l_carpometacarpal_5 Joint {
                               name         "l_carpometacarpal_5"
                               center       0.1925 0.8066 -0.1036
                               children [
                                DEF hanim_l_metacarpophalangeal_5 Joint {
                                 name         "l_metacarpophalangeal_5"
                                 center       0.1925 0.7866 -0.1036
                                 children [
                                  DEF hanim_l_carpal_proximal_interphalangeal_5 Joint {
                                   name         "l_carpal_proximal_interphalangeal_5"
                                   center       0.1938 0.7452 -0.1024
                                   children [
                                    DEF hanim_l_carpal_distal_interphalangeal_5 Joint {
                                     name         "l_carpal_distal_interphalangeal_5"
                                     center       0.1948 0.7277 -0.1017
                                     children [
                                      DEF hanim_l_carpal_distal_phalanx_5 Segment {
                                       name         "l_carpal_distal_phalanx_5"
                                       children [
                                        DEF hanim_l_carpal_distal_phalanx_5_tip Site {
                                         name         "l_carpal_distal_phalanx_5_tip"
                                         translation    0.2014 0.7009 -0.1012
                                         children [
                                         ]
                                        }
                                       ]
                                      }     # end hanim_l_carpal_distal_phalanx_5 Segment
                                     ]
                                    }     # end hanim_l_carpal_distal_interphalangeal_5 Joint
                                    DEF hanim_l_pinky_middle Segment {
                                     name         "l_pinky_middle"
                                     children [
                                     ]
                                    }     # end hanim_l_pinky_middle Segment
                                   ]
                                  }     # end hanim_l_carpal_proximal_interphalangeal_5 Joint
                                  DEF hanim_l_pinky_proximal Segment {
                                   name         "l_pinky_proximal"
                                   children [
                                   ]
                                  }     # end hanim_l_pinky_proximal Segment
                                 ]
                                }     # end hanim_l_metacarpophalangeal_5 Joint
                                DEF hanim_l_pinky_metacarpal Segment {
                                 name         "l_pinky_metacarpal"
                                 children [
                                 ]
                                }     # end hanim_l_pinky_metacarpal Segment
                               ]
                              }     # end hanim_l_carpometacarpal_5 Joint
                              DEF hanim_l_hand Segment {
                               name         "l_hand"
                               children [
                                DEF hanim_l_metacarpal_phalanx_2 Site {     # CAESAR Feature Point #49
                                 name         "l_metacarpal_phalanx_2"
                                 translation    0.2009 0.8139 -0.0237
                                 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_phalanx_5 Site {     # CAESAR Feature Point #52
                                 name         "l_metacarpal_phalanx_5"
                                 translation    0.1929 0.7860 -0.1122
                                 children [
                                 ]
                                }
                               ]
                              }     # end hanim_l_hand Segment
                             ]
                            }     # end hanim_l_radiocarpal 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_epicondyles Site {     # CAESAR Feature Point #47
                               name         "l_humeral_medial_epicondyles"
                               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_epicondyles Site {     # CAESAR Feature Point #46
                             name         "l_humeral_lateral_epicondyles "
                             translation    0.2280 1.1482 -0.1100
                             children [
                             ]
                            }
                           ]
                          }     # end hanim_l_upperarm Segment
                         ]
                        }     # end hanim_l_shoulder Joint
                        DEF hanim_l_scapula Segment {
                         name         "l_scapula"
                         children [
                         ]
                        }     # end hanim_l_scapula Segment
                       ]
                      }     # end hanim_l_acromioclavicular Joint
                      DEF hanim_l_clavicle Segment {
                       name         "l_clavicle"
                       children [
                        DEF hanim_l_clavicale Site {     # CAESAR Feature Point #12
                         name         "l_clavicale"
                         translation    0.0271 1.4943 0.0394
                         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_proximal Site {     # CAESAR Feature Point #42
                         name         "l_axilla_proximal"
                         translation    0.1777 1.4065 -0.0075
                         children [
                         ]
                        }
                        DEF hanim_l_axilla_distal Site {     # CAESAR Feature Point #44
                         name         "l_axilla_distal"
                         translation    0.1706 1.4072 -0.0875
                         children [
                         ]
                        }
                       ]
                      }     # end hanim_l_clavicle Segment
                     ]
                    }     # end hanim_l_sternoclavicular Joint
                    DEF hanim_r_sternoclavicular Joint {
                     name         "r_sternoclavicular"
                     center       -0.0694 1.4600 -0.0330
                     children [
                      DEF hanim_r_acromioclavicular Joint {
                       name         "r_acromioclavicular"
                       center       -0.0836 1.4281 -0.0401
                       children [
                        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_radiocarpal Joint {
                             name         "r_radiocarpal"
                             center       -0.1959 0.8694 -0.0521
                             children [
                              DEF hanim_r_carpometacarpal_1 Joint {
                               name         "r_carpometacarpal_1"
                               center       -0.1899 0.8502 -0.0473
                               children [
                                DEF hanim_r_metacarpophalangeal_1 Joint {
                                 name         "r_metacarpophalangeal_1"
                                 center       -0.1874 0.8256 0.0306
                                 children [
                                  DEF hanim_r_carpal_interphalangeal_1 Joint {
                                   name         "r_carpal_interphalangeal_1"
                                   center       -0.1864 0.8190 0.0506
                                   children [
                                    DEF hanim_r_carpal_distal_phalanx_1 Segment {
                                     name         "r_carpal_distal_phalanx_1"
                                     children [
                                      DEF hanim_r_carpal_distal_phalanx_1_tip Site {
                                       name         "r_carpal_distal_phalanx_1_tip"
                                       translation    -0.1869 0.8090 0.0820
                                       children [
                                       ]
                                      }
                                     ]
                                    }     # end hanim_r_carpal_distal_phalanx_1 Segment
                                   ]
                                  }     # end hanim_r_carpal_interphalangeal_1 Joint
                                  DEF hanim_r_index_proximal Segment {
                                   name         "r_index_proximal"
                                   children [
                                   ]
                                  }     # end hanim_r_thumb_proximal Segment
                                 ]
                                }     # end hanim_r_metacarpophalangeal_1 Joint
                                DEF hanim_r_index_proximal Segment {
                                 name         "r_index_proximal"
                                 children [
                                 ]
                                }     # end hanim_r_thumb_metacarpal Segment
                               ]
                              }     # end hanim_r_carpometacarpal_1 Joint
                              DEF hanim_r_carpometacarpal_2 Joint {
                               name         "r_carpometacarpal_2"
                               center       -0.1961 0.8055 -0.0218
                               children [
                                DEF hanim_r_metacarpophalangeal_2 Joint {
                                 name         "r_metacarpophalangeal_2"
                                 center       -0.1961 0.7846 -0.0218
                                 children [
                                  DEF hanim_r_carpal_proximal_interphalangeal_2 Joint {
                                   name         "r_carpal_proximal_interphalangeal_2"
                                   center       -0.1954 0.7393 -0.0185
                                   children [
                                    DEF hanim_r_carpal_distal_interphalangeal_2 Joint {
                                     name         "r_carpal_distal_interphalangeal_2"
                                     center       -0.1945 0.7169 -0.0173
                                     children [
                                      DEF hanim_r_carpal_distal_phalanx_2 Segment {
                                       name         "r_carpal_distal_phalanx_2"
                                       children [
                                        DEF hanim_r_carpal_distal_phalanx_2_tip Site {
                                         name         "r_carpal_distal_phalanx_2_tip"
                                         translation    -0.1980 0.6883 -0.0180
                                         children [
                                         ]
                                        }
                                        DEF hanim_r_dactylion Site {     # CAESAR Feature Point #38
                                         name         "r_dactylion"
                                         translation    -0.1941 0.6772 -0.0423
                                         children [
                                         ]
                                        }
                                       ]
                                      }     # end hanim_r_carpal_distal_phalanx_2 Segment
                                     ]
                                    }     # end hanim_r_carpal_distal_interphalangeal_2 Joint
                                    DEF hanim_r_index_middle Segment {
                                     name         "r_index_middle"
                                     children [
                                     ]
                                    }     # end hanim_r_index_middle Segment
                                   ]
                                  }     # end hanim_r_carpal_proximal_interphalangeal_2 Joint
                                  DEF hanim_r_index_proximal Segment {
                                   name         "r_index_proximal"
                                   children [
                                   ]
                                  }     # end hanim_r_index_proximal Segment
                                 ]
                                }     # end hanim_r_metacarpophalangeal_2 Joint
                                DEF hanim_r_index_metacarpal Segment {
                                 name         "r_index_metacarpal"
                                 children [
                                 ]
                                }     # end hanim_r_index_metacarpal Segment
                               ]
                              }     # end hanim_r_carpometacarpal_2 Joint
                              DEF hanim_r_carpometacarpal_3 Joint {
                               name         "r_carpometacarpal_3"
                               center       -0.1972 0.8060 -0.0468
                               children [
                                DEF hanim_r_metacarpophalangeal_3 Joint {
                                 name         "r_metacarpophalangeal_3"
                                 center       -0.1972 0.7849 -0.0468
                                 children [
                                  DEF hanim_r_carpal_proximal_interphalangeal_3 Joint {
                                   name         "r_carpal_proximal_interphalangeal_3"
                                   center       -0.1950 0.7304 -0.0441
                                   children [
                                    DEF hanim_r_carpal_distal_interphalangeal_3 Joint {
                                     name         "r_carpal_distal_interphalangeal_3"
                                     center       -0.1939 0.7042 -0.0432
                                     children [
                                      DEF hanim_r_carpal_distal_phalanx_3 Segment {
                                       name         "r_carpal_distal_phalanx_3"
                                       children [
                                        DEF hanim_r_carpal_distal_phalanx_3_tip Site {
                                         name         "r_carpal_distal_phalanx_3_tip"
                                         translation    -0.1969 0.6758 -0.0427
                                         children [
                                         ]
                                        }
                                       ]
                                      }     # end hanim_r_carpal_distal_phalanx_3 Segment
                                     ]
                                    }     # end hanim_r_carpal_distal_interphalangeal_3 Joint
                                    DEF hanim_r_middle_middle Segment {
                                     name         "r_middle_middle"
                                     children [
                                     ]
                                    }     # end hanim_r_middle_middle Segment
                                   ]
                                  }     # end hanim_r_carpal_proximal_interphalangeal_3 Joint
                                  DEF hanim_r_middle_proximal Segment {
                                   name         "r_middle_proximal"
                                   children [
                                   ]
                                  }     # end hanim_r_middle_proximal Segment
                                 ]
                                }     # end hanim_r_metacarpophalangeal_3 Joint
                                DEF hanim_r_middle_metacarpal Segment {
                                 name         "r_middle_metacarpal"
                                 children [
                                 ]
                                }     # end hanim_r_middle_metacarpal Segment
                               ]
                              }     # end hanim_r_carpometacarpal_3 Joint
                              DEF hanim_r_carpometacarpal_4 Joint {
                               name         "r_carpometacarpal_4"
                               center       -0.1951 0.8049 -0.0732
                               children [
                                DEF hanim_r_metacarpophalangeal_4 Joint {
                                 name         "r_metacarpophalangeal_4"
                                 center       -0.1951 0.7845 -0.0732
                                 children [
                                  DEF hanim_r_carpal_proximal_interphalangeal_4 Joint {
                                   name         "r_carpal_proximal_interphalangeal_4"
                                   center       -0.1920 0.7318 -0.0716
                                   children [
                                    DEF hanim_r_carpal_distal_interphalangeal_4 Joint {
                                     name         "r_carpal_distal_interphalangeal_4"
                                     center       -0.1908 0.7077 -0.0706
                                     children [
                                      DEF hanim_r_carpal_distal_phalanx_4 Segment {
                                       name         "r_carpal_distal_phalanx_4"
                                       children [
                                        DEF hanim_r_carpal_distal_phalanx_4_tip Site {
                                         name         "r_carpal_distal_phalanx_4_tip"
                                         translation    -0.1934 0.6778 -0.0693
                                         children [
                                         ]
                                        }
                                       ]
                                      }     # end hanim_r_carpal_distal_phalanx_4 Segment
                                     ]
                                    }     # end hanim_r_carpal_distal_interphalangeal_4 Joint
                                    DEF hanim_r_ring_middle Segment {
                                     name         "r_ring_middle"
                                     children [
                                     ]
                                    }     # end hanim_r_ring_middle Segment
                                   ]
                                  }     # end hanim_r_carpal_proximal_interphalangeal_4 Joint
                                  DEF hanim_r_ring_proximal Segment {
                                   name         "r_ring_proximal"
                                   children [
                                   ]
                                  }     # end hanim_r_ring_proximal Segment
                                 ]
                                }     # end hanim_r_metacarpophalangeal_4 Joint
                                DEF hanim_r_ring_metacarpal Segment {
                                 name         "r_ring_metacarpal"
                                 children [
                                 ]
                                }     # end hanim_r_ring_metacarpal Segment
                               ]
                              }     # end hanim_r_carpometacarpal_4 Joint
                              DEF hanim_r_carpometacarpal_5 Joint {
                               name         "r_carpometacarpal_5"
                               center       -0.1926 0.8096 -0.0975
                               children [
                                DEF hanim_r_metacarpophalangeal_5 Joint {
                                 name         "r_metacarpophalangeal_5"
                                 center       -0.1926 0.7896 -0.0975
                                 children [
                                  DEF hanim_r_carpal_proximal_interphalangeal_5 Joint {
                                   name         "r_carpal_proximal_interphalangeal_5"
                                   center       -0.1902 0.7483 -0.0963
                                   children [
                                    DEF hanim_r_carpal_distal_interphalangeal_5 Joint {
                                     name         "r_carpal_distal_interphalangeal_5"
                                     center       -0.1908 0.7540 -0.0960
                                     children [
                                      DEF hanim_r_carpal_distal_phalanx_5 Segment {
                                       name         "r_carpal_distal_phalanx_5"
                                       children [
                                        DEF hanim_r_carpal_distal_phalanx_5_tip Site {
                                         name         "r_carpal_distal_phalanx_5_tip"
                                         translation    -0.1938 0.7035 -0.0949
                                         children [
                                         ]
                                        }
                                       ]
                                      }     # end hanim_r_carpal_distal_phalanx_5 Segment
                                     ]
                                    }     # end hanim_r_carpal_distal_interphalangeal_5 Joint
                                    DEF hanim_r_pinky_middle Segment {
                                     name         "r_pinky_middle"
                                     children [
                                     ]
                                    }     # end hanim_r_pinky_middle Segment
                                   ]
                                  }     # end hanim_r_carpal_proximal_interphalangeal_5 Joint
                                  DEF hanim_r_pinky_proximal Segment {
                                   name         "r_pinky_proximal"
                                   children [
                                   ]
                                  }     # end hanim_r_pinky_proximal Segment
                                 ]
                                }     # end hanim_r_metacarpophalangeal_5 Joint
                                DEF hanim_r_pinky_metacarpal Segment {
                                 name         "r_pinky_metacarpal"
                                 children [
                                 ]
                                }     # end hanim_r_pinky_metacarpal Segment
                               ]
                              }     # end hanim_r_carpometacarpal_5 Joint
                              DEF hanim_r_hand Segment {
                               name         "r_hand"
                               children [
                                DEF hanim_r_metacarpal_phalanx_2 Site {     # CAESAR Feature Point #37
                                 name         "r_metacarpal_phalanx_2"
                                 translation    -0.1977 0.8169 -0.0177
                                 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_phalanx_5 Site {     # CAESAR Feature Point #40
                                 name         "r_metacarpal_phalanx_5"
                                 translation    -0.1929 0.7890 -0.1064
                                 children [
                                 ]
                                }
                               ]
                              }     # end hanim_r_hand Segment
                             ]
                            }     # end hanim_r_radiocarpal 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_epicondyles Site {     # CAESAR Feature Point #35
                               name         "r_humeral_medial_epicondyles"
                               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_epicondyles Site {     # CAESAR Feature Point #34
                             name         "r_humeral_lateral_epicondyles"
                             translation    -0.2224 1.1517 -0.1033
                             children [
                             ]
                            }
                           ]
                          }     # end hanim_r_upperarm Segment
                         ]
                        }     # end hanim_r_shoulder Joint
                        DEF hanim_r_scapula Segment {
                         name         "r_scapula"
                         children [
                         ]
                        }     # end hanim_r_scapula Segment
                       ]
                      }     # end hanim_r_acromioclavicular Joint
                      DEF hanim_r_clavicle Segment {
                       name         "r_clavicle"
                       children [
                        DEF hanim_r_clavicale Site {     # CAESAR Feature Point #10
                         name         "r_clavicale"
                         translation    -0.0115 1.4943 0.0400
                         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_proximal Site {     # CAESAR Feature Point #30
                         name         "r_axilla_proximal"
                         translation    -0.1626 1.4072 -0.0031
                         children [
                         ]
                        }
                        DEF hanim_r_axilla_distal Site {     # CAESAR Feature Point #32
                         name         "r_axilla_distal"
                         translation    -0.1603 1.4098 -0.0826
                         children [
                         ]
                        }
                       ]
                      }     # end hanim_r_clavicle Segment
                     ]
                    }     # end hanim_r_sternoclavicular Joint
                    DEF hanim_t1 Segment {
                     name         "t1"
                     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_suprasternale Site {     # CAESAR Feature Point #11
                       name         "suprasternale"
                       translation    0.0084 1.4714 0.0551
                       children [
                       ]
                      }
                      DEF hanim_cervicale Site {     # CAESAR Feature Point #24
                       name         "cervicale"
                       translation    0.0064 1.520 -0.0815
                       children [
                       ]
                      }
                     ]
                    }     # end hanim_t1 Segment
                   ]
                  }     # end hanim_vt1 Joint
                  DEF hanim_t6 Segment {
                   name         "t6"
                   children [
                   ]
                  }     # end hanim_t6 Segment
                 ]
                }     # end hanim_vt6 Joint
                DEF hanim_t10 Segment {
                 name         "t10"
                 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 [
                   ]
                  }
                 ]
                }      # end hanim_t10 Segment
               ]
              }     # end hanim_vt10 Joint
              DEF hanim_l1 Segment {
               name         "l1"
               children [
               ]
              }     # end hanim_l1 Segment
             ]
            }     # end hanim_vl1 Joint
            DEF hanim_l3 Segment {
             name         "l3"
             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_spine_2_lower_back Site {     # CAESAR Feature Point #25
               name           "spine_2_lower_back"
               translation    0.0049 1.1908 -0.1113
               children [
               ]
              }
             ]
            }     # end hanim_l3 Segment
           ]
          }     # end hanim_vl3 Joint
          DEF hanim_l5 Segment {
           name           "l5"
           children [
            DEF hanim_waist_preferred_posterior Site {     # CAESAR Feature Point #28
             name           "waist_preferred_posterior "
             translation    0.2900 1.0915 -0.1091
             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 [
         ]
        }     # end hanim_sacrum Segment
       ]
      }     # end hanim_humanoid_root Joint
     ]
     joints [
      USE hanim_humanoid_root, USE hanim_sacroiliac,
      USE hanim_l_hip, USE hanim_l_knee, USE hanim_l_talocrural,
      USE hanim_l_tarsotarsal_interphalangeal_, USE hanim_l_metatarsophalangeal_,
      USE hanim_l_tarsal_interphalangeal_, USE hanim_r_hip, USE hanim_r_knee,
      USE hanim_r_talocrural, USE hanim_r_tarsotarsal_interphalangeal_, USE hanim_r_metatarsophalangeal_,
      USE hanim_r_tarsal_interphalangeal_, USE hanim_vl5, USE hanim_vl3,
      USE hanim_vl1, USE hanim_vt10, USE hanim_vt6, USE hanim_vt1,
      USE hanim_vc4, USE hanim_vc2, USE hanim_skullbase,
      USE hanim_l_sternoclavicular, USE hanim_l_acromioclavicular,
      USE hanim_l_shoulder, USE hanim_l_elbow, USE hanim_l_radiocarpal,
      USE hanim_l_carpometacarpal_1, USE hanim_l_metacarpophalangeal_1, USE hanim_l_carpal_interphalangeal_1,
      USE hanim_l_carpometacarpal_2, USE hanim_l_metacarpophalangeal_2, USE hanim_l_carpal_proximal_interphalangeal_2,
      USE hanim_l_carpal_distal_interphalangeal_2, USE hanim_l_carpometacarpal_3, USE hanim_l_metacarpophalangeal_3,
      USE hanim_l_carpal_proximal_interphalangeal_3, USE hanim_l_carpal_distal_interphalangeal_3, USE hanim_l_carpometacarpal_4,
      USE hanim_l_metacarpophalangeal_4, USE hanim_l_carpal_proximal_interphalangeal_4, USE hanim_l_carpal_distal_interphalangeal_4,
      USE hanim_l_carpometacarpal_5, USE hanim_l_metacarpophalangeal_5, USE hanim_l_carpal_proximal_interphalangeal_5,
      USE hanim_l_carpal_distal_interphalangeal_5, USE hanim_r_sternoclavicular,
      USE hanim_r_acromioclavicular, USE hanim_r_shoulder,
      USE hanim_r_elbow, USE hanim_r_radiocarpal, USE hanim_r_carpometacarpal_1,
      USE hanim_r_metacarpophalangeal_1, USE hanim_r_carpal_interphalangeal_1, USE hanim_r_carpometacarpal_2,
      USE hanim_r_metacarpophalangeal_2, USE hanim_r_carpal_proximal_interphalangeal_2, USE hanim_r_carpal_distal_interphalangeal_2,
      USE hanim_r_carpometacarpal_3, USE hanim_r_metacarpophalangeal_3, USE hanim_r_carpal_proximal_interphalangeal_3,
      USE hanim_r_carpal_distal_interphalangeal_3, USE hanim_r_carpometacarpal_4, USE hanim_r_metacarpophalangeal_4,
      USE hanim_r_carpal_proximal_interphalangeal_4, USE hanim_r_carpal_distal_interphalangeal_4, USE hanim_r_carpometacarpal_5,
      USE hanim_r_metacarpophalangeal_5, USE hanim_r_carpal_proximal_interphalangeal_5, USE hanim_r_carpal_distal_interphalangeal_5
     ]
     sites [
      USE hanim_l_tarsal_distal_phalanx_1_tip, USE hanim_l_tarsal_interphalangeal_phalanx_5,
      USE hanim_l_tarsal_distal_phalanx_2, USE hanim_l_tarsal_interphalangeal_phalanx_1,
      USE hanim_l_lateral_malleolus, USE hanim_l_medial_malleolus,
      USE hanim_l_sphyrion, USE hanim_l_calcaneus_posterior,
      USE hanim_l_knee_crease, USE hanim_l_femoral_lateral_epicondyles,
      USE hanim_l_femoral_medial_epicondyles, USE hanim_r_tarsal_distal_phalanx_1_tip,
      USE hanim_r_tarsal_interphalangeal_phalanx_5, USE hanim_r_tarsal_distal_phalanx_2,
      USE hanim_r_tarsal_interphalangeal_phalanx_1, USE hanim_r_lateral_malleolus,
      USE hanim_r_medial_malleolus, USE hanim_r_sphyrion,
      USE hanim_r_calcaneus_posterior, USE hanim_r_knee_crease,
      USE hanim_r_femoral_lateral_epicondyles, USE hanim_r_femoral_medial_epicondyles,
      USE hanim_r_iliocristale, USE hanim_r_trochanterion,
      USE hanim_l_iliocristale, USE hanim_l_trochanterion,
      USE hanim_r_asis, USE hanim_l_asis, USE hanim_r_psis,
      USE hanim_l_psis, USE hanim_crotch, 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_carpal_distal_phalanx_1_tip, USE hanim_l_carpal_distal_phalanx_2_tip,
      USE hanim_l_dactylion, USE hanim_l_carpal_distal_phalanx_3_tip,
      USE hanim_l_carpal_distal_phalanx_4_tip, USE hanim_l_carpal_distal_phalanx_5_tip,
      USE hanim_l_metacarpal_phalanx_2, USE hanim_l_ulnar_styloid,
      USE hanim_l_metacarpal_phalanx_5, USE hanim_l_radial_styloid,
      USE hanim_l_olecranon, USE hanim_l_humeral_medial_epicondyles,
      USE hanim_l_radiale, USE hanim_l_humeral_lateral_epicondyles,
      USE hanim_l_clavicale, USE hanim_l_acromion,
      USE hanim_l_axilla_proximal, USE hanim_l_axilla_distal,
      USE hanim_r_carpal_distal_phalanx_1_tip, USE hanim_r_carpal_distal_phalanx_2_tip,
      USE hanim_r_dactylion, USE hanim_r_carpal_distal_phalanx_3_tip,
      USE hanim_r_carpal_distal_phalanx_4_tip, USE hanim_r_carpal_distal_phalanx_5_tip,
      USE hanim_r_metacarpal_phalanx_2, USE hanim_r_ulnar_styloid,
      USE hanim_r_metacarpal_phalanx_5, USE hanim_r_radial_styloid,
      USE hanim_r_olecranon, USE hanim_r_humeral_medial_epicondyles,
      USE hanim_r_radiale, USE hanim_r_humeral_lateral_epicondyles,
      USE hanim_r_clavicale, USE hanim_r_acromion,
      USE hanim_r_axilla_proximal, USE hanim_r_axilla_distal,
      USE hanim_r_neck_base, USE hanim_l_neck_base,
      USE hanim_suprasternale, USE hanim_cervicale,
      USE hanim_r_thelion, USE hanim_l_thelion,
      USE hanim_substernale, USE hanim_r_rib10, USE hanim_l_rib10,
      USE hanim_spine_2_lower_back, USE hanim_waist_preferred_posterior,
      USE hanim_navel,
     ]
     segments [
      USE hanim_l_tarsal_distal_phalanx_1, USE hanim_l_middistal,
      USE hanim_l_midproximal, USE hanim_l_hindfoot,
      USE hanim_l_calf, USE hanim_l_thigh, USE hanim_r_tarsal_distal_phalanx_1,
      USE hanim_r_middistal, USE hanim_r_midproximal,
      USE hanim_r_hindfoot, USE hanim_r_calf, USE hanim_r_thigh,
      USE hanim_pelvis, USE hanim_skull, USE hanim_c2,
      USE hanim_c4, USE hanim_l_carpal_distal_phalanx_1,
      USE hanim_l_index_proximal, USE hanim_l_index_proximal,
      USE hanim_l_carpal_distal_phalanx_2, USE hanim_l_index_middle,
      USE hanim_l_index_proximal, USE hanim_l_index_metacarpal,
      USE hanim_l_carpal_distal_phalanx_3, USE hanim_l_middle_middle,
      USE hanim_l_middle_proximal, USE hanim_l_middle_metacarpal,
      USE hanim_l_carpal_distal_phalanx_4, USE hanim_l_ring_middle,
      USE hanim_l_ring_proximal, USE hanim_l_ring_metacarpal,
      USE hanim_l_carpal_distal_phalanx_5, USE hanim_l_pinky_middle,
      USE hanim_l_pinky_proximal, USE hanim_l_pinky_metacarpal,
      USE hanim_l_hand, USE hanim_l_forearm,
      USE hanim_l_upperarm, USE hanim_l_scapula,
      USE hanim_l_clavicle, USE hanim_r_carpal_distal_phalanx_1,
      USE hanim_r_index_proximal, USE hanim_r_index_proximal,
      USE hanim_r_carpal_distal_phalanx_2, USE hanim_r_index_middle,
      USE hanim_r_index_proximal, USE hanim_r_index_metacarpal,
      USE hanim_r_carpal_distal_phalanx_3, USE hanim_r_middle_middle,
      USE hanim_r_middle_proximal, USE hanim_r_middle_metacarpal,
      USE hanim_r_carpal_distal_phalanx_4, USE hanim_r_ring_middle,
      USE hanim_r_ring_proximal, USE hanim_r_ring_metacarpal,
      USE hanim_r_carpal_distal_phalanx_5, USE hanim_r_pinky_middle,
      USE hanim_r_pinky_proximal, USE hanim_r_pinky_metacarpal,
      USE hanim_r_hand, USE hanim_r_forearm,
      USE hanim_r_upperarm, USE hanim_r_scapula,
      USE hanim_r_clavicle, USE hanim_t1, USE hanim_t6,
      USE hanim_t10, USE hanim_l1, USE hanim_l3, USE hanim_l5,
      USE hanim_sacrum
     ]
     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, LOA‑2"
      "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, LOA‑2"
       info [ "
         HANIM 200x Default Joint Centers, Level-Of-Articulation 2
         ---------------------------------------------------------
         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 modelling 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.5.2.2 LOA‑2 example with diamonds at Joint centres

