# convert mediapipe model to model from Unreal

import numpy as np

# element of json
def makexyzrotvis(x,y,z,rotx,roty,rotz,visible):
    ret = {}
    translation = {}
    rotation = {}
    scale = {}
    translation["x"] = x
    translation["y"] = y
    translation["z"] = z
    rotation["rotx"] = rotx
    rotation["roty"] = roty
    rotation["rotz"] = rotz
    scale["x"] = 1.0
    scale["y"] = 1.0
    scale["z"] = 1.0
    ret["visible"] = visible
    ret["translation"] = translation
    ret["rotation"] = rotation
    ret["scale"] = scale
    return ret

# data["root"] = makexyzrotvis(0., 0., 0., 0., 0., 0., 1.0)
# data["pelvis"] = makexyzrotvis(0., -1.056, 96.751, 89.790634, 89.998116, 89.998116, 1.0)
# data["hip_l"] = makexyzrotvis(9.006, -0.530, 95.300, 82.760597, 166.295837, 174.753387, 1.0)
# data["hip_r"] = makexyzrotvis(-9.006, -0.530, 95.300, -82.760597, -166.295837, -5.246624, 1.0)
#
# 0     -1.056  96.751
# 9.006  0.526  -1.451
# −140,941157
# 884,094836048
# −0,159418595
# 99,173151018
#
# −140,941157
# 96,756762746*1,543397875
# 160,699319672

def getAngle(avec0, avec1, bvec0, bvec1):
    chis = float(avec0*bvec0 + avec1*bvec1)
    znam1 = float(np.sqrt(pow(avec0, 2) + pow(avec1, 2)))
    znam2 = float(np.sqrt(pow(bvec0, 2) + pow(bvec1, 2)))
    if (znam1*znam2) == 0 or np.fabs(chis) > np.fabs(znam1*znam2):
        return None
    return np.arccos(chis / (znam1 * znam2)) * 180. / np.pi

def HeadRot(poselms,  coef):
    head0x = poselms[0].x * coef
    head0y = -poselms[0].z * coef
    head0z = -poselms[0].y * coef
    head7x = poselms[7].x * coef
    head7y = -poselms[7].z * coef
    head7z = -poselms[7].y * coef
    head8x = poselms[8].x * coef
    head8y = -poselms[8].z * coef
    head8z = -poselms[8].y * coef

    rotx = 90.0
    p78x = 0.5*(head7x + head8x)
    p78y = 0.5*(head7y + head8y)
    p78z = 0.5*(head7z + head8z)
    vec_head_x = [head0y - p78y, head0z - p78z]
    alpha_x = np.arctan(vec_head_x[1]/vec_head_x[0])
    rotx += (alpha_x) * 180. / np.pi

    roty = 90.0
    vec_head_y = [head8x - head7x, head8z - head7z]
    alpha_y = np.arctan(vec_head_y[1] / vec_head_y[0])
    roty += (alpha_y) * 180. / np.pi

    rotz = 90.0
    vec_head_z = [head8x - head7x, head8y - head7y]
    alpha_z = np.arctan(vec_head_z[1] / vec_head_z[0])
    rotz += (alpha_z) * 180. / np.pi


    rvec = [rotx, rotz, roty]
    return rvec

def ShoulderLRot(poselms, coef):
    sh11x = poselms[11].x * coef
    sh11y = -poselms[11].z * coef
    sh11z = -poselms[11].y * coef
    sh13x = poselms[13].x * coef
    sh13y = -poselms[13].z * coef
    sh13z = -poselms[13].y * coef

    rotx = 0.

    roty = 0.
    vec_sh_y = [sh13x - sh11x, sh13z - sh11z]
    alpha_y = np.arctan(vec_sh_y[1] / vec_sh_y[0])
    roty += (alpha_y) * 180. / np.pi

    rotz = 0.
    vec_sh_z = [sh13x - sh11x, sh13y - sh11y]
    alpha_z = np.arctan(vec_sh_z[1] / vec_sh_z[0])
    rotz += (alpha_z) * 180. / np.pi

    rvec = [roty, rotz, rotx]
    return rvec

def ShoulderRRot(poselms, coef):
    sh12x = poselms[12].x * coef
    sh12y = -poselms[12].z * coef
    sh12z = -poselms[12].y * coef
    sh14x = poselms[14].x * coef
    sh14y = -poselms[14].z * coef
    sh14z = -poselms[14].y * coef

    rotx = 0.

