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bone 2 # lower torso
seg 0,1.02,00,1.35,0
mass 19.5133
iner 0.48670.174270.42
cofm -0.031.31120
hinge 10,1.0202,00,0,1# waist - 1 DOF (pitch)
bone 3# upper torso
seg 0,1.35,00,1.505,0
mass 9.7567
iner 0.24330.087130.21
cofm -0.031.42750
hinge 20,1.35,00,0,1# spine - 1 DOF (pitch)
bone 4# head
seg 0.02,1.57,00.02,1.80,0
mass 5.89
iner 0.030.0230.033
cofm -0.011.700
hinge 30.0478,1.5052,00,0,1# neck - 1 DOF (pitch)
bone 5# left upper leg
seg 0.00478,0.9629,0.0932 0.00478,0.5197,0.09091
mass 8.35
iner 0.15 0.025 0.16
cofm 0 0.80 0.09
ghinge 1 0.00478,0.9629,0.0932 1,0,0 0,0,1 0,1,0# hip - 3 DOF
#(roll, pitch, yaw)
bone 6# left lower leg
seg 0.00478,0.5197,0.09091 0.03348,0.09164,0.0837
mass 4.16
iner 0.055 0.007 0.056
cofm 0 0.35 0.07
hinge 5 0.00478,0.5197,0.09091 0,0,1# knee - 1 DOF (pitch)
bone 7# left foot
seg -0.10,0,0.0837 0.07,0,0.0837
mass 1.20
iner 0.0018 0.0070 0.0075
cofm -0.03 0.02 0.08
uhinge 6 0.03348,0.09164,0.0837 0,0,1 1,0,0# ankle - 2 DOF
#(pitch, roll)
bone 8# right upper leg
seg 0.00478,0.9629,-0.0932 0.00478,0.5197,-0.09091
mass 8.35
iner 0.15 0.025 0.16
cofm 0 0.80 -0.09
ghinge 1 0.00478,0.9629,-0.0932 1,0,0 0,0,1 0,1,0# hip - 3 DOF
#(roll, pitch, yaw)
bone 9# right lower leg
seg 0.00478,0.5197,-0.09091 0.03348,0.09164,-0.0837
mass 4.16
iner 0.055 0.007 0.056
cofm 0 0.35 -0.07
hinge 8 0.00478,0.5197,-0.09091 0,0,1# knee - 1 DOF (pitch)
bone 10# right foot
seg -0.10,0,-0.0837 0.07,0,-0.0837
mass 1.20
iner 0.0018 0.0070 0.0075
cofm -0.03 0.02 -0.08
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![[CONVERTED BY MYRMIDON]](Imgs/convBy.GIF)