    #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_humanoid_root Joint {
       name           "humanoid_root"
       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_talocrural Joint {
               name           "l_talocrural"
               center         0.1101 0.0656 -0.0736
               children [
                DEF hanim_l_tarsotarsal_interphalangeal_ Joint {
                 name           "l_tarsotarsal_interphalangeal_"
                 center         0.1086 0.0001 -0.0368
                 children [
                  DEF hanim_l_metatarsophalangeal_ Joint {
                   name           "l_metatarsophalangeal_"
                   center         0.1086 0.0001 0.0368
                   children [
                    DEF hanim_l_tarsal_interphalangeal_ Joint {
                     name           "l_tarsal_interphalangeal_"
                     center         0.1086 0.0000 0.0762
                     children [
                      DEF hanim_l_tarsal_distal_phalanx_1 Segment {
                       name           "l_tarsal_distal_phalanx_1"
                       children [
                        DEF hanim_l_tarsal_distal_phalanx_1_tip Site {
                         name           "l_tarsal_distal_phalanx_1_tip"
                         translation    0.1354 0.0016 0.1476
                         children [
                         ]
                        }
                        DEF hanim_l_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #66
                         name           "l_tarsal_interphalangeal_phalanx_5"
                         translation    0.1825 0.0070 0.0928
                         children [
                         ]
                        }
                        DEF hanim_l_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #72
                         name           "l_tarsal_distal_phalanx_2"
                         translation    0.1195 0.0079 0.1433
                         children [
                         ]
                        }
                       ]
                      }     # end hanim_l_tarsal_distal_phalanx_1 Segment
                     ]
                    }     # end hanim_l_tarsal_interphalangeal_ Joint
                    DEF hanim_l_middistal Segment {
                     name           "l_middistal"
                     children [
                      DEF hanim_l_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #70
                       name           "l_tarsal_interphalangeal_phalanx_1"
                       translation    0.0816 0.0232 0.0106
                       children [
                       ]
                      }
                     ]
                    }     # end hanim_l_middistal Segment
                   ]
                  }     # end hanim_l_metatarsophalangeal_ Joint
                  DEF hanim_l_midproximal Segment {
                   name           "l_midproximal"
                   children [
                   ]
                  }     # end hanim_l_midproximal Segment
                 ]
                }     # end hanim_l_tarsotarsal_interphalangeal_ 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_calcaneus_posterior Site {     # CAESAR Feature Point #71
                   name           "l_calcaneus_posterior"
                   translation    0.0974 0.0259 -0.1171
                   children [
                   ]
                  }
                 ]
                }     # end hanim_l_hindfoot Segment
               ]
              }     # end hanim_l_talocrural 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_epicondyles Site {     # CAESAR Feature Point #64
               name           "l_femoral_lateral_epicondyles"
               translation    0.1598 0.4967 0.0297
               children [
               ]
              }
              DEF hanim_l_femoral_medial_epicondyles Site {     # CAESAR Feature Point #65
               name           "l_femoral_lateral_epicondyles"
               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_talocrural Joint {
               name           "r_talocrural"
               center         -0.0801 0.0712 -0.0766
               children [
                DEF hanim_r_tarsotarsal_interphalangeal_ Joint {
                 name           "r_tarsotarsal_interphalangeal_"
                 center         -0.0801 0.0000 -0.0368
                 children [
                  DEF hanim_r_metatarsophalangeal_ Joint {
                   name           "r_metatarsophalangeal_"
                   center         -0.0801 0.0000 0.0368
                   children [
                    DEF hanim_r_tarsal_interphalangeal_ Joint {
                     name           "r_tarsal_interphalangeal_"
                     center         -0.0801 0.0039 0.0732
                     children [
                      DEF hanim_r_tarsal_distal_phalanx_1 Segment {
                       name           "r_tarsal_distal_phalanx_1"
                       children [
                        DEF hanim_r_tarsal_distal_phalanx_1_tip Site {
                         name           "r_tarsal_distal_phalanx_1_tip"
                         translation    -0.1043 -0.0227 0.1450
                         children [
                         ]
                        }
                        DEF hanim_r_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #56
                         name           "r_tarsal_interphalangeal_phalanx_5"
                         translation    -0.1523 0.0166 0.0895
                         children [
                         ]
                        }
                        DEF hanim_r_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #62
                         name           "r_tarsal_distal_phalanx_2"
                         translation    -0.0883 0.0134 0.1383
                         children [
                         ]
                        }
                       ]
                      }     # end hanim_r_tarsal_distal_phalanx_1 Segment
                     ]
                    }     # end hanim_r_tarsal_interphalangeal_ Joint
                    DEF hanim_r_middistal Segment {
                     name           "r_middistal"
                     children [
                      DEF hanim_r_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #60
                       name           "r_tarsal_interphalangeal_phalanx_1"
                       translation    -0.0521 0.0260 0.0127
                       children [
                       ]
                      }
                     ]
                    }     # end hanim_r_middistal Segment
                   ]
                  }     # end hanim_r_metatarsophalangeal_ Joint
                  DEF hanim_r_midproximal Segment {
                   name           "r_midproximal"
                   children [
                   ]
                  }     # end hanim_r_midproximal Segment
                 ]
                }
                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_calcaneus_posterior Site {     # CAESAR Feature Point #61
                   name           "r_calcaneus_posterior"
                   translation    -0.0692 0.0297 -0.1221
                   children [
                   ]
                  }
                 ]
                }     # end hanim_r_hindfoot Segment
               ]
              }     # end hanim_r_talocrural 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_epicondyles Site {     # CAESAR Feature Point #54
               name           "r_femoral_lateral_epicondyles"
               translation    -0.1421 0.4992 0.0310
               children [
               ]
              }
              DEF hanim_r_femoral_medial_epicondyles Site {     # CAESAR Feature Point #55
               name           "r_femoral_lateral_epicondyles"
               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 [
            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_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_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_pelvis Segment
         ]
        }     # end hanim_sacroiliac Joint
        DEF hanim_vl5 Joint {
         name           "vl5"
         center         0.0028 1.0568 -0.0776
         children [
          DEF hanim_vl3 Joint {
           name         "vl3"
           center       0.0041 1.1276 -0.0796
           children [
            DEF hanim_vl1 Joint {
             name         "vl1"
             center       0.0048 1.1912 -0.0805
             children [
              DEF hanim_vt10 Joint {
               name         "vt10"
               center       0.0056 1.2848 -0.0822
               children [
                DEF hanim_vt6 Joint {
                 name         "vt6"
                 center       0.0059 1.3866 -0.0800
                 children [
                  DEF hanim_vt1 Joint {
                   name         "vt1"
                   center       0.0065 1.4951 -0.0387
                   children [
                    DEF hanim_vc4 Joint {
                     name         "vc4"
                     center       0.0066 1.5662 -0.0084
                     children [
                      DEF hanim_vc2 Joint {
                       name         "vc2"
                       center       0.0066 1.5928 -0.0103
                       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_c2 Segment {
                         name         "c2"
                         children [
                         ]
                        }     # end hanim_c2 Segment
                       ]
                      }     # end hanim_vc2 Joint
                      DEF hanim_c4 Segment {
                       name         "c4"
                       children [
                       ]
                      }     # end hanim_c4 Segment
                     ]
                    }     # end hanim_vc4 Joint
                    DEF hanim_l_sternoclavicular Joint {
                     name         "l_sternoclavicular"
                     center       0.0820 1.4488 -0.0353
                     children [
                      DEF hanim_l_acromioclavicular Joint {
                       name         "l_acromioclavicular"
                       center       0.0962 1.4269 -0.0424
                       children [
                        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_radiocarpal Joint {
                             name         "l_radiocarpal"
                             center       0.1984 0.8663 -0.0583
                             children [
                              DEF hanim_l_carpometacarpal_1 Joint {
                               name         "l_carpometacarpal_1"
                               center       0.1924 0.8472 -0.0534
                               children [
                                DEF hanim_l_metacarpophalangeal_1 Joint {
                                 name         "l_metacarpophalangeal_1"
                                 center       0.1951 0.8226 0.0246
                                 children [
                                  DEF hanim_l_carpal_interphalangeal_1 Joint {
                                   name         "l_carpal_interphalangeal_1"
                                   center       0.1955 0.8159 0.0464
                                   children [
                                    DEF hanim_l_carpal_distal_phalanx_1 Segment {
                                     name         "l_carpal_distal_phalanx_1"
                                     children [
                                      DEF hanim_l_carpal_distal_phalanx_1_tip Site {
                                       name         "l_carpal_distal_phalanx_1_tip"
                                       translation    0.1982 0.8061 0.0759
                                       children [
                                       ]
                                      }
                                     ]
                                    }      # end hanim_l_carpal_distal_phalanx_1 Segment
                                   ]
                                  }     # end hanim_l_carpal_interphalangeal_1 Joint
                                  DEF hanim_l_index_proximal Segment {
                                   name         "l_index_proximal"
                                   children [
                                   ]
                                  }     # end hanim_l_thumb_proximal Segment
                                 ]
                                }     # end hanim_l_metacarpophalangeal_1 Joint
                                DEF hanim_l_index_proximal Segment {
                                 name         "l_index_proximal"
                                 children [
                                 ]
                                }     # end hanim_l_thumb_metacarpal Segment
                               ]
                              }     # end hanim_l_carpometacarpal_1 Joint
                              DEF hanim_l_carpometacarpal_2 Joint {
                               name         "l_carpometacarpal_2"
                               center       0.1983 0.8024 -0.0280
                               children [
                                DEF hanim_l_metacarpophalangeal_2 Joint {
                                 name         "l_metacarpophalangeal_2"
                                 center       0.1983 0.7815 -0.0280
                                 children [
                                  DEF hanim_l_carpal_proximal_interphalangeal_2 Joint {
                                   name         "l_carpal_proximal_interphalangeal_2"
                                   center       0.2017 0.7363 -0.0248
                                   children [
                                    DEF hanim_l_carpal_distal_interphalangeal_2 Joint {
                                     name         "l_carpal_distal_interphalangeal_2"
                                     center       0.2028 0.7139 -0.0236
                                     children [
                                      DEF hanim_l_carpal_distal_phalanx_2 Segment {
                                       name         "l_carpal_distal_phalanx_2"
                                       children [
                                        DEF hanim_l_carpal_distal_phalanx_2_tip Site {
                                         name         "l_carpal_distal_phalanx_2_tip"
                                         translation    0.2089 0.6858 -0.0245
                                         children [
                                         ]
                                        }
                                        DEF hanim_l_dactylion Site {     # CAESAR Feature Point #50
                                         name         "l_dactylion"
                                         translation    0.2056 0.6743 -0.0482
                                         children [
                                         ]
                                        }
                                       ]
                                      }     # end hanim_l_carpal_distal_phalanx_2 Segment
                                     ]
                                    }     # end hanim_l_carpal_distal_interphalangeal_2 Joint
                                    DEF hanim_l_index_middle Segment {
                                     name         "l_index_middle"
                                     children [
                                     ]
                                    }     # end hanim_l_index_middle Segment
                                   ]
                                  }     # end hanim_l_carpal_proximal_interphalangeal_2 Joint
                                  DEF hanim_l_index_proximal Segment {
                                   name         "l_index_proximal"
                                   children [
                                   ]
                                  }     # end hanim_l_index_proximal Segment
                                 ]
                                }     # end hanim_l_metacarpophalangeal_2 Joint
                                DEF hanim_l_index_metacarpal Segment {
                                 name         "l_index_metacarpal"
                                 children [
                                 ]
                                }     # end hanim_l_index_metacarpal Segment
                               ]
                              }     # end hanim_l_carpometacarpal_2 Joint
                              DEF hanim_l_carpometacarpal_3 Joint {
                               name         "l_carpometacarpal_3"
                               center       0.1987 0.8029 -0.0530
                               children [
                                DEF hanim_l_metacarpophalangeal_3 Joint {
                                 name         "l_metacarpophalangeal_3"
                                 center       0.1987 0.7818 -0.0530
                                 children [
                                  DEF hanim_l_carpal_proximal_interphalangeal_3 Joint {
                                   name         "l_carpal_proximal_interphalangeal_3"
                                   center       0.2013 0.7273 -0.0503
                                   children [
                                    DEF hanim_l_carpal_distal_interphalangeal_3 Joint {
                                     name         "l_carpal_distal_interphalangeal_3"
                                     center       0.2026 0.7011 -0.0494
                                     children [
                                      DEF hanim_l_carpal_distal_phalanx_3 Segment {
                                       name         "l_carpal_distal_phalanx_3"
                                       children [
                                        DEF hanim_l_carpal_distal_phalanx_3_tip Site {
                                         name         "l_carpal_distal_phalanx_3_tip"
                                         translation    0.2080 0.6731 -0.0491
                                         children [
                                         ]
                                        }
                                       ]
                                      }     # end hanim_l_carpal_distal_phalanx_3 Segment
                                     ]
                                    }     # end hanim_l_carpal_distal_interphalangeal_3 Joint
                                    DEF hanim_l_middle_middle Segment {
                                     name         "l_middle_middle"
                                     children [
                                     ]
                                    }     # end hanim_l_middle_middle Segment
                                   ]
                                  }     # end hanim_l_carpal_proximal_interphalangeal_3 Joint
                                  DEF hanim_l_middle_proximal Segment {
                                   name         "l_middle_proximal"
                                   children [
                                   ]
                                  }     # end hanim_l_middle_proximal Segment
                                 ]
                                }     # end hanim_l_metacarpophalangeal_3 Joint
                                DEF hanim_l_middle_metacarpal Segment {
                                 name         "l_middle_metacarpal"
                                 children [
                                 ]
                                }     # end hanim_l_middle_metacarpal Segment
                               ]
                              }     # end hanim_l_carpometacarpal_3 Joint
                              DEF hanim_l_carpometacarpal_4 Joint {
                               name         "l_carpometacarpal_4"
                               center       0.1956 0.8019 -0.0794
                               children [
                                DEF hanim_l_metacarpophalangeal_4 Joint {
                                 name         "l_metacarpophalangeal_4"
                                 center       0.1956 0.7815 -0.0794
                                 children [
                                  DEF hanim_l_carpal_proximal_interphalangeal_4 Joint {
                                   name         "l_carpal_proximal_interphalangeal_4"
                                   center       0.1973 0.7287 -0.0777
                                   children [
                                    DEF hanim_l_carpal_distal_interphalangeal_4 Joint {
                                     name         "l_carpal_distal_interphalangeal_4"
                                     center       0.1983 0.7045 -0.0767
                                     children [
                                      DEF hanim_l_carpal_distal_phalanx_4 Segment {
                                       name         "l_carpal_distal_phalanx_4"
                                       children [
                                        DEF hanim_l_carpal_distal_phalanx_4_tip Site {
                                         name         "l_carpal_distal_phalanx_4_tip"
                                         translation    0.2035 0.6750 -0.0756
                                         children [
                                         ]
                                        }
                                       ]
                                      }     # end hanim_l_carpal_distal_phalanx_4 Segment
                                     ]
                                    }     # end hanim_l_carpal_distal_interphalangeal_4 Joint
                                    DEF hanim_l_ring_middle Segment {
                                     name         "l_ring_middle"
                                     children [
                                     ]
                                    }     # end hanim_l_ring_middle Segment
                                   ]
                                  }     # end hanim_l_carpal_proximal_interphalangeal_4 Joint
                                  DEF hanim_l_ring_proximal Segment {
                                   name         "l_ring_proximal"
                                   children [
                                   ]
                                  }     # end hanim_l_ring_proximal Segment
                                 ]
                                }     # end hanim_l_metacarpophalangeal_4 Joint
                                DEF hanim_l_ring_metacarpal Segment {
                                 name         "l_ring_metacarpal"
                                 children [
                                 ]
                                }     # end hanim_l_ring_metacarpal Segment
                               ]
                              }     # end hanim_l_carpometacarpal_4 Joint
                              DEF hanim_l_carpometacarpal_5 Joint {
                               name         "l_carpometacarpal_5"
                               center       0.1925 0.8066 -0.1036
                               children [
                                DEF hanim_l_metacarpophalangeal_5 Joint {
                                 name         "l_metacarpophalangeal_5"
                                 center       0.1925 0.7866 -0.1036
                                 children [
                                  DEF hanim_l_carpal_proximal_interphalangeal_5 Joint {
                                   name         "l_carpal_proximal_interphalangeal_5"
                                   center       0.1938 0.7452 -0.1024
                                   children [
                                    DEF hanim_l_carpal_distal_interphalangeal_5 Joint {
                                     name         "l_carpal_distal_interphalangeal_5"
                                     center       0.1948 0.7277 -0.1017
                                     children [
                                      DEF hanim_l_carpal_distal_phalanx_5 Segment {
                                       name         "l_carpal_distal_phalanx_5"
                                       children [
                                        DEF hanim_l_carpal_distal_phalanx_5_tip Site {
                                         name         "l_carpal_distal_phalanx_5_tip"
                                         translation    0.2014 0.7009 -0.1012
                                         children [
                                         ]
                                        }
                                       ]
                                      }     # end hanim_l_carpal_distal_phalanx_5 Segment
                                     ]
                                    }     # end hanim_l_carpal_distal_interphalangeal_5 Joint
                                    DEF hanim_l_pinky_middle Segment {
                                     name         "l_pinky_middle"
                                     children [
                                     ]
                                    }     # end hanim_l_pinky_middle Segment
                                   ]
                                  }     # end hanim_l_carpal_proximal_interphalangeal_5 Joint
                                  DEF hanim_l_pinky_proximal Segment {
                                   name         "l_pinky_proximal"
                                   children [
                                   ]
                                  }     # end hanim_l_pinky_proximal Segment
                                 ]
                                }     # end hanim_l_metacarpophalangeal_5 Joint
                                DEF hanim_l_pinky_metacarpal Segment {
                                 name         "l_pinky_metacarpal"
                                 children [
                                 ]
                                }     # end hanim_l_pinky_metacarpal Segment
                               ]
                              }     # end hanim_l_carpometacarpal_5 Joint
                              DEF hanim_l_hand Segment {
                               name         "l_hand"
                               children [
                                DEF hanim_l_metacarpal_phalanx_2 Site {     # CAESAR Feature Point #49
                                 name         "l_metacarpal_phalanx_2"
                                 translation    0.2009 0.8139 -0.0237
                                 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_phalanx_5 Site {     # CAESAR Feature Point #52
                                 name         "l_metacarpal_phalanx_5"
                                 translation    0.1929 0.7860 -0.1122
                                 children [
                                 ]
                                }
                               ]
                              }     # end hanim_l_hand Segment
                             ]
                            }     # end hanim_l_radiocarpal 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_epicondyles Site {     # CAESAR Feature Point #47
                               name         "l_humeral_medial_epicondyles"
                               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_epicondyles Site {     # CAESAR Feature Point #46
                             name         "l_humeral_lateral_epicondyles "
                             translation    0.2280 1.1482 -0.1100
                             children [
                             ]
                            }
                           ]
                          }     # end hanim_l_upperarm Segment
                         ]
                        }     # end hanim_l_shoulder Joint
                        DEF hanim_l_scapula Segment {
                         name         "l_scapula"
                         children [
                         ]
                        }     # end hanim_l_scapula Segment
                       ]
                      }     # end hanim_l_acromioclavicular Joint
                      DEF hanim_l_clavicle Segment {
                       name         "l_clavicle"
                       children [
                        DEF hanim_l_clavicale Site {     # CAESAR Feature Point #12
                         name         "l_clavicale"
                         translation    0.0271 1.4943 0.0394
                         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_proximal Site {     # CAESAR Feature Point #42
                         name         "l_axilla_proximal"
                         translation    0.1777 1.4065 -0.0075
                         children [
                         ]
                        }
                        DEF hanim_l_axilla_distal Site {     # CAESAR Feature Point #44
                         name         "l_axilla_distal"
                         translation    0.1706 1.4072 -0.0875
                         children [
                         ]
                        }
                       ]
                      }     # end hanim_l_clavicle Segment
                     ]
                    }     # end hanim_l_sternoclavicular Joint
                    DEF hanim_r_sternoclavicular Joint {
                     name         "r_sternoclavicular"
                     center       -0.0694 1.4600 -0.0330
                     children [
                      DEF hanim_r_acromioclavicular Joint {
                       name         "r_acromioclavicular"
                       center       -0.0836 1.4281 -0.0401
                       children [
                        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_radiocarpal Joint {
                             name         "r_radiocarpal"
                             center       -0.1959 0.8694 -0.0521
                             children [
                              DEF hanim_r_carpometacarpal_1 Joint {
                               name         "r_carpometacarpal_1"
                               center       -0.1899 0.8502 -0.0473
                               children [
                                DEF hanim_r_metacarpophalangeal_1 Joint {
                                 name         "r_metacarpophalangeal_1"
                                 center       -0.1874 0.8256 0.0306
                                 children [
                                  DEF hanim_r_carpal_interphalangeal_1 Joint {
                                   name         "r_carpal_interphalangeal_1"
                                   center       -0.1864 0.8190 0.0506
                                   children [
                                    DEF hanim_r_carpal_distal_phalanx_1 Segment {
                                     name         "r_carpal_distal_phalanx_1"
                                     children [
                                      DEF hanim_r_carpal_distal_phalanx_1_tip Site {
                                       name         "r_carpal_distal_phalanx_1_tip"
                                       translation    -0.1869 0.8090 0.0820
                                       children [
                                       ]
                                      }
                                     ]
                                    }     # end hanim_r_carpal_distal_phalanx_1 Segment
                                   ]
                                  }     # end hanim_r_carpal_interphalangeal_1 Joint
                                  DEF hanim_r_index_proximal Segment {
                                   name         "r_index_proximal"
                                   children [
                                   ]
                                  }     # end hanim_r_thumb_proximal Segment
                                 ]
                                }     # end hanim_r_metacarpophalangeal_1 Joint
                                DEF hanim_r_index_proximal Segment {
                                 name         "r_index_proximal"
                                 children [
                                 ]
                                }     # end hanim_r_thumb_metacarpal Segment
                               ]
                              }     # end hanim_r_carpometacarpal_1 Joint
                              DEF hanim_r_carpometacarpal_2 Joint {
                               name         "r_carpometacarpal_2"
                               center       -0.1961 0.8055 -0.0218
                               children [
                                DEF hanim_r_metacarpophalangeal_2 Joint {
                                 name         "r_metacarpophalangeal_2"
                                 center       -0.1961 0.7846 -0.0218
                                 children [
                                  DEF hanim_r_carpal_proximal_interphalangeal_2 Joint {
                                   name         "r_carpal_proximal_interphalangeal_2"
                                   center       -0.1954 0.7393 -0.0185
                                   children [
                                    DEF hanim_r_carpal_distal_interphalangeal_2 Joint {
                                     name         "r_carpal_distal_interphalangeal_2"
                                     center       -0.1945 0.7169 -0.0173
                                     children [
                                      DEF hanim_r_carpal_distal_phalanx_2 Segment {
                                       name         "r_carpal_distal_phalanx_2"
                                       children [
                                        DEF hanim_r_carpal_distal_phalanx_2_tip Site {
                                         name         "r_carpal_distal_phalanx_2_tip"
                                         translation    -0.1980 0.6883 -0.0180
                                         children [
                                         ]
                                        }
                                        DEF hanim_r_dactylion Site {     # CAESAR Feature Point #38
                                         name         "r_dactylion"
                                         translation    -0.1941 0.6772 -0.0423
                                         children [
                                         ]
                                        }
                                       ]
                                      }     # end hanim_r_carpal_distal_phalanx_2 Segment
                                     ]
                                    }     # end hanim_r_carpal_distal_interphalangeal_2 Joint
                                    DEF hanim_r_index_middle Segment {
                                     name         "r_index_middle"
                                     children [
                                     ]
                                    }     # end hanim_r_index_middle Segment
                                   ]
                                  }     # end hanim_r_carpal_proximal_interphalangeal_2 Joint
                                  DEF hanim_r_index_proximal Segment {
                                   name         "r_index_proximal"
                                   children [
                                   ]
                                  }     # end hanim_r_index_proximal Segment
                                 ]
                                }     # end hanim_r_metacarpophalangeal_2 Joint
                                DEF hanim_r_index_metacarpal Segment {
                                 name         "r_index_metacarpal"
                                 children [
                                 ]
                                }     # end hanim_r_index_metacarpal Segment
                               ]
                              }     # end hanim_r_carpometacarpal_2 Joint
                              DEF hanim_r_carpometacarpal_3 Joint {
                               name         "r_carpometacarpal_3"
                               center       -0.1972 0.8060 -0.0468
                               children [
                                DEF hanim_r_metacarpophalangeal_3 Joint {
                                 name         "r_metacarpophalangeal_3"
                                 center       -0.1972 0.7849 -0.0468
                                 children [
                                  DEF hanim_r_carpal_proximal_interphalangeal_3 Joint {
                                   name         "r_carpal_proximal_interphalangeal_3"
                                   center       -0.1950 0.7304 -0.0441
                                   children [
                                    DEF hanim_r_carpal_distal_interphalangeal_3 Joint {
                                     name         "r_carpal_distal_interphalangeal_3"
                                     center       -0.1939 0.7042 -0.0432
                                     children [
                                      DEF hanim_r_carpal_distal_phalanx_3 Segment {
                                       name         "r_carpal_distal_phalanx_3"
                                       children [
                                        DEF hanim_r_carpal_distal_phalanx_3_tip Site {
                                         name         "r_carpal_distal_phalanx_3_tip"
                                         translation    -0.1969 0.6758 -0.0427
                                         children [
                                         ]
                                        }
                                       ]
                                      }     # end hanim_r_carpal_distal_phalanx_3 Segment
                                     ]
                                    }     # end hanim_r_carpal_distal_interphalangeal_3 Joint
                                    DEF hanim_r_middle_middle Segment {
                                     name         "r_middle_middle"
                                     children [
                                     ]
                                    }     # end hanim_r_middle_middle Segment
                                   ]
                                  }     # end hanim_r_carpal_proximal_interphalangeal_3 Joint
                                  DEF hanim_r_middle_proximal Segment {
                                   name         "r_middle_proximal"
                                   children [
                                   ]
                                  }     # end hanim_r_middle_proximal Segment
                                 ]
                                }     # end hanim_r_metacarpophalangeal_3 Joint
                                DEF hanim_r_middle_metacarpal Segment {
                                 name         "r_middle_metacarpal"
                                 children [
                                 ]
                                }     # end hanim_r_middle_metacarpal Segment
                               ]
                              }     # end hanim_r_carpometacarpal_3 Joint
                              DEF hanim_r_carpometacarpal_4 Joint {
                               name         "r_carpometacarpal_4"
                               center       -0.1951 0.8049 -0.0732
                               children [
                                DEF hanim_r_metacarpophalangeal_4 Joint {
                                 name         "r_metacarpophalangeal_4"
                                 center       -0.1951 0.7845 -0.0732
                                 children [
                                  DEF hanim_r_carpal_proximal_interphalangeal_4 Joint {
                                   name         "r_carpal_proximal_interphalangeal_4"
                                   center       -0.1920 0.7318 -0.0716
                                   children [
                                    DEF hanim_r_carpal_distal_interphalangeal_4 Joint {
                                     name         "r_carpal_distal_interphalangeal_4"
                                     center       -0.1908 0.7077 -0.0706
                                     children [
                                      DEF hanim_r_carpal_distal_phalanx_4 Segment {
                                       name         "r_carpal_distal_phalanx_4"
                                       children [
                                        DEF hanim_r_carpal_distal_phalanx_4_tip Site {
                                         name         "r_carpal_distal_phalanx_4_tip"
                                         translation    -0.1934 0.6778 -0.0693
                                         children [
                                         ]
                                        }
                                       ]
                                      }     # end hanim_r_carpal_distal_phalanx_4 Segment
                                     ]
                                    }     # end hanim_r_carpal_distal_interphalangeal_4 Joint
                                    DEF hanim_r_ring_middle Segment {
                                     name         "r_ring_middle"
                                     children [
                                     ]
                                    }     # end hanim_r_ring_middle Segment
                                   ]
                                  }     # end hanim_r_carpal_proximal_interphalangeal_4 Joint
                                  DEF hanim_r_ring_proximal Segment {
                                   name         "r_ring_proximal"
                                   children [
                                   ]
                                  }     # end hanim_r_ring_proximal Segment
                                 ]
                                }     # end hanim_r_metacarpophalangeal_4 Joint
                                DEF hanim_r_ring_metacarpal Segment {
                                 name         "r_ring_metacarpal"
                                 children [
                                 ]
                                }     # end hanim_r_ring_metacarpal Segment
                               ]
                              }     # end hanim_r_carpometacarpal_4 Joint
                              DEF hanim_r_carpometacarpal_5 Joint {
                               name         "r_carpometacarpal_5"
                               center       -0.1926 0.8096 -0.0975
                               children [
                                DEF hanim_r_metacarpophalangeal_5 Joint {
                                 name         "r_metacarpophalangeal_5"
                                 center       -0.1926 0.7896 -0.0975
                                 children [
                                  DEF hanim_r_carpal_proximal_interphalangeal_5 Joint {
                                   name         "r_carpal_proximal_interphalangeal_5"
                                   center       -0.1902 0.7483 -0.0963
                                   children [
                                    DEF hanim_r_carpal_distal_interphalangeal_5 Joint {
                                     name         "r_carpal_distal_interphalangeal_5"
                                     center       -0.1908 0.7540 -0.0960
                                     children [
                                      DEF hanim_r_carpal_distal_phalanx_5 Segment {
                                       name         "r_carpal_distal_phalanx_5"
                                       children [
                                        DEF hanim_r_carpal_distal_phalanx_5_tip Site {
                                         name         "r_carpal_distal_phalanx_5_tip"
                                         translation    -0.1938 0.7035 -0.0949
                                         children [
                                         ]
                                        }
                                       ]
                                      }     # end hanim_r_carpal_distal_phalanx_5 Segment
                                     ]
                                    }     # end hanim_r_carpal_distal_interphalangeal_5 Joint
                                    DEF hanim_r_pinky_middle Segment {
                                     name         "r_pinky_middle"
                                     children [
                                     ]
                                    }     # end hanim_r_pinky_middle Segment
                                   ]
                                  }     # end hanim_r_carpal_proximal_interphalangeal_5 Joint
                                  DEF hanim_r_pinky_proximal Segment {
                                   name         "r_pinky_proximal"
                                   children [
                                   ]
                                  }     # end hanim_r_pinky_proximal Segment
                                 ]
                                }     # end hanim_r_metacarpophalangeal_5 Joint
                                DEF hanim_r_pinky_metacarpal Segment {
                                 name         "r_pinky_metacarpal"
                                 children [
                                 ]
                                }     # end hanim_r_pinky_metacarpal Segment
                               ]
                              }     # end hanim_r_carpometacarpal_5 Joint
                              DEF hanim_r_hand Segment {
                               name         "r_hand"
                               children [
                                DEF hanim_r_metacarpal_phalanx_2 Site {     # CAESAR Feature Point #37
                                 name         "r_metacarpal_phalanx_2"
                                 translation    -0.1977 0.8169 -0.0177
                                 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_phalanx_5 Site {     # CAESAR Feature Point #40
                                 name         "r_metacarpal_phalanx_5"
                                 translation    -0.1929 0.7890 -0.1064
                                 children [
                                 ]
                                }
                               ]
                              }     # end hanim_r_hand Segment
                             ]
                            }     # end hanim_r_radiocarpal 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_epicondyles Site {     # CAESAR Feature Point #35
                               name         "r_humeral_medial_epicondyles"
                               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_epicondyles Site {     # CAESAR Feature Point #34
                             name         "r_humeral_lateral_epicondyles"
                             translation    -0.2224 1.1517 -0.1033
                             children [
                             ]
                            }
                           ]
                          }     # end hanim_r_upperarm Segment
                         ]
                        }     # end hanim_r_shoulder Joint
                        DEF hanim_r_scapula Segment {
                         name         "r_scapula"
                         children [
                         ]
                        }     # end hanim_r_scapula Segment
                       ]
                      }     # end hanim_r_acromioclavicular Joint
                      DEF hanim_r_clavicle Segment {
                       name         "r_clavicle"
                       children [
                        DEF hanim_r_clavicale Site {     # CAESAR Feature Point #10
                         name         "r_clavicale"
                         translation    -0.0115 1.4943 0.0400
                         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_proximal Site {     # CAESAR Feature Point #30
                         name         "r_axilla_proximal"
                         translation    -0.1626 1.4072 -0.0031
                         children [
                         ]
                        }
                        DEF hanim_r_axilla_distal Site {     # CAESAR Feature Point #32
                         name         "r_axilla_distal"
                         translation    -0.1603 1.4098 -0.0826
                         children [
                         ]
                        }
                       ]
                      }     # end hanim_r_clavicle Segment
                     ]
                    }     # end hanim_r_sternoclavicular Joint
                    DEF hanim_t1 Segment {
                     name         "t1"
                     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_suprasternale Site {     # CAESAR Feature Point #11
                       name         "suprasternale"
                       translation    0.0084 1.4714 0.0551
                       children [
                       ]
                      }
                      DEF hanim_cervicale Site {     # CAESAR Feature Point #24
                       name         "cervicale"
                       translation    0.0064 1.520 -0.0815
                       children [
                       ]
                      }
                     ]
                    }     # end hanim_t1 Segment
                   ]
                  }     # end hanim_vt1 Joint
                  DEF hanim_t6 Segment {
                   name         "t6"
                   children [
                   ]
                  }     # end hanim_t6 Segment
                 ]
                }     # end hanim_vt6 Joint
                DEF hanim_t10 Segment {
                 name         "t10"
                 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 [
                   ]
                  }
                 ]
                }      # end hanim_t10 Segment
               ]
              }     # end hanim_vt10 Joint
              DEF hanim_l1 Segment {
               name         "l1"
               children [
               ]
              }     # end hanim_l1 Segment
             ]
            }     # end hanim_vl1 Joint
            DEF hanim_l3 Segment {
             name         "l3"
             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_spine_2_lower_back Site {     # CAESAR Feature Point #25
               name           "spine_2_lower_back"
               translation    0.0049 1.1908 -0.1113
               children [
               ]
              }
             ]
            }     # end hanim_l3 Segment
           ]
          }     # end hanim_vl3 Joint
          DEF hanim_l5 Segment {
           name           "l5"
           children [
            DEF hanim_waist_preferred_posterior Site {     # CAESAR Feature Point #28
             name           "waist_preferred_posterior "
             translation    0.2900 1.0915 -0.1091
             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 [
         ]
        }     # end hanim_sacrum Segment
       ]
      }     # end hanim_humanoid_root Joint
     ]
     joints [
      USE hanim_humanoid_root, USE hanim_sacroiliac,
      USE hanim_l_hip, USE hanim_l_knee, USE hanim_l_talocrural,
      USE hanim_l_tarsotarsal_interphalangeal_, USE hanim_l_metatarsophalangeal_,
      USE hanim_l_tarsal_interphalangeal_, USE hanim_r_hip, USE hanim_r_knee,
      USE hanim_r_talocrural, USE hanim_r_tarsotarsal_interphalangeal_, USE hanim_r_metatarsophalangeal_,
      USE hanim_r_tarsal_interphalangeal_, USE hanim_vl5, USE hanim_vl3,
      USE hanim_vl1, USE hanim_vt10, USE hanim_vt6, USE hanim_vt1,
      USE hanim_vc4, USE hanim_vc2, USE hanim_skullbase,
      USE hanim_l_sternoclavicular, USE hanim_l_acromioclavicular,
      USE hanim_l_shoulder, USE hanim_l_elbow, USE hanim_l_radiocarpal,
      USE hanim_l_carpometacarpal_1, USE hanim_l_metacarpophalangeal_1, USE hanim_l_carpal_interphalangeal_1,
      USE hanim_l_carpometacarpal_2, USE hanim_l_metacarpophalangeal_2, USE hanim_l_carpal_proximal_interphalangeal_2,
      USE hanim_l_carpal_distal_interphalangeal_2, USE hanim_l_carpometacarpal_3, USE hanim_l_metacarpophalangeal_3,
      USE hanim_l_carpal_proximal_interphalangeal_3, USE hanim_l_carpal_distal_interphalangeal_3, USE hanim_l_carpometacarpal_4,
      USE hanim_l_metacarpophalangeal_4, USE hanim_l_carpal_proximal_interphalangeal_4, USE hanim_l_carpal_distal_interphalangeal_4,
      USE hanim_l_carpometacarpal_5, USE hanim_l_metacarpophalangeal_5, USE hanim_l_carpal_proximal_interphalangeal_5,
      USE hanim_l_carpal_distal_interphalangeal_5, USE hanim_r_sternoclavicular,
      USE hanim_r_acromioclavicular, USE hanim_r_shoulder,
      USE hanim_r_elbow, USE hanim_r_radiocarpal, USE hanim_r_carpometacarpal_1,
      USE hanim_r_metacarpophalangeal_1, USE hanim_r_carpal_interphalangeal_1, USE hanim_r_carpometacarpal_2,
      USE hanim_r_metacarpophalangeal_2, USE hanim_r_carpal_proximal_interphalangeal_2, USE hanim_r_carpal_distal_interphalangeal_2,
      USE hanim_r_carpometacarpal_3, USE hanim_r_metacarpophalangeal_3, USE hanim_r_carpal_proximal_interphalangeal_3,
      USE hanim_r_carpal_distal_interphalangeal_3, USE hanim_r_carpometacarpal_4, USE hanim_r_metacarpophalangeal_4,
      USE hanim_r_carpal_proximal_interphalangeal_4, USE hanim_r_carpal_distal_interphalangeal_4, USE hanim_r_carpometacarpal_5,
      USE hanim_r_metacarpophalangeal_5, USE hanim_r_carpal_proximal_interphalangeal_5, USE hanim_r_carpal_distal_interphalangeal_5
     ]
     sites [
      USE hanim_l_tarsal_distal_phalanx_1_tip, USE hanim_l_tarsal_interphalangeal_phalanx_5,
      USE hanim_l_tarsal_distal_phalanx_2, USE hanim_l_tarsal_interphalangeal_phalanx_1,
      USE hanim_l_lateral_malleolus, USE hanim_l_mediametacarpalmetacarpall_malleolus,
      USE hanim_l_sphyrion, USE hanim_l_calcaneus_posterior,
      USE hanim_l_knee_crease, USE hanim_l_femoral_lateral_epicondyles,
      USE hanim_l_femoral_medial_epicondyles, USE hanim_r_tarsal_distal_phalanx_1_tip,
      USE hanim_r_tarsal_interphalangeal_phalanx_5, USE hanim_r_tarsal_distal_phalanx_2,
      USE hanim_r_tarsal_interphalangeal_phalanx_1, USE hanim_r_lateral_malleolus,
      USE hanim_r_medial_malleolus, USE hanim_r_sphyrion,
      USE hanim_r_calcaneus_posterior, USE hanim_r_knee_crease,
      USE hanim_r_femoral_lateral_epicondyles, USE hanim_r_femoral_medial_epicondyles,
      USE hanim_r_iliocristale, USE hanim_r_trochanterion,
      USE hanim_l_iliocristale, USE hanim_l_trochanterion,
      USE hanim_r_asis, USE hanim_l_asis, USE hanim_r_psis,
      USE hanim_l_psis, USE hanim_crotch, 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_carpal_distal_phalanx_1_tip, USE hanim_l_carpal_distal_phalanx_2_tip,
      USE hanim_l_dactylion, USE hanim_l_carpal_distal_phalanx_3_tip,
      USE hanim_l_carpal_distal_phalanx_4_tip, USE hanim_l_carpal_distal_phalanx_5_tip,
      USE hanim_l_metacarpal_phalanx_2, USE hanim_l_ulnar_styloid,
      USE hanim_l_metacarpal_phalanx_5, USE hanim_l_radial_styloid,
      USE hanim_l_olecranon, USE hanim_l_humeral_medial_epicondyles,
      USE hanim_l_radiale, USE hanim_l_humeral_lateral_epicondyles,
      USE hanim_l_clavicale, USE hanim_l_acromion,
      USE hanim_l_axilla_proximal, USE hanim_l_axilla_distal,
      USE hanim_r_carpal_distal_phalanx_1_tip, USE hanim_r_carpal_distal_phalanx_2_tip,
      USE hanim_r_dactylion, USE hanim_r_carpal_distal_phalanx_3_tip,
      USE hanim_r_carpal_distal_phalanx_4_tip, USE hanim_r_carpal_distal_phalanx_5_tip,
      USE hanim_r_metacarpal_phalanx_2, USE hanim_r_ulnar_styloid,
      USE hanim_r_metacarpal_phalanx_5, USE hanim_r_radial_styloid,
      USE hanim_r_olecranon, USE hanim_r_humeral_medial_epicondyles,
      USE hanim_r_radiale, USE hanim_r_humeral_lateral_epicondyles,
      USE hanim_r_clavicale, USE hanim_r_acromion,
      USE hanim_r_axilla_proximal, USE hanim_r_axilla_distal,
      USE hanim_r_neck_base, USE hanim_l_neck_base,
      USE hanim_suprasternale, USE hanim_cervicale,
      USE hanim_r_thelion, USE hanim_l_thelion,
      USE hanim_substernale, USE hanim_r_rib10, USE hanim_l_rib10,
      USE hanim_spine_2_lower_back, USE hanim_waist_preferred_posterior,
      USE hanim_navel,
     ]
     segments [
      USE hanim_l_tarsal_distal_phalanx_1, USE hanim_l_middistal,
      USE hanim_l_midproximal, USE hanim_l_hindfoot,
      USE hanim_l_calf, USE hanim_l_thigh, USE hanim_r_tarsal_distal_phalanx_1,
      USE hanim_r_middistal, USE hanim_r_midproximal,
      USE hanim_r_hindfoot, USE hanim_r_calf, USE hanim_r_thigh,
      USE hanim_pelvis, USE hanim_skull, USE hanim_c2,
      USE hanim_c4, USE hanim_l_carpal_distal_phalanx_1,
      USE hanim_l_index_proximal, USE hanim_l_index_proximal,
      USE hanim_l_carpal_distal_phalanx_2, USE hanim_l_index_middle,
      USE hanim_l_index_proximal, USE hanim_l_index_metacarpal,
      USE hanim_l_carpal_distal_phalanx_3, USE hanim_l_middle_middle,
      USE hanim_l_middle_proximal, USE hanim_l_middle_metacarpal,
      USE hanim_l_carpal_distal_phalanx_4, USE hanim_l_ring_middle,
      USE hanim_l_ring_proximal, USE hanim_l_ring_metacarpal,
      USE hanim_l_carpal_distal_phalanx_5, USE hanim_l_pinky_middle,
      USE hanim_l_pinky_proximal, USE hanim_l_pinky_metacarpal,
      USE hanim_l_hand, USE hanim_l_forearm,
      USE hanim_l_upperarm, USE hanim_l_scapula,
      USE hanim_l_clavicle, USE hanim_r_carpal_distal_phalanx_1,
      USE hanim_r_index_proximal, USE hanim_r_index_proximal,
      USE hanim_r_carpal_distal_phalanx_2, USE hanim_r_index_middle,
      USE hanim_r_index_proximal, USE hanim_r_index_metacarpal,
      USE hanim_r_carpal_distal_phalanx_3, USE hanim_r_middle_middle,
      USE hanim_r_middle_proximal, USE hanim_r_middle_metacarpal,
      USE hanim_r_carpal_distal_phalanx_4, USE hanim_r_ring_middle,
      USE hanim_r_ring_proximal, USE hanim_r_ring_metacarpal,
      USE hanim_r_carpal_distal_phalanx_5, USE hanim_r_pinky_middle,
      USE hanim_r_pinky_proximal, USE hanim_r_pinky_metacarpal,
      USE hanim_r_hand, USE hanim_r_forearm,
      USE hanim_r_upperarm, USE hanim_r_scapula,
      USE hanim_r_clavicle, USE hanim_t1, USE hanim_t6,
      USE hanim_t10, USE hanim_l1, USE hanim_l3, USE hanim_l5,
      USE hanim_sacrum
     ]
     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, LOA‑2"
      "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, LOA‑2"
       info [ "
         HANIM 200x Default Joint Centers, Level-Of-Articulation 2
         ---------------------------------------------------------
         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 modelling 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.6 Level of articulation three

## A.6.1 Definition

LOA‑3 supports the full hierarchy of HAnim. Table A.8 lists the suggested center field values for the joints of LOA‑3. Table A.9 lists the suggested translation field values for the sites of LOA‑3.