    roty = 0.
    vec_sh_y = [sh14x - sh12x, sh14z - sh12z]
    alpha_y = np.arctan(vec_sh_y[1] / vec_sh_y[0])
    roty += (alpha_y) * 180. / np.pi

    rotz = 0.
    vec_sh_z = [sh14x - sh12x, sh14y - sh12y]
    alpha_z = np.arctan(vec_sh_z[1] / vec_sh_z[0])
    rotz += (alpha_z) * 180. / np.pi

    rvec = [roty, rotz, rotx]
    return rvec

def ElbowLRot(poselms, coef):
    sh13x = poselms[13].x * coef
    sh13y = -poselms[13].z * coef
    sh13z = -poselms[13].y * coef
    sh15x = poselms[15].x * coef
    sh15y = -poselms[15].z * coef
    sh15z = -poselms[15].y * coef

    rotx = 0.

    roty = 0.
    vec_sh_y = [sh15x - sh13x, sh15z - sh13z]
    alpha_y = np.arctan(vec_sh_y[1] / vec_sh_y[0])
    roty += (alpha_y) * 180. / np.pi

    rotz = 0.
    vec_sh_z = [sh15x - sh13x, sh15y - sh13y]
    alpha_z = np.arctan(vec_sh_z[1] / vec_sh_z[0])
    rotz += (alpha_z) * 180. / np.pi

    rvec = [roty, rotz, rotx]
    return rvec

def ElbowRRot(poselms, coef):
    sh14x = poselms[14].x * coef
    sh14y = -poselms[14].z * coef
    sh14z = -poselms[14].y * coef
    sh16x = poselms[16].x * coef
    sh16y = -poselms[16].z * coef
    sh16z = -poselms[16].y * coef

    rotx = 0.

    roty = 0.
    vec_sh_y = [sh16x - sh14x, sh16z - sh14z]
    alpha_y = np.arctan(vec_sh_y[1] / vec_sh_y[0])
    roty += (alpha_y) * 180. / np.pi

    rotz = 0.
    vec_sh_z = [sh16x - sh14x, sh16y - sh14y]
    alpha_z = np.arctan(vec_sh_z[1] / vec_sh_z[0])
    rotz += (alpha_z) * 180. / np.pi

    rvec = [roty, rotz, rotx]
    return rvec

def HandLRot(poselms, coef):
    sh16x = poselms[16].x * coef
    sh16y = -poselms[16].z * coef
    sh16z = -poselms[16].y * coef
    sh18x = poselms[18].x * coef
    sh18y = -poselms[18].z * coef
    sh18z = -poselms[18].y * coef
    sh20x = poselms[20].x * coef
    sh20y = -poselms[20].z * coef
    sh20z = -poselms[20].y * coef

    hand_vec_x = 0.5 * (sh18x + sh20x)
    hand_vec_y = 0.5 * (sh18y + sh20y)
    hand_vec_z = 0.5 * (sh18z + sh20z)

    rotx = 0.

    roty = 0.
    vec_sh_y = [hand_vec_x - sh16x, hand_vec_z - sh16z]
    alpha_y = np.arctan(vec_sh_y[1] / vec_sh_y[0])
    roty += (alpha_y) * 180. / np.pi

    rotz = 0.
    vec_sh_z = [hand_vec_x - sh16x, hand_vec_y - sh16y]
    alpha_z = np.arctan(vec_sh_z[1] / vec_sh_z[0])
    rotz += (alpha_z) * 180. / np.pi

    rvec = [roty, rotz, rotx]
    return rvec

def HandRRot(poselms, coef):
    sh15x = poselms[15].x * coef
    sh15y = -poselms[15].z * coef
    sh15z = -poselms[15].y * coef
    sh17x = poselms[17].x * coef
    sh17y = -poselms[17].z * coef
    sh17z = -poselms[17].y * coef
    sh19x = poselms[19].x * coef
    sh19y = -poselms[19].z * coef
    sh19z = -poselms[19].y * coef

    hand_vec_x = 0.5 * (sh17x + sh19x)
    hand_vec_y = 0.5 * (sh17y + sh19y)
    hand_vec_z = 0.5 * (sh17z + sh19z)

    rotx = 0.

