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# AST/ASF file generated using VICON BodyLanguage
# -----------------------------------------------
:version 1.10
:name VICON
:units
  mass 1.0
  length 0.45
  angle deg
:documentation
   .ast/.asf automatically generated from VICON data using
   VICON BodyBuilder and BodyLanguage model FoxedUp or BRILLIANT.MOD
:root
   order TX TY TZ RX RY RZ
   axis XYZ
   position 0 0 0  
   orientation 0 0 0 
:bonedata
  begin
     id 1 
     name lhipjoint
     direction 0.653368 -0.678499 0.335782 
     length 2.51848 
     axis 0 0 0  XYZ
  end
  begin
     id 2 
     name lfemur
     direction 0.34202 -0.939693 0  
     length 6.57749  
     axis 0 0 20  XYZ
    dof rx ry rz
    limits (-160.0 20.0)
           (-70.0 70.0)
           (-60.0 70.0)
  end
  begin
     id 3 
     name ltibia
     direction 0.34202 -0.939693 0   
     length 7.94618   
     axis 0 0 20   XYZ
    dof rx
    limits (-10.0 170.0)
  end
  begin
     id 4 
     name lfoot
     direction 0.0811271 -0.222895 0.971461   
     length 2.31339   
     axis -90 7.62852e-016 20   XYZ
    dof rx rz
    limits (-45.0 90.0)
           (-70.0 20.0)
  end
  begin
     id 5 
     name ltoes
     direction 1.53568e-011 -4.21885e-011 1   
     length 1.15935   
     axis -90 7.62852e-016 20   XYZ
    dof rx
    limits (-90.0 20.0)
  end
  begin
     id 6 
     name rhipjoint
     direction -0.640058 -0.688614 0.340788   
     length 2.48149  
     axis 0 0 0  XYZ 
  end
  begin
     id 7 
     name rfemur
     direction -0.34202 -0.939693 0   
     length 6.57875   
     axis 0 0 -20   XYZ
    dof rx ry rz
    limits (-160.0 20.0)
           (-70.0 70.0)
           (-70.0 60.0)
  end
  begin
     id 8 
     name rtibia
     direction -0.34202 -0.939693 0   
     length 7.977   
     axis 0 0 -20   XYZ
    dof rx
    limits (-10.0 170.0)
 end
 begin
     id 9 
     name rfoot
     direction -0.0979793 -0.269196 0.958089   
     length 2.19857  
     axis -90 -7.62852e-016 -20   XYZ
    dof rx rz
    limits (-45.0 90.0)
           (-20.0 70.0)
  end
  begin
     id 10 
     name rtoes
     direction -1.53556e-011 -4.21868e-011 1   
     length 1.09838   
     axis -90 -7.62852e-016 -20   XYZ
    dof rx
    limits (-90.0 20.0)
  end
  begin
     id 11 
     name lowerback
     direction 0.0149039 0.998517 -0.0523597   
     length 2.10809   
     axis 0 0 0   XYZ
    dof rx ry rz
    limits (-20.0 45.0)
           (-30.0 30.0)
           (-30.0 30.0)
  end
  begin
     id 12 
     name upperback
     direction -0.00882659 0.999418 -0.0329624   
     length 2.1102   
     axis 0 0 0   XYZ
    dof rx ry rz
    limits (-20.0 45.0)
           (-30.0 30.0)
           (-30.0 30.0)
  end
  begin
     id 13 
     name thorax
     direction -0.0165585 0.999826 -0.0085833   
     length 2.11039   
     axis 0 0 0   XYZ
    dof rx ry rz
    limits (-20.0 45.0)
           (-30.0 30.0)
           (-30.0 30.0)
  end
  begin
     id 14 
     name lowerneck
     direction -0.0130877 0.999911 0.00260353   
     length 1.73253   
     axis 0 0 0   XYZ
    dof rx ry rz
    limits (-20.0 45.0)
           (-30.0 30.0)
           (-30.0 30.0)
  end
  begin
     id 15 
     name upperneck
     direction -0.0348454 0.928205 -0.370435   
     length 1.66692   
     axis 0 0 0   XYZ
    dof rx ry rz
    limits (-20.0 45.0)
           (-30.0 30.0)
           (-30.0 30.0)
  end
  begin
     id 16
     name head
     direction -0.00807754 0.992494 -0.122026  