Table A.8 — LOA‑3: Suggested Joint objects center values

Joint object | Suggested center value
--- | ---
humanoid_root | 0.0000 0.8240 0.0277
sacroiliac | 0.0000 0.9149 0.0016
l_hip | 0.0961 0.9124 -0.0001
l_knee | 0.1040 0.4867 0.0308
l_talocrural | 0.1101 0.0656 -0.0736
l_tarsotarsal_interphalangeal_ | 0.1086 0.0001 -0.0368
l_metatarsophalangeal_ | 0.1086 0.0001 0.0368
l_tarsal_interphalangeal_ | 0.1086 0.0000 0.0762
r_hip | -0.0950 0.9171 0.0029
r_knee | -0.0867 0.4913 0.0318
r_talocrural | -0.0801 0.0712 -0.0766
r_tarsotarsal_interphalangeal_ | -0.0801 0.0000 -0.0368
r_metatarsophalangeal_ | -0.0801 0.0000 0.0368
r_tarsal_interphalangeal_ | -0.0801 0.0039 0.0732
vl5 | 0.0028 1.0568 -0.0776
vl4 | 0.0035 1.0925 -0.0787
vl3 | 0.0041 1.1276 -0.0796
vl2 | 0.0045 1.1546 -0.0800
vl1 | 0.0048 1.1912 -0.0805
vt12 | 0.0051 1.2278 -0.0808
vt11 | 0.0053 1.2679 -0.0810
vt10 | 0.0056 1.2848 -0.0822
vt9 | 0.0057 1.3126 -0.0838
vt8 | 0.0057 1.3382 -0.0845
vt7 | 0.0058 1.3625 -0.0833
vt6 | 0.0059 1.3866 -0.0800
vt5 | 0.0060 1.4102 -0.0745
vt4 | 0.0061 1.4320 -0.0675
vt3 | 0.0062 1.4583 -0.0570
vt2 | 0.0063 1.4761 -0.0484
vt1 | 0.0065 1.4951 -0.0387
vc7 | 0.0066 1.5132 -0.0301
vc6 | 0.0066 1.5357 -0.0143
vc5 | 0.0066 1.5520 -0.0082
vc4 | 0.0066 1.5662 -0.0084
vc3 | 0.0066 1.5800 -0.0103
vc2 | 0.0066 1.5928 -0.0103
vc1 | 0.0066 1.6144 -0.0034
skullbase | 0.0044 1.6209 0.0236
l_eyeball | 0.0336 1.6332 0.0502
r_eyeball | -0.0236 1.6331 0.0510
l_sternoclavicular | 0.0820 1.4488 -0.0353
l_acromioclavicular | 0.0962 1.4269 -0.0424
l_shoulder | 0.2029 1.4376 -0.0387
l_elbow | 0.2014 1.1357 -0.0682
l_radiocarpal | 0.1984 0.8663 -0.0583
l_carpometacarpal_1 | 0.1924 0.8472 -0.0534
l_metacarpophalangeal_1 | 0.1951 0.8226 0.0246
l_carpal_interphalangeal_1 | 0.1955 0.8159 0.0464
l_carpometacarpal_2 | 0.1983 0.8024 -0.0280
l_metacarpophalangeal_2 | 0.1983 0.7815 -0.0280
l_carpal_proximal_interphalangeal_2 | 0.2017 0.7363 -0.0248
l_carpal_distal_interphalangeal_2 | 0.2028 0.7139 -0.0236
l_carpometacarpal_3 | 0.1987 0.8029 -0.0530
l_metacarpophalangeal_3 | 0.1987 0.7818 -0.0530
l_carpal_proximal_interphalangeal_3 | 0.2013 0.7273 -0.0503
l_carpal_distal_interphalangeal_3 | 0.2026 0.7011 -0.0494
l_carpometacarpal_4 | 0.1956 0.8019 -0.0794
l_metacarpophalangeal_4 | 0.1956 0.7815 -0.0794
l_carpal_proximal_interphalangeal_4 | 0.1973 0.7287 -0.0777
l_carpal_distal_interphalangeal_4 | 0.1983 0.7045 -0.0767
l_carpometacarpal_5 | 0.1925 0.8066 -0.1036
l_metacarpophalangeal_5 | 0.1925 0.7866 -0.1036
l_carpal_proximal_interphalangeal_5 | 0.1938 0.7452 -0.1024
l_carpal_distal_interphalangeal_5 | 0.1948 0.7277 -0.1017
r_sternoclavicular | -0.0694 1.4600 -0.0330
r_acromioclavicular | -0.0836 1.4281 -0.0401
r_shoulder | -0.1907 1.4407 -0.0325
r_elbow | -0.1949 1.1388 -0.0620
r_radiocarpal | -0.1959 0.8694 -0.0521
r_carpometacarpal_1 | -0.1899 0.8502 -0.0473
r_metacarpophalangeal_1 | -0.1874 0.8256 0.0306
r_carpal_interphalangeal_1 | -0.1864 0.8190 0.0506
r_carpometacarpal_2 | -0.1961 0.8055 -0.0218
r_metacarpophalangeal_2 | -0.1961 0.7846 -0.0218
r_carpal_proximal_interphalangeal_2 | -0.1954 0.7393 -0.0185
r_carpal_distal_interphalangeal_2 | -0.1945 0.7169 -0.0173
r_carpometacarpal_3 | -0.1972 0.8060 -0.0468
r_metacarpophalangeal_3 | -0.1972 0.7849 -0.0468
r_carpal_proximal_interphalangeal_3 | -0.1950 0.7304 -0.0441
r_carpal_distal_interphalangeal_3 | -0.1939 0.7042 -0.0432
r_carpometacarpal_4 | -0.1951 0.8049 -0.0732
r_metacarpophalangeal_4 | -0.1951 0.7845 -0.0732
r_carpal_proximal_interphalangeal_4 | -0.1920 0.7318 -0.0716
r_carpal_distal_interphalangeal_4 | -0.1908 0.7077 -0.0706
r_carpometacarpal_5 | -0.1926 0.8096 -0.0975
r_metacarpophalangeal_5 | -0.1926 0.7896 -0.0975
r_carpal_proximal_interphalangeal_5 | -0.1902 0.7483 -0.0963
r_carpal_distal_interphalangeal_5 | -0.1908 0.7540 -0.0960

Table A.9 — LOA‑3: Suggested Site objects translation values

Site object | Suggested translation value
--- | ---
l_tarsal_distal_phalanx_1_tip | 0.1354 0.0016 0.1476
l_tarsal_interphalangeal_phalanx_5 | 0.1825 0.0070 0.0928
l_tarsal_distal_phalanx_2 | 0.1195 0.0079 0.1433
l_tarsal_interphalangeal_phalanx_1 | 0.0816 0.0232 0.0106
l_lateral_malleolus | 0.1308 0.0597 -0.1032
l_medial_malleolus | 0.0890 0.0716 -0.0881
l_sphyrion | 0.0890 0.0575 -0.0943
l_calcaneus_posterior | 0.0974 0.0259 -0.1171
l_knee_crease | 0.0993 0.4881 -0.0309
l_femoral_lateral_epicondyles | 0.1598 0.4967 0.0297
l_femoral_medial_epicondyles | 0.0398 0.4946 0.0303
r_tarsal_distal_phalanx_1_tip | -0.1043 -0.0227 0.1450
r_tarsal_interphalangeal_phalanx_5 | -0.1523 0.0166 0.0895
r_tarsal_distal_phalanx_2 | -0.0883 0.0134 0.1383
r_tarsal_interphalangeal_phalanx_1 | -0.0521 0.0260 0.0127
r_lateral_malleolus | -0.1006 0.0658 -0.1075
r_medial_malleolus | -0.0591 0.0760 -0.0928
r_sphyrion | -0.0603 0.0610 -0.1002
r_calcaneus_posterior | -0.0692 0.0297 -0.1221
r_knee_crease | -0.0825 0.4932 -0.0326
r_femoral_lateral_epicondyles | -0.1421 0.4992 0.0310
r_femoral_medial_epicondyles | -0.0221 0.5014 0.0289
r_iliocristale | -0.1525 1.0628 0.0035
r_trochanterion | -0.1689 0.8419 0.0352
l_iliocristale | 0.1612 1.0537 0.0008
l_trochanterion | 0.1677 0.8336 0.0303
r_asis | -0.0887 1.0021 0.1112
l_asis | 0.0925 0.9983 0.1052
r_psis | -0.0716 1.0190 -0.1138
l_psis | 0.0774 1.0190 -0.1151
crotch | 0.0034 0.8266 0.0257
skull_tip | 0.0050 1.7504 0.0055
sellion | 0.0058 1.6316 0.0852
r_infraorbitale | -0.0237 1.6171 0.0752
l_infraorbitale | 0.0341 1.6171 0.0752
supramenton | 0.0061 1.5410 0.0805
r_tragion | -0.0646 1.6347 0.0302
r_gonion | -0.0520 1.5529 0.0347
l_tragion | 0.0739 1.6348 0.0282
l_gonion | 0.0631 1.5530 0.0330
nuchale | 0.0039 1.5972 -0.0796
r_neck_base | -0.0419 1.5149 -0.0220
l_neck_base | 0.0646 1.5141 -0.0380
l_carpal_distal_phalanx_1_tip | 0.1982 0.8061 0.0759
l_carpal_distal_phalanx_2_tip | 0.2089 0.6858 -0.0245
l_dactylion | 0.2056 0.6743 -0.0482
l_carpal_distal_phalanx_3_tip | 0.2080 0.6731 -0.0491
l_carpal_distal_phalanx_4_tip | 0.2035 0.6750 -0.0756
l_carpal_distal_phalanx_5_tip | 0.2014 0.7009 -0.1012
l_metacarpal_phalanx_2 | 0.2009 0.8139 -0.0237
l_ulnar_styloid | -0.2142 0.8529 -0.0648
l_metacarpal_phalanx_5 | 0.1929 0.7860 -0.1122
l_radial_styloid | 0.1901 0.8645 -0.0415
l_olecranon | -0.1962 1.1375 -0.1123
l_humeral_medial_epicondyles | 0.1735 1.1272 -0.1113
l_radiale | 0.2182 1.1212 -0.1167
l_humeral_lateral_epicondyles | 0.2280 1.1482 -0.1100
l_clavicale | 0.0271 1.4943 0.0394
l_acromion | 0.2032 1.4760 -0.0490
l_axilla_proximal | 0.1777 1.4065 -0.0075
l_axilla_distal | 0.1706 1.4072 -0.0875
r_carpal_distal_phalanx_1_tip | -0.1869 0.8090 0.0820
r_carpal_distal_phalanx_2_tip | -0.1980 0.6883 -0.0180
r_dactylion | -0.1941 0.6772 -0.0423
r_carpal_distal_phalanx_3_tip | -0.1969 0.6758 -0.0427
r_carpal_distal_phalanx_4_tip | -0.1934 0.6778 -0.0693
r_carpal_distal_phalanx_5_tip | -0.1938 0.7035 -0.0949
r_metacarpal_phalanx_2 | -0.1977 0.8169 -0.0177
r_ulnar_styloid | -0.2117 0.8562 -0.0584
r_metacarpal_phalanx_5 | -0.1929 0.7890 -0.1064
r_radial_styloid | -0.1884 0.8676 -0.0360
r_olecranon | -0.1907 1.1405 -0.1065
r_humeral_medial_epicondyles | -0.1680 1.1298 -0.1062
r_radiale | -0.2130 1.1305 -0.1091
r_humeral_lateral_epicondyles | -0.2224 1.1517 -0.1033
r_clavicale | -0.0115 1.4943 0.0400
r_acromion | -0.1905 1.4791 -0.0431
r_axilla_proximal | -0.1626 1.4072 -0.0031
r_axilla_distal | -0.1603 1.4098 -0.0826
suprasternale | 0.0084 1.4714 0.0551
cervicale | 0.0064 1.520 -0.0815
r_thelion | -0.0736 1.3385 0.1217
l_thelion | 0.0918 1.3382 0.1192
substernale | 0.0085 1.2995 0.1147
r_rib10 | -0.0711 1.1941 0.1016
l_rib10 | 0.0871 1.1925 0.0992
spine_2_lower_back | 0.0049 1.1908 -0.1113
waist_preferred_posterior | 0.2900 1.0915 -0.1091
navel | 0.0069 1.0966 0.1017