    roty = 0.
    vec_sh_y = [hand_vec_x - sh15x, hand_vec_z - sh15z]
    alpha_y = np.arctan(vec_sh_y[1] / vec_sh_y[0])
    roty += (alpha_y) * 180. / np.pi

    rotz = 0.
    vec_sh_z = [hand_vec_x - sh15x, hand_vec_y - sh15y]
    alpha_z = np.arctan(vec_sh_z[1] / vec_sh_z[0])
    rotz += (alpha_z) * 180. / np.pi

    rvec = [roty, rotz, rotx]
    return rvec

def Spine5Rot(poselms,  coef):
    sh11x = poselms[11].x * coef
    sh11y = -poselms[11].z * coef
    sh11z = -poselms[11].y * coef
    sh12x = poselms[12].x * coef
    sh12y = -poselms[12].z * coef
    sh12z = -poselms[12].y * coef

    rotx = 90.0
    # p78x = 0.5*(head7x + head8x)
    # p78y = 0.5*(head7y + head8y)
    # p78z = 0.5*(head7z + head8z)
    # vec_head_x = [head0y - p78y, head0z - p78z]
    # alpha_x = np.arctan(vec_head_x[1]/vec_head_x[0])
    # rotx += (alpha_x) * 180. / np.pi

    roty = -90.0
    # vec_head_y = [head8x - head7x, head8z - head7z]
    # alpha_y = np.arctan(vec_head_y[1] / vec_head_y[0])
    # roty += (alpha_y) * 180. / np.pi

    rotz = -90.0
    # vec_head_z = [head8x - head7x, head8y - head7y]
    # alpha_z = np.arctan(vec_head_z[1] / vec_head_z[0])
    # rotz += (alpha_z) * 180. / np.pi

    vec_spine_z = [sh12x - sh11x, sh12y - sh11y]
    alpha_z = np.arctan(vec_spine_z[1]/vec_spine_z[0])
    roty += (alpha_z) * 180. / np.pi


    rvec = [rotx, roty, rotz]
    return rvec

def PelvisRot(poselms,  coef):
    sh23x = poselms[23].x * coef
    sh23y = -poselms[23].z * coef
    sh23z = -poselms[23].y * coef
    sh24x = poselms[24].x * coef
    sh24y = -poselms[24].z * coef
    sh24z = -poselms[24].y * coef

    rotx = 90.0
    # p78x = 0.5*(head7x + head8x)
    # p78y = 0.5*(head7y + head8y)
    # p78z = 0.5*(head7z + head8z)
    # vec_head_x = [head0y - p78y, head0z - p78z]
    # alpha_x = np.arctan(vec_head_x[1]/vec_head_x[0])
    # rotx += (alpha_x) * 180. / np.pi

    roty = -90.0
    # vec_head_y = [head8x - head7x, head8z - head7z]
    # alpha_y = np.arctan(vec_head_y[1] / vec_head_y[0])
    # roty += (alpha_y) * 180. / np.pi

    rotz = -90.0
    # vec_head_z = [head8x - head7x, head8y - head7y]
    # alpha_z = np.arctan(vec_head_z[1] / vec_head_z[0])
    # rotz += (alpha_z) * 180. / np.pi

    vec_spine_z = [sh24x - sh23x, sh24y - sh23y]
    alpha_z = np.arctan(vec_spine_z[1]/vec_spine_z[0])
    roty += (alpha_z) * 180. / np.pi


    rvec = [rotx, roty, rotz]
    return rvec

def HipLRot(poselms, coef):
    sh23x = poselms[23].x * coef
    sh23y = -poselms[23].z * coef
    sh23z = -poselms[23].y * coef
    sh25x = poselms[25].x * coef
    sh25y = -poselms[25].z * coef
    sh25z = -poselms[25].y * coef

    rotx = 90.

    roty = 0.
    vec_sh_y = [sh25x - sh23x, sh25z - sh23z]
    alpha_y = np.arctan(vec_sh_y[1] / vec_sh_y[0])
    roty += (alpha_y) * 180. / np.pi

    rotz = 0.
    vec_sh_z = [sh25x - sh23x, sh25y - sh23y]
    alpha_z = np.arctan(vec_sh_z[1] / vec_sh_z[0])
    rotz += (alpha_z) * 180. / np.pi

    rvec = [roty, rotz, rotx]
    return rvec

def HipRRot(poselms, coef):
    sh24x = poselms[24].x * coef
    sh24y = -poselms[24].z * coef
    sh24z = -poselms[24].y * coef
    sh26x = poselms[26].x * coef
    sh26y = -poselms[26].z * coef
    sh26z = -poselms[26].y * coef

    rotx = 90.

    roty = 0.
    vec_sh_y = [sh26x - sh24x, sh26z - sh24z]
    alpha_y = np.arctan(vec_sh_y[1] / vec_sh_y[0])
    roty += (alpha_y) * 180. / np.pi

    rotz = 0.
    vec_sh_z = [sh26x - sh24x, sh26y - sh24y]
    alpha_z = np.arctan(vec_sh_z[1] / vec_sh_z[0])
    rotz += (alpha_z) * 180. / np.pi

    rvec = [roty, rotz, rotx]
    return rvec

def checkRot(tvec0, tvec1, tvec0_apose, tvec1_apose, rvec_apose):
    # tvec0 - parent bone by root
    # tvec1 - current bone by root
    rvec = [0, 0, 0]

