('Bip01','',[(1.370907e-06,-0.9999999,0,0),(0,0,1,0),(0.9999999,1.370907e-06,0,0),(0,-2.88434e-08,3.92996,1)]),

  ('Bip01 Footsteps','Bip01',[(1,0,0,0),(0,0,1,0),(0,1,0,0),(0,-2.88434e-08,0.02975249,1)]),
     ('Bip01 Pelvis','Bip01',[(-1.3868e-06,-3.824388e-12,1,0),(0.9999999,2.757707e-06,1.3868e-06,0),(2.757707e-06,-0.9999999,0,0),(0,-2.88434e-08,3.92996,1)]),
	('Bip01 Spine','Bip01 Pelvis',[(1.091618e-09,-0.0007963179,0.9999997,0),(0.9999999,-1.402692e-06,-2.208608e-09,0),(-1.402694e-06,-0.9999996,-0.000796318,0),(-1.595248e-09,0.00116339,5.159485,1)]),
       	  ('Bip01 Spine1','Bip01 Spine',[(1.091618e-09,-0.0007963179,0.9999997,0),(0.9999999,-1.402692e-06,-2.208608e-09,0),(-1.402694e-06,-0.9999996,-0.000796318,0),(-1.595248e-09,0.001163326,6.620846,1)]),
       	    ('Bip01 Neck','Bip01 Spine1',[(1.091618e-09,-0.0007963179,0.9999997,0),(0.9999999,-1.402692e-06,-2.208608e-09,0),(-1.402694e-06,-0.9999996,-0.000796318,0),(-5.416639e-10,0.0003947314,8.082207,1)]),

	  ('Bip01 L Thigh','Bip01 Spine',[(0.1305263,-0.09897921,-0.9864918,0),(-0.9914448,-0.01303233,-0.1298741,0),(1.450603e-06,-0.9950041,0.09983349,0),(0.9122916,1.050039e-06,3.92996,1)]),
	    ('Bip01 L Calf','Bip01 L Thigh',[(0.1279242,0.1006706,-0.9866614,0),(-0.9914448,-0.01303233,-0.1298741,0),(0.02593301,-0.9948344,-0.09814224,0),(1.073691,-0.1223894,2.710137,1)]),
	      ('Bip01 L Footcle','Bip01 L Calf',[(7.450532e-09,7.863599e-08,-1,0),(-0.9890156,-0.1478107,9.895685e-10,0),(0.1478107,-0.9890156,-7.815584e-08,0),(1.264957,0.02812827,1.23493,1)]),
	        ('Bip01 L Toe0Arm','Bip01 L Footcle',[(0.1478107,-0.9890156,-7.815585e-08,0),(-0.9890156,-0.1478107,4.470096e-08,0),(3.578072e-08,-7.217498e-08,1,0),(1.430578,-1.080056,0.02975241,1)]),


	   	('Bip01 Head','Bip01 Neck',[(2.026349e-07,-0.1478081,0.9890161,0),(0.9999999,-1.372228e-06,-4.099643e-07,0),(-1.417751e-06,-0.989016,-0.1478081,0),(0,-4.038176e-07,8.578409,1)]),