## A.6.2 Examples

### A.6.2.1 LOA‑3 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_humanoid_root Joint {
       name           "humanoid_root"
       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_talocrural Joint {
               name           "l_talocrural"
               center         0.1101 0.0656 -0.0736
               children [
                DEF hanim_l_tarsotarsal_interphalangeal_ Joint {
                 name           "l_tarsotarsal_interphalangeal_"
                 center         0.1086 0.0001 -0.0368
                 children [
                  DEF hanim_l_metatarsophalangeal_ Joint {
                   name           "l_metatarsophalangeal_"
                   center         0.1086 0.0001 0.0368
                   children [
                    DEF hanim_l_tarsal_interphalangeal_ Joint {
                     name           "l_tarsal_interphalangeal_"
                     center         0.1086 0.0000 0.0762
                     children [
                      DEF hanim_l_tarsal_distal_phalanx_1 Segment {
                       name           "l_tarsal_distal_phalanx_1"
                       children [
                        DEF hanim_l_tarsal_distal_phalanx_1_tip Site {
                         name           "l_tarsal_distal_phalanx_1_tip"
                         translation    0.1354 0.0016 0.1476
                         children [
                         ]
                        }
                        DEF hanim_l_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #66
                         name           "l_tarsal_interphalangeal_phalanx_5"
                         translation    0.1825 0.0070 0.0928
                         children [
                         ]
                        }
                        DEF hanim_l_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #72
                         name           "l_tarsal_distal_phalanx_2"
                         translation    0.1195 0.0079 0.1433
                         children [
                         ]
                        }
                       ]
                      }     # end hanim_l_tarsal_distal_phalanx_1 Segment
                     ]
                    }     # end hanim_l_tarsal_interphalangeal_ Joint
                    DEF hanim_l_middistal Segment {
                     name           "l_middistal"
                     children [
                      DEF hanim_l_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #70
                       name           "l_tarsal_interphalangeal_phalanx_1"
                       translation    0.0816 0.0232 0.0106
                       children [
                       ]
                      }
                     ]
                    }     # end hanim_l_middistal Segment
                   ]
                  }     # end hanim_l_metatarsophalangeal_ Joint
                  DEF hanim_l_midproximal Segment {
                   name           "l_midproximal"
                   children [
                   ]
                  }     # end hanim_l_midproximal Segment
                 ]
                }     # end hanim_l_tarsotarsal_interphalangeal_ 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_calcaneus_posterior Site {     # CAESAR Feature Point #71
                   name           "l_calcaneus_posterior"
                   translation    0.0974 0.0259 -0.1171
                   children [
                   ]
                  }
                 ]
                }     # end hanim_l_hindfoot Segment
               ]
              }     # end hanim_l_talocrural 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_epicondyles Site {     # CAESAR Feature Point #64
               name           "l_femoral_lateral_epicondyles"
               translation    0.1598 0.4967 0.0297
               children [
               ]
              }
              DEF hanim_l_femoral_medial_epicondyles Site {     # CAESAR Feature Point #65
               name           "l_femoral_lateral_epicondyles"
               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_talocrural Joint {
               name           "r_talocrural"
               center         -0.0801 0.0712 -0.0766
               children [
                DEF hanim_r_tarsotarsal_interphalangeal_ Joint {
                 name           "r_tarsotarsal_interphalangeal_"
                 center         -0.0801 0.0000 -0.0368
                 children [
                  DEF hanim_r_metatarsophalangeal_ Joint {
                   name           "r_metatarsophalangeal_"
                   center         -0.0801 0.0000 0.0368
                   children [
                    DEF hanim_r_tarsal_interphalangeal_ Joint {
                     name           "r_tarsal_interphalangeal_"
                     center         -0.0801 0.0039 0.0732
                     children [
                      DEF hanim_r_tarsal_distal_phalanx_1 Segment {
                       name           "r_tarsal_distal_phalanx_1"
                       children [
                        DEF hanim_r_tarsal_distal_phalanx_1_tip Site {
                         name           "r_tarsal_distal_phalanx_1_tip"
                         translation    -0.1043 -0.0227 0.1450
                         children [
                         ]
                        }
                        DEF hanim_r_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #56
                         name           "r_tarsal_interphalangeal_phalanx_5"
                         translation    -0.1523 0.0166 0.0895
                         children [
                         ]
                        }
                        DEF hanim_r_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #62
                         name           "r_tarsal_distal_phalanx_2"
                         translation    -0.0883 0.0134 0.1383
                         children [
                         ]
                        }
                       ]
                      }     # end hanim_r_tarsal_distal_phalanx_1 Segment
                     ]
                    }     # end hanim_r_tarsal_interphalangeal_ Joint
                    DEF hanim_r_middistal Segment {
                     name           "r_middistal"
                     children [
                      DEF hanim_r_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #60
                       name           "r_tarsal_interphalangeal_phalanx_1"
                       translation    -0.0521 0.0260 0.0127
                       children [
                       ]
                      }
                     ]
                    }     # end hanim_r_middistal Segment
                   ]
                  }     # end hanim_r_metatarsophalangeal_ Joint
                  DEF hanim_r_midproximal Segment {
                   name           "r_midproximal"
                   children [
                   ]
                  }     # end hanim_r_midproximal Segment
                 ]
                }
                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_calcaneus_posterior Site {     # CAESAR Feature Point #61
                   name           "r_calcaneus_posterior"
                   translation    -0.0692 0.0297 -0.1221
                   children [
                   ]
                  }
                 ]
                }     # end hanim_r_hindfoot Segment
               ]
              }     # end hanim_r_talocrural 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_epicondyles Site {     # CAESAR Feature Point #54
               name           "r_femoral_lateral_epicondyles"
               translation    -0.1421 0.4992 0.0310
               children [
               ]
              }
              DEF hanim_r_femoral_medial_epicondyles Site {     # CAESAR Feature Point #55
               name           "r_femoral_lateral_epicondyles"
               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 [
            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_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_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_pelvis Segment
         ]
        }     # end hanim_sacroiliac Joint
        DEF hanim_vl5 Joint {
         name           "vl5"
         center         0.0028 1.0568 -0.0776
         children [
          DEF hanim_vl4 Joint {
           name           "vl4"
           center         0.0035 1.0925 -0.0787
           children [
            DEF hanim_vl3 Joint {
             name           "vl3"
             center         0.0041 1.1276 -0.0796
             children [
              DEF hanim_vl2 Joint {
               name           "vl2"
               center         0.0045 1.1546 -0.0800
               children [
                DEF hanim_vl1 Joint {
                 name           "vl1"
                 center         0.0048 1.1912 -0.0805
                 children [
                  DEF hanim_vt12 Joint {
                   name           "vt12"
                   center         0.0051 1.2278 -0.0808
                   children [
                    DEF hanim_vt11 Joint {
                     name           "vt11"
                     center         0.0053 1.2679 -0.0810
                     children [
                      DEF hanim_vt10 Joint {
                       name           "vt10"
                       center         0.0056 1.2848 -0.0822
                       children [
                        DEF hanim_vt9 Joint {
                         name           "vt9"
                         center         0.0057 1.3126 -0.0838
                         children [
                          DEF hanim_vt8 Joint {
                           name           "vt8"
                           center         0.0057 1.3382 -0.0845
                           children [
                            DEF hanim_vt7 Joint {
                             name           "vt7"
                             center         0.0058 1.3625 -0.0833
                             children [
                              DEF hanim_vt6 Joint {
                               name           "vt6"
                               center         0.0059 1.3866 -0.0800
                               children [
                                DEF hanim_vt5 Joint {
                                 name           "vt5"
                                 center         0.0060 1.4102 -0.0745
                                 children [
                                  DEF hanim_vt4 Joint {
                                   name           "vt4"
                                   center         0.0061 1.4320 -0.0675
                                   children [
                                    DEF hanim_vt3 Joint {
                                     name           "vt3"
                                     center         0.0062 1.4583 -0.0570
                                     children [
                                      DEF hanim_vt2 Joint {
                                       name           "vt2"
                                       center         0.0063 1.4761 -0.0484
                                       children [
                                        DEF hanim_vt1 Joint {
                                         name           "vt1"
                                         center         0.0065 1.4951 -0.0387
                                         children [
                                          DEF hanim_vc7 Joint {
                                           name           "vc7"
                                           center         0.0066 1.5132 -0.0301
                                           children [
                                            DEF hanim_vc6 Joint {
                                             name           "vc6"
                                             center         0.0066 1.5357 -0.0143
                                             children [
                                              DEF hanim_vc5 Joint {
                                               name           "vc5"
                                               center         0.0066 1.5520 -0.0082
                                               children [
                                                DEF hanim_vc4 Joint {
                                                 name           "vc4"
                                                 center         0.0066 1.5662 -0.0084
                                                 children [
                                                  DEF hanim_vc3 Joint {
                                                   name           "vc3"
                                                   center         0.0066 1.5800 -0.0103
                                                   children [
                                                    DEF hanim_vc2 Joint {
                                                     name           "vc2"
                                                     center         0.0066 1.5928 -0.0103
                                                     children [
                                                      DEF hanim_vc1 Joint {
                                                       name           "vc1"
                                                       center         0.0066 1.6144 -0.0034
                                                       children [
                                                        DEF hanim_skullbase Joint {
                                                         name           "skullbase"
                                                         center         0.0044 1.6209 0.0236
                                                         children [
                                                          DEF hanim_l_eyeball Joint {
                                                           name           "l_eyeball"
                                                           center         0.0336 1.6332 0.0502
                                                           children [
                                                            DEF hanim_l_eyeball Segment {
                                                             name           "l_eyeball"
                                                             children [
                                                             ]
                                                            }     # end hanim_l_eyeball Segment
                                                           ]
                                                          }     # end hanim_l_eyeball Joint
                                                          DEF hanim_r_eyeball Joint {
                                                           name           "r_eyeball"
                                                           center         -0.0236 1.6331 0.0510
                                                           children [
                                                            DEF hanim_r_eyeball Segment {
                                                             name           "r_eyeball"
                                                             children [
                                                             ]
                                                            }     # end hanim_r_eyeball Segment
                                                           ]
                                                          }     # end hanim_r_eyeball Joint
                                                          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_c1 Segment {
                                                         name           "c1"
                                                         children [
                                                         ]
                                                        }     # end hanim_c1 Segment
                                                       ]
                                                      }     # end hanim_vc1 Joint
                                                      DEF hanim_c2 Segment {
                                                       name           "c2"
                                                       children [
                                                       ]
                                                      }     # end hanim_c2 Segment
                                                     ]
                                                    }     # end hanim_vc2 Joint
                                                    DEF hanim_c3 Segment {
                                                     name           "c3"
                                                     children [
                                                     ]
                                                    }     # end hanim_c3 Segment
                                                   ]
                                                  }     # end hanim_vc3 Joint
                                                  DEF hanim_c4 Segment {
                                                   name           "c4"
                                                   children [
                                                   ]
                                                  }     # end hanim_c4 Segment
                                                 ]
                                                }     # end hanim_vc4 Joint
                                                DEF hanim_c5 Segment {
                                                 name           "c5"
                                                 children [
                                                 ]
                                                }     # end hanim_c5 Segment
                                               ]
                                              }     # end hanim_vc5 Joint
                                              DEF hanim_c6 Segment {
                                               name           "c6"
                                               children [
                                               ]
                                              }     # end hanim_c6 Segment
                                             ]
                                            }     # end hanim_vc6 Joint
                                            DEF hanim_c7 Segment {
                                             name           "c7"
                                             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 [
                                               ]
                                              }
                                             ]
                                            }     # end hanim_c7 Segment
                                           ]
                                          }     # end hanim_vc7 Joint
                                          DEF hanim_l_sternoclavicular Joint {
                                           name           "l_sternoclavicular"
                                           center         0.0820 1.4488 -0.0353
                                           children [
                                            DEF hanim_l_acromioclavicular Joint {
                                             name           "l_acromioclavicular"
                                             center         0.0962 1.4269 -0.0424
                                             children [
                                              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_radiocarpal Joint {
                                                   name           "l_radiocarpal"
                                                   center         0.1984 0.8663 -0.0583
                                                   children [
                                                    DEF hanim_l_carpometacarpal_1 Joint {
                                                     name           "l_carpometacarpal_1"
                                                     center         0.1924 0.8472 -0.0534
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_1 Joint {
                                                       name           "l_metacarpophalangeal_1"
                                                       center         0.1951 0.8226 0.0246
                                                       children [
                                                        DEF hanim_l_carpal_interphalangeal_1 Joint {
                                                         name           "l_carpal_interphalangeal_1"
                                                         center         0.1955 0.8159 0.0464
                                                         children [
                                                          DEF hanim_l_carpal_distal_phalanx_1 Segment {
                                                           name           "l_carpal_distal_phalanx_1"
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_1_tip Site {
                                                             name           "l_carpal_distal_phalanx_1_tip"
                                                             translation    0.1982 0.8061 0.0759
                                                             children [
                                                             ]
                                                            }
                                                           ]
                                                          }     # end hanim_l_carpal_distal_phalanx_1 Segment
                                                         ]
                                                        }     # end hanim_l_carpal_interphalangeal_1 Joint
                                                        DEF hanim_l_index_proximal Segment {
                                                         name           "l_index_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_thumb_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_1 Joint
                                                      DEF hanim_l_index_proximal Segment {
                                                       name           "l_index_proximal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_thumb_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_1 Joint
                                                    DEF hanim_l_carpometacarpal_2 Joint {
                                                     name           "l_carpometacarpal_2"
                                                     center         0.1983 0.8024 -0.0280
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_2 Joint {
                                                       name           "l_metacarpophalangeal_2"
                                                       center         0.1983 0.7815 -0.0280
                                                       children [
                                                        DEF hanim_l_carpal_proximal_interphalangeal_2 Joint {
                                                         name           "l_carpal_proximal_interphalangeal_2"
                                                         center         0.2017 0.7363 -0.0248
                                                         children [
                                                          DEF hanim_l_carpal_distal_interphalangeal_2 Joint {
                                                           name           "l_carpal_distal_interphalangeal_2"
                                                           center         0.2028 0.7139 -0.0236
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_2 Segment {
                                                             name           "l_carpal_distal_phalanx_2"
                                                             children [
                                                              DEF hanim_l_carpal_distal_phalanx_2_tip Site {
                                                               name           "l_carpal_distal_phalanx_2_tip"
                                                               translation    0.2089 0.6858 -0.0245
                                                               children [
                                                               ]
                                                              }
                                                              DEF hanim_l_dactylion Site {     # CAESAR Feature Point #50
                                                               name           "l_dactylion"
                                                               translation    0.2056 0.6743 -0.0482
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_l_carpal_distal_phalanx_2 Segment
                                                           ]
                                                          }     # end hanim_l_carpal_distal_interphalangeal_2 Joint
                                                          DEF hanim_l_index_middle Segment {
                                                           name           "l_index_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_l_index_middle Segment
                                                         ]
                                                        }     # end hanim_l_carpal_proximal_interphalangeal_2 Joint
                                                        DEF hanim_l_index_proximal Segment {
                                                         name           "l_index_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_index_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_2 Joint
                                                      DEF hanim_l_index_metacarpal Segment {
                                                       name           "l_index_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_index_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_2 Joint
                                                    DEF hanim_l_carpometacarpal_3 Joint {
                                                     name           "l_carpometacarpal_3"
                                                     center         0.1987 0.8029 -0.0530
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_3 Joint {
                                                       name           "l_metacarpophalangeal_3"
                                                       center         0.1987 0.7818 -0.0530
                                                       children [
                                                        DEF hanim_l_carpal_proximal_interphalangeal_3 Joint {
                                                         name           "l_carpal_proximal_interphalangeal_3"
                                                         center         0.2013 0.7273 -0.0503
                                                         children [
                                                          DEF hanim_l_carpal_distal_interphalangeal_3 Joint {
                                                           name           "l_carpal_distal_interphalangeal_3"
                                                           center         0.2026 0.7011 -0.0494
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_3 Segment {
                                                             name           "l_carpal_distal_phalanx_3"
                                                             children [
                                                              DEF hanim_l_carpal_distal_phalanx_3_tip Site {
                                                               name           "l_carpal_distal_phalanx_3_tip"
                                                               translation    0.2080 0.6731 -0.0491
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_l_carpal_distal_phalanx_3 Segment
                                                           ]
                                                          }     # end hanim_l_carpal_distal_interphalangeal_3 Joint
                                                          DEF hanim_l_middle_middle Segment {
                                                           name           "l_middle_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_l_middle_middle Segment
                                                         ]
                                                        }     # end hanim_l_carpal_proximal_interphalangeal_3 Joint
                                                        DEF hanim_l_middle_proximal Segment {
                                                         name           "l_middle_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_middle_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_3 Joint
                                                      DEF hanim_l_middle_metacarpal Segment {
                                                       name           "l_middle_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_middle_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_3 Joint
                                                    DEF hanim_l_carpometacarpal_4 Joint {
                                                     name           "l_carpometacarpal_4"
                                                     center         0.1956 0.8019 -0.0794
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_4 Joint {
                                                       name           "l_metacarpophalangeal_4"
                                                       center         0.1956 0.7815 -0.0794
                                                       children [
                                                        DEF hanim_l_carpal_proximal_interphalangeal_4 Joint {
                                                         name           "l_carpal_proximal_interphalangeal_4"
                                                         center         0.1973 0.7287 -0.0777
                                                         children [
                                                          DEF hanim_l_carpal_distal_interphalangeal_4 Joint {
                                                           name           "l_carpal_distal_interphalangeal_4"
                                                           center         0.1983 0.7045 -0.0767
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_4 Segment {
                                                             name           "l_carpal_distal_phalanx_4"
                                                             children [
                                                              DEF hanim_l_carpal_distal_phalanx_4_tip Site {
                                                               name           "l_carpal_distal_phalanx_4_tip"
                                                               translation    0.2035 0.6750 -0.0756
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_l_carpal_distal_phalanx_4 Segment
                                                           ]
                                                          }     # end hanim_l_carpal_distal_interphalangeal_4 Joint
                                                          DEF hanim_l_ring_middle Segment {
                                                           name           "l_ring_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_l_ring_middle Segment
                                                         ]
                                                        }     # end hanim_l_carpal_proximal_interphalangeal_4 Joint
                                                        DEF hanim_l_ring_proximal Segment {
                                                         name           "l_ring_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_ring_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_4 Joint
                                                      DEF hanim_l_ring_metacarpal Segment {
                                                       name           "l_ring_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_ring_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_4 Joint
                                                    DEF hanim_l_carpometacarpal_5 Joint {
                                                     name           "l_carpometacarpal_5"
                                                     center         0.1925 0.8066 -0.1036
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_5 Joint {
                                                       name           "l_metacarpophalangeal_5"
                                                       center         0.1925 0.7866 -0.1036
                                                       children [
                                                        DEF hanim_l_carpal_proximal_interphalangeal_5 Joint {
                                                         name           "l_carpal_proximal_interphalangeal_5"
                                                         center         0.1938 0.7452 -0.1024
                                                         children [
                                                          DEF hanim_l_carpal_distal_interphalangeal_5 Joint {
                                                           name           "l_carpal_distal_interphalangeal_5"
                                                           center         0.1948 0.7277 -0.1017
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_5 Segment {
                                                             name           "l_carpal_distal_phalanx_5"
                                                             children [
                                                              DEF hanim_l_carpal_distal_phalanx_5_tip Site {
                                                               name           "l_carpal_distal_phalanx_5_tip"
                                                               translation    0.2014 0.7009 -0.1012
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_l_carpal_distal_phalanx_5 Segment
                                                           ]
                                                          }     # end hanim_l_carpal_distal_interphalangeal_5 Joint
                                                          DEF hanim_l_pinky_middle Segment {
                                                           name           "l_pinky_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_l_pinky_middle Segment
                                                         ]
                                                        }     # end hanim_l_carpal_proximal_interphalangeal_5 Joint
                                                        DEF hanim_l_pinky_proximal Segment {
                                                         name           "l_pinky_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_pinky_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_5 Joint
                                                      DEF hanim_l_pinky_metacarpal Segment {
                                                       name           "l_pinky_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_pinky_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_5 Joint
                                                    DEF hanim_l_hand Segment {
                                                     name           "l_hand"
                                                     children [
                                                      DEF hanim_l_metacarpal_phalanx_2 Site {     # CAESAR Feature Point #49
                                                       name           "l_metacarpal_phalanx_2"
                                                       translation    0.2009 0.8139 -0.0237
                                                       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_phalanx_5 Site {     # CAESAR Feature Point #52
                                                       name           "l_metacarpal_phalanx_5"
                                                       translation    0.1929 0.7860 -0.1122
                                                       children [
                                                       ]
                                                      }
                                                     ]
                                                    }     # end hanim_l_hand Segment
                                                   ]
                                                  }     # end hanim_l_radiocarpal 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_epicondyles Site {     # CAESAR Feature Point #47
                                                     name           "l_humeral_medial_epicondyles"
                                                     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_epicondyles Site {     # CAESAR Feature Point #46
                                                   name           "l_humeral_lateral_epicondyles "
                                                   translation    0.2280 1.1482 -0.1100
                                                   children [
                                                   ]
                                                  }
                                                 ]
                                                }     # end hanim_l_upperarm Segment
                                               ]
                                              }     # end hanim_l_shoulder Joint
                                              DEF hanim_l_scapula Segment {
                                               name           "l_scapula"
                                               children [
                                               ]
                                              }     # end hanim_l_scapula Segment
                                             ]
                                            }     # end hanim_l_acromioclavicular Joint
                                            DEF hanim_l_clavicle Segment {
                                             name           "l_clavicle"
                                             children [
                                              DEF hanim_l_clavicale Site {     # CAESAR Feature Point #12
                                               name           "l_clavicale"
                                               translation    0.0271 1.4943 0.0394
                                               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_proximal Site {     # CAESAR Feature Point #42
                                               name           "l_axilla_proximal"
                                               translation    0.1777 1.4065 -0.0075
                                               children [
                                               ]
                                              }
                                              DEF hanim_l_axilla_distal Site {     # CAESAR Feature Point #44
                                               name           "l_axilla_distal"
                                               translation    0.1706 1.4072 -0.0875
                                               children [
                                               ]
                                              }
                                             ]
                                            }     # end hanim_l_clavicle Segment
                                           ]
                                          }     # end hanim_l_sternoclavicular Joint
                                          DEF hanim_r_sternoclavicular Joint {
                                           name           "r_sternoclavicular"
                                           center         -0.0694 1.4600 -0.0330
                                           children [
                                            DEF hanim_r_acromioclavicular Joint {
                                             name           "r_acromioclavicular"
                                             center         -0.0836 1.4281 -0.0401
                                             children [
                                              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_radiocarpal Joint {
                                                   name           "r_radiocarpal"
                                                   center         -0.1959 0.8694 -0.0521
                                                   children [
                                                    DEF hanim_r_carpometacarpal_1 Joint {
                                                     name           "r_carpometacarpal_1"
                                                     center         -0.1899 0.8502 -0.0473
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_1 Joint {
                                                       name           "r_metacarpophalangeal_1"
                                                       center         -0.1874 0.8256 0.0306
                                                      children [
                                                        DEF hanim_r_carpal_interphalangeal_1 Joint {
                                                         name           "r_carpal_interphalangeal_1"
                                                         center         -0.1864 0.8190 0.0506
                                                         children [
                                                          DEF hanim_r_carpal_distal_phalanx_1 Segment {
                                                           name           "r_carpal_distal_phalanx_1"
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_1_tip Site {
                                                             name           "r_carpal_distal_phalanx_1_tip"
                                                             translation    -0.1869 0.8090 0.0820
                                                             children [
                                                             ]
                                                            }
                                                           ]
                                                          }     # end hanim_r_carpal_distal_phalanx_1 Segment
                                                         ]
                                                        }     # end hanim_r_carpal_interphalangeal_1 Joint
                                                        DEF hanim_r_index_proximal Segment {
                                                         name           "r_index_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_thumb_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_1 Joint
                                                      DEF hanim_r_index_proximal Segment {
                                                       name           "r_index_proximal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_thumb_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_1 Joint
                                                    DEF hanim_r_carpometacarpal_2 Joint {
                                                     name           "r_carpometacarpal_2"
                                                     center         -0.1961 0.8055 -0.0218
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_2 Joint {
                                                       name           "r_metacarpophalangeal_2"
                                                       center         -0.1961 0.7846 -0.0218
                                                       children [
                                                        DEF hanim_r_carpal_proximal_interphalangeal_2 Joint {
                                                         name           "r_carpal_proximal_interphalangeal_2"
                                                         center         -0.1954 0.7393 -0.0185
                                                         children [
                                                          DEF hanim_r_carpal_distal_interphalangeal_2 Joint {
                                                           name           "r_carpal_distal_interphalangeal_2"
                                                           center         -0.1945 0.7169 -0.0173
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_2 Segment {
                                                             name           "r_carpal_distal_phalanx_2"
                                                             children [
                                                              DEF hanim_r_carpal_distal_phalanx_2_tip Site {
                                                               name           "r_carpal_distal_phalanx_2_tip"
                                                               translation    -0.1980 0.6883 -0.0180
                                                               children [
                                                               ]
                                                              }
                                                              DEF hanim_r_dactylion Site {     # CAESAR Feature Point #38
                                                               name           "r_dactylion"
                                                               translation    -0.1941 0.6772 -0.0423
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_r_carpal_distal_phalanx_2 Segment
                                                           ]
                                                          }     # end hanim_r_carpal_distal_interphalangeal_2 Joint
                                                          DEF hanim_r_index_middle Segment {
                                                           name           "r_index_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_r_index_middle Segment
                                                         ]
                                                        }     # end hanim_r_carpal_proximal_interphalangeal_2 Joint
                                                        DEF hanim_r_index_proximal Segment {
                                                         name           "r_index_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_index_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_2 Joint
                                                      DEF hanim_r_index_metacarpal Segment {
                                                       name           "r_index_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_index_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_2 Joint
                                                    DEF hanim_r_carpometacarpal_3 Joint {
                                                     name           "r_carpometacarpal_3"
                                                     center         -0.1972 0.8060 -0.0468
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_3 Joint {
                                                       name           "r_metacarpophalangeal_3"
                                                       center         -0.1972 0.7849 -0.0468
                                                       children [
                                                        DEF hanim_r_carpal_proximal_interphalangeal_3 Joint {
                                                         name           "r_carpal_proximal_interphalangeal_3"
                                                         center         -0.1950 0.7304 -0.0441
                                                         children [
                                                          DEF hanim_r_carpal_distal_interphalangeal_3 Joint {
                                                           name           "r_carpal_distal_interphalangeal_3"
                                                           center         -0.1939 0.7042 -0.0432
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_3 Segment {
                                                             name           "r_carpal_distal_phalanx_3"
                                                             children [
                                                              DEF hanim_r_carpal_distal_phalanx_3_tip Site {
                                                               name           "r_carpal_distal_phalanx_3_tip"
                                                               translation    -0.1969 0.6758 -0.0427
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_r_carpal_distal_phalanx_3 Segment
                                                           ]
                                                          }     # end hanim_r_carpal_distal_interphalangeal_3 Joint
                                                          DEF hanim_r_middle_middle Segment {
                                                           name           "r_middle_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_r_middle_middle Segment
                                                         ]
                                                        }     # end hanim_r_carpal_proximal_interphalangeal_3 Joint
                                                        DEF hanim_r_middle_proximal Segment {
                                                         name           "r_middle_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_middle_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_3 Joint
                                                      DEF hanim_r_middle_metacarpal Segment {
                                                       name           "r_middle_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_middle_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_3 Joint
                                                    DEF hanim_r_carpometacarpal_4 Joint {
                                                     name           "r_carpometacarpal_4"
                                                     center         -0.1951 0.8049 -0.0732
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_4 Joint {
                                                       name           "r_metacarpophalangeal_4"
                                                       center         -0.1951 0.7845 -0.0732
                                                       children [
                                                        DEF hanim_r_carpal_proximal_interphalangeal_4 Joint {
                                                         name           "r_carpal_proximal_interphalangeal_4"
                                                         center         -0.1920 0.7318 -0.0716
                                                         children [
                                                          DEF hanim_r_carpal_distal_interphalangeal_4 Joint {
                                                           name           "r_carpal_distal_interphalangeal_4"
                                                           center         -0.1908 0.7077 -0.0706
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_4 Segment {
                                                             name           "r_carpal_distal_phalanx_4"
                                                             children [
                                                              DEF hanim_r_carpal_distal_phalanx_4_tip Site {
                                                               name           "r_carpal_distal_phalanx_4_tip"
                                                               translation    -0.1934 0.6778 -0.0693
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_r_carpal_distal_phalanx_4 Segment
                                                           ]
                                                          }     # end hanim_r_carpal_distal_interphalangeal_4 Joint
                                                          DEF hanim_r_ring_middle Segment {
                                                           name           "r_ring_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_r_ring_middle Segment
                                                         ]
                                                        }     # end hanim_r_carpal_proximal_interphalangeal_4 Joint
                                                        DEF hanim_r_ring_proximal Segment {
                                                         name           "r_ring_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_ring_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_4 Joint
                                                      DEF hanim_r_ring_metacarpal Segment {
                                                       name           "r_ring_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_ring_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_4 Joint
                                                    DEF hanim_r_carpometacarpal_5 Joint {
                                                     name           "r_carpometacarpal_5"
                                                     center         -0.1926 0.8096 -0.0975
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_5 Joint {
                                                       name           "r_metacarpophalangeal_5"
                                                       center         -0.1926 0.7896 -0.0975
                                                       children [
                                                        DEF hanim_r_carpal_proximal_interphalangeal_5 Joint {
                                                         name           "r_carpal_proximal_interphalangeal_5"
                                                         center         -0.1902 0.7483 -0.0963
                                                         children [
                                                          DEF hanim_r_carpal_distal_interphalangeal_5 Joint {
                                                           name           "r_carpal_distal_interphalangeal_5"
                                                           center         -0.1908 0.7540 -0.0960
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_5 Segment {
                                                             name           "r_carpal_distal_phalanx_5"
                                                             children [
                                                              DEF hanim_r_carpal_distal_phalanx_5_tip Site {
                                                               name           "r_carpal_distal_phalanx_5_tip"
                                                               translation    -0.1938 0.7035 -0.0949
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_r_carpal_distal_phalanx_5 Segment
                                                           ]
                                                          }     # end hanim_r_carpal_distal_interphalangeal_5 Joint
                                                          DEF hanim_r_pinky_middle Segment {
                                                           name           "r_pinky_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_r_pinky_middle Segment
                                                         ]
                                                        }     # end hanim_r_carpal_proximal_interphalangeal_5 Joint
                                                        DEF hanim_r_pinky_proximal Segment {
                                                         name           "r_pinky_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_pinky_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_5 Joint
                                                      DEF hanim_r_pinky_metacarpal Segment {
                                                       name           "r_pinky_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_pinky_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_5 Joint
                                                    DEF hanim_r_hand Segment {
                                                     name           "r_hand"
                                                     children [
                                                      DEF hanim_r_metacarpal_phalanx_2 Site {     # CAESAR Feature Point #37
                                                       name           "r_metacarpal_phalanx_2"
                                                       translation    -0.1977 0.8169 -0.0177
                                                       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_phalanx_5 Site {     # CAESAR Feature Point #40
                                                       name           "r_metacarpal_phalanx_5"
                                                       translation    -0.1929 0.7890 -0.1064
                                                       children [
                                                       ]
                                                      }
                                                     ]
                                                    }     # end hanim_r_hand Segment
                                                   ]
                                                  }     # end hanim_r_radiocarpal 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_epicondyles Site {     # CAESAR Feature Point #35
                                                     name           "r_humeral_medial_epicondyles"
                                                     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_epicondyles Site {     # CAESAR Feature Point #34
                                                   name           "r_humeral_lateral_epicondyles"
                                                   translation    -0.2224 1.1517 -0.1033
                                                   children [
                                                   ]
                                                  }
                                                 ]
                                                }     # end hanim_r_upperarm Segment
                                               ]
                                              }     # end hanim_r_shoulder Joint
                                              DEF hanim_r_scapula Segment {
                                               name           "r_scapula"
                                               children [
                                               ]
                                              }     # end hanim_r_scapula Segment
                                             ]
                                            }     # end hanim_r_acromioclavicular Joint
                                            DEF hanim_r_clavicle Segment {
                                             name           "r_clavicle"
                                             children [
                                              DEF hanim_r_clavicale Site {     # CAESAR Feature Point #10
                                               name           "r_clavicale"
                                               translation    -0.0115 1.4943 0.0400
                                               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_proximal Site {     # CAESAR Feature Point #30
                                               name           "r_axilla_proximal"
                                               translation    -0.1626 1.4072 -0.0031
                                               children [
                                               ]
                                              }
                                              DEF hanim_r_axilla_distal Site {     # CAESAR Feature Point #32
                                               name           "r_axilla_distal"
                                               translation    -0.1603 1.4098 -0.0826
                                               children [
                                               ]
                                              }
                                             ]
                                            }     # end hanim_r_clavicle Segment
                                           ]
                                          }     # end hanim_r_sternoclavicular Joint
                                          DEF hanim_t1 Segment {
                                           name           "t1"
                                           children [
                                            DEF hanim_suprasternale Site {     # CAESAR Feature Point #11
                                             name           "suprasternale"
                                             translation    0.0084 1.4714 0.0551
                                             children [
                                             ]
                                            }
                                            DEF hanim_cervicale Site {     # CAESAR Feature Point #24
                                             name           "cervicale"
                                             translation    0.0064 1.520 -0.0815
                                             children [
                                             ]
                                            }
                                           ]
                                          }     # end hanim_t1 Segment
                                         ]
                                        }     # end hanim_vt1 Joint
                                        DEF hanim_t2 Segment {
                                         name           "t2"
                                         children [
                                         ]
                                        }     # end hanim_t2 Segment
                                       ]
                                      }     # end hanim_vt2 Joint
                                      DEF hanim_t3 Segment {
                                       name           "t3"
                                       children [
                                       ]
                                      }     # end hanim_t3 Segment
                                     ]
                                    }     # end hanim_vt3 Joint
                                    DEF hanim_t4 Segment {
                                     name           "t4"
                                     children [
                                     ]
                                    }     # end hanim_t4 Segment
                                   ]
                                  }     # end hanim_vt4 Joint
                                  DEF hanim_t5 Segment {
                                   name           "t5"
                                   children [
                                   ]
                                  }     # end hanim_t5 Segment
                                 ]
                                }     # end hanim_vt5 Joint
                                DEF hanim_t6 Segment {
                                 name           "t6"
                                 children [
                                 ]
                                }     # end hanim_t6 Segment
                               ]
                              }     # end hanim_vt6 Joint
                              DEF hanim_t7 Segment {
                               name           "t7"
                               children [
                               ]
                              }     # end hanim_t7 Segment
                             ]
                            }     # end hanim_vt7 Joint
                            DEF hanim_t8 Segment {
                             name           "t8"
                             children [
                             ]
                            }     # end hanim_t8 Segment
                           ]
                          }     # end hanim_vt8 Joint
                          DEF hanim_t9 Segment {
                           name           "t9"
                           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 [
                             ]
                            }
                           ]
                          }      # end hanim_t9 Segment
                         ]
                        }     # end hanim_vt9 Joint
                        DEF hanim_t10 Segment {
                         name           "t10"
                         children [
                          DEF hanim_substernale Site {     # CAESAR Feature Point #15
                           name           "substernale"
                           translation    0.0085 1.2995 0.1147
                           children [
                           ]
                          }
                         ]
                        }      # end hanim_t10 Segment
                       ]
                      }     # end hanim_vt10 Joint
                      DEF hanim_t11 Segment {
                       name           "t11"
                       children [
                       ]
                      }     # end hanim_t11 Segment
                     ]
                    }     # end hanim_vt11 Joint
                    DEF hanim_t12 Segment {
                     name           "t12"
                     children [
                     ]
                    }     # end hanim_t12 Segment
                   ]
                  }     # end hanim_vt12 Joint
                  DEF hanim_l1 Segment {
                   name           "l1"
                   children [
                   ]
                  }     # end hanim_l1 Segment
                 ]
                }     # end hanim_vl1 Joint
                DEF hanim_l2 Segment {
                 name           "l2"
                 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_spine_2_lower_back Site {     # CAESAR Feature Point #25
                   name           "spine_2_lower_back"
                   translation    0.0049 1.1908 -0.1113
                   children [
                   ]
                  }
                 ]
                }     # end hanim_l2 Segment
               ]
              }     # end hanim_vl2 Joint
              DEF hanim_l3 Segment {
               name           "l3"
               children [
               ]
              }     # end hanim_l3 Segment
             ]
            }     # end hanim_vl3 Joint
            DEF hanim_l4 Segment {
             name           "l4"
             children [
             ]
            }     # end hanim_l4 Segment
           ]
          }     # end hanim_vl4 Joint
          DEF hanim_l5 Segment {
           name           "l5"
           children [
            DEF hanim_waist_preferred_posterior Site {     # CAESAR Feature Point #28
             name           "waist_preferred_posterior "
             translation    0.2900 1.0915 -0.1091
             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 [
         ]
        }     # end hanim_sacrum Segment
       ]
      }     # end hanim_humanoid_root Joint
     ]
     joints [
      USE hanim_humanoid_root, USE hanim_sacroiliac, USE hanim_l_hip,
      USE hanim_l_knee, USE hanim_l_talocrural, USE hanim_l_tarsotarsal_interphalangeal_,
      USE hanim_l_metatarsophalangeal_, USE hanim_l_tarsal_interphalangeal_, USE hanim_r_hip,
      USE hanim_r_knee, USE hanim_r_talocrural, USE hanim_r_tarsotarsal_interphalangeal_,
      USE hanim_r_metatarsophalangeal_, USE hanim_r_tarsal_interphalangeal_, USE hanim_vl5,
      USE hanim_vl4, USE hanim_vl3, USE hanim_vl2, USE hanim_vl1,
      USE hanim_vt12, USE hanim_vt11, USE hanim_vt10, USE hanim_vt9,
      USE hanim_vt8, USE hanim_vt7, USE hanim_vt6, USE hanim_vt5,
      USE hanim_vt4, USE hanim_vt3, USE hanim_vt2, USE hanim_vt1,
      USE hanim_vc7, USE hanim_vc6, USE hanim_vc5, USE hanim_vc4,
      USE hanim_vc3, USE hanim_vc2, USE hanim_vc1, USE hanim_skullbase,
      USE hanim_l_eyeball, USE hanim_r_eyeball,
      USE hanim_l_sternoclavicular, USE hanim_l_acromioclavicular,
      USE hanim_l_shoulder, USE hanim_l_elbow, USE hanim_l_radiocarpal,
      USE hanim_l_carpometacarpal_1, USE hanim_l_metacarpophalangeal_1, USE hanim_l_carpal_interphalangeal_1,
      USE hanim_l_carpometacarpal_2, USE hanim_l_metacarpophalangeal_2, USE hanim_l_carpal_proximal_interphalangeal_2,
      USE hanim_l_carpal_distal_interphalangeal_2, USE hanim_l_carpometacarpal_3, USE hanim_l_metacarpophalangeal_3,
      USE hanim_l_carpal_proximal_interphalangeal_3, USE hanim_l_carpal_distal_interphalangeal_3, USE hanim_l_carpometacarpal_4,
      USE hanim_l_metacarpophalangeal_4, USE hanim_l_carpal_proximal_interphalangeal_4, USE hanim_l_carpal_distal_interphalangeal_4,
      USE hanim_l_carpometacarpal_5, USE hanim_l_metacarpophalangeal_5, USE hanim_l_carpal_proximal_interphalangeal_5,
      USE hanim_l_carpal_distal_interphalangeal_5, USE hanim_r_sternoclavicular,
      USE hanim_r_acromioclavicular, USE hanim_r_shoulder,
      USE hanim_r_elbow, USE hanim_r_radiocarpal, USE hanim_r_carpometacarpal_1,
      USE hanim_r_metacarpophalangeal_1, USE hanim_r_carpal_interphalangeal_1, USE hanim_r_carpometacarpal_2,
      USE hanim_r_metacarpophalangeal_2, USE hanim_r_carpal_proximal_interphalangeal_2, USE hanim_r_carpal_distal_interphalangeal_2,
      USE hanim_r_carpometacarpal_3, USE hanim_r_metacarpophalangeal_3, USE hanim_r_carpal_proximal_interphalangeal_3,
      USE hanim_r_carpal_distal_interphalangeal_3, USE hanim_r_carpometacarpal_4, USE hanim_r_metacarpophalangeal_4,
      USE hanim_r_carpal_proximal_interphalangeal_4, USE hanim_r_carpal_distal_interphalangeal_4, USE hanim_r_carpometacarpal_5,
      USE hanim_r_metacarpophalangeal_5, USE hanim_r_carpal_proximal_interphalangeal_5, USE hanim_r_carpal_distal_interphalangeal_5
     ]
     sites [
      USE hanim_l_tarsal_distal_phalanx_1_tip, USE hanim_l_tarsal_interphalangeal_phalanx_5,
      USE hanim_l_tarsal_distal_phalanx_2, USE hanim_l_tarsal_interphalangeal_phalanx_1,
      USE hanim_l_lateral_malleolus, USE hanim_l_medial_malleolus,
      USE hanim_l_sphyrion, USE hanim_l_calcaneus_posterior,
      USE hanim_l_knee_crease, USE hanim_l_femoral_lateral_epicondyles,
      USE hanim_l_femoral_medial_epicondyles, USE hanim_r_tarsal_distal_phalanx_1_tip,
      USE hanim_r_tarsal_interphalangeal_phalanx_5, USE hanim_r_tarsal_distal_phalanx_2,
      USE hanim_r_tarsal_interphalangeal_phalanx_1, USE hanim_r_lateral_malleolus,
      USE hanim_r_medial_malleolus, USE hanim_r_sphyrion,
      USE hanim_r_calcaneus_posterior, USE hanim_r_knee_crease,
      USE hanim_r_femoral_lateral_epicondyles, USE hanim_r_femoral_medial_epicondyles,
      USE hanim_r_iliocristale, USE hanim_r_trochanterion,
      USE hanim_l_iliocristale, USE hanim_l_trochanterion,  USE hanim_r_asis,
      USE hanim_l_asis, USE hanim_r_psis, USE hanim_l_psis,
      USE hanim_crotch, 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_neck_base,
      USE hanim_l_neck_base, USE hanim_l_carpal_distal_phalanx_1_tip,
      USE hanim_l_carpal_distal_phalanx_2_tip, USE hanim_l_dactylion,
      USE hanim_l_carpal_distal_phalanx_3_tip, USE hanim_l_carpal_distal_phalanx_4_tip,
      USE hanim_l_carpal_distal_phalanx_5_tip, USE hanim_l_metacarpal_phalanx_2,
      USE hanim_l_ulnar_styloid, USE hanim_l_metacarpal_phalanx_5,
      USE hanim_l_radial_styloid, USE hanim_l_olecranon,
      USE hanim_l_humeral_medial_epicondyles, USE hanim_l_radiale,
      USE hanim_l_humeral_lateral_epicondyles, USE hanim_l_clavicale,
      USE hanim_l_acromion, USE hanim_l_axilla_proximal,
      USE hanim_l_axilla_distal, USE hanim_r_carpal_distal_phalanx_1_tip,
      USE hanim_r_carpal_distal_phalanx_2_tip, USE hanim_r_dactylion,
      USE hanim_r_carpal_distal_phalanx_3_tip, USE hanim_r_carpal_distal_phalanx_4_tip,
      USE hanim_r_carpal_distal_phalanx_5_tip, USE hanim_r_metacarpal_phalanx_2,
      USE hanim_r_ulnar_styloid, USE hanim_r_metacarpal_phalanx_5,
      USE hanim_r_radial_styloid, USE hanim_r_olecranon,
      USE hanim_r_humeral_medial_epicondyles, USE hanim_r_radiale,
      USE hanim_r_humeral_lateral_epicondyles, USE hanim_r_clavicale,
      USE hanim_r_acromion, USE hanim_r_axilla_proximal,
      USE hanim_r_axilla_distal, USE hanim_suprasternale,
      USE hanim_cervicale, USE hanim_r_thelion,
      USE hanim_l_thelion, USE hanim_substernale,
      USE hanim_r_rib10, USE hanim_l_rib10,
      USE hanim_spine_2_lower_back, USE hanim_waist_preferred_posterior,
      USE hanim_navel
     ]
     segments [
      USE hanim_l_tarsal_distal_phalanx_1, USE hanim_l_middistal, USE hanim_l_midproximal,
      USE hanim_l_hindfoot, USE hanim_l_calf, USE hanim_l_thigh,
      USE hanim_r_tarsal_distal_phalanx_1, USE hanim_r_middistal, USE hanim_r_midproximal,
      USE hanim_r_hindfoot, USE hanim_r_calf, USE hanim_r_thigh,
      USE hanim_pelvis, USE hanim_l_eyeball, USE hanim_r_eyeball,
      USE hanim_skull, USE hanim_c1, USE hanim_c2, USE hanim_c3,
      USE hanim_c4, USE hanim_c5, USE hanim_c6, USE hanim_c7,
      USE hanim_l_carpal_distal_phalanx_1, USE hanim_l_index_proximal,
      USE hanim_l_index_proximal, USE hanim_l_carpal_distal_phalanx_2,
      USE hanim_l_index_middle, USE hanim_l_index_proximal,
      USE hanim_l_index_metacarpal, USE hanim_l_carpal_distal_phalanx_3,
      USE hanim_l_middle_middle, USE hanim_l_middle_proximal,
      USE hanim_l_middle_metacarpal, USE hanim_l_carpal_distal_phalanx_4,
      USE hanim_l_ring_middle, USE hanim_l_ring_proximal,
      USE hanim_l_ring_metacarpal, USE hanim_l_carpal_distal_phalanx_5,
      USE hanim_l_pinky_middle, USE hanim_l_pinky_proximal,
      USE hanim_l_pinky_metacarpal, USE hanim_l_hand, USE hanim_l_forearm,
      USE hanim_l_upperarm, USE hanim_l_scapula, USE hanim_l_clavicle,
      USE hanim_r_carpal_distal_phalanx_1, USE hanim_r_index_proximal,
      USE hanim_r_index_proximal, USE hanim_r_carpal_distal_phalanx_2,
      USE hanim_r_index_middle, USE hanim_r_index_proximal,
      USE hanim_r_index_metacarpal, USE hanim_r_carpal_distal_phalanx_3,
      USE hanim_r_middle_middle, USE hanim_r_middle_proximal,
      USE hanim_r_middle_metacarpal, USE hanim_r_carpal_distal_phalanx_4,
      USE hanim_r_ring_middle, USE hanim_r_ring_proximal,
      USE hanim_r_ring_metacarpal, USE hanim_r_carpal_distal_phalanx_5,
      USE hanim_r_pinky_middle, USE hanim_r_pinky_proximal,
      USE hanim_r_pinky_metacarpal, USE hanim_r_hand, USE hanim_r_forearm,
      USE hanim_r_upperarm, USE hanim_r_scapula, USE hanim_r_clavicle,
      USE hanim_t1, USE hanim_t2, USE hanim_t3, USE hanim_t4,
      USE hanim_t5, USE hanim_t6, USE hanim_t7, USE hanim_t8,
      USE hanim_t9, USE hanim_t10, USE hanim_t11, USE hanim_t12,
      USE hanim_l1, USE hanim_l2, USE hanim_l3, USE hanim_l4,
      USE hanim_l5, USE hanim_sacrum
     ]
     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, LOA‑3"
      "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, LOA‑3"
       info [ "
         HANIM 200x Default Joint Centers, Level-Of-Articulation 3
         ---------------------------------------------------------
         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 modelling 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.6.2.2 LOA‑3 example with diamonds at Joint centres