    # rotX
    var_angle_apose = getAngle(tvec0_apose[1], tvec0_apose[2], tvec1_apose[1], tvec1_apose[2])
    var_angle = getAngle(tvec0[1], tvec0[2], tvec1[1], tvec1[2])
    if var_angle == None or var_angle_apose == None:
        rvec[0] = rvec_apose[0]
    else:
        rvec[0] = var_angle - var_angle_apose + rvec_apose[0]
        if rvec[0] > 180:
            rvec[0] -= 180
        if rvec[0] < -180:
            rvec[0] += 180

    # rotY
    var_angle_apose = getAngle(tvec0_apose[0], tvec0_apose[2], tvec1_apose[0], tvec1_apose[2])
    var_angle = getAngle(tvec0[0], tvec0[2], tvec1[0], tvec1[2])
    if var_angle == None or var_angle_apose == None:
        rvec[1] = rvec_apose[1]
    else:
        rvec[1] = var_angle - var_angle_apose + rvec_apose[1]
        if rvec[1] > 180:
            rvec[1] -= 180
        if rvec[1] < -180:
            rvec[1] += 180

    # rotZ
    var_angle_apose = getAngle(tvec0_apose[0], tvec0_apose[1], tvec1_apose[0], tvec1_apose[1])
    var_angle = getAngle(tvec0[0], tvec0[1], tvec1[0], tvec1[1])
    if var_angle == None or var_angle_apose == None:
        rvec[2] = rvec_apose[2]
    else:
        rvec[2] = var_angle - var_angle_apose + rvec_apose[2]
        if rvec[2] > 180:
            rvec[2] -= 180
        if rvec[2] < -180:
            rvec[2] += 180