		('Bip01 L Clavicle','Bip01 Neck',[(0.8919826,0.1814772,-0.4140445,0),(0.4057323,0.08254775,0.9102566,0),(-0.1993693,0.9799243,3.045271e-09,0),(0.4961189,2.16832e-09,8.063498,1)]),
		  ('Bip01 L UpperArm','Bip01 L Clavicle',[(0.7238078,0.2079127,-0.657932,0),(0.6726305,9.809171e-07,0.7399784,0),(-0.1538516,0.9781473,0.1398478,0),(1.59595,0.2237647,7.552974,1)]),
		    ('Bip01 L Forearm','Bip01 L UpperArm',[(0.7399454,0.009440443,-0.6726007,0),(0.6726305,9.809171e-07,0.7399784,0),(-0.006986383,0.9999554,0.006349205,0),(2.825698,0.5770081,6.435148,1)]),
		      ('Bip01 L Hand','Bip01 L Forearm',[(0.8765231,0.009179831,-0.4812721,0),(-0.006603127,0.9999534,0.007047176,0),(-0.4813143,0.002999112,-0.876543,0),(3.815593,0.5896375,5.535347,1)]),
			('Bip01 L Finger0','Bip01 L Hand',[(0.2118025,0.007685008,-0.9772823,0),(-0.006986404,0.9999554,0.006349167,0),(-0.9772874,-0.00548292,-0.2118467,0),(4.627469,0.5981403,5.089571,1)]),
			  ('Bip01 L Finger01','Bip01 L Finger0',[(-0.33004,0.003687728,-0.9439598,0),(-0.006986404,0.9999554,0.006349167,0),(-0.9439409,-0.008690363,0.3299996,0),(4.731185,0.6019036,4.61101,1)]),


	  ('Bip01 R Thigh','Bip01 Spine',[(-0.130526,-0.0989796,-0.9864918,0),(-0.9914448,0.01302944,0.1298741,0),(1.451485e-06,-0.9950041,0.09983349,0),(-0.9122916,-1.451294e-06,3.92996,1)]),
           ('Bip01 R Calf','Bip01 R Thigh',[(-0.1279245,0.1006703,-0.9866614,0),(-0.9914448,0.01302944,0.1298741,0),(-0.0259301,-0.9948345,-0.09814224,0),(-1.073691,-0.1223924,2.710137,1)]),
	     ('Bip01 R Footcle','Bip01 R Calf',[(-7.450628e-09,7.863598e-08,-1,0),(-0.989016,0.147808,-9.89687e-10,0),(-0.147808,-0.989016,-7.815586e-08,0),(-1.264957,0.02812474,1.23493,1)]),
	       ('Bip01 R Toe0Arm','Bip01 R Footcle',[(-0.147808,-0.9890159,-1.377605e-07,0),(-0.989016,0.147808,-4.470107e-08,0),(-4.459068e-08,-1.31125e-07,0.9999999,0),(-1.430575,-1.08006,0.02975241,1)]),

               ('Bip01 R Clavicle','Bip01 Neck',[(-0.8919831,0.1814748,-0.4140445,0),(0.4057325,-0.08254664,-0.9102566,0),(0.1993666,0.9799249,3.045297e-09,0),(-0.4961189,-1.358097e-06,8.063498,1)]),
		('Bip01 R UpperArm','Bip01 R Clavicle',[(-0.7238084,0.2079106,-0.657932,0),(0.6726305,9.809171e-07,-0.7399784,0),(0.1538487,0.9781478,0.1398478,0),(-1.59595,0.2237603,7.552974,1)]),
		  ('Bip01 R Forearm','Bip01 R UpperArm',[(-0.7399454,0.009438285,-0.6726007,0),(0.6726305,9.809171e-07,-0.7399784,0),(0.006983467,0.9999554,0.006349205,0),(-2.8257,0.5770002,6.435148,1)]),
		    ('Bip01 R Hand','Bip01 R Forearm',[(-0.8765231,0.009177275,-0.4812721,0),(-0.006600211,-0.9999534,-0.007047176,0),(0.4813143,0.003000516,-0.876543,0),(-3.815595,0.5896267,5.535347,1)]),
		      ('Bip01 R Finger0','Bip01 R Hand',[(-0.2118025,0.007684391,-0.9772823,0),(-0.006983488,-0.9999554,-0.006349167,0),(0.9772875,-0.00548007,-0.2118467,0),(-4.62747,0.5981271,5.089571,1)]),
			('Bip01 R Finger01','Bip01 R Finger0',[(0.33004,0.003688691,-0.9439598,0),(-0.006983488,-0.9999554,-0.006349167,0),(0.9439411,-0.00868761,0.3299996,0),(-4.731187,0.60189,4.61101,1)]),