    #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_humanoid_root Joint {
       name           "humanoid_root"
       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_talocrural Joint {
               name           "l_talocrural"
               center         0.1101 0.0656 -0.0736
               children [
                DEF hanim_l_tarsotarsal_interphalangeal_ Joint {
                 name           "l_tarsotarsal_interphalangeal_"
                 center         0.1086 0.0001 -0.0368
                 children [
                  DEF hanim_l_metatarsophalangeal_ Joint {
                   name           "l_metatarsophalangeal_"
                   center         0.1086 0.0001 0.0368
                   children [
                    DEF hanim_l_tarsal_interphalangeal_ Joint {
                     name           "l_tarsal_interphalangeal_"
                     center         0.1086 0.0000 0.0762
                     children [
                      DEF hanim_l_tarsal_distal_phalanx_1 Segment {
                       name           "l_tarsal_distal_phalanx_1"
                       children [
                        DEF hanim_l_tarsal_distal_phalanx_1_tip Site {
                         name           "l_tarsal_distal_phalanx_1_tip"
                         translation    0.1354 0.0016 0.1476
                         children [
                         ]
                        }
                        DEF hanim_l_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #66
                         name           "l_tarsal_interphalangeal_phalanx_5"
                         translation    0.1825 0.0070 0.0928
                         children [
                         ]
                        }
                        DEF hanim_l_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #72
                         name           "l_tarsal_distal_phalanx_2"
                         translation    0.1195 0.0079 0.1433
                         children [
                         ]
                        }
                       ]
                      }     # end hanim_l_tarsal_distal_phalanx_1 Segment
                     ]
                    }     # end hanim_l_tarsal_interphalangeal_ Joint
                    DEF hanim_l_middistal Segment {
                     name           "l_middistal"
                     children [
                      DEF hanim_l_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #70
                       name           "l_tarsal_interphalangeal_phalanx_1"
                       translation    0.0816 0.0232 0.0106
                       children [
                       ]
                      }
                     ]
                    }     # end hanim_l_middistal Segment
                   ]
                  }     # end hanim_l_metatarsophalangeal_ Joint
                  DEF hanim_l_midproximal Segment {
                   name           "l_midproximal"
                   children [
                   ]
                  }     # end hanim_l_midproximal Segment
                 ]
                }     # end hanim_l_tarsotarsal_interphalangeal_ 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_calcaneus_posterior Site {     # CAESAR Feature Point #71
                   name           "l_calcaneus_posterior"
                   translation    0.0974 0.0259 -0.1171
                   children [
                   ]
                  }
                 ]
                }     # end hanim_l_hindfoot Segment
               ]
              }     # end hanim_l_talocrural 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_epicondyles Site {     # CAESAR Feature Point #64
               name           "l_femoral_lateral_epicondyles"
               translation    0.1598 0.4967 0.0297
               children [
               ]
              }
              DEF hanim_l_femoral_medial_epicondyles Site {     # CAESAR Feature Point #65
               name           "l_femoral_lateral_epicondyles"
               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_talocrural Joint {
               name           "r_talocrural"
               center         -0.0801 0.0712 -0.0766
               children [
                DEF hanim_r_tarsotarsal_interphalangeal_ Joint {
                 name           "r_tarsotarsal_interphalangeal_"
                 center         -0.0801 0.0000 -0.0368
                 children [
                  DEF hanim_r_metatarsophalangeal_ Joint {
                   name           "r_metatarsophalangeal_"
                   center         -0.0801 0.0000 0.0368
                   children [
                    DEF hanim_r_tarsal_interphalangeal_ Joint {
                     name           "r_tarsal_interphalangeal_"
                     center         -0.0801 0.0039 0.0732
                     children [
                      DEF hanim_r_tarsal_distal_phalanx_1 Segment {
                       name           "r_tarsal_distal_phalanx_1"
                       children [
                        DEF hanim_r_tarsal_distal_phalanx_1_tip Site {
                         name           "r_tarsal_distal_phalanx_1_tip"
                         translation    -0.1043 -0.0227 0.1450
                         children [
                         ]
                        }
                        DEF hanim_r_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #56
                         name           "r_tarsal_interphalangeal_phalanx_5"
                         translation    -0.1523 0.0166 0.0895
                         children [
                         ]
                        }
                        DEF hanim_r_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #62
                         name           "r_tarsal_distal_phalanx_2"
                         translation    -0.0883 0.0134 0.1383
                         children [
                         ]
                        }
                       ]
                      }     # end hanim_r_tarsal_distal_phalanx_1 Segment
                     ]
                    }     # end hanim_r_tarsal_interphalangeal_ Joint
                    DEF hanim_r_middistal Segment {
                     name           "r_middistal"
                     children [
                      DEF hanim_r_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #60
                       name           "r_tarsal_interphalangeal_phalanx_1"
                       translation    -0.0521 0.0260 0.0127
                       children [
                       ]
                      }
                     ]
                    }     # end hanim_r_middistal Segment
                   ]
                  }     # end hanim_r_metatarsophalangeal_ Joint
                  DEF hanim_r_midproximal Segment {
                   name           "r_midproximal"
                   children [
                   ]
                  }     # end hanim_r_midproximal Segment
                 ]
                }
                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_calcaneus_posterior Site {     # CAESAR Feature Point #61
                   name           "r_calcaneus_posterior"
                   translation    -0.0692 0.0297 -0.1221
                   children [
                   ]
                  }
                 ]
                }     # end hanim_r_hindfoot Segment
               ]
              }     # end hanim_r_talocrural 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_epicondyles Site {     # CAESAR Feature Point #54
               name           "r_femoral_lateral_epicondyles"
               translation    -0.1421 0.4992 0.0310
               children [
               ]
              }
              DEF hanim_r_femoral_medial_epicondyles Site {     # CAESAR Feature Point #55
               name           "r_femoral_lateral_epicondyles"
               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 [
            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_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_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_pelvis Segment
         ]
        }     # end hanim_sacroiliac Joint
        DEF hanim_vl5 Joint {
         name           "vl5"
         center         0.0028 1.0568 -0.0776
         children [
          DEF hanim_vl4 Joint {
           name           "vl4"
           center         0.0035 1.0925 -0.0787
           children [
            DEF hanim_vl3 Joint {
             name           "vl3"
             center         0.0041 1.1276 -0.0796
             children [
              DEF hanim_vl2 Joint {
               name           "vl2"
               center         0.0045 1.1546 -0.0800
               children [
                DEF hanim_vl1 Joint {
                 name           "vl1"
                 center         0.0048 1.1912 -0.0805
                 children [
                  DEF hanim_vt12 Joint {
                   name           "vt12"
                   center         0.0051 1.2278 -0.0808
                   children [
                    DEF hanim_vt11 Joint {
                     name           "vt11"
                     center         0.0053 1.2679 -0.0810
                     children [
                      DEF hanim_vt10 Joint {
                       name           "vt10"
                       center         0.0056 1.2848 -0.0822
                       children [
                        DEF hanim_vt9 Joint {
                         name           "vt9"
                         center         0.0057 1.3126 -0.0838
                         children [
                          DEF hanim_vt8 Joint {
                           name           "vt8"
                           center         0.0057 1.3382 -0.0845
                           children [
                            DEF hanim_vt7 Joint {
                             name           "vt7"
                             center         0.0058 1.3625 -0.0833
                             children [
                              DEF hanim_vt6 Joint {
                               name           "vt6"
                               center         0.0059 1.3866 -0.0800
                               children [
                                DEF hanim_vt5 Joint {
                                 name           "vt5"
                                 center         0.0060 1.4102 -0.0745
                                 children [
                                  DEF hanim_vt4 Joint {
                                   name           "vt4"
                                   center         0.0061 1.4320 -0.0675
                                   children [
                                    DEF hanim_vt3 Joint {
                                     name           "vt3"
                                     center         0.0062 1.4583 -0.0570
                                     children [
                                      DEF hanim_vt2 Joint {
                                       name           "vt2"
                                       center         0.0063 1.4761 -0.0484
                                       children [
                                        DEF hanim_vt1 Joint {
                                         name           "vt1"
                                         center         0.0065 1.4951 -0.0387
                                         children [
                                          DEF hanim_vc7 Joint {
                                           name           "vc7"
                                           center         0.0066 1.5132 -0.0301
                                           children [
                                            DEF hanim_vc6 Joint {
                                             name           "vc6"
                                             center         0.0066 1.5357 -0.0143
                                             children [
                                              DEF hanim_vc5 Joint {
                                               name           "vc5"
                                               center         0.0066 1.5520 -0.0082
                                               children [
                                                DEF hanim_vc4 Joint {
                                                 name           "vc4"
                                                 center         0.0066 1.5662 -0.0084
                                                 children [
                                                  DEF hanim_vc3 Joint {
                                                   name           "vc3"
                                                   center         0.0066 1.5800 -0.0103
                                                   children [
                                                    DEF hanim_vc2 Joint {
                                                     name           "vc2"
                                                     center         0.0066 1.5928 -0.0103
                                                     children [
                                                      DEF hanim_vc1 Joint {
                                                       name           "vc1"
                                                       center         0.0066 1.6144 -0.0034
                                                       children [
                                                        DEF hanim_skullbase Joint {
                                                         name           "skullbase"
                                                         center         0.0044 1.6209 0.0236
                                                         children [
                                                          DEF hanim_l_eyeball Joint {
                                                           name           "l_eyeball"
                                                           center         0.0336 1.6332 0.0502
                                                           children [
                                                            DEF hanim_l_eyeball Segment {
                                                             name           "l_eyeball"
                                                             children [
                                                             ]
                                                            }     # end hanim_l_eyeball Segment
                                                           ]
                                                          }     # end hanim_l_eyeball Joint
                                                          DEF hanim_r_eyeball Joint {
                                                           name           "r_eyeball"
                                                           center         -0.0236 1.6331 0.0510
                                                           children [
                                                            DEF hanim_r_eyeball Segment {
                                                             name           "r_eyeball"
                                                             children [
                                                             ]
                                                            }     # end hanim_r_eyeball Segment
                                                           ]
                                                          }     # end hanim_r_eyeball Joint
                                                          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_c1 Segment {
                                                         name           "c1"
                                                         children [
                                                         ]
                                                        }     # end hanim_c1 Segment
                                                       ]
                                                      }     # end hanim_vc1 Joint
                                                      DEF hanim_c2 Segment {
                                                       name           "c2"
                                                       children [
                                                       ]
                                                      }     # end hanim_c2 Segment
                                                     ]
                                                    }     # end hanim_vc2 Joint
                                                    DEF hanim_c3 Segment {
                                                     name           "c3"
                                                     children [
                                                     ]
                                                    }     # end hanim_c3 Segment
                                                   ]
                                                  }     # end hanim_vc3 Joint
                                                  DEF hanim_c4 Segment {
                                                   name           "c4"
                                                   children [
                                                   ]
                                                  }     # end hanim_c4 Segment
                                                 ]
                                                }     # end hanim_vc4 Joint
                                                DEF hanim_c5 Segment {
                                                 name           "c5"
                                                 children [
                                                 ]
                                                }     # end hanim_c5 Segment
                                               ]
                                              }     # end hanim_vc5 Joint
                                              DEF hanim_c6 Segment {
                                               name           "c6"
                                               children [
                                               ]
                                              }     # end hanim_c6 Segment
                                             ]
                                            }     # end hanim_vc6 Joint
                                            DEF hanim_c7 Segment {
                                             name           "c7"
                                             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 [
                                               ]
                                              }
                                             ]
                                            }     # end hanim_c7 Segment
                                           ]
                                          }     # end hanim_vc7 Joint
                                          DEF hanim_l_sternoclavicular Joint {
                                           name           "l_sternoclavicular"
                                           center         0.0820 1.4488 -0.0353
                                           children [
                                            DEF hanim_l_acromioclavicular Joint {
                                             name           "l_acromioclavicular"
                                             center         0.0962 1.4269 -0.0424
                                             children [
                                              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_radiocarpal Joint {
                                                   name           "l_radiocarpal"
                                                   center         0.1984 0.8663 -0.0583
                                                   children [
                                                    DEF hanim_l_carpometacarpal_1 Joint {
                                                     name           "l_carpometacarpal_1"
                                                     center         0.1924 0.8472 -0.0534
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_1 Joint {
                                                       name           "l_metacarpophalangeal_1"
                                                       center         0.1951 0.8226 0.0246
                                                       children [
                                                        DEF hanim_l_carpal_interphalangeal_1 Joint {
                                                         name           "l_carpal_interphalangeal_1"
                                                         center         0.1955 0.8159 0.0464
                                                         children [
                                                          DEF hanim_l_carpal_distal_phalanx_1 Segment {
                                                           name           "l_carpal_distal_phalanx_1"
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_1_tip Site {
                                                             name           "l_carpal_distal_phalanx_1_tip"
                                                             translation    0.1982 0.8061 0.0759
                                                             children [
                                                             ]
                                                            }
                                                           ]
                                                          }     # end hanim_l_carpal_distal_phalanx_1 Segment
                                                         ]
                                                        }     # end hanim_l_carpal_interphalangeal_1 Joint
                                                        DEF hanim_l_index_proximal Segment {
                                                         name           "l_index_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_thumb_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_1 Joint
                                                      DEF hanim_l_index_proximal Segment {
                                                       name           "l_index_proximal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_thumb_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_1 Joint
                                                    DEF hanim_l_carpometacarpal_2 Joint {
                                                     name           "l_carpometacarpal_2"
                                                     center         0.1983 0.8024 -0.0280
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_2 Joint {
                                                       name           "l_metacarpophalangeal_2"
                                                       center         0.1983 0.7815 -0.0280
                                                       children [
                                                        DEF hanim_l_carpal_proximal_interphalangeal_2 Joint {
                                                         name           "l_carpal_proximal_interphalangeal_2"
                                                         center         0.2017 0.7363 -0.0248
                                                         children [
                                                          DEF hanim_l_carpal_distal_interphalangeal_2 Joint {
                                                           name           "l_carpal_distal_interphalangeal_2"
                                                           center         0.2028 0.7139 -0.0236
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_2 Segment {
                                                             name           "l_carpal_distal_phalanx_2"
                                                             children [
                                                              DEF hanim_l_carpal_distal_phalanx_2_tip Site {
                                                               name           "l_carpal_distal_phalanx_2_tip"
                                                               translation    0.2089 0.6858 -0.0245
                                                               children [
                                                               ]
                                                              }
                                                              DEF hanim_l_dactylion Site {     # CAESAR Feature Point #50
                                                               name           "l_dactylion"
                                                               translation    0.2056 0.6743 -0.0482
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_l_carpal_distal_phalanx_2 Segment
                                                           ]
                                                          }     # end hanim_l_carpal_distal_interphalangeal_2 Joint
                                                          DEF hanim_l_index_middle Segment {
                                                           name           "l_index_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_l_index_middle Segment
                                                         ]
                                                        }     # end hanim_l_carpal_proximal_interphalangeal_2 Joint
                                                        DEF hanim_l_index_proximal Segment {
                                                         name           "l_index_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_index_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_2 Joint
                                                      DEF hanim_l_index_metacarpal Segment {
                                                       name           "l_index_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_index_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_2 Joint
                                                    DEF hanim_l_carpometacarpal_3 Joint {
                                                     name           "l_carpometacarpal_3"
                                                     center         0.1987 0.8029 -0.0530
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_3 Joint {
                                                       name           "l_metacarpophalangeal_3"
                                                       center         0.1987 0.7818 -0.0530
                                                       children [
                                                        DEF hanim_l_carpal_proximal_interphalangeal_3 Joint {
                                                         name           "l_carpal_proximal_interphalangeal_3"
                                                         center         0.2013 0.7273 -0.0503
                                                         children [
                                                          DEF hanim_l_carpal_distal_interphalangeal_3 Joint {
                                                           name           "l_carpal_distal_interphalangeal_3"
                                                           center         0.2026 0.7011 -0.0494
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_3 Segment {
                                                             name           "l_carpal_distal_phalanx_3"
                                                             children [
                                                              DEF hanim_l_carpal_distal_phalanx_3_tip Site {
                                                               name           "l_carpal_distal_phalanx_3_tip"
                                                               translation    0.2080 0.6731 -0.0491
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_l_carpal_distal_phalanx_3 Segment
                                                           ]
                                                          }     # end hanim_l_carpal_distal_interphalangeal_3 Joint
                                                          DEF hanim_l_middle_middle Segment {
                                                           name           "l_middle_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_l_middle_middle Segment
                                                         ]
                                                        }     # end hanim_l_carpal_proximal_interphalangeal_3 Joint
                                                        DEF hanim_l_middle_proximal Segment {
                                                         name           "l_middle_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_middle_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_3 Joint
                                                      DEF hanim_l_middle_metacarpal Segment {
                                                       name           "l_middle_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_middle_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_3 Joint
                                                    DEF hanim_l_carpometacarpal_4 Joint {
                                                     name           "l_carpometacarpal_4"
                                                     center         0.1956 0.8019 -0.0794
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_4 Joint {
                                                       name           "l_metacarpophalangeal_4"
                                                       center         0.1956 0.7815 -0.0794
                                                       children [
                                                        DEF hanim_l_carpal_proximal_interphalangeal_4 Joint {
                                                         name           "l_carpal_proximal_interphalangeal_4"
                                                         center         0.1973 0.7287 -0.0777
                                                         children [
                                                          DEF hanim_l_carpal_distal_interphalangeal_4 Joint {
                                                           name           "l_carpal_distal_interphalangeal_4"
                                                           center         0.1983 0.7045 -0.0767
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_4 Segment {
                                                             name           "l_carpal_distal_phalanx_4"
                                                             children [
                                                              DEF hanim_l_carpal_distal_phalanx_4_tip Site {
                                                               name           "l_carpal_distal_phalanx_4_tip"
                                                               translation    0.2035 0.6750 -0.0756
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_l_carpal_distal_phalanx_4 Segment
                                                           ]
                                                          }     # end hanim_l_carpal_distal_interphalangeal_4 Joint
                                                          DEF hanim_l_ring_middle Segment {
                                                           name           "l_ring_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_l_ring_middle Segment
                                                         ]
                                                        }     # end hanim_l_carpal_proximal_interphalangeal_4 Joint
                                                        DEF hanim_l_ring_proximal Segment {
                                                         name           "l_ring_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_ring_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_4 Joint
                                                      DEF hanim_l_ring_metacarpal Segment {
                                                       name           "l_ring_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_ring_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_4 Joint
                                                    DEF hanim_l_carpometacarpal_5 Joint {
                                                     name           "l_carpometacarpal_5"
                                                     center         0.1925 0.8066 -0.1036
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_5 Joint {
                                                       name           "l_metacarpophalangeal_5"
                                                       center         0.1925 0.7866 -0.1036
                                                       children [
                                                        DEF hanim_l_carpal_proximal_interphalangeal_5 Joint {
                                                         name           "l_carpal_proximal_interphalangeal_5"
                                                         center         0.1938 0.7452 -0.1024
                                                         children [
                                                          DEF hanim_l_carpal_distal_interphalangeal_5 Joint {
                                                           name           "l_carpal_distal_interphalangeal_5"
                                                           center         0.1948 0.7277 -0.1017
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_5 Segment {
                                                             name           "l_carpal_distal_phalanx_5"
                                                             children [
                                                              DEF hanim_l_carpal_distal_phalanx_5_tip Site {
                                                               name           "l_carpal_distal_phalanx_5_tip"
                                                               translation    0.2014 0.7009 -0.1012
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_l_carpal_distal_phalanx_5 Segment
                                                           ]
                                                          }     # end hanim_l_carpal_distal_interphalangeal_5 Joint
                                                          DEF hanim_l_pinky_middle Segment {
                                                           name           "l_pinky_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_l_pinky_middle Segment
                                                         ]
                                                        }     # end hanim_l_carpal_proximal_interphalangeal_5 Joint
                                                        DEF hanim_l_pinky_proximal Segment {
                                                         name           "l_pinky_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_pinky_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_5 Joint
                                                      DEF hanim_l_pinky_metacarpal Segment {
                                                       name           "l_pinky_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_pinky_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_5 Joint
                                                    DEF hanim_l_hand Segment {
                                                     name           "l_hand"
                                                     children [
                                                      DEF hanim_l_metacarpal_phalanx_2 Site {     # CAESAR Feature Point #49
                                                       name           "l_metacarpal_phalanx_2"
                                                       translation    0.2009 0.8139 -0.0237
                                                       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_phalanx_5 Site {     # CAESAR Feature Point #52
                                                       name           "l_metacarpal_phalanx_5"
                                                       translation    0.1929 0.7860 -0.1122
                                                       children [
                                                       ]
                                                      }
                                                     ]
                                                    }     # end hanim_l_hand Segment
                                                   ]
                                                  }     # end hanim_l_radiocarpal 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_epicondyles Site {     # CAESAR Feature Point #47
                                                     name           "l_humeral_medial_epicondyles"
                                                     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_epicondyles Site {     # CAESAR Feature Point #46
                                                   name           "l_humeral_lateral_epicondyles "
                                                   translation    0.2280 1.1482 -0.1100
                                                   children [
                                                   ]
                                                  }
                                                 ]
                                                }     # end hanim_l_upperarm Segment
                                               ]
                                              }     # end hanim_l_shoulder Joint
                                              DEF hanim_l_scapula Segment {
                                               name           "l_scapula"
                                               children [
                                               ]
                                              }     # end hanim_l_scapula Segment
                                             ]
                                            }     # end hanim_l_acromioclavicular Joint
                                            DEF hanim_l_clavicle Segment {
                                             name           "l_clavicle"
                                             children [
                                              DEF hanim_l_clavicale Site {     # CAESAR Feature Point #12
                                               name           "l_clavicale"
                                               translation    0.0271 1.4943 0.0394
                                               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_proximal Site {     # CAESAR Feature Point #42
                                               name           "l_axilla_proximal"
                                               translation    0.1777 1.4065 -0.0075
                                               children [
                                               ]
                                              }
                                              DEF hanim_l_axilla_distal Site {     # CAESAR Feature Point #44
                                               name           "l_axilla_distal"
                                               translation    0.1706 1.4072 -0.0875
                                               children [
                                               ]
                                              }
                                             ]
                                            }     # end hanim_l_clavicle Segment
                                           ]
                                          }     # end hanim_l_sternoclavicular Joint
                                          DEF hanim_r_sternoclavicular Joint {
                                           name           "r_sternoclavicular"
                                           center         -0.0694 1.4600 -0.0330
                                           children [
                                            DEF hanim_r_acromioclavicular Joint {
                                             name           "r_acromioclavicular"
                                             center         -0.0836 1.4281 -0.0401
                                             children [
                                              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_radiocarpal Joint {
                                                   name           "r_radiocarpal"
                                                   center         -0.1959 0.8694 -0.0521
                                                   children [
                                                    DEF hanim_r_carpometacarpal_1 Joint {
                                                     name           "r_carpometacarpal_1"
                                                     center         -0.1899 0.8502 -0.0473
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_1 Joint {
                                                       name           "r_metacarpophalangeal_1"
                                                       center         -0.1874 0.8256 0.0306
                                                      children [
                                                        DEF hanim_r_carpal_interphalangeal_1 Joint {
                                                         name           "r_carpal_interphalangeal_1"
                                                         center         -0.1864 0.8190 0.0506
                                                         children [
                                                          DEF hanim_r_carpal_distal_phalanx_1 Segment {
                                                           name           "r_carpal_distal_phalanx_1"
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_1_tip Site {
                                                             name           "r_carpal_distal_phalanx_1_tip"
                                                             translation    -0.1869 0.8090 0.0820
                                                             children [
                                                             ]
                                                            }
                                                           ]
                                                          }     # end hanim_r_carpal_distal_phalanx_1 Segment
                                                         ]
                                                        }     # end hanim_r_carpal_interphalangeal_1 Joint
                                                        DEF hanim_r_index_proximal Segment {
                                                         name           "r_index_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_thumb_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_1 Joint
                                                      DEF hanim_r_index_proximal Segment {
                                                       name           "r_index_proximal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_thumb_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_1 Joint
                                                    DEF hanim_r_carpometacarpal_2 Joint {
                                                     name           "r_carpometacarpal_2"
                                                     center         -0.1961 0.8055 -0.0218
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_2 Joint {
                                                       name           "r_metacarpophalangeal_2"
                                                       center         -0.1961 0.7846 -0.0218
                                                       children [
                                                        DEF hanim_r_carpal_proximal_interphalangeal_2 Joint {
                                                         name           "r_carpal_proximal_interphalangeal_2"
                                                         center         -0.1954 0.7393 -0.0185
                                                         children [
                                                          DEF hanim_r_carpal_distal_interphalangeal_2 Joint {
                                                           name           "r_carpal_distal_interphalangeal_2"
                                                           center         -0.1945 0.7169 -0.0173
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_2 Segment {
                                                             name           "r_carpal_distal_phalanx_2"
                                                             children [
                                                              DEF hanim_r_carpal_distal_phalanx_2_tip Site {
                                                               name           "r_carpal_distal_phalanx_2_tip"
                                                               translation    -0.1980 0.6883 -0.0180
                                                               children [
                                                               ]
                                                              }
                                                              DEF hanim_r_dactylion Site {     # CAESAR Feature Point #38
                                                               name           "r_dactylion"
                                                               translation    -0.1941 0.6772 -0.0423
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_r_carpal_distal_phalanx_2 Segment
                                                           ]
                                                          }     # end hanim_r_carpal_distal_interphalangeal_2 Joint
                                                          DEF hanim_r_index_middle Segment {
                                                           name           "r_index_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_r_index_middle Segment
                                                         ]
                                                        }     # end hanim_r_carpal_proximal_interphalangeal_2 Joint
                                                        DEF hanim_r_index_proximal Segment {
                                                         name           "r_index_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_index_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_2 Joint
                                                      DEF hanim_r_index_metacarpal Segment {
                                                       name           "r_index_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_index_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_2 Joint
                                                    DEF hanim_r_carpometacarpal_3 Joint {
                                                     name           "r_carpometacarpal_3"
                                                     center         -0.1972 0.8060 -0.0468
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_3 Joint {
                                                       name           "r_metacarpophalangeal_3"
                                                       center         -0.1972 0.7849 -0.0468
                                                       children [
                                                        DEF hanim_r_carpal_proximal_interphalangeal_3 Joint {
                                                         name           "r_carpal_proximal_interphalangeal_3"
                                                         center         -0.1950 0.7304 -0.0441
                                                         children [
                                                          DEF hanim_r_carpal_distal_interphalangeal_3 Joint {
                                                           name           "r_carpal_distal_interphalangeal_3"
                                                           center         -0.1939 0.7042 -0.0432
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_3 Segment {
                                                             name           "r_carpal_distal_phalanx_3"
                                                             children [
                                                              DEF hanim_r_carpal_distal_phalanx_3_tip Site {
                                                               name           "r_carpal_distal_phalanx_3_tip"
                                                               translation    -0.1969 0.6758 -0.0427
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_r_carpal_distal_phalanx_3 Segment
                                                           ]
                                                          }     # end hanim_r_carpal_distal_interphalangeal_3 Joint
                                                          DEF hanim_r_middle_middle Segment {
                                                           name           "r_middle_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_r_middle_middle Segment
                                                         ]
                                                        }     # end hanim_r_carpal_proximal_interphalangeal_3 Joint
                                                        DEF hanim_r_middle_proximal Segment {
                                                         name           "r_middle_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_middle_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_3 Joint
                                                      DEF hanim_r_middle_metacarpal Segment {
                                                       name           "r_middle_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_middle_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_3 Joint
                                                    DEF hanim_r_carpometacarpal_4 Joint {
                                                     name           "r_carpometacarpal_4"
                                                     center         -0.1951 0.8049 -0.0732
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_4 Joint {
                                                       name           "r_metacarpophalangeal_4"
                                                       center         -0.1951 0.7845 -0.0732
                                                       children [
                                                        DEF hanim_r_carpal_proximal_interphalangeal_4 Joint {
                                                         name           "r_carpal_proximal_interphalangeal_4"
                                                         center         -0.1920 0.7318 -0.0716
                                                         children [
                                                          DEF hanim_r_carpal_distal_interphalangeal_4 Joint {
                                                           name           "r_carpal_distal_interphalangeal_4"
                                                           center         -0.1908 0.7077 -0.0706
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_4 Segment {
                                                             name           "r_carpal_distal_phalanx_4"
                                                             children [
                                                              DEF hanim_r_carpal_distal_phalanx_4_tip Site {
                                                               name           "r_carpal_distal_phalanx_4_tip"
                                                               translation    -0.1934 0.6778 -0.0693
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_r_carpal_distal_phalanx_4 Segment
                                                           ]
                                                          }     # end hanim_r_carpal_distal_interphalangeal_4 Joint
                                                          DEF hanim_r_ring_middle Segment {
                                                           name           "r_ring_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_r_ring_middle Segment
                                                         ]
                                                        }     # end hanim_r_carpal_proximal_interphalangeal_4 Joint
                                                        DEF hanim_r_ring_proximal Segment {
                                                         name           "r_ring_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_ring_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_4 Joint
                                                      DEF hanim_r_ring_metacarpal Segment {
                                                       name           "r_ring_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_ring_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_4 Joint
                                                    DEF hanim_r_carpometacarpal_5 Joint {
                                                     name           "r_carpometacarpal_5"
                                                     center         -0.1926 0.8096 -0.0975
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_5 Joint {
                                                       name           "r_metacarpophalangeal_5"
                                                       center         -0.1926 0.7896 -0.0975
                                                       children [
                                                        DEF hanim_r_carpal_proximal_interphalangeal_5 Joint {
                                                         name           "r_carpal_proximal_interphalangeal_5"
                                                         center         -0.1902 0.7483 -0.0963
                                                         children [
                                                          DEF hanim_r_carpal_distal_interphalangeal_5 Joint {
                                                           name           "r_carpal_distal_interphalangeal_5"
                                                           center         -0.1908 0.7540 -0.0960
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_5 Segment {
                                                             name           "r_carpal_distal_phalanx_5"
                                                             children [
                                                              DEF hanim_r_carpal_distal_phalanx_5_tip Site {
                                                               name           "r_carpal_distal_phalanx_5_tip"
                                                               translation    -0.1938 0.7035 -0.0949
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_r_carpal_distal_phalanx_5 Segment
                                                           ]
                                                          }     # end hanim_r_carpal_distal_interphalangeal_5 Joint
                                                          DEF hanim_r_pinky_middle Segment {
                                                           name           "r_pinky_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_r_pinky_middle Segment
                                                         ]
                                                        }     # end hanim_r_carpal_proximal_interphalangeal_5 Joint
                                                        DEF hanim_r_pinky_proximal Segment {
                                                         name           "r_pinky_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_pinky_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_5 Joint
                                                      DEF hanim_r_pinky_metacarpal Segment {
                                                       name           "r_pinky_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_pinky_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_5 Joint
                                                    DEF hanim_r_hand Segment {
                                                     name           "r_hand"
                                                     children [
                                                      DEF hanim_r_metacarpal_phalanx_2 Site {     # CAESAR Feature Point #37
                                                       name           "r_metacarpal_phalanx_2"
                                                       translation    -0.1977 0.8169 -0.0177
                                                       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_phalanx_5 Site {     # CAESAR Feature Point #40
                                                       name           "r_metacarpal_phalanx_5"
                                                       translation    -0.1929 0.7890 -0.1064
                                                       children [
                                                       ]
                                                      }
                                                     ]
                                                    }     # end hanim_r_hand Segment
                                                   ]
                                                  }     # end hanim_r_radiocarpal 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_epicondyles Site {     # CAESAR Feature Point #35
                                                     name           "r_humeral_medial_epicondyles"
                                                     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_epicondyles Site {     # CAESAR Feature Point #34
                                                   name           "r_humeral_lateral_epicondyles"
                                                   translation    -0.2224 1.1517 -0.1033
                                                   children [
                                                   ]
                                                  }
                                                 ]
                                                }     # end hanim_r_upperarm Segment
                                               ]
                                              }     # end hanim_r_shoulder Joint
                                              DEF hanim_r_scapula Segment {
                                               name           "r_scapula"
                                               children [
                                               ]
                                              }     # end hanim_r_scapula Segment
                                             ]
                                            }     # end hanim_r_acromioclavicular Joint
                                            DEF hanim_r_clavicle Segment {
                                             name           "r_clavicle"
                                             children [
                                              DEF hanim_r_clavicale Site {     # CAESAR Feature Point #10
                                               name           "r_clavicale"
                                               translation    -0.0115 1.4943 0.0400
                                               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_proximal Site {     # CAESAR Feature Point #30
                                               name           "r_axilla_proximal"
                                               translation    -0.1626 1.4072 -0.0031
                                               children [
                                               ]
                                              }
                                              DEF hanim_r_axilla_distal Site {     # CAESAR Feature Point #32
                                               name           "r_axilla_distal"
                                               translation    -0.1603 1.4098 -0.0826
                                               children [
                                               ]
                                              }
                                             ]
                                            }     # end hanim_r_clavicle Segment
                                           ]
                                          }     # end hanim_r_sternoclavicular Joint
                                          DEF hanim_t1 Segment {
                                           name           "t1"
                                           children [
                                            DEF hanim_suprasternale Site {     # CAESAR Feature Point #11
                                             name           "suprasternale"
                                             translation    0.0084 1.4714 0.0551
                                             children [
                                             ]
                                            }
                                            DEF hanim_cervicale Site {     # CAESAR Feature Point #24
                                             name           "cervicale"
                                             translation    0.0064 1.520 -0.0815
                                             children [
                                             ]
                                            }
                                           ]
                                          }     # end hanim_t1 Segment
                                         ]
                                        }     # end hanim_vt1 Joint
                                        DEF hanim_t2 Segment {
                                         name           "t2"
                                         children [
                                         ]
                                        }     # end hanim_t2 Segment
                                       ]
                                      }     # end hanim_vt2 Joint
                                      DEF hanim_t3 Segment {
                                       name           "t3"
                                       children [
                                       ]
                                      }     # end hanim_t3 Segment
                                     ]
                                    }     # end hanim_vt3 Joint
                                    DEF hanim_t4 Segment {
                                     name           "t4"
                                     children [
                                     ]
                                    }     # end hanim_t4 Segment
                                   ]
                                  }     # end hanim_vt4 Joint
                                  DEF hanim_t5 Segment {
                                   name           "t5"
                                   children [
                                   ]
                                  }     # end hanim_t5 Segment
                                 ]
                                }     # end hanim_vt5 Joint
                                DEF hanim_t6 Segment {
                                 name           "t6"
                                 children [
                                 ]
                                }     # end hanim_t6 Segment
                               ]
                              }     # end hanim_vt6 Joint
                              DEF hanim_t7 Segment {
                               name           "t7"
                               children [
                               ]
                              }     # end hanim_t7 Segment
                             ]
                            }     # end hanim_vt7 Joint
                            DEF hanim_t8 Segment {
                             name           "t8"
                             children [
                             ]
                            }     # end hanim_t8 Segment
                           ]
                          }     # end hanim_vt8 Joint
                          DEF hanim_t9 Segment {
                           name           "t9"
                           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 [
                             ]
                            }
                           ]
                          }      # end hanim_t9 Segment
                         ]
                        }     # end hanim_vt9 Joint
                        DEF hanim_t10 Segment {
                         name           "t10"
                         children [
                          DEF hanim_substernale Site {     # CAESAR Feature Point #15
                           name           "substernale"
                           translation    0.0085 1.2995 0.1147
                           children [
                           ]
                          }
                         ]
                        }      # end hanim_t10 Segment
                       ]
                      }     # end hanim_vt10 Joint
                      DEF hanim_t11 Segment {
                       name           "t11"
                       children [
                       ]
                      }     # end hanim_t11 Segment
                     ]
                    }     # end hanim_vt11 Joint
                    DEF hanim_t12 Segment {
                     name           "t12"
                     children [
                     ]
                    }     # end hanim_t12 Segment
                   ]
                  }     # end hanim_vt12 Joint
                  DEF hanim_l1 Segment {
                   name           "l1"
                   children [
                   ]
                  }     # end hanim_l1 Segment
                 ]
                }     # end hanim_vl1 Joint
                DEF hanim_l2 Segment {
                 name           "l2"
                 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_spine_2_lower_back Site {     # CAESAR Feature Point #25
                   name           "spine_2_lower_back"
                   translation    0.0049 1.1908 -0.1113
                   children [
                   ]
                  }
                 ]
                }     # end hanim_l2 Segment
               ]
              }     # end hanim_vl2 Joint
              DEF hanim_l3 Segment {
               name           "l3"
               children [
               ]
              }     # end hanim_l3 Segment
             ]
            }     # end hanim_vl3 Joint
            DEF hanim_l4 Segment {
             name           "l4"
             children [
             ]
            }     # end hanim_l4 Segment
           ]
          }     # end hanim_vl4 Joint
          DEF hanim_l5 Segment {
           name           "l5"
           children [
            DEF hanim_waist_preferred_posterior Site {     # CAESAR Feature Point #28
             name           "waist_preferred_posterior "
             translation    0.2900 1.0915 -0.1091
             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 [
         ]
        }     # end hanim_sacrum Segment
       ]
      }     # end hanim_humanoid_root Joint
     ]
     joints [
      USE hanim_humanoid_root, USE hanim_sacroiliac, USE hanim_l_hip,
      USE hanim_l_knee, USE hanim_l_talocrural, USE hanim_l_tarsotarsal_interphalangeal_,
      USE hanim_l_metatarsophalangeal_, USE hanim_l_tarsal_interphalangeal_, USE hanim_r_hip,
      USE hanim_r_knee, USE hanim_r_talocrural, USE hanim_r_tarsotarsal_interphalangeal_,
      USE hanim_r_metatarsophalangeal_, USE hanim_r_tarsal_interphalangeal_, USE hanim_vl5,
      USE hanim_vl4, USE hanim_vl3, USE hanim_vl2, USE hanim_vl1,
      USE hanim_vt12, USE hanim_vt11, USE hanim_vt10, USE hanim_vt9,
      USE hanim_vt8, USE hanim_vt7, USE hanim_vt6, USE hanim_vt5,
      USE hanim_vt4, USE hanim_vt3, USE hanim_vt2, USE hanim_vt1,
      USE hanim_vc7, USE hanim_vc6, USE hanim_vc5, USE hanim_vc4,
      USE hanim_vc3, USE hanim_vc2, USE hanim_vc1, USE hanim_skullbase,
      USE hanim_l_eyeball, USE hanim_r_eyeball,
      USE hanim_l_sternoclavicular, USE hanim_l_acromioclavicular,
      USE hanim_l_shoulder, USE hanim_l_elbow, USE hanim_l_radiocarpal,
      USE hanim_l_carpometacarpal_1, USE hanim_l_metacarpophalangeal_1, USE hanim_l_carpal_interphalangeal_1,
      USE hanim_l_carpometacarpal_2, USE hanim_l_metacarpophalangeal_2, USE hanim_l_carpal_proximal_interphalangeal_2,
      USE hanim_l_carpal_distal_interphalangeal_2, USE hanim_l_carpometacarpal_3, USE hanim_l_metacarpophalangeal_3,
      USE hanim_l_carpal_proximal_interphalangeal_3, USE hanim_l_carpal_distal_interphalangeal_3, USE hanim_l_carpometacarpal_4,
      USE hanim_l_metacarpophalangeal_4, USE hanim_l_carpal_proximal_interphalangeal_4, USE hanim_l_carpal_distal_interphalangeal_4,
      USE hanim_l_carpometacarpal_5, USE hanim_l_metacarpophalangeal_5, USE hanim_l_carpal_proximal_interphalangeal_5,
      USE hanim_l_carpal_distal_interphalangeal_5, USE hanim_r_sternoclavicular,
      USE hanim_r_acromioclavicular, USE hanim_r_shoulder,
      USE hanim_r_elbow, USE hanim_r_radiocarpal, USE hanim_r_carpometacarpal_1,
      USE hanim_r_metacarpophalangeal_1, USE hanim_r_carpal_interphalangeal_1, USE hanim_r_carpometacarpal_2,
      USE hanim_r_metacarpophalangeal_2, USE hanim_r_carpal_proximal_interphalangeal_2, USE hanim_r_carpal_distal_interphalangeal_2,
      USE hanim_r_carpometacarpal_3, USE hanim_r_metacarpophalangeal_3, USE hanim_r_carpal_proximal_interphalangeal_3,
      USE hanim_r_carpal_distal_interphalangeal_3, USE hanim_r_carpometacarpal_4, USE hanim_r_metacarpophalangeal_4,
      USE hanim_r_carpal_proximal_interphalangeal_4, USE hanim_r_carpal_distal_interphalangeal_4, USE hanim_r_carpometacarpal_5,
      USE hanim_r_metacarpophalangeal_5, USE hanim_r_carpal_proximal_interphalangeal_5, USE hanim_r_carpal_distal_interphalangeal_5
     ]
     sites [
      USE hanim_l_tarsal_distal_phalanx_1_tip, USE hanim_l_tarsal_interphalangeal_phalanx_5,
      USE hanim_l_tarsal_distal_phalanx_2, USE hanim_l_tarsal_interphalangeal_phalanx_1,
      USE hanim_l_lateral_malleolus, USE hanim_l_medial_malleolus,
      USE hanim_l_sphyrion, USE hanim_l_calcaneus_posterior,
      USE hanim_l_knee_crease, USE hanim_l_femoral_lateral_epicondyles,
      USE hanim_l_femoral_medial_epicondyles, USE hanim_r_tarsal_distal_phalanx_1_tip,
      USE hanim_r_tarsal_interphalangeal_phalanx_5, USE hanim_r_tarsal_distal_phalanx_2,
      USE hanim_r_tarsal_interphalangeal_phalanx_1, USE hanim_r_lateral_malleolus,
      USE hanim_r_medial_malleolus, USE hanim_r_sphyrion,
      USE hanim_r_calcaneus_posterior, USE hanim_r_knee_crease,
      USE hanim_r_femoral_lateral_epicondyles, USE hanim_r_femoral_medial_epicondyles,
      USE hanim_r_iliocristale, USE hanim_r_trochanterion,
      USE hanim_l_iliocristale, USE hanim_l_trochanterion,  USE hanim_r_asis,
      USE hanim_l_asis, USE hanim_r_psis, USE hanim_l_psis,
      USE hanim_crotch, 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_neck_base,
      USE hanim_l_neck_base, USE hanim_l_carpal_distal_phalanx_1_tip,
      USE hanim_l_carpal_distal_phalanx_2_tip, USE hanim_l_dactylion,
      USE hanim_l_carpal_distal_phalanx_3_tip, USE hanim_l_carpal_distal_phalanx_4_tip,
      USE hanim_l_carpal_distal_phalanx_5_tip, USE hanim_l_metacarpal_phalanx_2,
      USE hanim_l_ulnar_styloid, USE hanim_l_metacarpal_phalanx_5,
      USE hanim_l_radial_styloid, USE hanim_l_olecranon,
      USE hanim_l_humeral_medial_epicondyles, USE hanim_l_radiale,
      USE hanim_l_humeral_lateral_epicondyles, USE hanim_l_clavicale,
      USE hanim_l_acromion, USE hanim_l_axilla_proximal,
      USE hanim_l_axilla_distal, USE hanim_r_carpal_distal_phalanx_1_tip,
      USE hanim_r_carpal_distal_phalanx_2_tip, USE hanim_r_dactylion,
      USE hanim_r_carpal_distal_phalanx_3_tip, USE hanim_r_carpal_distal_phalanx_4_tip,
      USE hanim_r_carpal_distal_phalanx_5_tip, USE hanim_r_metacarpal_phalanx_2,
      USE hanim_r_ulnar_styloid, USE hanim_r_metacarpal_phalanx_5,
      USE hanim_r_radial_styloid, USE hanim_r_olecranon,
      USE hanim_r_humeral_medial_epicondyles, USE hanim_r_radiale,
      USE hanim_r_humeral_lateral_epicondyles, USE hanim_r_clavicale,
      USE hanim_r_acromion, USE hanim_r_axilla_proximal,
      USE hanim_r_axilla_distal, USE hanim_suprasternale,
      USE hanim_cervicale, USE hanim_r_thelion,
      USE hanim_l_thelion, USE hanim_substernale,
      USE hanim_r_rib10, USE hanim_l_rib10,
      USE hanim_spine_2_lower_back, USE hanim_waist_preferred_posterior,
      USE hanim_navel
     ]
     segments [
      USE hanim_l_tarsal_distal_phalanx_1, USE hanim_l_middistal, USE hanim_l_midproximal,
      USE hanim_l_hindfoot, USE hanim_l_calf, USE hanim_l_thigh,
      USE hanim_r_tarsal_distal_phalanx_1, USE hanim_r_middistal, USE hanim_r_midproximal,
      USE hanim_r_hindfoot, USE hanim_r_calf, USE hanim_r_thigh,
      USE hanim_pelvis, USE hanim_l_eyeball, USE hanim_r_eyeball,
      USE hanim_skull, USE hanim_c1, USE hanim_c2, USE hanim_c3,
      USE hanim_c4, USE hanim_c5, USE hanim_c6, USE hanim_c7,
      USE hanim_l_carpal_distal_phalanx_1, USE hanim_l_index_proximal,
      USE hanim_l_index_proximal, USE hanim_l_carpal_distal_phalanx_2,
      USE hanim_l_index_middle, USE hanim_l_index_proximal,
      USE hanim_l_index_metacarpal, USE hanim_l_carpal_distal_phalanx_3,
      USE hanim_l_middle_middle, USE hanim_l_middle_proximal,
      USE hanim_l_middle_metacarpal, USE hanim_l_carpal_distal_phalanx_4,
      USE hanim_l_ring_middle, USE hanim_l_ring_proximal,
      USE hanim_l_ring_metacarpal, USE hanim_l_carpal_distal_phalanx_5,
      USE hanim_l_pinky_middle, USE hanim_l_pinky_proximal,
      USE hanim_l_pinky_metacarpal, USE hanim_l_hand, USE hanim_l_forearm,
      USE hanim_l_upperarm, USE hanim_l_scapula, USE hanim_l_clavicle,
      USE hanim_r_carpal_distal_phalanx_1, USE hanim_r_index_proximal,
      USE hanim_r_index_proximal, USE hanim_r_carpal_distal_phalanx_2,
      USE hanim_r_index_middle, USE hanim_r_index_proximal,
      USE hanim_r_index_metacarpal, USE hanim_r_carpal_distal_phalanx_3,
      USE hanim_r_middle_middle, USE hanim_r_middle_proximal,
      USE hanim_r_middle_metacarpal, USE hanim_r_carpal_distal_phalanx_4,
      USE hanim_r_ring_middle, USE hanim_r_ring_proximal,
      USE hanim_r_ring_metacarpal, USE hanim_r_carpal_distal_phalanx_5,
      USE hanim_r_pinky_middle, USE hanim_r_pinky_proximal,
      USE hanim_r_pinky_metacarpal, USE hanim_r_hand, USE hanim_r_forearm,
      USE hanim_r_upperarm, USE hanim_r_scapula, USE hanim_r_clavicle,
      USE hanim_t1, USE hanim_t2, USE hanim_t3, USE hanim_t4,
      USE hanim_t5, USE hanim_t6, USE hanim_t7, USE hanim_t8,
      USE hanim_t9, USE hanim_t10, USE hanim_t11, USE hanim_t12,
      USE hanim_l1, USE hanim_l2, USE hanim_l3, USE hanim_l4,
      USE hanim_l5, USE hanim_sacrum
     ]
     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, LOA‑3"
      "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, LOA‑3"
       info [ "
         HANIM 200x Default Joint Centers, Level-Of-Articulation 3
         ---------------------------------------------------------
         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 modelling 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.7 Level of articulation four

## A.7.1 Definition

LOA‑4 supports the full hierarchy of HAnim. Table A.10 lists the suggested center field values for the joints of LOA‑4. Table A.11 lists the suggested translation field values for the sites of LOA‑4.