    return rvec

def bodyaposeworld(data):
    data["root"] = makexyzrotvis(0., 0., 0., 0., 0., 0., 1.0)
    data["pelvis"] = makexyzrotvis(0., -1.056, 96.751, 89.790634, 89.998116, 89.998116, 1.0)
    data["spine_02"] = makexyzrotvis(0., -0.165, 107.556, 82.637939, 90.000107, 90.000107, 1.0)
    data["spine_04"] = makexyzrotvis(0., -1.517, 126.763, 83.298508, -89.999939, -89.999939, 1.0)
    data["spine_05"] = makexyzrotvis(0., -3.499, 140.030, 80.519157, -90., -90., 1.0)
    data["clavicle_l"] = makexyzrotvis(3.782, -2.761, 152.201, -9.742390, -26.536825, -0.000003, 1.0)
    data["shoulder_l"] = makexyzrotvis(17.700, -9.712, 149.530, -49.541229, -6.413618, 3.295939, 1.0)
    data["elbow_l"] = makexyzrotvis(37.265, -11.911, 126.445, -33.187275, 30.848158, -28.515471, 1.0)
    data["hand_l"] = makexyzrotvis(56.646, -0.335, 111.680, -35.172615, 32.751072, -105.931961, 1.0)
    data["index_2_l"] = makexyzrotvis(63.042, 6.766, 103.815, -60.632530, 39.185219, -95.108459, 1.0)
    data["index_3_l"] = makexyzrotvis(64.672, 8.095, 100.079, -72.604263, 41.145889, -95.530258, 1.0)
    data["index_4_l"] = makexyzrotvis(65.436, 8.762, 96.840, -63.056412, 41.326263, -94.477684, 1.0)
    data["middle_2_l"] = makexyzrotvis(64.490, 4.479, 103.481, -58.987339, 31.396336, -101.577202, 1.0)
    data["middle_3_l"] = makexyzrotvis(66.531, 5.725, 99.504, -70.486740, 42.113358, -113.470406, 1.0)
    data["middle_4_l"] = makexyzrotvis(67.435, 6.542, 96.065, -56.627937, 23.489927, -96.457565, 1.0)
    data["pinky_2_l"] = makexyzrotvis(64.025, -0.159, 103.018, -57.221210, 8.494291, -103.297714, 1.0)
    data["pinky_3_l"] = makexyzrotvis(65.937, 0.127, 100.015, -68.397072, 11.974680, -105.215523, 1.0)
    data["pinky_4_l"] = makexyzrotvis(67.012, 0.355, 97.239, -68.031853, 22.739058, -114.804611, 1.0)
    data["ring_2_l"] = makexyzrotvis(64.576, 2.083, 103.039, -60.143337, 23.882196, -110.450768, 1.0)
    data["ring_3_l"] = makexyzrotvis(66.592, 2.975, 99.197, -72.950729, 34.323620, -119.597374, 1.0)
    data["ring_4_l"] = makexyzrotvis(67.434, 3.550, 95.873, -60.028549, 26.871693, -112.741859, 1.0)
    data["thumb_2_l"] = makexyzrotvis(57.478, 3.876, 107.639, -34.138702, 87.683189, -52.981850, 1.0)
    data["thumb_3_l"] = makexyzrotvis(57.607, 7.077, 105.468, -52.094620, 85.939804, -51.473255, 1.0)
    data["thumb_4_l"] = makexyzrotvis(57.784, 9.566, 102.262, -42.125023, 96.831261, -57.027554, 1.0)
    data["lowerarm_twist_01_l"] = makexyzrotvis(47.323, -5.903, 118.782, -33.187275, 30.848158, -28.515471, 1.0)
    data["upperarm_twist_01_l"] = makexyzrotvis(18.023, -9.748, 149.150, -49.541203, -6.413616, 3.295938, 1.0)
    data["clavicle_r"] = makexyzrotvis(-3.782, -2.761, 152.201, 9.742397, 26.536829, 180., 1.0)
    data["shoulder_r"] = makexyzrotvis(-17.700, -9.712, 149.530, 49.541229, 6.413619, -176.704056, 1.0)
    data["elbow_r"] = makexyzrotvis(-37.265, -11.911, 126.445, 33.187275, -30.848154, 151.484512, 1.0)
    data["hand_r"] = makexyzrotvis(-56.646, -0.335, 111.680, 35.172619, -32.751076, 74.068016, 1.0)
    data["index_2_r"] = makexyzrotvis(-63.042, 6.766, 103.815, 60.632515, -39.185219, 84.891525, 1.0)
    data["index_3_r"] = makexyzrotvis(-64.672, 8.095, 100.078, 72.604263, -41.145885, 84.469742, 1.0)
    data["index_4_r"] = makexyzrotvis(-65.436, 8.762, 96.840, 63.056419, -41.326252, 85.522316, 1.0)
