118

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

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

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

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

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

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

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

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

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

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

kpd hinge 21000 33# neck pitch (z)

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

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

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

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

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