Table A.10 — LOA‑4: Suggested Joint objects center values

Joint object | Suggested center value
--- | ---
humanoid_root | 0.0000 0.8240 0.0277
sacroiliac | 0.0000 0.9149 0.0016
l_hip | 0.0961 0.9124 -0.0001
l_knee | 0.1040 0.4867 0.0308
l_talocrural | 0.1101 0.0656 -0.0736
l_tarsotarsal_interphalangeal_ | 0.1086 0.0001 -0.0368
l_metatarsophalangeal_ | 0.1086 0.0001 0.0368
l_tarsal_interphalangeal_ | 0.1086 0.0000 0.0762
r_hip | -0.0950 0.9171 0.0029
r_knee | -0.0867 0.4913 0.0318
r_talocrural | -0.0801 0.0712 -0.0766
r_tarsotarsal_interphalangeal_ | -0.0801 0.0000 -0.0368
r_metatarsophalangeal_ | -0.0801 0.0000 0.0368
r_tarsal_interphalangeal_ | -0.0801 0.0039 0.0732
vl5 | 0.0028 1.0568 -0.0776
vl4 | 0.0035 1.0925 -0.0787
vl3 | 0.0041 1.1276 -0.0796
vl2 | 0.0045 1.1546 -0.0800
vl1 | 0.0048 1.1912 -0.0805
vt12 | 0.0051 1.2278 -0.0808
vt11 | 0.0053 1.2679 -0.0810
vt10 | 0.0056 1.2848 -0.0822
vt9 | 0.0057 1.3126 -0.0838
vt8 | 0.0057 1.3382 -0.0845
vt7 | 0.0058 1.3625 -0.0833
vt6 | 0.0059 1.3866 -0.0800
vt5 | 0.0060 1.4102 -0.0745
vt4 | 0.0061 1.4320 -0.0675
vt3 | 0.0062 1.4583 -0.0570
vt2 | 0.0063 1.4761 -0.0484
vt1 | 0.0065 1.4951 -0.0387
vc7 | 0.0066 1.5132 -0.0301
vc6 | 0.0066 1.5357 -0.0143
vc5 | 0.0066 1.5520 -0.0082
vc4 | 0.0066 1.5662 -0.0084
vc3 | 0.0066 1.5800 -0.0103
vc2 | 0.0066 1.5928 -0.0103
vc1 | 0.0066 1.6144 -0.0034
skullbase | 0.0044 1.6209 0.0236
l_eyeball | 0.0336 1.6332 0.0502
r_eyeball | -0.0236 1.6331 0.0510
l_sternoclavicular | 0.0820 1.4488 -0.0353
l_acromioclavicular | 0.0962 1.4269 -0.0424
l_shoulder | 0.2029 1.4376 -0.0387
l_elbow | 0.2014 1.1357 -0.0682
l_radiocarpal | 0.1984 0.8663 -0.0583
l_carpometacarpal_1 | 0.1924 0.8472 -0.0534
l_metacarpophalangeal_1 | 0.1951 0.8226 0.0246
l_carpal_interphalangeal_1 | 0.1955 0.8159 0.0464
l_carpometacarpal_2 | 0.1983 0.8024 -0.0280
l_metacarpophalangeal_2 | 0.1983 0.7815 -0.0280
l_carpal_proximal_interphalangeal_2 | 0.2017 0.7363 -0.0248
l_carpal_distal_interphalangeal_2 | 0.2028 0.7139 -0.0236
l_carpometacarpal_3 | 0.1987 0.8029 -0.0530
l_metacarpophalangeal_3 | 0.1987 0.7818 -0.0530
l_carpal_proximal_interphalangeal_3 | 0.2013 0.7273 -0.0503
l_carpal_distal_interphalangeal_3 | 0.2026 0.7011 -0.0494
l_carpometacarpal_4 | 0.1956 0.8019 -0.0794
l_metacarpophalangeal_4 | 0.1956 0.7815 -0.0794
l_carpal_proximal_interphalangeal_4 | 0.1973 0.7287 -0.0777
l_carpal_distal_interphalangeal_4 | 0.1983 0.7045 -0.0767
l_carpometacarpal_5 | 0.1925 0.8066 -0.1036
l_metacarpophalangeal_5 | 0.1925 0.7866 -0.1036
l_carpal_proximal_interphalangeal_5 | 0.1938 0.7452 -0.1024
l_carpal_distal_interphalangeal_5 | 0.1948 0.7277 -0.1017
r_sternoclavicular | -0.0694 1.4600 -0.0330
r_acromioclavicular | -0.0836 1.4281 -0.0401
r_shoulder | -0.1907 1.4407 -0.0325
r_elbow | -0.1949 1.1388 -0.0620
r_radiocarpal | -0.1959 0.8694 -0.0521
r_carpometacarpal_1 | -0.1899 0.8502 -0.0473
r_metacarpophalangeal_1 | -0.1874 0.8256 0.0306
r_carpal_interphalangeal_1 | -0.1864 0.8190 0.0506
r_carpometacarpal_2 | -0.1961 0.8055 -0.0218
r_metacarpophalangeal_2 | -0.1961 0.7846 -0.0218
r_carpal_proximal_interphalangeal_2 | -0.1954 0.7393 -0.0185
r_carpal_distal_interphalangeal_2 | -0.1945 0.7169 -0.0173
r_carpometacarpal_3 | -0.1972 0.8060 -0.0468
r_metacarpophalangeal_3 | -0.1972 0.7849 -0.0468
r_carpal_proximal_interphalangeal_3 | -0.1950 0.7304 -0.0441
r_carpal_distal_interphalangeal_3 | -0.1939 0.7042 -0.0432
r_carpometacarpal_4 | -0.1951 0.8049 -0.0732
r_metacarpophalangeal_4 | -0.1951 0.7845 -0.0732
r_carpal_proximal_interphalangeal_4 | -0.1920 0.7318 -0.0716
r_carpal_distal_interphalangeal_4 | -0.1908 0.7077 -0.0706
r_carpometacarpal_5 | -0.1926 0.8096 -0.0975
r_metacarpophalangeal_5 | -0.1926 0.7896 -0.0975
r_carpal_proximal_interphalangeal_5 | -0.1902 0.7483 -0.0963
r_carpal_distal_interphalangeal_5 | -0.1908 0.7540 -0.0960

Table A.11 — LOA‑4: Suggested Site objects translation values

Site object | Suggested translation value
--- | ---
l_tarsal_distal_phalanx_1_tip | 0.1354 0.0016 0.1476
l_tarsal_interphalangeal_phalanx_5 | 0.1825 0.0070 0.0928
l_tarsal_distal_phalanx_2 | 0.1195 0.0079 0.1433
l_tarsal_interphalangeal_phalanx_1 | 0.0816 0.0232 0.0106
l_lateral_malleolus | 0.1308 0.0597 -0.1032
l_medial_malleolus | 0.0890 0.0716 -0.0881
l_sphyrion | 0.0890 0.0575 -0.0943
l_calcaneus_posterior | 0.0974 0.0259 -0.1171
l_knee_crease | 0.0993 0.4881 -0.0309
l_femoral_lateral_epicondyles | 0.1598 0.4967 0.0297
l_femoral_medial_epicondyles | 0.0398 0.4946 0.0303
r_tarsal_distal_phalanx_1_tip | -0.1043 -0.0227 0.1450
r_tarsal_interphalangeal_phalanx_5 | -0.1523 0.0166 0.0895
r_tarsal_distal_phalanx_2 | -0.0883 0.0134 0.1383
r_tarsal_interphalangeal_phalanx_1 | -0.0521 0.0260 0.0127
r_lateral_malleolus | -0.1006 0.0658 -0.1075
r_medial_malleolus | -0.0591 0.0760 -0.0928
r_sphyrion | -0.0603 0.0610 -0.1002
r_calcaneus_posterior | -0.0692 0.0297 -0.1221
r_knee_crease | -0.0825 0.4932 -0.0326
r_femoral_lateral_epicondyles | -0.1421 0.4992 0.0310
r_femoral_medial_epicondyles | -0.0221 0.5014 0.0289
r_iliocristale | -0.1525 1.0628 0.0035
r_trochanterion | -0.1689 0.8419 0.0352
l_iliocristale | 0.1612 1.0537 0.0008
l_trochanterion | 0.1677 0.8336 0.0303
r_asis | -0.0887 1.0021 0.1112
l_asis | 0.0925 0.9983 0.1052
r_psis | -0.0716 1.0190 -0.1138
l_psis | 0.0774 1.0190 -0.1151
crotch | 0.0034 0.8266 0.0257
skull_tip | 0.0050 1.7504 0.0055
sellion | 0.0058 1.6316 0.0852
r_infraorbitale | -0.0237 1.6171 0.0752
l_infraorbitale | 0.0341 1.6171 0.0752
supramenton | 0.0061 1.5410 0.0805
r_tragion | -0.0646 1.6347 0.0302
r_gonion | -0.0520 1.5529 0.0347
l_tragion | 0.0739 1.6348 0.0282
l_gonion | 0.0631 1.5530 0.0330
nuchale | 0.0039 1.5972 -0.0796
r_neck_base | -0.0419 1.5149 -0.0220
l_neck_base | 0.0646 1.5141 -0.0380
l_carpal_distal_phalanx_1_tip | 0.1982 0.8061 0.0759
l_carpal_distal_phalanx_2_tip | 0.2089 0.6858 -0.0245
l_dactylion | 0.2056 0.6743 -0.0482
l_carpal_distal_phalanx_3_tip | 0.2080 0.6731 -0.0491
l_carpal_distal_phalanx_4_tip | 0.2035 0.6750 -0.0756
l_carpal_distal_phalanx_5_tip | 0.2014 0.7009 -0.1012
l_metacarpal_phalanx_2 | 0.2009 0.8139 -0.0237
l_ulnar_styloid | -0.2142 0.8529 -0.0648
l_metacarpal_phalanx_5 | 0.1929 0.7860 -0.1122
l_radial_styloid | 0.1901 0.8645 -0.0415
l_olecranon | -0.1962 1.1375 -0.1123
l_humeral_medial_epicondyles | 0.1735 1.1272 -0.1113
l_radiale | 0.2182 1.1212 -0.1167
l_humeral_lateral_epicondyles | 0.2280 1.1482 -0.1100
l_clavicale | 0.0271 1.4943 0.0394
l_acromion | 0.2032 1.4760 -0.0490
l_axilla_proximal | 0.1777 1.4065 -0.0075
l_axilla_distal | 0.1706 1.4072 -0.0875
r_carpal_distal_phalanx_1_tip | -0.1869 0.8090 0.0820
r_carpal_distal_phalanx_2_tip | -0.1980 0.6883 -0.0180
r_dactylion | -0.1941 0.6772 -0.0423
r_carpal_distal_phalanx_3_tip | -0.1969 0.6758 -0.0427
r_carpal_distal_phalanx_4_tip | -0.1934 0.6778 -0.0693
r_carpal_distal_phalanx_5_tip | -0.1938 0.7035 -0.0949
r_metacarpal_phalanx_2 | -0.1977 0.8169 -0.0177
r_ulnar_styloid | -0.2117 0.8562 -0.0584
r_metacarpal_phalanx_5 | -0.1929 0.7890 -0.1064
r_radial_styloid | -0.1884 0.8676 -0.0360
r_olecranon | -0.1907 1.1405 -0.1065
r_humeral_medial_epicondyles | -0.1680 1.1298 -0.1062
r_radiale | -0.2130 1.1305 -0.1091
r_humeral_lateral_epicondyles | -0.2224 1.1517 -0.1033
r_clavicale | -0.0115 1.4943 0.0400
r_acromion | -0.1905 1.4791 -0.0431
r_axilla_proximal | -0.1626 1.4072 -0.0031
r_axilla_distal | -0.1603 1.4098 -0.0826
suprasternale | 0.0084 1.4714 0.0551
cervicale | 0.0064 1.520 -0.0815
r_thelion | -0.0736 1.3385 0.1217
l_thelion | 0.0918 1.3382 0.1192
substernale | 0.0085 1.2995 0.1147
r_rib10 | -0.0711 1.1941 0.1016
l_rib10 | 0.0871 1.1925 0.0992
spine_2_lower_back | 0.0049 1.1908 -0.1113
waist_preferred_posterior | 0.2900 1.0915 -0.1091
navel | 0.0069 1.0966 0.1017

## A.7.2 Examples

### A.7.2.1 LOA‑4 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_humanoid_root Joint {
       name           "humanoid_root"
       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_talocrural Joint {
               name           "l_talocrural"
               center         0.1101 0.0656 -0.0736
               children [
                DEF hanim_l_tarsotarsal_interphalangeal_ Joint {
                 name           "l_tarsotarsal_interphalangeal_"
                 center         0.1086 0.0001 -0.0368
                 children [
                  DEF hanim_l_metatarsophalangeal_ Joint {
                   name           "l_metatarsophalangeal_"
                   center         0.1086 0.0001 0.0368
                   children [
                    DEF hanim_l_tarsal_interphalangeal_ Joint {
                     name           "l_tarsal_interphalangeal_"
                     center         0.1086 0.0000 0.0762
                     children [
                      DEF hanim_l_tarsal_distal_phalanx_1 Segment {
                       name           "l_tarsal_distal_phalanx_1"
                       children [
                        DEF hanim_l_tarsal_distal_phalanx_1_tip Site {
                         name           "l_tarsal_distal_phalanx_1_tip"
                         translation    0.1354 0.0016 0.1476
                         children [
                         ]
                        }
                        DEF hanim_l_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #66
                         name           "l_tarsal_interphalangeal_phalanx_5"
                         translation    0.1825 0.0070 0.0928
                         children [
                         ]
                        }
                        DEF hanim_l_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #72
                         name           "l_tarsal_distal_phalanx_2"
                         translation    0.1195 0.0079 0.1433
                         children [
                         ]
                        }
                       ]
                      }     # end hanim_l_tarsal_distal_phalanx_1 Segment
                     ]
                    }     # end hanim_l_tarsal_interphalangeal_ Joint
                    DEF hanim_l_middistal Segment {
                     name           "l_middistal"
                     children [
                      DEF hanim_l_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #70
                       name           "l_tarsal_interphalangeal_phalanx_1"
                       translation    0.0816 0.0232 0.0106
                       children [
                       ]
                      }
                     ]
                    }     # end hanim_l_middistal Segment
                   ]
                  }     # end hanim_l_metatarsophalangeal_ Joint
                  DEF hanim_l_midproximal Segment {
                   name           "l_midproximal"
                   children [
                   ]
                  }     # end hanim_l_midproximal Segment
                 ]
                }     # end hanim_l_tarsotarsal_interphalangeal_ 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_calcaneus_posterior Site {     # CAESAR Feature Point #71
                   name           "l_calcaneus_posterior"
                   translation    0.0974 0.0259 -0.1171
                   children [
                   ]
                  }
                 ]
                }     # end hanim_l_hindfoot Segment
               ]
              }     # end hanim_l_talocrural 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_epicondyles Site {     # CAESAR Feature Point #64
               name           "l_femoral_lateral_epicondyles"
               translation    0.1598 0.4967 0.0297
               children [
               ]
              }
              DEF hanim_l_femoral_medial_epicondyles Site {     # CAESAR Feature Point #65
               name           "l_femoral_lateral_epicondyles"
               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_talocrural Joint {
               name           "r_talocrural"
               center         -0.0801 0.0712 -0.0766
               children [
                DEF hanim_r_tarsotarsal_interphalangeal_ Joint {
                 name           "r_tarsotarsal_interphalangeal_"
                 center         -0.0801 0.0000 -0.0368
                 children [
                  DEF hanim_r_metatarsophalangeal_ Joint {
                   name           "r_metatarsophalangeal_"
                   center         -0.0801 0.0000 0.0368
                   children [
                    DEF hanim_r_tarsal_interphalangeal_ Joint {
                     name           "r_tarsal_interphalangeal_"
                     center         -0.0801 0.0039 0.0732
                     children [
                      DEF hanim_r_tarsal_distal_phalanx_1 Segment {
                       name           "r_tarsal_distal_phalanx_1"
                       children [
                        DEF hanim_r_tarsal_distal_phalanx_1_tip Site {
                         name           "r_tarsal_distal_phalanx_1_tip"
                         translation    -0.1043 -0.0227 0.1450
                         children [
                         ]
                        }
                        DEF hanim_r_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #56
                         name           "r_tarsal_interphalangeal_phalanx_5"
                         translation    -0.1523 0.0166 0.0895
                         children [
                         ]
                        }
                        DEF hanim_r_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #62
                         name           "r_tarsal_distal_phalanx_2"
                         translation    -0.0883 0.0134 0.1383
                         children [
                         ]
                        }
                       ]
                      }     # end hanim_r_tarsal_distal_phalanx_1 Segment
                     ]
                    }     # end hanim_r_tarsal_interphalangeal_ Joint
                    DEF hanim_r_middistal Segment {
                     name           "r_middistal"
                     children [
                      DEF hanim_r_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #60
                       name           "r_tarsal_interphalangeal_phalanx_1"
                       translation    -0.0521 0.0260 0.0127
                       children [
                       ]
                      }
                     ]
                    }     # end hanim_r_middistal Segment
                   ]
                  }     # end hanim_r_metatarsophalangeal_ Joint
                  DEF hanim_r_midproximal Segment {
                   name           "r_midproximal"
                   children [
                   ]
                  }     # end hanim_r_midproximal Segment
                 ]
                }
                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_calcaneus_posterior Site {     # CAESAR Feature Point #61
                   name           "r_calcaneus_posterior"
                   translation    -0.0692 0.0297 -0.1221
                   children [
                   ]
                  }
                 ]
                }     # end hanim_r_hindfoot Segment
               ]
              }     # end hanim_r_talocrural 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_epicondyles Site {     # CAESAR Feature Point #54
               name           "r_femoral_lateral_epicondyles"
               translation    -0.1421 0.4992 0.0310
               children [
               ]
              }
              DEF hanim_r_femoral_medial_epicondyles Site {     # CAESAR Feature Point #55
               name           "r_femoral_lateral_epicondyles"
               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 [
            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_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_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_pelvis Segment
         ]
        }     # end hanim_sacroiliac Joint
        DEF hanim_vl5 Joint {
         name           "vl5"
         center         0.0028 1.0568 -0.0776
         children [
          DEF hanim_vl4 Joint {
           name           "vl4"
           center         0.0035 1.0925 -0.0787
           children [
            DEF hanim_vl3 Joint {
             name           "vl3"
             center         0.0041 1.1276 -0.0796
             children [
              DEF hanim_vl2 Joint {
               name           "vl2"
               center         0.0045 1.1546 -0.0800
               children [
                DEF hanim_vl1 Joint {
                 name           "vl1"
                 center         0.0048 1.1912 -0.0805
                 children [
                  DEF hanim_vt12 Joint {
                   name           "vt12"
                   center         0.0051 1.2278 -0.0808
                   children [
                    DEF hanim_vt11 Joint {
                     name           "vt11"
                     center         0.0053 1.2679 -0.0810
                     children [
                      DEF hanim_vt10 Joint {
                       name           "vt10"
                       center         0.0056 1.2848 -0.0822
                       children [
                        DEF hanim_vt9 Joint {
                         name           "vt9"
                         center         0.0057 1.3126 -0.0838
                         children [
                          DEF hanim_vt8 Joint {
                           name           "vt8"
                           center         0.0057 1.3382 -0.0845
                           children [
                            DEF hanim_vt7 Joint {
                             name           "vt7"
                             center         0.0058 1.3625 -0.0833
                             children [
                              DEF hanim_vt6 Joint {
                               name           "vt6"
                               center         0.0059 1.3866 -0.0800
                               children [
                                DEF hanim_vt5 Joint {
                                 name           "vt5"
                                 center         0.0060 1.4102 -0.0745
                                 children [
                                  DEF hanim_vt4 Joint {
                                   name           "vt4"
                                   center         0.0061 1.4320 -0.0675
                                   children [
                                    DEF hanim_vt3 Joint {
                                     name           "vt3"
                                     center         0.0062 1.4583 -0.0570
                                     children [
                                      DEF hanim_vt2 Joint {
                                       name           "vt2"
                                       center         0.0063 1.4761 -0.0484
                                       children [
                                        DEF hanim_vt1 Joint {
                                         name           "vt1"
                                         center         0.0065 1.4951 -0.0387
                                         children [
                                          DEF hanim_vc7 Joint {
                                           name           "vc7"
                                           center         0.0066 1.5132 -0.0301
                                           children [
                                            DEF hanim_vc6 Joint {
                                             name           "vc6"
                                             center         0.0066 1.5357 -0.0143
                                             children [
                                              DEF hanim_vc5 Joint {
                                               name           "vc5"
                                               center         0.0066 1.5520 -0.0082
                                               children [
                                                DEF hanim_vc4 Joint {
                                                 name           "vc4"
                                                 center         0.0066 1.5662 -0.0084
                                                 children [
                                                  DEF hanim_vc3 Joint {
                                                   name           "vc3"
                                                   center         0.0066 1.5800 -0.0103
                                                   children [
                                                    DEF hanim_vc2 Joint {
                                                     name           "vc2"
                                                     center         0.0066 1.5928 -0.0103
                                                     children [
                                                      DEF hanim_vc1 Joint {
                                                       name           "vc1"
                                                       center         0.0066 1.6144 -0.0034
                                                       children [
                                                        DEF hanim_skullbase Joint {
                                                         name           "skullbase"
                                                         center         0.0044 1.6209 0.0236
                                                         children [
                                                          DEF hanim_l_eyeball Joint {
                                                           name           "l_eyeball"
                                                           center         0.0336 1.6332 0.0502
                                                           children [
                                                            DEF hanim_l_eyeball Segment {
                                                             name           "l_eyeball"
                                                             children [
                                                             ]
                                                            }     # end hanim_l_eyeball Segment
                                                           ]
                                                          }     # end hanim_l_eyeball Joint
                                                          DEF hanim_r_eyeball Joint {
                                                           name           "r_eyeball"
                                                           center         -0.0236 1.6331 0.0510
                                                           children [
                                                            DEF hanim_r_eyeball Segment {
                                                             name           "r_eyeball"
                                                             children [
                                                             ]
                                                            }     # end hanim_r_eyeball Segment
                                                           ]
                                                          }     # end hanim_r_eyeball Joint
                                                          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_c1 Segment {
                                                         name           "c1"
                                                         children [
                                                         ]
                                                        }     # end hanim_c1 Segment
                                                       ]
                                                      }     # end hanim_vc1 Joint
                                                      DEF hanim_c2 Segment {
                                                       name           "c2"
                                                       children [
                                                       ]
                                                      }     # end hanim_c2 Segment
                                                     ]
                                                    }     # end hanim_vc2 Joint
                                                    DEF hanim_c3 Segment {
                                                     name           "c3"
                                                     children [
                                                     ]
                                                    }     # end hanim_c3 Segment
                                                   ]
                                                  }     # end hanim_vc3 Joint
                                                  DEF hanim_c4 Segment {
                                                   name           "c4"
                                                   children [
                                                   ]
                                                  }     # end hanim_c4 Segment
                                                 ]
                                                }     # end hanim_vc4 Joint
                                                DEF hanim_c5 Segment {
                                                 name           "c5"
                                                 children [
                                                 ]
                                                }     # end hanim_c5 Segment
                                               ]
                                              }     # end hanim_vc5 Joint
                                              DEF hanim_c6 Segment {
                                               name           "c6"
                                               children [
                                               ]
                                              }     # end hanim_c6 Segment
                                             ]
                                            }     # end hanim_vc6 Joint
                                            DEF hanim_c7 Segment {
                                             name           "c7"
                                             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 [
                                               ]
                                              }
                                             ]
                                            }     # end hanim_c7 Segment
                                           ]
                                          }     # end hanim_vc7 Joint
                                          DEF hanim_l_sternoclavicular Joint {
                                           name           "l_sternoclavicular"
                                           center         0.0820 1.4488 -0.0353
                                           children [
                                            DEF hanim_l_acromioclavicular Joint {
                                             name           "l_acromioclavicular"
                                             center         0.0962 1.4269 -0.0424
                                             children [
                                              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_radiocarpal Joint {
                                                   name           "l_radiocarpal"
                                                   center         0.1984 0.8663 -0.0583
                                                   children [
                                                    DEF hanim_l_carpometacarpal_1 Joint {
                                                     name           "l_carpometacarpal_1"
                                                     center         0.1924 0.8472 -0.0534
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_1 Joint {
                                                       name           "l_metacarpophalangeal_1"
                                                       center         0.1951 0.8226 0.0246
                                                       children [
                                                        DEF hanim_l_carpal_interphalangeal_1 Joint {
                                                         name           "l_carpal_interphalangeal_1"
                                                         center         0.1955 0.8159 0.0464
                                                         children [
                                                          DEF hanim_l_carpal_distal_phalanx_1 Segment {
                                                           name           "l_carpal_distal_phalanx_1"
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_1_tip Site {
                                                             name           "l_carpal_distal_phalanx_1_tip"
                                                             translation    0.1982 0.8061 0.0759
                                                             children [
                                                             ]
                                                            }
                                                           ]
                                                          }     # end hanim_l_carpal_distal_phalanx_1 Segment
                                                         ]
                                                        }     # end hanim_l_carpal_interphalangeal_1 Joint
                                                        DEF hanim_l_index_proximal Segment {
                                                         name           "l_index_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_thumb_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_1 Joint
                                                      DEF hanim_l_index_proximal Segment {
                                                       name           "l_index_proximal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_thumb_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_1 Joint
                                                    DEF hanim_l_carpometacarpal_2 Joint {
                                                     name           "l_carpometacarpal_2"
                                                     center         0.1983 0.8024 -0.0280
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_2 Joint {
                                                       name           "l_metacarpophalangeal_2"
                                                       center         0.1983 0.7815 -0.0280
                                                       children [
                                                        DEF hanim_l_carpal_proximal_interphalangeal_2 Joint {
                                                         name           "l_carpal_proximal_interphalangeal_2"
                                                         center         0.2017 0.7363 -0.0248
                                                         children [
                                                          DEF hanim_l_carpal_distal_interphalangeal_2 Joint {
                                                           name           "l_carpal_distal_interphalangeal_2"
                                                           center         0.2028 0.7139 -0.0236
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_2 Segment {
                                                             name           "l_carpal_distal_phalanx_2"
                                                             children [
                                                              DEF hanim_l_carpal_distal_phalanx_2_tip Site {
                                                               name           "l_carpal_distal_phalanx_2_tip"
                                                               translation    0.2089 0.6858 -0.0245
                                                               children [
                                                               ]
                                                              }
                                                              DEF hanim_l_dactylion Site {     # CAESAR Feature Point #50
                                                               name           "l_dactylion"
                                                               translation    0.2056 0.6743 -0.0482
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_l_carpal_distal_phalanx_2 Segment
                                                           ]
                                                          }     # end hanim_l_carpal_distal_interphalangeal_2 Joint
                                                          DEF hanim_l_index_middle Segment {
                                                           name           "l_index_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_l_index_middle Segment
                                                         ]
                                                        }     # end hanim_l_carpal_proximal_interphalangeal_2 Joint
                                                        DEF hanim_l_index_proximal Segment {
                                                         name           "l_index_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_index_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_2 Joint
                                                      DEF hanim_l_index_metacarpal Segment {
                                                       name           "l_index_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_index_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_2 Joint
                                                    DEF hanim_l_carpometacarpal_3 Joint {
                                                     name           "l_carpometacarpal_3"
                                                     center         0.1987 0.8029 -0.0530
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_3 Joint {
                                                       name           "l_metacarpophalangeal_3"
                                                       center         0.1987 0.7818 -0.0530
                                                       children [
                                                        DEF hanim_l_carpal_proximal_interphalangeal_3 Joint {
                                                         name           "l_carpal_proximal_interphalangeal_3"
                                                         center         0.2013 0.7273 -0.0503
                                                         children [
                                                          DEF hanim_l_carpal_distal_interphalangeal_3 Joint {
                                                           name           "l_carpal_distal_interphalangeal_3"
                                                           center         0.2026 0.7011 -0.0494
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_3 Segment {
                                                             name           "l_carpal_distal_phalanx_3"
                                                             children [
                                                              DEF hanim_l_carpal_distal_phalanx_3_tip Site {
                                                               name           "l_carpal_distal_phalanx_3_tip"
                                                               translation    0.2080 0.6731 -0.0491
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_l_carpal_distal_phalanx_3 Segment
                                                           ]
                                                          }     # end hanim_l_carpal_distal_interphalangeal_3 Joint
                                                          DEF hanim_l_middle_middle Segment {
                                                           name           "l_middle_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_l_middle_middle Segment
                                                         ]
                                                        }     # end hanim_l_carpal_proximal_interphalangeal_3 Joint
                                                        DEF hanim_l_middle_proximal Segment {
                                                         name           "l_middle_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_middle_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_3 Joint
                                                      DEF hanim_l_middle_metacarpal Segment {
                                                       name           "l_middle_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_middle_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_3 Joint
                                                    DEF hanim_l_carpometacarpal_4 Joint {
                                                     name           "l_carpometacarpal_4"
                                                     center         0.1956 0.8019 -0.0794
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_4 Joint {
                                                       name           "l_metacarpophalangeal_4"
                                                       center         0.1956 0.7815 -0.0794
                                                       children [
                                                        DEF hanim_l_carpal_proximal_interphalangeal_4 Joint {
                                                         name           "l_carpal_proximal_interphalangeal_4"
                                                         center         0.1973 0.7287 -0.0777
                                                         children [
                                                          DEF hanim_l_carpal_distal_interphalangeal_4 Joint {
                                                           name           "l_carpal_distal_interphalangeal_4"
                                                           center         0.1983 0.7045 -0.0767
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_4 Segment {
                                                             name           "l_carpal_distal_phalanx_4"
                                                             children [
                                                              DEF hanim_l_carpal_distal_phalanx_4_tip Site {
                                                               name           "l_carpal_distal_phalanx_4_tip"
                                                               translation    0.2035 0.6750 -0.0756
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_l_carpal_distal_phalanx_4 Segment
                                                           ]
                                                          }     # end hanim_l_carpal_distal_interphalangeal_4 Joint
                                                          DEF hanim_l_ring_middle Segment {
                                                           name           "l_ring_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_l_ring_middle Segment
                                                         ]
                                                        }     # end hanim_l_carpal_proximal_interphalangeal_4 Joint
                                                        DEF hanim_l_ring_proximal Segment {
                                                         name           "l_ring_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_ring_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_4 Joint
                                                      DEF hanim_l_ring_metacarpal Segment {
                                                       name           "l_ring_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_ring_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_4 Joint
                                                    DEF hanim_l_carpometacarpal_5 Joint {
                                                     name           "l_carpometacarpal_5"
                                                     center         0.1925 0.8066 -0.1036
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_5 Joint {
                                                       name           "l_metacarpophalangeal_5"
                                                       center         0.1925 0.7866 -0.1036
                                                       children [
                                                        DEF hanim_l_carpal_proximal_interphalangeal_5 Joint {
                                                         name           "l_carpal_proximal_interphalangeal_5"
                                                         center         0.1938 0.7452 -0.1024
                                                         children [
                                                          DEF hanim_l_carpal_distal_interphalangeal_5 Joint {
                                                           name           "l_carpal_distal_interphalangeal_5"
                                                           center         0.1948 0.7277 -0.1017
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_5 Segment {
                                                             name           "l_carpal_distal_phalanx_5"
                                                             children [
                                                              DEF hanim_l_carpal_distal_phalanx_5_tip Site {
                                                               name           "l_carpal_distal_phalanx_5_tip"