    data["middle_2_r"] = makexyzrotvis(-64.490, 4.479, 103.482, 58.987339, -31.396345, 78.422768, 1.0)
    data["middle_3_r"] = makexyzrotvis(-66.531, 5.725, 99.504, 70.486748, -42.113411, 66.529549, 1.0)
    data["middle_4_r"] = makexyzrotvis(-67.435, 6.542, 96.065, 56.627953, -23.489948, 83.542404, 1.0)
    data["pinky_2_r"] = makexyzrotvis(-64.025, -0.159, 103.017, 57.221222, -8.494291, 76.702271, 1.0)
    data["pinky_3_r"] = makexyzrotvis(-65.937, 0.127, 100.015, 68.397110, -11.974666, 74.784508, 1.0)
    data["pinky_4_r"] = makexyzrotvis(-67.013, 0.355, 97.239, 68.031822, -22.739044, 65.195419, 1.0)
    data["ring_2_r"] = makexyzrotvis(-64.576, 2.083, 103.039, 60.143322, -23.882204, 69.549194, 1.0)
    data["ring_3_r"] = makexyzrotvis(-66.592, 2.975, 99.197, 72.950775, -34.323681, 60.402596, 1.0)
    data["ring_4_r"] = makexyzrotvis(-67.434, 3.550, 95.873, 60.028561, -26.871723, 67.258072, 1.0)
    data["thumb_2_r"] = makexyzrotvis(-57.478, 3.877, 107.639, 34.138699, -87.683189, 127.018127, 1.0)
    data["thumb_3_r"] = makexyzrotvis(-57.607, 7.077, 105.467, 52.094624, -85.939819, 128.526718, 1.0)
    data["thumb_4_r"] = makexyzrotvis(-57.784, 9.566, 102.262, 42.125004, -96.831261, 122.972427, 1.0)
    data["lowerarm_twist_01_r"] = makexyzrotvis(-47.324, -5.903, 118.782, 33.187271, -30.848154, 137.974152, 1.0)
    data["upperarm_twist_01_r"] = makexyzrotvis(-18.023, -9.748, 149.150, 49.541218, 6.413617, 163.344009, 1.0)
    data["head"] = makexyzrotvis(0., -5.876, 156.421, 75.972702, 89.999969, 89.999969, 1.0)
    data["head_0"] = makexyzrotvis(0., -3.979, 165.516, 88.678833, -90.000290, -90.000290, 1.0)
    data["hip_l"] = makexyzrotvis(9.006, -0.530, 95.300, 82.760597, 166.295837, 174.753387, 1.0)
    data["knee_l"] = makexyzrotvis(14.218, -1.801, 53.067, 80.127579, 114.503563, 117.834335, 1.0)
    data["calf_twist_01_l"] = makexyzrotvis(15.674, -4.996, 32.894, 79.251228, 113.356789, 117.027946, 1.0)
    data["ankle_l"] = makexyzrotvis(17.076, -8.072, 13.466, 88.877769, 139.206955, 141.820786, 1.0)
    data["ball_l"] = makexyzrotvis(17.909, 8.357, 2.812, -2.576805, 87.342842, 90.887283, 1.0)
    data["thigh_twist_01_l"] = makexyzrotvis(11.711, -1.190, 73.382, 82.754990, 165.851181, 168.873581, 1.0)
    data["hip_r"] = makexyzrotvis(-9.006, -0.530, 95.300, -82.760597, -166.295837, -5.246624, 1.0)
    data["knee_r"] = makexyzrotvis(-14.218, -1.801, 53.067, -80.127579, -114.503563, -62.165585, 1.0)
    data["calf_twist_01_r"] = makexyzrotvis(-15.674, -4.996, 32.893, -79.251190, -113.357056, -62.971889, 1.0)
    data["ankle_r"] = makexyzrotvis(-17.076, -8.072, 13.466, -88.878120, -139.207230, -38.179173, 1.0)
    data["ball_r"] = makexyzrotvis(-17.909, 8.357, 2.812, 2.576798, -87.342842, -89.112701, 1.0)
    data["thigh_twist_01_r"] = makexyzrotvis(-11.711, -1.190, 73.382, -82.755020, -165.851059, -11.126723, 1.0)
    data["ik_foot_root"] = makexyzrotvis(0., 0., 0., 0., 0., 0., 1.0)
    data["ik_foot_l"] = makexyzrotvis(17.076, -8.072, 13.466, 88.877769, 139.207169, 141.820999, 1.0)
    data["ik_foot_r"] = makexyzrotvis(-17.076, -8.072, 13.466, -88.877769, -139.207169, -38.178883, 1.0)
    data["ik_hand_root"] = makexyzrotvis(0., 0., 0., 0., 0., 0., 1.0)
    data["ik_hand_gun"] = makexyzrotvis(-56.646, -0.335, 111.680, 35.172623, -32.751068, 74.068031, 1.0)
    data["ik_hand_l"] = makexyzrotvis(56.646, -0.335, 111.680, -35.172630, 32.751068, -105.931976, 1.0)

