rfoot
7
10
0 0 -0.105
0 0 1
1 0 0

lfoot
13
11
0 0 -0.105
0 0 1
1 0 0

rknee
5
12
0.105 0 0
-1 0 0
0 0 1

lknee
11
13
0.105 0 0
-1 0 0
0 0 1

rhand
23
14
0 0 -0.2
0 0 1
1 0 0

lhand
30
15
0 0 -0.2
0 0 1
1 0 0

rwrist
23
16
-0.05 0 0
1 0 0
0 0 -1

lwrist
30
17
-0.05 0 0
1 0 0
0 0 -1

relbow
22
18
-0.05 0 0
1 0 0
0 0 -1

lelbow
29
19
-0.05 0 0
1 0 0
0 0 -1

rBackThigh
4
20
-0.04944 0.080205 -0.10204
1 0 0
0 0 -1

lBackThigh
10
21
-0.04944 -0.080205 -0.10204
1 0 0
0 0 -1

head
17
22
0 0 0.2
0 0 -1
1 0 0