                                                               translation    0.2014 0.7009 -0.1012
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_l_carpal_distal_phalanx_5 Segment
                                                           ]
                                                          }     # end hanim_l_carpal_distal_interphalangeal_5 Joint
                                                          DEF hanim_l_pinky_middle Segment {
                                                           name           "l_pinky_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_l_pinky_middle Segment
                                                         ]
                                                        }     # end hanim_l_carpal_proximal_interphalangeal_5 Joint
                                                        DEF hanim_l_pinky_proximal Segment {
                                                         name           "l_pinky_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_pinky_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_5 Joint
                                                      DEF hanim_l_pinky_metacarpal Segment {
                                                       name           "l_pinky_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_pinky_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_5 Joint
                                                    DEF hanim_l_hand Segment {
                                                     name           "l_hand"
                                                     children [
                                                      DEF hanim_l_metacarpal_phalanx_2 Site {     # CAESAR Feature Point #49
                                                       name           "l_metacarpal_phalanx_2"
                                                       translation    0.2009 0.8139 -0.0237
                                                       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_phalanx_5 Site {     # CAESAR Feature Point #52
                                                       name           "l_metacarpal_phalanx_5"
                                                       translation    0.1929 0.7860 -0.1122
                                                       children [
                                                       ]
                                                      }
                                                     ]
                                                    }     # end hanim_l_hand Segment
                                                   ]
                                                  }     # end hanim_l_radiocarpal 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_epicondyles Site {     # CAESAR Feature Point #47
                                                     name           "l_humeral_medial_epicondyles"
                                                     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_epicondyles Site {     # CAESAR Feature Point #46
                                                   name           "l_humeral_lateral_epicondyles "
                                                   translation    0.2280 1.1482 -0.1100
                                                   children [
                                                   ]
                                                  }
                                                 ]
                                                }     # end hanim_l_upperarm Segment
                                               ]
                                              }     # end hanim_l_shoulder Joint
                                              DEF hanim_l_scapula Segment {
                                               name           "l_scapula"
                                               children [
                                               ]
                                              }     # end hanim_l_scapula Segment
                                             ]
                                            }     # end hanim_l_acromioclavicular Joint
                                            DEF hanim_l_clavicle Segment {
                                             name           "l_clavicle"
                                             children [
                                              DEF hanim_l_clavicale Site {     # CAESAR Feature Point #12
                                               name           "l_clavicale"
                                               translation    0.0271 1.4943 0.0394
                                               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_proximal Site {     # CAESAR Feature Point #42
                                               name           "l_axilla_proximal"
                                               translation    0.1777 1.4065 -0.0075
                                               children [
                                               ]
                                              }
                                              DEF hanim_l_axilla_distal Site {     # CAESAR Feature Point #44
                                               name           "l_axilla_distal"
                                               translation    0.1706 1.4072 -0.0875
                                               children [
                                               ]
                                              }
                                             ]
                                            }     # end hanim_l_clavicle Segment
                                           ]
                                          }     # end hanim_l_sternoclavicular Joint
                                          DEF hanim_r_sternoclavicular Joint {
                                           name           "r_sternoclavicular"
                                           center         -0.0694 1.4600 -0.0330
                                           children [
                                            DEF hanim_r_acromioclavicular Joint {
                                             name           "r_acromioclavicular"
                                             center         -0.0836 1.4281 -0.0401
                                             children [
                                              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_radiocarpal Joint {
                                                   name           "r_radiocarpal"
                                                   center         -0.1959 0.8694 -0.0521
                                                   children [
                                                    DEF hanim_r_carpometacarpal_1 Joint {
                                                     name           "r_carpometacarpal_1"
                                                     center         -0.1899 0.8502 -0.0473
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_1 Joint {
                                                       name           "r_metacarpophalangeal_1"
                                                       center         -0.1874 0.8256 0.0306
                                                      children [
                                                        DEF hanim_r_carpal_interphalangeal_1 Joint {
                                                         name           "r_carpal_interphalangeal_1"
                                                         center         -0.1864 0.8190 0.0506
                                                         children [
                                                          DEF hanim_r_carpal_distal_phalanx_1 Segment {
                                                           name           "r_carpal_distal_phalanx_1"
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_1_tip Site {
                                                             name           "r_carpal_distal_phalanx_1_tip"
                                                             translation    -0.1869 0.8090 0.0820
                                                             children [
                                                             ]
                                                            }
                                                           ]
                                                          }     # end hanim_r_carpal_distal_phalanx_1 Segment
                                                         ]
                                                        }     # end hanim_r_carpal_interphalangeal_1 Joint
                                                        DEF hanim_r_index_proximal Segment {
                                                         name           "r_index_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_thumb_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_1 Joint
                                                      DEF hanim_r_index_proximal Segment {
                                                       name           "r_index_proximal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_thumb_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_1 Joint
                                                    DEF hanim_r_carpometacarpal_2 Joint {
                                                     name           "r_carpometacarpal_2"
                                                     center         -0.1961 0.8055 -0.0218
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_2 Joint {
                                                       name           "r_metacarpophalangeal_2"
                                                       center         -0.1961 0.7846 -0.0218
                                                       children [
                                                        DEF hanim_r_carpal_proximal_interphalangeal_2 Joint {
                                                         name           "r_carpal_proximal_interphalangeal_2"
                                                         center         -0.1954 0.7393 -0.0185
                                                         children [
                                                          DEF hanim_r_carpal_distal_interphalangeal_2 Joint {
                                                           name           "r_carpal_distal_interphalangeal_2"
                                                           center         -0.1945 0.7169 -0.0173
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_2 Segment {
                                                             name           "r_carpal_distal_phalanx_2"
                                                             children [
                                                              DEF hanim_r_carpal_distal_phalanx_2_tip Site {
                                                               name           "r_carpal_distal_phalanx_2_tip"
                                                               translation    -0.1980 0.6883 -0.0180
                                                               children [
                                                               ]
                                                              }
                                                              DEF hanim_r_dactylion Site {     # CAESAR Feature Point #38
                                                               name           "r_dactylion"
                                                               translation    -0.1941 0.6772 -0.0423
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_r_carpal_distal_phalanx_2 Segment
                                                           ]
                                                          }     # end hanim_r_carpal_distal_interphalangeal_2 Joint
                                                          DEF hanim_r_index_middle Segment {
                                                           name           "r_index_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_r_index_middle Segment
                                                         ]
                                                        }     # end hanim_r_carpal_proximal_interphalangeal_2 Joint
                                                        DEF hanim_r_index_proximal Segment {
                                                         name           "r_index_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_index_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_2 Joint
                                                      DEF hanim_r_index_metacarpal Segment {
                                                       name           "r_index_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_index_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_2 Joint
                                                    DEF hanim_r_carpometacarpal_3 Joint {
                                                     name           "r_carpometacarpal_3"
                                                     center         -0.1972 0.8060 -0.0468
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_3 Joint {
                                                       name           "r_metacarpophalangeal_3"
                                                       center         -0.1972 0.7849 -0.0468
                                                       children [
                                                        DEF hanim_r_carpal_proximal_interphalangeal_3 Joint {
                                                         name           "r_carpal_proximal_interphalangeal_3"
                                                         center         -0.1950 0.7304 -0.0441
                                                         children [
                                                          DEF hanim_r_carpal_distal_interphalangeal_3 Joint {
                                                           name           "r_carpal_distal_interphalangeal_3"
                                                           center         -0.1939 0.7042 -0.0432
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_3 Segment {
                                                             name           "r_carpal_distal_phalanx_3"
                                                             children [
                                                              DEF hanim_r_carpal_distal_phalanx_3_tip Site {
                                                               name           "r_carpal_distal_phalanx_3_tip"
                                                               translation    -0.1969 0.6758 -0.0427
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_r_carpal_distal_phalanx_3 Segment
                                                           ]
                                                          }     # end hanim_r_carpal_distal_interphalangeal_3 Joint
                                                          DEF hanim_r_middle_middle Segment {
                                                           name           "r_middle_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_r_middle_middle Segment
                                                         ]
                                                        }     # end hanim_r_carpal_proximal_interphalangeal_3 Joint
                                                        DEF hanim_r_middle_proximal Segment {
                                                         name           "r_middle_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_middle_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_3 Joint
                                                      DEF hanim_r_middle_metacarpal Segment {
                                                       name           "r_middle_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_middle_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_3 Joint
                                                    DEF hanim_r_carpometacarpal_4 Joint {
                                                     name           "r_carpometacarpal_4"
                                                     center         -0.1951 0.8049 -0.0732
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_4 Joint {
                                                       name           "r_metacarpophalangeal_4"
                                                       center         -0.1951 0.7845 -0.0732
                                                       children [
                                                        DEF hanim_r_carpal_proximal_interphalangeal_4 Joint {
                                                         name           "r_carpal_proximal_interphalangeal_4"
                                                         center         -0.1920 0.7318 -0.0716
                                                         children [
                                                          DEF hanim_r_carpal_distal_interphalangeal_4 Joint {
                                                           name           "r_carpal_distal_interphalangeal_4"
                                                           center         -0.1908 0.7077 -0.0706
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_4 Segment {
                                                             name           "r_carpal_distal_phalanx_4"
                                                             children [
                                                              DEF hanim_r_carpal_distal_phalanx_4_tip Site {
                                                               name           "r_carpal_distal_phalanx_4_tip"
                                                               translation    -0.1934 0.6778 -0.0693
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_r_carpal_distal_phalanx_4 Segment
                                                           ]
                                                          }     # end hanim_r_carpal_distal_interphalangeal_4 Joint
                                                          DEF hanim_r_ring_middle Segment {
                                                           name           "r_ring_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_r_ring_middle Segment
                                                         ]
                                                        }     # end hanim_r_carpal_proximal_interphalangeal_4 Joint
                                                        DEF hanim_r_ring_proximal Segment {
                                                         name           "r_ring_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_ring_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_4 Joint
                                                      DEF hanim_r_ring_metacarpal Segment {
                                                       name           "r_ring_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_ring_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_4 Joint
                                                    DEF hanim_r_carpometacarpal_5 Joint {
                                                     name           "r_carpometacarpal_5"
                                                     center         -0.1926 0.8096 -0.0975
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_5 Joint {
                                                       name           "r_metacarpophalangeal_5"
                                                       center         -0.1926 0.7896 -0.0975
                                                       children [
                                                        DEF hanim_r_carpal_proximal_interphalangeal_5 Joint {
                                                         name           "r_carpal_proximal_interphalangeal_5"
                                                         center         -0.1902 0.7483 -0.0963
                                                         children [
                                                          DEF hanim_r_carpal_distal_interphalangeal_5 Joint {
                                                           name           "r_carpal_distal_interphalangeal_5"
                                                           center         -0.1908 0.7540 -0.0960
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_5 Segment {
                                                             name           "r_carpal_distal_phalanx_5"
                                                             children [
                                                              DEF hanim_r_carpal_distal_phalanx_5_tip Site {
                                                               name           "r_carpal_distal_phalanx_5_tip"
                                                               translation    -0.1938 0.7035 -0.0949
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_r_carpal_distal_phalanx_5 Segment
                                                           ]
                                                          }     # end hanim_r_carpal_distal_interphalangeal_5 Joint
                                                          DEF hanim_r_pinky_middle Segment {
                                                           name           "r_pinky_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_r_pinky_middle Segment
                                                         ]
                                                        }     # end hanim_r_carpal_proximal_interphalangeal_5 Joint
                                                        DEF hanim_r_pinky_proximal Segment {
                                                         name           "r_pinky_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_pinky_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_5 Joint
                                                      DEF hanim_r_pinky_metacarpal Segment {
                                                       name           "r_pinky_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_pinky_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_5 Joint
                                                    DEF hanim_r_hand Segment {
                                                     name           "r_hand"
                                                     children [
                                                      DEF hanim_r_metacarpal_phalanx_2 Site {     # CAESAR Feature Point #37
                                                       name           "r_metacarpal_phalanx_2"
                                                       translation    -0.1977 0.8169 -0.0177
                                                       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_phalanx_5 Site {     # CAESAR Feature Point #40
                                                       name           "r_metacarpal_phalanx_5"
                                                       translation    -0.1929 0.7890 -0.1064
                                                       children [
                                                       ]
                                                      }
                                                     ]
                                                    }     # end hanim_r_hand Segment
                                                   ]
                                                  }     # end hanim_r_radiocarpal 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_epicondyles Site {     # CAESAR Feature Point #35
                                                     name           "r_humeral_medial_epicondyles"
                                                     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_epicondyles Site {     # CAESAR Feature Point #34
                                                   name           "r_humeral_lateral_epicondyles"
                                                   translation    -0.2224 1.1517 -0.1033
                                                   children [
                                                   ]
                                                  }
                                                 ]
                                                }     # end hanim_r_upperarm Segment
                                               ]
                                              }     # end hanim_r_shoulder Joint
                                              DEF hanim_r_scapula Segment {
                                               name           "r_scapula"
                                               children [
                                               ]
                                              }     # end hanim_r_scapula Segment
                                             ]
                                            }     # end hanim_r_acromioclavicular Joint
                                            DEF hanim_r_clavicle Segment {
                                             name           "r_clavicle"
                                             children [
                                              DEF hanim_r_clavicale Site {     # CAESAR Feature Point #10
                                               name           "r_clavicale"
                                               translation    -0.0115 1.4943 0.0400
                                               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_proximal Site {     # CAESAR Feature Point #30
                                               name           "r_axilla_proximal"
                                               translation    -0.1626 1.4072 -0.0031
                                               children [
                                               ]
                                              }
                                              DEF hanim_r_axilla_distal Site {     # CAESAR Feature Point #32
                                               name           "r_axilla_distal"
                                               translation    -0.1603 1.4098 -0.0826
                                               children [
                                               ]
                                              }
                                             ]
                                            }     # end hanim_r_clavicle Segment
                                           ]
                                          }     # end hanim_r_sternoclavicular Joint
                                          DEF hanim_t1 Segment {
                                           name           "t1"
                                           children [
                                            DEF hanim_suprasternale Site {     # CAESAR Feature Point #11
                                             name           "suprasternale"
                                             translation    0.0084 1.4714 0.0551
                                             children [
                                             ]
                                            }
                                            DEF hanim_cervicale Site {     # CAESAR Feature Point #24
                                             name           "cervicale"
                                             translation    0.0064 1.520 -0.0815
                                             children [
                                             ]
                                            }
                                           ]
                                          }     # end hanim_t1 Segment
                                         ]
                                        }     # end hanim_vt1 Joint
                                        DEF hanim_t2 Segment {
                                         name           "t2"
                                         children [
                                         ]
                                        }     # end hanim_t2 Segment
                                       ]
                                      }     # end hanim_vt2 Joint
                                      DEF hanim_t3 Segment {
                                       name           "t3"
                                       children [
                                       ]
                                      }     # end hanim_t3 Segment
                                     ]
                                    }     # end hanim_vt3 Joint
                                    DEF hanim_t4 Segment {
                                     name           "t4"
                                     children [
                                     ]
                                    }     # end hanim_t4 Segment
                                   ]
                                  }     # end hanim_vt4 Joint
                                  DEF hanim_t5 Segment {
                                   name           "t5"
                                   children [
                                   ]
                                  }     # end hanim_t5 Segment
                                 ]
                                }     # end hanim_vt5 Joint
                                DEF hanim_t6 Segment {
                                 name           "t6"
                                 children [
                                 ]
                                }     # end hanim_t6 Segment
                               ]
                              }     # end hanim_vt6 Joint
                              DEF hanim_t7 Segment {
                               name           "t7"
                               children [
                               ]
                              }     # end hanim_t7 Segment
                             ]
                            }     # end hanim_vt7 Joint
                            DEF hanim_t8 Segment {
                             name           "t8"
                             children [
                             ]
                            }     # end hanim_t8 Segment
                           ]
                          }     # end hanim_vt8 Joint
                          DEF hanim_t9 Segment {
                           name           "t9"
                           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 [
                             ]
                            }
                           ]
                          }      # end hanim_t9 Segment
                         ]
                        }     # end hanim_vt9 Joint
                        DEF hanim_t10 Segment {
                         name           "t10"
                         children [
                          DEF hanim_substernale Site {     # CAESAR Feature Point #15
                           name           "substernale"
                           translation    0.0085 1.2995 0.1147
                           children [
                           ]
                          }
                         ]
                        }      # end hanim_t10 Segment
                       ]
                      }     # end hanim_vt10 Joint
                      DEF hanim_t11 Segment {
                       name           "t11"
                       children [
                       ]
                      }     # end hanim_t11 Segment
                     ]
                    }     # end hanim_vt11 Joint
                    DEF hanim_t12 Segment {
                     name           "t12"
                     children [
                     ]
                    }     # end hanim_t12 Segment
                   ]
                  }     # end hanim_vt12 Joint
                  DEF hanim_l1 Segment {
                   name           "l1"
                   children [
                   ]
                  }     # end hanim_l1 Segment
                 ]
                }     # end hanim_vl1 Joint
                DEF hanim_l2 Segment {
                 name           "l2"
                 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_spine_2_lower_back Site {     # CAESAR Feature Point #25
                   name           "spine_2_lower_back"
                   translation    0.0049 1.1908 -0.1113
                   children [
                   ]
                  }
                 ]
                }     # end hanim_l2 Segment
               ]
              }     # end hanim_vl2 Joint
              DEF hanim_l3 Segment {
               name           "l3"
               children [
               ]
              }     # end hanim_l3 Segment
             ]
            }     # end hanim_vl3 Joint
            DEF hanim_l4 Segment {
             name           "l4"
             children [
             ]
            }     # end hanim_l4 Segment
           ]
          }     # end hanim_vl4 Joint
          DEF hanim_l5 Segment {
           name           "l5"
           children [
            DEF hanim_waist_preferred_posterior Site {     # CAESAR Feature Point #28
             name           "waist_preferred_posterior "
             translation    0.2900 1.0915 -0.1091
             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 [
         ]
        }     # end hanim_sacrum Segment
       ]
      }     # end hanim_humanoid_root Joint
     ]
     joints [
      USE hanim_humanoid_root, USE hanim_sacroiliac, USE hanim_l_hip,
      USE hanim_l_knee, USE hanim_l_talocrural, USE hanim_l_tarsotarsal_interphalangeal_,
      USE hanim_l_metatarsophalangeal_, USE hanim_l_tarsal_interphalangeal_, USE hanim_r_hip,
      USE hanim_r_knee, USE hanim_r_talocrural, USE hanim_r_tarsotarsal_interphalangeal_,
      USE hanim_r_metatarsophalangeal_, USE hanim_r_tarsal_interphalangeal_, USE hanim_vl5,
      USE hanim_vl4, USE hanim_vl3, USE hanim_vl2, USE hanim_vl1,
      USE hanim_vt12, USE hanim_vt11, USE hanim_vt10, USE hanim_vt9,
      USE hanim_vt8, USE hanim_vt7, USE hanim_vt6, USE hanim_vt5,
      USE hanim_vt4, USE hanim_vt3, USE hanim_vt2, USE hanim_vt1,
      USE hanim_vc7, USE hanim_vc6, USE hanim_vc5, USE hanim_vc4,
      USE hanim_vc3, USE hanim_vc2, USE hanim_vc1, USE hanim_skullbase,
      USE hanim_l_eyeball, USE hanim_r_eyeball,
      USE hanim_l_sternoclavicular, USE hanim_l_acromioclavicular,
      USE hanim_l_shoulder, USE hanim_l_elbow, USE hanim_l_radiocarpal,
      USE hanim_l_carpometacarpal_1, USE hanim_l_metacarpophalangeal_1, USE hanim_l_carpal_interphalangeal_1,
      USE hanim_l_carpometacarpal_2, USE hanim_l_metacarpophalangeal_2, USE hanim_l_carpal_proximal_interphalangeal_2,
      USE hanim_l_carpal_distal_interphalangeal_2, USE hanim_l_carpometacarpal_3, USE hanim_l_metacarpophalangeal_3,
      USE hanim_l_carpal_proximal_interphalangeal_3, USE hanim_l_carpal_distal_interphalangeal_3, USE hanim_l_carpometacarpal_4,
      USE hanim_l_metacarpophalangeal_4, USE hanim_l_carpal_proximal_interphalangeal_4, USE hanim_l_carpal_distal_interphalangeal_4,
      USE hanim_l_carpometacarpal_5, USE hanim_l_metacarpophalangeal_5, USE hanim_l_carpal_proximal_interphalangeal_5,
      USE hanim_l_carpal_distal_interphalangeal_5, USE hanim_r_sternoclavicular,
      USE hanim_r_acromioclavicular, USE hanim_r_shoulder,
      USE hanim_r_elbow, USE hanim_r_radiocarpal, USE hanim_r_carpometacarpal_1,
      USE hanim_r_metacarpophalangeal_1, USE hanim_r_carpal_interphalangeal_1, USE hanim_r_carpometacarpal_2,
      USE hanim_r_metacarpophalangeal_2, USE hanim_r_carpal_proximal_interphalangeal_2, USE hanim_r_carpal_distal_interphalangeal_2,
      USE hanim_r_carpometacarpal_3, USE hanim_r_metacarpophalangeal_3, USE hanim_r_carpal_proximal_interphalangeal_3,
      USE hanim_r_carpal_distal_interphalangeal_3, USE hanim_r_carpometacarpal_4, USE hanim_r_metacarpophalangeal_4,
      USE hanim_r_carpal_proximal_interphalangeal_4, USE hanim_r_carpal_distal_interphalangeal_4, USE hanim_r_carpometacarpal_5,
      USE hanim_r_metacarpophalangeal_5, USE hanim_r_carpal_proximal_interphalangeal_5, USE hanim_r_carpal_distal_interphalangeal_5
     ]
     sites [
      USE hanim_l_tarsal_distal_phalanx_1_tip, USE hanim_l_tarsal_interphalangeal_phalanx_5,
      USE hanim_l_tarsal_distal_phalanx_2, USE hanim_l_tarsal_interphalangeal_phalanx_1,
      USE hanim_l_lateral_malleolus, USE hanim_l_medial_malleolus,
      USE hanim_l_sphyrion, USE hanim_l_calcaneus_posterior,
      USE hanim_l_knee_crease, USE hanim_l_femoral_lateral_epicondyles,
      USE hanim_l_femoral_medial_epicondyles, USE hanim_r_tarsal_distal_phalanx_1_tip,
      USE hanim_r_tarsal_interphalangeal_phalanx_5, USE hanim_r_tarsal_distal_phalanx_2,
      USE hanim_r_tarsal_interphalangeal_phalanx_1, USE hanim_r_lateral_malleolus,
      USE hanim_r_medial_malleolus, USE hanim_r_sphyrion,
      USE hanim_r_calcaneus_posterior, USE hanim_r_knee_crease,
      USE hanim_r_femoral_lateral_epicondyles, USE hanim_r_femoral_medial_epicondyles,
      USE hanim_r_iliocristale, USE hanim_r_trochanterion,
      USE hanim_l_iliocristale, USE hanim_l_trochanterion,  USE hanim_r_asis,
      USE hanim_l_asis, USE hanim_r_psis, USE hanim_l_psis,
      USE hanim_crotch, 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_neck_base,
      USE hanim_l_neck_base, USE hanim_l_carpal_distal_phalanx_1_tip,
      USE hanim_l_carpal_distal_phalanx_2_tip, USE hanim_l_dactylion,
      USE hanim_l_carpal_distal_phalanx_3_tip, USE hanim_l_carpal_distal_phalanx_4_tip,
      USE hanim_l_carpal_distal_phalanx_5_tip, USE hanim_l_metacarpal_phalanx_2,
      USE hanim_l_ulnar_styloid, USE hanim_l_metacarpal_phalanx_5,
      USE hanim_l_radial_styloid, USE hanim_l_olecranon,
      USE hanim_l_humeral_medial_epicondyles, USE hanim_l_radiale,
      USE hanim_l_humeral_lateral_epicondyles, USE hanim_l_clavicale,
      USE hanim_l_acromion, USE hanim_l_axilla_proximal,
      USE hanim_l_axilla_distal, USE hanim_r_carpal_distal_phalanx_1_tip,
      USE hanim_r_carpal_distal_phalanx_2_tip, USE hanim_r_dactylion,
      USE hanim_r_carpal_distal_phalanx_3_tip, USE hanim_r_carpal_distal_phalanx_4_tip,
      USE hanim_r_carpal_distal_phalanx_5_tip, USE hanim_r_metacarpal_phalanx_2,
      USE hanim_r_ulnar_styloid, USE hanim_r_metacarpal_phalanx_5,
      USE hanim_r_radial_styloid, USE hanim_r_olecranon,
      USE hanim_r_humeral_medial_epicondyles, USE hanim_r_radiale,
      USE hanim_r_humeral_lateral_epicondyles, USE hanim_r_clavicale,
      USE hanim_r_acromion, USE hanim_r_axilla_proximal,
      USE hanim_r_axilla_distal, USE hanim_suprasternale,
      USE hanim_cervicale, USE hanim_r_thelion,
      USE hanim_l_thelion, USE hanim_substernale,
      USE hanim_r_rib10, USE hanim_l_rib10,
      USE hanim_spine_2_lower_back, USE hanim_waist_preferred_posterior,
      USE hanim_navel
     ]
     segments [
      USE hanim_l_tarsal_distal_phalanx_1, USE hanim_l_middistal, USE hanim_l_midproximal,
      USE hanim_l_hindfoot, USE hanim_l_calf, USE hanim_l_thigh,
      USE hanim_r_tarsal_distal_phalanx_1, USE hanim_r_middistal, USE hanim_r_midproximal,
      USE hanim_r_hindfoot, USE hanim_r_calf, USE hanim_r_thigh,
      USE hanim_pelvis, USE hanim_l_eyeball, USE hanim_r_eyeball,
      USE hanim_skull, USE hanim_c1, USE hanim_c2, USE hanim_c3,
      USE hanim_c4, USE hanim_c5, USE hanim_c6, USE hanim_c7,
      USE hanim_l_carpal_distal_phalanx_1, USE hanim_l_index_proximal,
      USE hanim_l_index_proximal, USE hanim_l_carpal_distal_phalanx_2,
      USE hanim_l_index_middle, USE hanim_l_index_proximal,
      USE hanim_l_index_metacarpal, USE hanim_l_carpal_distal_phalanx_3,
      USE hanim_l_middle_middle, USE hanim_l_middle_proximal,
      USE hanim_l_middle_metacarpal, USE hanim_l_carpal_distal_phalanx_4,
      USE hanim_l_ring_middle, USE hanim_l_ring_proximal,
      USE hanim_l_ring_metacarpal, USE hanim_l_carpal_distal_phalanx_5,
      USE hanim_l_pinky_middle, USE hanim_l_pinky_proximal,
      USE hanim_l_pinky_metacarpal, USE hanim_l_hand, USE hanim_l_forearm,
      USE hanim_l_upperarm, USE hanim_l_scapula, USE hanim_l_clavicle,
      USE hanim_r_carpal_distal_phalanx_1, USE hanim_r_index_proximal,
      USE hanim_r_index_proximal, USE hanim_r_carpal_distal_phalanx_2,
      USE hanim_r_index_middle, USE hanim_r_index_proximal,
      USE hanim_r_index_metacarpal, USE hanim_r_carpal_distal_phalanx_3,
      USE hanim_r_middle_middle, USE hanim_r_middle_proximal,
      USE hanim_r_middle_metacarpal, USE hanim_r_carpal_distal_phalanx_4,
      USE hanim_r_ring_middle, USE hanim_r_ring_proximal,
      USE hanim_r_ring_metacarpal, USE hanim_r_carpal_distal_phalanx_5,
      USE hanim_r_pinky_middle, USE hanim_r_pinky_proximal,
      USE hanim_r_pinky_metacarpal, USE hanim_r_hand, USE hanim_r_forearm,
      USE hanim_r_upperarm, USE hanim_r_scapula, USE hanim_r_clavicle,
      USE hanim_t1, USE hanim_t2, USE hanim_t3, USE hanim_t4,
      USE hanim_t5, USE hanim_t6, USE hanim_t7, USE hanim_t8,
      USE hanim_t9, USE hanim_t10, USE hanim_t11, USE hanim_t12,
      USE hanim_l1, USE hanim_l2, USE hanim_l3, USE hanim_l4,
      USE hanim_l5, USE hanim_sacrum
     ]
     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, LOA‑4"
      "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, LOA‑4"
       info [ "
         HANIM 200x Default Joint Centers, Level-Of-Articulation 3
         ---------------------------------------------------------
         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 modelling 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.7.2.2 LOA‑4 example with diamonds at Joint centres