def bodyaposelocal(data):
    data["root"] = makexyzrotvis(0., 0., 0., 0., 0., 0., 1.0)
    data["pelvis"] = makexyzrotvis(0., -1.056, 96.751, 89.787849, 89.995300, 89.995300, 1.0)
    data["spine_02"] = makexyzrotvis(10.809, 0.851, 0., 0., -14.063557, 0., 1.0)
    data["spine_04"] = makexyzrotvis(18.875, -3.801, 0., 0., -14.063557, 0., 1.0)
    data["spine_05"] = makexyzrotvis(13.407, -0.420, 0., 0., -2.779418, 0., 1.0)
    data["clavicle_l"] = makexyzrotvis(11.884, 2.732, -3.782, -61.853577, -101.540916, 108.719162, 1.0)
    data["shoulder_l"] = makexyzrotvis(15.785, 0., 0., -40.300545, 17.021019, 7.673903, 1.0)
    data["elbow_l"] = makexyzrotvis(30.340, 0., 0., 10.397350, 30.360876, -3.613283, 1.0)
    data["hand_l"] = makexyzrotvis(26.975, 0., 0., -2.499808, 0.412571, -76.356194, 1.0)
    data["index_02_l"] = makexyzrotvis(12.068, -1.763, -2.109, 3.763789, -25.536919, 14.866977, 1.0)
    data["index_03_l"] = makexyzrotvis(4.288, 0., 0., 0.475286, -11.986160, 1.337821, 1.0)
    data["index_04_l"] = makexyzrotvis(3.394, 0., 0., -0.997269, 9.496333, 1.137367, 1.0)
    data["middle_02_l"] = makexyzrotvis(12.244, -1.294, 0.571, 7.040565, -22.825857, 1.917856, 1.0)
    data["middle_03_l"] = makexyzrotvis(4.640, 0., 0., -1.136837, -12.280714, -2.024954, 1.0)
    data["middle_04_l"] = makexyzrotvis(3.649, 0., 0., 4.389954, 15.399755, 0.781444, 1.0)
    data["pinky_02_l"] = makexyzrotvis(10.141, -2.263, 4.643, 18.933966, -20.185858, -18.724598, 1.0)
    data["pinky_03_l"] = makexyzrotvis(3.571, 0., 0., 1.315686, -11.208060, 1.063832, 1.0)
    data["pinky_04_l"] = makexyzrotvis(2.986, 0., 0., -3.869664, -1.038998, 0.445698, 1.0)
    data["ring_02_l"] = makexyzrotvis(11.498, -1.754, 2.847, 10.989255, -23.292091, -13.510273, 1.0)
    data["ring_03_l"] = makexyzrotvis(4.430, 0., 0., 1.669749, -13.315456, 0.301359, 1.0)
    data["ring_04_l"] = makexyzrotvis(3.477, 0., 0., -2.987661, 12.899673, -0.360762, 1.0)
    data["thumb_02_l"] = makexyzrotvis(4.762, -2.375, -2.538, -36.918968, -27.056177, 95.069138, 1.0)
    data["thumb_03_l"] = makexyzrotvis(3.870, 0., 0., -9.833239, -15.151319, 1.613141, 1.0)
    data["thumb_04_l"] = makexyzrotvis(4.062, 0., 0., -0.479192, 12.385657, 2.414767, 1.0)
    data["lowerarm_twist_01_l"] = makexyzrotvis(14., 0., 0., 0., 0., 0., 1.0)
    data["None"] = makexyzrotvis(77.885, 69.602, 43.869, 32.168755, 93.709030, -145.800354, 1.0)
    data["upperarm_twist_01_l"] = makexyzrotvis(0.5, 0., 0., 0., 0., 0., 1.0)
    data["clavicle_r"] = makexyzrotvis(11.884, 2.732, 3.782, -61.853588, 78.459053, 108.719177, 1.0)
    data["shoulder_r"] = makexyzrotvis(-15.785, 0., 0., -40.300556, 17.021015, 7.673907, 1.0)
    data["elbow_r"] = makexyzrotvis(-30.340, 0., 0., 10.397350, 30.360876, -3.613281, 1.0)
    data["hand_r"] = makexyzrotvis(-26.975, 0., 0., -2.499808, 0.412573, -76.356194, 1.0)
    data["index_02_r"] = makexyzrotvis(-12.068, 1.764, 2.109, 3.763789, -25.536919, 14.866971, 1.0)
    data["index_03_r"] = makexyzrotvis(-4.288, 0., 0., 0.475299, -11.986152, 1.337820, 1.0)
    data["index_04_r"] = makexyzrotvis(-3.394, 0., 0., -0.997269, 9.496332, 1.137365, 1.0)
    data["middle_02_r"] = makexyzrotvis(-12.244, 1.294, -0.571, 7.040559, -22.825850, 1.917846, 1.0)
    data["middle_03_r"] = makexyzrotvis(-4.641, 0., 0., -1.136837, -12.280720, -2.024957, 1.0)
    data["middle_04_r"] = makexyzrotvis(-3.649, 0., 0., 4.389954, 15.399755, 0.781455, 1.0)
    data["pinky_02_r"] = makexyzrotvis(-10.141, 2.263, -4.643, 18.933966, -20.185869, -18.724598, 1.0)
    data["pinky_03_r"] = makexyzrotvis(-3.571, 0., 0., 1.315692, -11.208064, 1.063835, 1.0)
    data["pinky_04_r"] = makexyzrotvis(-2.985, 0., 0., -3.869664, -1.038998, 0.445703, 1.0)
    data["ring_02_r"] = makexyzrotvis(-11.498, 1.754, -2.847, 10.989241, -1.038998, -23.292084, 1.0)
    data["ring_03_r"] = makexyzrotvis(-4.430, 0., 0., 1.669749, -13.315456, 0.301358, 1.0)
    data["ring_04_r"] = makexyzrotvis(-3.477, 0., 0., -2.987661, 12.899678, -0.360764, 1.0)
    data["thumb_02_r"] = makexyzrotvis(-4.762, 2.375, 2.538, -36.918968, -27.056177, 95.069130, 1.0)
    data["thumb_03_r"] = makexyzrotvis(-3.870, 0., 0., -9.833239, -15.151324, 1.613143, 1.0)
    data["thumb_04_r"] = makexyzrotvis(-4.062, 0., 0., -0.479199, 12.385653, 2.414763, 1.0)
    data["lowerarm_twist_01_r"] = makexyzrotvis(-14., 0., 0., 0., 0., -13.510374, 1.0)
    data["upperarm_twist_01_r"] = makexyzrotvis(-0.5, 0., 0., 0., 0., -19.951906, 1.0)
    data["head"] = makexyzrotvis(16.559, 0.355, 0., 0., 23.508049, 0., 1.0)
    data["head_0"] = makexyzrotvis(9.284, -0.364, 0., 0., -15.348654, 0., 1.0)
    data["hip_l"] = makexyzrotvis(-1.449, 0.531, -9.006, 7.032287, 1.515470, 8.563468, 1.0)
    data["knee_l"] = makexyzrotvis(-42.572, 0., 0., -1.787276, 7.613586, -5.735975, 1.0)
    data["calf_twist_01_l"] = makexyzrotvis(-20.477, 0., 0., 0.219085, 0.872982, 0.323560, 1.0)
    data["ankle_l"] = makexyzrotvis(-40.197, 0., 0., -3.704933, -8.059578, -0.415387, 1.0)
    data["ball_l"] = makexyzrotvis(-10.454, 16.578, 0., -0.008954, 91.883591, 0.003945, 1.0)
    data["thigh_twist_01_l"] = makexyzrotvis(-22.094, 0., 0., 0.000212, 0.056331, -5.438678, 1.0)
    data["hip_r"] = makexyzrotvis(-1.449, 0.531, 9.006, 7.032294, -178.484528, 8.563469, 1.0)
    data["knee_r"] = makexyzrotvis(42.572, 0., 0., -1.787276, 7.613586, -5.735975, 1.0)
    data["calf_twist_01_r"] = makexyzrotvis(20.477, 0., 0., 0.219126, 0.872964, 0.323369, 1.0)
    data["ankle_r"] = makexyzrotvis(40.197, 0., 0., -3.704927, -8.059580, -0.415387, 1.0)
    data["ball_r"] = makexyzrotvis(10.454, -16.578, -0.08, -0.008948, 91.883591, 0.003944, 1.0)
    data["thigh_twist_01_r"] = makexyzrotvis(22.094, 0., 0., 0.000164, 0.056341, -5.438870, 1.0)
    data["ik_foot_root"] = makexyzrotvis(0., 0., 0., 0., 0., 0., 1.0)
    data["ik_foot_l"] = makexyzrotvis(17.076, -8.072, 13.466, 88.877769, 139.207169, 141.820999, 1.0)
    data["ik_foot_r"] = makexyzrotvis(-17.076, -8.072, 13.466, -88.877769, -139.207169, -38.178883, 1.0)
    data["ik_hand_root"] = makexyzrotvis(0., 0., 0., 0., 0., 0., 1.0)
    data["ik_hand_gun"] = makexyzrotvis(-56.64, -0.335, 111.680, 35.172623, -32.751068, 74.068031, 1.0)
    data["ik_hand_l"] = makexyzrotvis(77.885, 69.602, 43.869, 32.168755, 93.709030, -145.800354, 1.0)
    data["Non"] = makexyzrotvis(0., 0., 0., 0., 0., 0., 1.0)