     length 1.72765  
     axis 0 0 0   XYZ
    dof rx ry rz
    limits (-20.0 45.0)
           (-30.0 30.0)
           (-30.0 30.0)
  end
  begin
     id 17 
     name lclavicle
     direction 0.987582 0.144023 0.0627671  
     length 3.49235  
     axis 0 0 0   XYZ
    dof ry rz
    limits (-20.0 10.0)
           (0.0 20.0)
  end
  begin
     id 18 
     name lhumerus
     direction 1 -4.48958e-011 -1.45183e-018   
     length 5.41917   
     axis 180 -30 -90   XYZ
    dof rx ry rz
    limits (-60.0 90.0)
           (-90.0 90.0)
           (-90.0 90.0)
  end
  begin
     id 19
     name lradius
     direction 1 -4.48999e-011 5.75106e-027   
     length 2.44373   
     axis 180 -30 -90   XYZ
    dof rx
    limits (-10.0 170.0)
  end
  begin
     id 20
     name lwrist
     direction 1 -4.48987e-011 1.53461e-026   
     length 1.22186   
     axis -1.09697e-014 90 90   XYZ
    dof ry
    limits (-180.0 0.0)
 end
  begin
     id 21 
     name lhand
     direction 1 -4.48881e-011 3.06923e-026   
     length 0.727502   
     axis -1.95843e-014 90 90   XYZ
    dof rx rz
    limits (-90.0 90.0)
           (-45.0 45.0)
  end
  begin
     id 22 
     name lfingers
     direction 1 -4.48907e-011 6.13845e-026   
     length 0.586531   
     axis -3.91686e-014 90 90   XYZ
    dof rx
    limits (0.0 90.0)
  end
  begin
     id 23
     name lthumb
     direction 0.707107 -6.3487e-011 0.707107   
     length 0.842145   
     axis -90 45 2.85299e-015   XYZ
    dof rx rz
    limits (-45.0 45.0)
           (-45.0 45.0)
  end
  begin
     id 24 
     name rclavicle
     direction -0.980998 0.169556 0.0943023   
     length 3.29272  
     axis 0 0 0   XYZ 
    dof ry rz
    limits (-10.0 20.0)
           (-20.0 0.0)
  end
  begin
     id 25 
     name rhumerus
     direction -1 -1.83355e-005 2.45537e-005  
     length 5.58976   
     axis -180 30 90   XYZ
    dof rx ry rz
    limits (-90.0 60.0)
           (-90.0 90.0)
           (-90.0 90.0)
  end
  begin
     id 26 
     name rradius
     direction -1 -4.48967e-011 5.97228e-027   
     length 2.4806   
     axis -180 30 90   XYZ
    dof rx
    limits (-10.0 170.0)
  end
  begin
     id 27 
     name rwrist
     direction -1 -4.48963e-011 1.53461e-026   
     length 1.2403   
     axis -1.09697e-014 -90 -90   XYZ
    dof ry
    limits (-180.0 0.0)
  end
  begin
     id 28
     name rhand
     direction -1 -4.48881e-011 3.06923e-026   
     length 0.816009   
     axis -1.95843e-014 -90 -90   XYZ
    dof rx rz
    limits (-90.0 90.0)
           (-45.0 45.0)
  end
  begin
     id 29
     name rfingers
     direction -1 -4.49018e-011 6.13845e-026   
     length 0.657887   
     axis -3.91686e-014 -90 -90   XYZ
    dof rx
    limits (0.0 90.0)
  end
  begin
     id 30
     name rthumb
     direction -0.707107 -6.34872e-011 0.707107   
     length 0.944599   
     axis -90 -45 -2.85299e-015   XYZ
    dof rx rz
    limits (-45.0 45.0)
           (-45.0 45.0)
  end
:hierarchy
  begin
    root lhipjoint rhipjoint lowerback
    lhipjoint lfemur
    lfemur ltibia
    ltibia lfoot
    lfoot ltoes
    rhipjoint rfemur
    rfemur rtibia
    rtibia rfoot
    rfoot rtoes
    lowerback upperback
    upperback thorax
    thorax lowerneck lclavicle rclavicle
    lowerneck upperneck
    upperneck head
    lclavicle lhumerus
    lhumerus lradius
    lradius lwrist
    lwrist lhand lthumb
    lhand lfingers
    rclavicle rhumerus
    rhumerus rradius
    rradius rwrist
    rwrist rhand rthumb
    rhand rfingers
  end