    #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_humanoid_root Joint {
       name           "humanoid_root"
       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_talocrural Joint {
               name           "l_talocrural"
               center         0.1101 0.0656 -0.0736
               children [
                DEF hanim_l_tarsotarsal_interphalangeal_ Joint {
                 name           "l_tarsotarsal_interphalangeal_"
                 center         0.1086 0.0001 -0.0368
                 children [
                  DEF hanim_l_metatarsophalangeal_ Joint {
                   name           "l_metatarsophalangeal_"
                   center         0.1086 0.0001 0.0368
                   children [
                    DEF hanim_l_tarsal_interphalangeal_ Joint {
                     name           "l_tarsal_interphalangeal_"
                     center         0.1086 0.0000 0.0762
                     children [
                      DEF hanim_l_tarsal_distal_phalanx_1 Segment {
                       name           "l_tarsal_distal_phalanx_1"
                       children [
                        DEF hanim_l_tarsal_distal_phalanx_1_tip Site {
                         name           "l_tarsal_distal_phalanx_1_tip"
                         translation    0.1354 0.0016 0.1476
                         children [
                         ]
                        }
                        DEF hanim_l_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #66
                         name           "l_tarsal_interphalangeal_phalanx_5"
                         translation    0.1825 0.0070 0.0928
                         children [
                         ]
                        }
                        DEF hanim_l_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #72
                         name           "l_tarsal_distal_phalanx_2"
                         translation    0.1195 0.0079 0.1433
                         children [
                         ]
                        }
                       ]
                      }     # end hanim_l_tarsal_distal_phalanx_1 Segment
                     ]
                    }     # end hanim_l_tarsal_interphalangeal_ Joint
                    DEF hanim_l_middistal Segment {
                     name           "l_middistal"
                     children [
                      DEF hanim_l_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #70
                       name           "l_tarsal_interphalangeal_phalanx_1"
                       translation    0.0816 0.0232 0.0106
                       children [
                       ]
                      }
                     ]
                    }     # end hanim_l_middistal Segment
                   ]
                  }     # end hanim_l_metatarsophalangeal_ Joint
                  DEF hanim_l_midproximal Segment {
                   name           "l_midproximal"
                   children [
                   ]
                  }     # end hanim_l_midproximal Segment
                 ]
                }     # end hanim_l_tarsotarsal_interphalangeal_ 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_calcaneus_posterior Site {     # CAESAR Feature Point #71
                   name           "l_calcaneus_posterior"
                   translation    0.0974 0.0259 -0.1171
                   children [
                   ]
                  }
                 ]
                }     # end hanim_l_hindfoot Segment
               ]
              }     # end hanim_l_talocrural 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_epicondyles Site {     # CAESAR Feature Point #64
               name           "l_femoral_lateral_epicondyles"
               translation    0.1598 0.4967 0.0297
               children [
               ]
              }
              DEF hanim_l_femoral_medial_epicondyles Site {     # CAESAR Feature Point #65
               name           "l_femoral_lateral_epicondyles"
               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_talocrural Joint {
               name           "r_talocrural"
               center         -0.0801 0.0712 -0.0766
               children [
                DEF hanim_r_tarsotarsal_interphalangeal_ Joint {
                 name           "r_tarsotarsal_interphalangeal_"
                 center         -0.0801 0.0000 -0.0368
                 children [
                  DEF hanim_r_metatarsophalangeal_ Joint {
                   name           "r_metatarsophalangeal_"
                   center         -0.0801 0.0000 0.0368
                   children [
                    DEF hanim_r_tarsal_interphalangeal_ Joint {
                     name           "r_tarsal_interphalangeal_"
                     center         -0.0801 0.0039 0.0732
                     children [
                      DEF hanim_r_tarsal_distal_phalanx_1 Segment {
                       name           "r_tarsal_distal_phalanx_1"
                       children [
                        DEF hanim_r_tarsal_distal_phalanx_1_tip Site {
                         name           "r_tarsal_distal_phalanx_1_tip"
                         translation    -0.1043 -0.0227 0.1450
                         children [
                         ]
                        }
                        DEF hanim_r_tarsal_interphalangeal_phalanx_5 Site {     # CAESAR Feature Point #56
                         name           "r_tarsal_interphalangeal_phalanx_5"
                         translation    -0.1523 0.0166 0.0895
                         children [
                         ]
                        }
                        DEF hanim_r_tarsal_distal_phalanx_2 Site {     # CAESAR Feature Point #62
                         name           "r_tarsal_distal_phalanx_2"
                         translation    -0.0883 0.0134 0.1383
                         children [
                         ]
                        }
                       ]
                      }     # end hanim_r_tarsal_distal_phalanx_1 Segment
                     ]
                    }     # end hanim_r_tarsal_interphalangeal_ Joint
                    DEF hanim_r_middistal Segment {
                     name           "r_middistal"
                     children [
                      DEF hanim_r_tarsal_interphalangeal_phalanx_1 Site {     # CAESAR Feature Point #60
                       name           "r_tarsal_interphalangeal_phalanx_1"
                       translation    -0.0521 0.0260 0.0127
                       children [
                       ]
                      }
                     ]
                    }     # end hanim_r_middistal Segment
                   ]
                  }     # end hanim_r_metatarsophalangeal_ Joint
                  DEF hanim_r_midproximal Segment {
                   name           "r_midproximal"
                   children [
                   ]
                  }     # end hanim_r_midproximal Segment
                 ]
                }
                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_calcaneus_posterior Site {     # CAESAR Feature Point #61
                   name           "r_calcaneus_posterior"
                   translation    -0.0692 0.0297 -0.1221
                   children [
                   ]
                  }
                 ]
                }     # end hanim_r_hindfoot Segment
               ]
              }     # end hanim_r_talocrural 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_epicondyles Site {     # CAESAR Feature Point #54
               name           "r_femoral_lateral_epicondyles"
               translation    -0.1421 0.4992 0.0310
               children [
               ]
              }
              DEF hanim_r_femoral_medial_epicondyles Site {     # CAESAR Feature Point #55
               name           "r_femoral_lateral_epicondyles"
               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 [
            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_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_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_pelvis Segment
         ]
        }     # end hanim_sacroiliac Joint
        DEF hanim_vl5 Joint {
         name           "vl5"
         center         0.0028 1.0568 -0.0776
         children [
          DEF hanim_vl4 Joint {
           name           "vl4"
           center         0.0035 1.0925 -0.0787
           children [
            DEF hanim_vl3 Joint {
             name           "vl3"
             center         0.0041 1.1276 -0.0796
             children [
              DEF hanim_vl2 Joint {
               name           "vl2"
               center         0.0045 1.1546 -0.0800
               children [
                DEF hanim_vl1 Joint {
                 name           "vl1"
                 center         0.0048 1.1912 -0.0805
                 children [
                  DEF hanim_vt12 Joint {
                   name           "vt12"
                   center         0.0051 1.2278 -0.0808
                   children [
                    DEF hanim_vt11 Joint {
                     name           "vt11"
                     center         0.0053 1.2679 -0.0810
                     children [
                      DEF hanim_vt10 Joint {
                       name           "vt10"
                       center         0.0056 1.2848 -0.0822
                       children [
                        DEF hanim_vt9 Joint {
                         name           "vt9"
                         center         0.0057 1.3126 -0.0838
                         children [
                          DEF hanim_vt8 Joint {
                           name           "vt8"
                           center         0.0057 1.3382 -0.0845
                           children [
                            DEF hanim_vt7 Joint {
                             name           "vt7"
                             center         0.0058 1.3625 -0.0833
                             children [
                              DEF hanim_vt6 Joint {
                               name           "vt6"
                               center         0.0059 1.3866 -0.0800
                               children [
                                DEF hanim_vt5 Joint {
                                 name           "vt5"
                                 center         0.0060 1.4102 -0.0745
                                 children [
                                  DEF hanim_vt4 Joint {
                                   name           "vt4"
                                   center         0.0061 1.4320 -0.0675
                                   children [
                                    DEF hanim_vt3 Joint {
                                     name           "vt3"
                                     center         0.0062 1.4583 -0.0570
                                     children [
                                      DEF hanim_vt2 Joint {
                                       name           "vt2"
                                       center         0.0063 1.4761 -0.0484
                                       children [
                                        DEF hanim_vt1 Joint {
                                         name           "vt1"
                                         center         0.0065 1.4951 -0.0387
                                         children [
                                          DEF hanim_vc7 Joint {
                                           name           "vc7"
                                           center         0.0066 1.5132 -0.0301
                                           children [
                                            DEF hanim_vc6 Joint {
                                             name           "vc6"
                                             center         0.0066 1.5357 -0.0143
                                             children [
                                              DEF hanim_vc5 Joint {
                                               name           "vc5"
                                               center         0.0066 1.5520 -0.0082
                                               children [
                                                DEF hanim_vc4 Joint {
                                                 name           "vc4"
                                                 center         0.0066 1.5662 -0.0084
                                                 children [
                                                  DEF hanim_vc3 Joint {
                                                   name           "vc3"
                                                   center         0.0066 1.5800 -0.0103
                                                   children [
                                                    DEF hanim_vc2 Joint {
                                                     name           "vc2"
                                                     center         0.0066 1.5928 -0.0103
                                                     children [
                                                      DEF hanim_vc1 Joint {
                                                       name           "vc1"
                                                       center         0.0066 1.6144 -0.0034
                                                       children [
                                                        DEF hanim_skullbase Joint {
                                                         name           "skullbase"
                                                         center         0.0044 1.6209 0.0236
                                                         children [
                                                          DEF hanim_l_eyeball Joint {
                                                           name           "l_eyeball"
                                                           center         0.0336 1.6332 0.0502
                                                           children [
                                                            DEF hanim_l_eyeball Segment {
                                                             name           "l_eyeball"
                                                             children [
                                                             ]
                                                            }     # end hanim_l_eyeball Segment
                                                           ]
                                                          }     # end hanim_l_eyeball Joint
                                                          DEF hanim_r_eyeball Joint {
                                                           name           "r_eyeball"
                                                           center         -0.0236 1.6331 0.0510
                                                           children [
                                                            DEF hanim_r_eyeball Segment {
                                                             name           "r_eyeball"
                                                             children [
                                                             ]
                                                            }     # end hanim_r_eyeball Segment
                                                           ]
                                                          }     # end hanim_r_eyeball Joint
                                                          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_c1 Segment {
                                                         name           "c1"
                                                         children [
                                                         ]
                                                        }     # end hanim_c1 Segment
                                                       ]
                                                      }     # end hanim_vc1 Joint
                                                      DEF hanim_c2 Segment {
                                                       name           "c2"
                                                       children [
                                                       ]
                                                      }     # end hanim_c2 Segment
                                                     ]
                                                    }     # end hanim_vc2 Joint
                                                    DEF hanim_c3 Segment {
                                                     name           "c3"
                                                     children [
                                                     ]
                                                    }     # end hanim_c3 Segment
                                                   ]
                                                  }     # end hanim_vc3 Joint
                                                  DEF hanim_c4 Segment {
                                                   name           "c4"
                                                   children [
                                                   ]
                                                  }     # end hanim_c4 Segment
                                                 ]
                                                }     # end hanim_vc4 Joint
                                                DEF hanim_c5 Segment {
                                                 name           "c5"
                                                 children [
                                                 ]
                                                }     # end hanim_c5 Segment
                                               ]
                                              }     # end hanim_vc5 Joint
                                              DEF hanim_c6 Segment {
                                               name           "c6"
                                               children [
                                               ]
                                              }     # end hanim_c6 Segment
                                             ]
                                            }     # end hanim_vc6 Joint
                                            DEF hanim_c7 Segment {
                                             name           "c7"
                                             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 [
                                               ]
                                              }
                                             ]
                                            }     # end hanim_c7 Segment
                                           ]
                                          }     # end hanim_vc7 Joint
                                          DEF hanim_l_sternoclavicular Joint {
                                           name           "l_sternoclavicular"
                                           center         0.0820 1.4488 -0.0353
                                           children [
                                            DEF hanim_l_acromioclavicular Joint {
                                             name           "l_acromioclavicular"
                                             center         0.0962 1.4269 -0.0424
                                             children [
                                              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_radiocarpal Joint {
                                                   name           "l_radiocarpal"
                                                   center         0.1984 0.8663 -0.0583
                                                   children [
                                                    DEF hanim_l_carpometacarpal_1 Joint {
                                                     name           "l_carpometacarpal_1"
                                                     center         0.1924 0.8472 -0.0534
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_1 Joint {
                                                       name           "l_metacarpophalangeal_1"
                                                       center         0.1951 0.8226 0.0246
                                                       children [
                                                        DEF hanim_l_carpal_interphalangeal_1 Joint {
                                                         name           "l_carpal_interphalangeal_1"
                                                         center         0.1955 0.8159 0.0464
                                                         children [
                                                          DEF hanim_l_carpal_distal_phalanx_1 Segment {
                                                           name           "l_carpal_distal_phalanx_1"
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_1_tip Site {
                                                             name           "l_carpal_distal_phalanx_1_tip"
                                                             translation    0.1982 0.8061 0.0759
                                                             children [
                                                             ]
                                                            }
                                                           ]
                                                          }     # end hanim_l_carpal_distal_phalanx_1 Segment
                                                         ]
                                                        }     # end hanim_l_carpal_interphalangeal_1 Joint
                                                        DEF hanim_l_index_proximal Segment {
                                                         name           "l_index_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_thumb_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_1 Joint
                                                      DEF hanim_l_index_proximal Segment {
                                                       name           "l_index_proximal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_thumb_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_1 Joint
                                                    DEF hanim_l_carpometacarpal_2 Joint {
                                                     name           "l_carpometacarpal_2"
                                                     center         0.1983 0.8024 -0.0280
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_2 Joint {
                                                       name           "l_metacarpophalangeal_2"
                                                       center         0.1983 0.7815 -0.0280
                                                       children [
                                                        DEF hanim_l_carpal_proximal_interphalangeal_2 Joint {
                                                         name           "l_carpal_proximal_interphalangeal_2"
                                                         center         0.2017 0.7363 -0.0248
                                                         children [
                                                          DEF hanim_l_carpal_distal_interphalangeal_2 Joint {
                                                           name           "l_carpal_distal_interphalangeal_2"
                                                           center         0.2028 0.7139 -0.0236
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_2 Segment {
                                                             name           "l_carpal_distal_phalanx_2"
                                                             children [
                                                              DEF hanim_l_carpal_distal_phalanx_2_tip Site {
                                                               name           "l_carpal_distal_phalanx_2_tip"
                                                               translation    0.2089 0.6858 -0.0245
                                                               children [
                                                               ]
                                                              }
                                                              DEF hanim_l_dactylion Site {     # CAESAR Feature Point #50
                                                               name           "l_dactylion"
                                                               translation    0.2056 0.6743 -0.0482
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_l_carpal_distal_phalanx_2 Segment
                                                           ]
                                                          }     # end hanim_l_carpal_distal_interphalangeal_2 Joint
                                                          DEF hanim_l_index_middle Segment {
                                                           name           "l_index_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_l_index_middle Segment
                                                         ]
                                                        }     # end hanim_l_carpal_proximal_interphalangeal_2 Joint
                                                        DEF hanim_l_index_proximal Segment {
                                                         name           "l_index_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_index_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_2 Joint
                                                      DEF hanim_l_index_metacarpal Segment {
                                                       name           "l_index_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_index_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_2 Joint
                                                    DEF hanim_l_carpometacarpal_3 Joint {
                                                     name           "l_carpometacarpal_3"
                                                     center         0.1987 0.8029 -0.0530
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_3 Joint {
                                                       name           "l_metacarpophalangeal_3"
                                                       center         0.1987 0.7818 -0.0530
                                                       children [
                                                        DEF hanim_l_carpal_proximal_interphalangeal_3 Joint {
                                                         name           "l_carpal_proximal_interphalangeal_3"
                                                         center         0.2013 0.7273 -0.0503
                                                         children [
                                                          DEF hanim_l_carpal_distal_interphalangeal_3 Joint {
                                                           name           "l_carpal_distal_interphalangeal_3"
                                                           center         0.2026 0.7011 -0.0494
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_3 Segment {
                                                             name           "l_carpal_distal_phalanx_3"
                                                             children [
                                                              DEF hanim_l_carpal_distal_phalanx_3_tip Site {
                                                               name           "l_carpal_distal_phalanx_3_tip"
                                                               translation    0.2080 0.6731 -0.0491
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_l_carpal_distal_phalanx_3 Segment
                                                           ]
                                                          }     # end hanim_l_carpal_distal_interphalangeal_3 Joint
                                                          DEF hanim_l_middle_middle Segment {
                                                           name           "l_middle_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_l_middle_middle Segment
                                                         ]
                                                        }     # end hanim_l_carpal_proximal_interphalangeal_3 Joint
                                                        DEF hanim_l_middle_proximal Segment {
                                                         name           "l_middle_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_middle_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_3 Joint
                                                      DEF hanim_l_middle_metacarpal Segment {
                                                       name           "l_middle_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_middle_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_3 Joint
                                                    DEF hanim_l_carpometacarpal_4 Joint {
                                                     name           "l_carpometacarpal_4"
                                                     center         0.1956 0.8019 -0.0794
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_4 Joint {
                                                       name           "l_metacarpophalangeal_4"
                                                       center         0.1956 0.7815 -0.0794
                                                       children [
                                                        DEF hanim_l_carpal_proximal_interphalangeal_4 Joint {
                                                         name           "l_carpal_proximal_interphalangeal_4"
                                                         center         0.1973 0.7287 -0.0777
                                                         children [
                                                          DEF hanim_l_carpal_distal_interphalangeal_4 Joint {
                                                           name           "l_carpal_distal_interphalangeal_4"
                                                           center         0.1983 0.7045 -0.0767
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_4 Segment {
                                                             name           "l_carpal_distal_phalanx_4"
                                                             children [
                                                              DEF hanim_l_carpal_distal_phalanx_4_tip Site {
                                                               name           "l_carpal_distal_phalanx_4_tip"
                                                               translation    0.2035 0.6750 -0.0756
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_l_carpal_distal_phalanx_4 Segment
                                                           ]
                                                          }     # end hanim_l_carpal_distal_interphalangeal_4 Joint
                                                          DEF hanim_l_ring_middle Segment {
                                                           name           "l_ring_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_l_ring_middle Segment
                                                         ]
                                                        }     # end hanim_l_carpal_proximal_interphalangeal_4 Joint
                                                        DEF hanim_l_ring_proximal Segment {
                                                         name           "l_ring_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_ring_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_4 Joint
                                                      DEF hanim_l_ring_metacarpal Segment {
                                                       name           "l_ring_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_ring_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_4 Joint
                                                    DEF hanim_l_carpometacarpal_5 Joint {
                                                     name           "l_carpometacarpal_5"
                                                     center         0.1925 0.8066 -0.1036
                                                     children [
                                                      DEF hanim_l_metacarpophalangeal_5 Joint {
                                                       name           "l_metacarpophalangeal_5"
                                                       center         0.1925 0.7866 -0.1036
                                                       children [
                                                        DEF hanim_l_carpal_proximal_interphalangeal_5 Joint {
                                                         name           "l_carpal_proximal_interphalangeal_5"
                                                         center         0.1938 0.7452 -0.1024
                                                         children [
                                                          DEF hanim_l_carpal_distal_interphalangeal_5 Joint {
                                                           name           "l_carpal_distal_interphalangeal_5"
                                                           center         0.1948 0.7277 -0.1017
                                                           children [
                                                            DEF hanim_l_carpal_distal_phalanx_5 Segment {
                                                             name           "l_carpal_distal_phalanx_5"
                                                             children [
                                                              DEF hanim_l_carpal_distal_phalanx_5_tip Site {
                                                               name           "l_carpal_distal_phalanx_5_tip"
                                                               translation    0.2014 0.7009 -0.1012
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_l_carpal_distal_phalanx_5 Segment
                                                           ]
                                                          }     # end hanim_l_carpal_distal_interphalangeal_5 Joint
                                                          DEF hanim_l_pinky_middle Segment {
                                                           name           "l_pinky_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_l_pinky_middle Segment
                                                         ]
                                                        }     # end hanim_l_carpal_proximal_interphalangeal_5 Joint
                                                        DEF hanim_l_pinky_proximal Segment {
                                                         name           "l_pinky_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_l_pinky_proximal Segment
                                                       ]
                                                      }     # end hanim_l_metacarpophalangeal_5 Joint
                                                      DEF hanim_l_pinky_metacarpal Segment {
                                                       name           "l_pinky_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_l_pinky_metacarpal Segment
                                                     ]
                                                    }     # end hanim_l_carpometacarpal_5 Joint
                                                    DEF hanim_l_hand Segment {
                                                     name           "l_hand"
                                                     children [
                                                      DEF hanim_l_metacarpal_phalanx_2 Site {     # CAESAR Feature Point #49
                                                       name           "l_metacarpal_phalanx_2"
                                                       translation    0.2009 0.8139 -0.0237
                                                       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_phalanx_5 Site {     # CAESAR Feature Point #52
                                                       name           "l_metacarpal_phalanx_5"
                                                       translation    0.1929 0.7860 -0.1122
                                                       children [
                                                       ]
                                                      }
                                                     ]
                                                    }     # end hanim_l_hand Segment
                                                   ]
                                                  }     # end hanim_l_radiocarpal 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_epicondyles Site {     # CAESAR Feature Point #47
                                                     name           "l_humeral_medial_epicondyles"
                                                     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_epicondyles Site {     # CAESAR Feature Point #46
                                                   name           "l_humeral_lateral_epicondyles "
                                                   translation    0.2280 1.1482 -0.1100
                                                   children [
                                                   ]
                                                  }
                                                 ]
                                                }     # end hanim_l_upperarm Segment
                                               ]
                                              }     # end hanim_l_shoulder Joint
                                              DEF hanim_l_scapula Segment {
                                               name           "l_scapula"
                                               children [
                                               ]
                                              }     # end hanim_l_scapula Segment
                                             ]
                                            }     # end hanim_l_acromioclavicular Joint
                                            DEF hanim_l_clavicle Segment {
                                             name           "l_clavicle"
                                             children [
                                              DEF hanim_l_clavicale Site {     # CAESAR Feature Point #12
                                               name           "l_clavicale"
                                               translation    0.0271 1.4943 0.0394
                                               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_proximal Site {     # CAESAR Feature Point #42
                                               name           "l_axilla_proximal"
                                               translation    0.1777 1.4065 -0.0075
                                               children [
                                               ]
                                              }
                                              DEF hanim_l_axilla_distal Site {     # CAESAR Feature Point #44
                                               name           "l_axilla_distal"
                                               translation    0.1706 1.4072 -0.0875
                                               children [
                                               ]
                                              }
                                             ]
                                            }     # end hanim_l_clavicle Segment
                                           ]
                                          }     # end hanim_l_sternoclavicular Joint
                                          DEF hanim_r_sternoclavicular Joint {
                                           name           "r_sternoclavicular"
                                           center         -0.0694 1.4600 -0.0330
                                           children [
                                            DEF hanim_r_acromioclavicular Joint {
                                             name           "r_acromioclavicular"
                                             center         -0.0836 1.4281 -0.0401
                                             children [
                                              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_radiocarpal Joint {
                                                   name           "r_radiocarpal"
                                                   center         -0.1959 0.8694 -0.0521
                                                   children [
                                                    DEF hanim_r_carpometacarpal_1 Joint {
                                                     name           "r_carpometacarpal_1"
                                                     center         -0.1899 0.8502 -0.0473
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_1 Joint {
                                                       name           "r_metacarpophalangeal_1"
                                                       center         -0.1874 0.8256 0.0306
                                                      children [
                                                        DEF hanim_r_carpal_interphalangeal_1 Joint {
                                                         name           "r_carpal_interphalangeal_1"
                                                         center         -0.1864 0.8190 0.0506
                                                         children [
                                                          DEF hanim_r_carpal_distal_phalanx_1 Segment {
                                                           name           "r_carpal_distal_phalanx_1"
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_1_tip Site {
                                                             name           "r_carpal_distal_phalanx_1_tip"
                                                             translation    -0.1869 0.8090 0.0820
                                                             children [
                                                             ]
                                                            }
                                                           ]
                                                          }     # end hanim_r_carpal_distal_phalanx_1 Segment
                                                         ]
                                                        }     # end hanim_r_carpal_interphalangeal_1 Joint
                                                        DEF hanim_r_index_proximal Segment {
                                                         name           "r_index_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_thumb_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_1 Joint
                                                      DEF hanim_r_index_proximal Segment {
                                                       name           "r_index_proximal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_thumb_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_1 Joint
                                                    DEF hanim_r_carpometacarpal_2 Joint {
                                                     name           "r_carpometacarpal_2"
                                                     center         -0.1961 0.8055 -0.0218
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_2 Joint {
                                                       name           "r_metacarpophalangeal_2"
                                                       center         -0.1961 0.7846 -0.0218
                                                       children [
                                                        DEF hanim_r_carpal_proximal_interphalangeal_2 Joint {
                                                         name           "r_carpal_proximal_interphalangeal_2"
                                                         center         -0.1954 0.7393 -0.0185
                                                         children [
                                                          DEF hanim_r_carpal_distal_interphalangeal_2 Joint {
                                                           name           "r_carpal_distal_interphalangeal_2"
                                                           center         -0.1945 0.7169 -0.0173
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_2 Segment {
                                                             name           "r_carpal_distal_phalanx_2"
                                                             children [
                                                              DEF hanim_r_carpal_distal_phalanx_2_tip Site {
                                                               name           "r_carpal_distal_phalanx_2_tip"
                                                               translation    -0.1980 0.6883 -0.0180
                                                               children [
                                                               ]
                                                              }
                                                              DEF hanim_r_dactylion Site {     # CAESAR Feature Point #38
                                                               name           "r_dactylion"
                                                               translation    -0.1941 0.6772 -0.0423
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_r_carpal_distal_phalanx_2 Segment
                                                           ]
                                                          }     # end hanim_r_carpal_distal_interphalangeal_2 Joint
                                                          DEF hanim_r_index_middle Segment {
                                                           name           "r_index_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_r_index_middle Segment
                                                         ]
                                                        }     # end hanim_r_carpal_proximal_interphalangeal_2 Joint
                                                        DEF hanim_r_index_proximal Segment {
                                                         name           "r_index_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_index_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_2 Joint
                                                      DEF hanim_r_index_metacarpal Segment {
                                                       name           "r_index_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_index_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_2 Joint
                                                    DEF hanim_r_carpometacarpal_3 Joint {
                                                     name           "r_carpometacarpal_3"
                                                     center         -0.1972 0.8060 -0.0468
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_3 Joint {
                                                       name           "r_metacarpophalangeal_3"
                                                       center         -0.1972 0.7849 -0.0468
                                                       children [
                                                        DEF hanim_r_carpal_proximal_interphalangeal_3 Joint {
                                                         name           "r_carpal_proximal_interphalangeal_3"
                                                         center         -0.1950 0.7304 -0.0441
                                                         children [
                                                          DEF hanim_r_carpal_distal_interphalangeal_3 Joint {
                                                           name           "r_carpal_distal_interphalangeal_3"
                                                           center         -0.1939 0.7042 -0.0432
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_3 Segment {
                                                             name           "r_carpal_distal_phalanx_3"
                                                             children [
                                                              DEF hanim_r_carpal_distal_phalanx_3_tip Site {
                                                               name           "r_carpal_distal_phalanx_3_tip"
                                                               translation    -0.1969 0.6758 -0.0427
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_r_carpal_distal_phalanx_3 Segment
                                                           ]
                                                          }     # end hanim_r_carpal_distal_interphalangeal_3 Joint
                                                          DEF hanim_r_middle_middle Segment {
                                                           name           "r_middle_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_r_middle_middle Segment
                                                         ]
                                                        }     # end hanim_r_carpal_proximal_interphalangeal_3 Joint
                                                        DEF hanim_r_middle_proximal Segment {
                                                         name           "r_middle_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_middle_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_3 Joint
                                                      DEF hanim_r_middle_metacarpal Segment {
                                                       name           "r_middle_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_middle_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_3 Joint
                                                    DEF hanim_r_carpometacarpal_4 Joint {
                                                     name           "r_carpometacarpal_4"
                                                     center         -0.1951 0.8049 -0.0732
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_4 Joint {
                                                       name           "r_metacarpophalangeal_4"
                                                       center         -0.1951 0.7845 -0.0732
                                                       children [
                                                        DEF hanim_r_carpal_proximal_interphalangeal_4 Joint {
                                                         name           "r_carpal_proximal_interphalangeal_4"
                                                         center         -0.1920 0.7318 -0.0716
                                                         children [
                                                          DEF hanim_r_carpal_distal_interphalangeal_4 Joint {
                                                           name           "r_carpal_distal_interphalangeal_4"
                                                           center         -0.1908 0.7077 -0.0706
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_4 Segment {
                                                             name           "r_carpal_distal_phalanx_4"
                                                             children [
                                                              DEF hanim_r_carpal_distal_phalanx_4_tip Site {
                                                               name           "r_carpal_distal_phalanx_4_tip"
                                                               translation    -0.1934 0.6778 -0.0693
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_r_carpal_distal_phalanx_4 Segment
                                                           ]
                                                          }     # end hanim_r_carpal_distal_interphalangeal_4 Joint
                                                          DEF hanim_r_ring_middle Segment {
                                                           name           "r_ring_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_r_ring_middle Segment
                                                         ]
                                                        }     # end hanim_r_carpal_proximal_interphalangeal_4 Joint
                                                        DEF hanim_r_ring_proximal Segment {
                                                         name           "r_ring_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_ring_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_4 Joint
                                                      DEF hanim_r_ring_metacarpal Segment {
                                                       name           "r_ring_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_ring_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_4 Joint
                                                    DEF hanim_r_carpometacarpal_5 Joint {
                                                     name           "r_carpometacarpal_5"
                                                     center         -0.1926 0.8096 -0.0975
                                                     children [
                                                      DEF hanim_r_metacarpophalangeal_5 Joint {
                                                       name           "r_metacarpophalangeal_5"
                                                       center         -0.1926 0.7896 -0.0975
                                                       children [
                                                        DEF hanim_r_carpal_proximal_interphalangeal_5 Joint {
                                                         name           "r_carpal_proximal_interphalangeal_5"
                                                         center         -0.1902 0.7483 -0.0963
                                                         children [
                                                          DEF hanim_r_carpal_distal_interphalangeal_5 Joint {
                                                           name           "r_carpal_distal_interphalangeal_5"
                                                           center         -0.1908 0.7540 -0.0960
                                                           children [
                                                            DEF hanim_r_carpal_distal_phalanx_5 Segment {
                                                             name           "r_carpal_distal_phalanx_5"
                                                             children [
                                                              DEF hanim_r_carpal_distal_phalanx_5_tip Site {
                                                               name           "r_carpal_distal_phalanx_5_tip"
                                                               translation    -0.1938 0.7035 -0.0949
                                                               children [
                                                               ]
                                                              }
                                                             ]
                                                            }     # end hanim_r_carpal_distal_phalanx_5 Segment
                                                           ]
                                                          }     # end hanim_r_carpal_distal_interphalangeal_5 Joint
                                                          DEF hanim_r_pinky_middle Segment {
                                                           name           "r_pinky_middle"
                                                           children [
                                                           ]
                                                          }     # end hanim_r_pinky_middle Segment
                                                         ]
                                                        }     # end hanim_r_carpal_proximal_interphalangeal_5 Joint
                                                        DEF hanim_r_pinky_proximal Segment {
                                                         name           "r_pinky_proximal"
                                                         children [
                                                         ]
                                                        }     # end hanim_r_pinky_proximal Segment
                                                       ]
                                                      }     # end hanim_r_metacarpophalangeal_5 Joint
                                                      DEF hanim_r_pinky_metacarpal Segment {
                                                       name           "r_pinky_metacarpal"
                                                       children [
                                                       ]
                                                      }     # end hanim_r_pinky_metacarpal Segment
                                                     ]
                                                    }     # end hanim_r_carpometacarpal_5 Joint
                                                    DEF hanim_r_hand Segment {
                                                     name           "r_hand"
                                                     children [
                                                      DEF hanim_r_metacarpal_phalanx_2 Site {     # CAESAR Feature Point #37
                                                       name           "r_metacarpal_phalanx_2"
                                                       translation    -0.1977 0.8169 -0.0177
                                                       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_phalanx_5 Site {     # CAESAR Feature Point #40
                                                       name           "r_metacarpal_phalanx_5"
                                                       translation    -0.1929 0.7890 -0.1064
                                                       children [
                                                       ]
                                                      }
                                                     ]
                                                    }     # end hanim_r_hand Segment
                                                   ]
                                                  }     # end hanim_r_radiocarpal 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_epicondyles Site {     # CAESAR Feature Point #35
                                                     name           "r_humeral_medial_epicondyles"
                                                     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_epicondyles Site {     # CAESAR Feature Point #34
                                                   name           "r_humeral_lateral_epicondyles"
                                                   translation    -0.2224 1.1517 -0.1033
                                                   children [
                                                   ]
                                                  }
                                                 ]
                                                }     # end hanim_r_upperarm Segment
                                               ]
                                              }     # end hanim_r_shoulder Joint
                                              DEF hanim_r_scapula Segment {
                                               name           "r_scapula"
                                               children [
                                               ]
                                              }     # end hanim_r_scapula Segment
                                             ]
                                            }     # end hanim_r_acromioclavicular Joint
                                            DEF hanim_r_clavicle Segment {
                                             name           "r_clavicle"
                                             children [
                                              DEF hanim_r_clavicale Site {     # CAESAR Feature Point #10
                                               name           "r_clavicale"
                                               translation    -0.0115 1.4943 0.0400
                                               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_proximal Site {     # CAESAR Feature Point #30
                                               name           "r_axilla_proximal"
                                               translation    -0.1626 1.4072 -0.0031
                                               children [
                                               ]
                                              }
                                              DEF hanim_r_axilla_distal Site {     # CAESAR Feature Point #32
                                               name           "r_axilla_distal"
                                               translation    -0.1603 1.4098 -0.0826
                                               children [
                                               ]
                                              }
                                             ]
                                            }     # end hanim_r_clavicle Segment
                                           ]
                                          }     # end hanim_r_sternoclavicular Joint
                                          DEF hanim_t1 Segment {
                                           name           "t1"
                                           children [
                                            DEF hanim_suprasternale Site {     # CAESAR Feature Point #11
                                             name           "suprasternale"
                                             translation    0.0084 1.4714 0.0551
                                             children [
                                             ]
                                            }
                                            DEF hanim_cervicale Site {     # CAESAR Feature Point #24
                                             name           "cervicale"
                                             translation    0.0064 1.520 -0.0815
                                             children [
                                             ]
                                            }
                                           ]
                                          }     # end hanim_t1 Segment
                                         ]
                                        }     # end hanim_vt1 Joint
                                        DEF hanim_t2 Segment {
                                         name           "t2"
                                         children [
                                         ]
                                        }     # end hanim_t2 Segment
                                       ]
                                      }     # end hanim_vt2 Joint
                                      DEF hanim_t3 Segment {
                                       name           "t3"
                                       children [
                                       ]
                                      }     # end hanim_t3 Segment
                                     ]
                                    }     # end hanim_vt3 Joint
                                    DEF hanim_t4 Segment {
                                     name           "t4"
                                     children [
                                     ]
                                    }     # end hanim_t4 Segment
                                   ]
                                  }     # end hanim_vt4 Joint
                                  DEF hanim_t5 Segment {
                                   name           "t5"
                                   children [
                                   ]
                                  }     # end hanim_t5 Segment
                                 ]
                                }     # end hanim_vt5 Joint
                                DEF hanim_t6 Segment {
                                 name           "t6"
                                 children [
                                 ]
                                }     # end hanim_t6 Segment
                               ]
                              }     # end hanim_vt6 Joint
                              DEF hanim_t7 Segment {
                               name           "t7"
                               children [
                               ]
                              }     # end hanim_t7 Segment
                             ]
                            }     # end hanim_vt7 Joint
                            DEF hanim_t8 Segment {
                             name           "t8"
                             children [
                             ]
                            }     # end hanim_t8 Segment
                           ]
                          }     # end hanim_vt8 Joint
                          DEF hanim_t9 Segment {
                           name           "t9"
                           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 [
                             ]
                            }
                           ]
                          }      # end hanim_t9 Segment
                         ]
                        }     # end hanim_vt9 Joint
                        DEF hanim_t10 Segment {
                         name           "t10"
                         children [
                          DEF hanim_substernale Site {     # CAESAR Feature Point #15
                           name           "substernale"
                           translation    0.0085 1.2995 0.1147
                           children [
                           ]
                          }
                         ]
                        }      # end hanim_t10 Segment
                       ]
                      }     # end hanim_vt10 Joint
                      DEF hanim_t11 Segment {
                       name           "t11"
                       children [
                       ]
                      }     # end hanim_t11 Segment
                     ]
                    }     # end hanim_vt11 Joint
                    DEF hanim_t12 Segment {
                     name           "t12"
                     children [
                     ]
                    }     # end hanim_t12 Segment
                   ]
                  }     # end hanim_vt12 Joint
                  DEF hanim_l1 Segment {
                   name           "l1"
                   children [
                   ]
                  }     # end hanim_l1 Segment
                 ]
                }     # end hanim_vl1 Joint
                DEF hanim_l2 Segment {
                 name           "l2"
                 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_spine_2_lower_back Site {     # CAESAR Feature Point #25
                   name           "spine_2_lower_back"
                   translation    0.0049 1.1908 -0.1113
                   children [
                   ]
                  }
                 ]
                }     # end hanim_l2 Segment
               ]
              }     # end hanim_vl2 Joint
              DEF hanim_l3 Segment {
               name           "l3"
               children [
               ]
              }     # end hanim_l3 Segment
             ]
            }     # end hanim_vl3 Joint
            DEF hanim_l4 Segment {
             name           "l4"
             children [
             ]
            }     # end hanim_l4 Segment
           ]
          }     # end hanim_vl4 Joint
          DEF hanim_l5 Segment {
           name           "l5"
           children [
            DEF hanim_waist_preferred_posterior Site {     # CAESAR Feature Point #28
             name           "waist_preferred_posterior "
             translation    0.2900 1.0915 -0.1091
             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 [
         ]
        }     # end hanim_sacrum Segment
       ]
      }     # end hanim_humanoid_root Joint
     ]
     joints [
      USE hanim_humanoid_root, USE hanim_sacroiliac, USE hanim_l_hip,
      USE hanim_l_knee, USE hanim_l_talocrural, USE hanim_l_tarsotarsal_interphalangeal_,
      USE hanim_l_metatarsophalangeal_, USE hanim_l_tarsal_interphalangeal_, USE hanim_r_hip,
      USE hanim_r_knee, USE hanim_r_talocrural, USE hanim_r_tarsotarsal_interphalangeal_,
      USE hanim_r_metatarsophalangeal_, USE hanim_r_tarsal_interphalangeal_, USE hanim_vl5,
      USE hanim_vl4, USE hanim_vl3, USE hanim_vl2, USE hanim_vl1,
      USE hanim_vt12, USE hanim_vt11, USE hanim_vt10, USE hanim_vt9,
      USE hanim_vt8, USE hanim_vt7, USE hanim_vt6, USE hanim_vt5,
      USE hanim_vt4, USE hanim_vt3, USE hanim_vt2, USE hanim_vt1,
      USE hanim_vc7, USE hanim_vc6, USE hanim_vc5, USE hanim_vc4,
      USE hanim_vc3, USE hanim_vc2, USE hanim_vc1, USE hanim_skullbase,
      USE hanim_l_eyeball, USE hanim_r_eyeball,
      USE hanim_l_sternoclavicular, USE hanim_l_acromioclavicular,
      USE hanim_l_shoulder, USE hanim_l_elbow, USE hanim_l_radiocarpal,
      USE hanim_l_carpometacarpal_1, USE hanim_l_metacarpophalangeal_1, USE hanim_l_carpal_interphalangeal_1,
      USE hanim_l_carpometacarpal_2, USE hanim_l_metacarpophalangeal_2, USE hanim_l_carpal_proximal_interphalangeal_2,
      USE hanim_l_carpal_distal_interphalangeal_2, USE hanim_l_carpometacarpal_3, USE hanim_l_metacarpophalangeal_3,
      USE hanim_l_carpal_proximal_interphalangeal_3, USE hanim_l_carpal_distal_interphalangeal_3, USE hanim_l_carpometacarpal_4,
      USE hanim_l_metacarpophalangeal_4, USE hanim_l_carpal_proximal_interphalangeal_4, USE hanim_l_carpal_distal_interphalangeal_4,
      USE hanim_l_carpometacarpal_5, USE hanim_l_metacarpophalangeal_5, USE hanim_l_carpal_proximal_interphalangeal_5,
      USE hanim_l_carpal_distal_interphalangeal_5, USE hanim_r_sternoclavicular,
      USE hanim_r_acromioclavicular, USE hanim_r_shoulder,
      USE hanim_r_elbow, USE hanim_r_radiocarpal, USE hanim_r_carpometacarpal_1,
      USE hanim_r_metacarpophalangeal_1, USE hanim_r_carpal_interphalangeal_1, USE hanim_r_carpometacarpal_2,
      USE hanim_r_metacarpophalangeal_2, USE hanim_r_carpal_proximal_interphalangeal_2, USE hanim_r_carpal_distal_interphalangeal_2,
      USE hanim_r_carpometacarpal_3, USE hanim_r_metacarpophalangeal_3, USE hanim_r_carpal_proximal_interphalangeal_3,
      USE hanim_r_carpal_distal_interphalangeal_3, USE hanim_r_carpometacarpal_4, USE hanim_r_metacarpophalangeal_4,
      USE hanim_r_carpal_proximal_interphalangeal_4, USE hanim_r_carpal_distal_interphalangeal_4, USE hanim_r_carpometacarpal_5,
      USE hanim_r_metacarpophalangeal_5, USE hanim_r_carpal_proximal_interphalangeal_5, USE hanim_r_carpal_distal_interphalangeal_5
     ]
     sites [
      USE hanim_l_tarsal_distal_phalanx_1_tip, USE hanim_l_tarsal_interphalangeal_phalanx_5,
      USE hanim_l_tarsal_distal_phalanx_2, USE hanim_l_tarsal_interphalangeal_phalanx_1,
      USE hanim_l_lateral_malleolus, USE hanim_l_medial_malleolus,
      USE hanim_l_sphyrion, USE hanim_l_calcaneus_posterior,
      USE hanim_l_knee_crease, USE hanim_l_femoral_lateral_epicondyles,
      USE hanim_l_femoral_medial_epicondyles, USE hanim_r_tarsal_distal_phalanx_1_tip,
      USE hanim_r_tarsal_interphalangeal_phalanx_5, USE hanim_r_tarsal_distal_phalanx_2,
      USE hanim_r_tarsal_interphalangeal_phalanx_1, USE hanim_r_lateral_malleolus,
      USE hanim_r_medial_malleolus, USE hanim_r_sphyrion,
      USE hanim_r_calcaneus_posterior, USE hanim_r_knee_crease,
      USE hanim_r_femoral_lateral_epicondyles, USE hanim_r_femoral_medial_epicondyles,
      USE hanim_r_iliocristale, USE hanim_r_trochanterion,
      USE hanim_l_iliocristale, USE hanim_l_trochanterion,  USE hanim_r_asis,
      USE hanim_l_asis, USE hanim_r_psis, USE hanim_l_psis,
      USE hanim_crotch, 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_neck_base,
      USE hanim_l_neck_base, USE hanim_l_carpal_distal_phalanx_1_tip,
      USE hanim_l_carpal_distal_phalanx_2_tip, USE hanim_l_dactylion,
      USE hanim_l_carpal_distal_phalanx_3_tip, USE hanim_l_carpal_distal_phalanx_4_tip,
      USE hanim_l_carpal_distal_phalanx_5_tip, USE hanim_l_metacarpal_phalanx_2,
      USE hanim_l_ulnar_styloid, USE hanim_l_metacarpal_phalanx_5,
      USE hanim_l_radial_styloid, USE hanim_l_olecranon,
      USE hanim_l_humeral_medial_epicondyles, USE hanim_l_radiale,
      USE hanim_l_humeral_lateral_epicondyles, USE hanim_l_clavicale,
      USE hanim_l_acromion, USE hanim_l_axilla_proximal,
      USE hanim_l_axilla_distal, USE hanim_r_carpal_distal_phalanx_1_tip,
      USE hanim_r_carpal_distal_phalanx_2_tip, USE hanim_r_dactylion,
      USE hanim_r_carpal_distal_phalanx_3_tip, USE hanim_r_carpal_distal_phalanx_4_tip,
      USE hanim_r_carpal_distal_phalanx_5_tip, USE hanim_r_metacarpal_phalanx_2,
      USE hanim_r_ulnar_styloid, USE hanim_r_metacarpal_phalanx_5,
      USE hanim_r_radial_styloid, USE hanim_r_olecranon,
      USE hanim_r_humeral_medial_epicondyles, USE hanim_r_radiale,
      USE hanim_r_humeral_lateral_epicondyles, USE hanim_r_clavicale,
      USE hanim_r_acromion, USE hanim_r_axilla_proximal,
      USE hanim_r_axilla_distal, USE hanim_suprasternale,
      USE hanim_cervicale, USE hanim_r_thelion,
      USE hanim_l_thelion, USE hanim_substernale,
      USE hanim_r_rib10, USE hanim_l_rib10,
      USE hanim_spine_2_lower_back, USE hanim_waist_preferred_posterior,
      USE hanim_navel
     ]
     segments [
      USE hanim_l_tarsal_distal_phalanx_1, USE hanim_l_middistal, USE hanim_l_midproximal,
      USE hanim_l_hindfoot, USE hanim_l_calf, USE hanim_l_thigh,
      USE hanim_r_tarsal_distal_phalanx_1, USE hanim_r_middistal, USE hanim_r_midproximal,
      USE hanim_r_hindfoot, USE hanim_r_calf, USE hanim_r_thigh,
      USE hanim_pelvis, USE hanim_l_eyeball, USE hanim_r_eyeball,
      USE hanim_skull, USE hanim_c1, USE hanim_c2, USE hanim_c3,
      USE hanim_c4, USE hanim_c5, USE hanim_c6, USE hanim_c7,
      USE hanim_l_carpal_distal_phalanx_1, USE hanim_l_index_proximal,
      USE hanim_l_index_proximal, USE hanim_l_carpal_distal_phalanx_2,
      USE hanim_l_index_middle, USE hanim_l_index_proximal,
      USE hanim_l_index_metacarpal, USE hanim_l_carpal_distal_phalanx_3,
      USE hanim_l_middle_middle, USE hanim_l_middle_proximal,
      USE hanim_l_middle_metacarpal, USE hanim_l_carpal_distal_phalanx_4,
      USE hanim_l_ring_middle, USE hanim_l_ring_proximal,
      USE hanim_l_ring_metacarpal, USE hanim_l_carpal_distal_phalanx_5,
      USE hanim_l_pinky_middle, USE hanim_l_pinky_proximal,
      USE hanim_l_pinky_metacarpal, USE hanim_l_hand, USE hanim_l_forearm,
      USE hanim_l_upperarm, USE hanim_l_scapula, USE hanim_l_clavicle,
      USE hanim_r_carpal_distal_phalanx_1, USE hanim_r_index_proximal,
      USE hanim_r_index_proximal, USE hanim_r_carpal_distal_phalanx_2,
      USE hanim_r_index_middle, USE hanim_r_index_proximal,
      USE hanim_r_index_metacarpal, USE hanim_r_carpal_distal_phalanx_3,
      USE hanim_r_middle_middle, USE hanim_r_middle_proximal,
      USE hanim_r_middle_metacarpal, USE hanim_r_carpal_distal_phalanx_4,
      USE hanim_r_ring_middle, USE hanim_r_ring_proximal,
      USE hanim_r_ring_metacarpal, USE hanim_r_carpal_distal_phalanx_5,
      USE hanim_r_pinky_middle, USE hanim_r_pinky_proximal,
      USE hanim_r_pinky_metacarpal, USE hanim_r_hand, USE hanim_r_forearm,
      USE hanim_r_upperarm, USE hanim_r_scapula, USE hanim_r_clavicle,
      USE hanim_t1, USE hanim_t2, USE hanim_t3, USE hanim_t4,
      USE hanim_t5, USE hanim_t6, USE hanim_t7, USE hanim_t8,
      USE hanim_t9, USE hanim_t10, USE hanim_t11, USE hanim_t12,
      USE hanim_l1, USE hanim_l2, USE hanim_l3, USE hanim_l4,
      USE hanim_l5, USE hanim_sacrum
     ]
     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, LOA‑4"
      "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, LOA‑4"
       info [ "
         HANIM 200x Default Joint Centers, Level-Of-Articulation 4
         ---------------------------------------------------------
         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 modelling 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"]
    }