def bodyconvertlocal(poseslms, data, coef, maxy):
    dataxyz = {}

    rootx = poseslms[24].x * coef
    rooty = -poseslms[24].z * coef
    rootz = -poseslms[24].y * coef
    rootv = poseslms[24].visibility
    dataxyz["hip_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[23].x * coef
    rooty = -poseslms[23].z * coef
    rootz = -poseslms[23].y * coef
    rootv = poseslms[23].visibility
    dataxyz["hip_l"] = [rootx, rooty, rootz, rootv]

    rootx = 0.5 * (dataxyz["hip_l"][0] + dataxyz["hip_r"][0])
    rooty = 0.5 * (dataxyz["hip_l"][1] + dataxyz["hip_r"][1])
    rootz = -maxy * coef
    rootv = 1.0
    dataxyz["root"] = [rootx, rooty, rootz, rootv]

    rootx = 0.5 * (dataxyz["hip_l"][0] + dataxyz["hip_r"][0])
    rooty = 0.5 * (dataxyz["hip_l"][1] + dataxyz["hip_r"][1])
    rootz = 0.5 * (dataxyz["hip_l"][2] + dataxyz["hip_r"][2])
    rootv = 0.5 * (dataxyz["hip_l"][3] + dataxyz["hip_r"][3])
    dataxyz["pelvis"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[12].x * coef
    rooty = -poseslms[12].z * coef
    rootz = -poseslms[12].y * coef
    rootv = poseslms[12].visibility
    dataxyz["shoulder_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[11].x * coef
    rooty = -poseslms[11].z * coef
    rootz = -poseslms[11].y * coef
    rootv = poseslms[11].visibility
    dataxyz["shoulder_l"] = [rootx, rooty, rootz, rootv]

    rootx = 0.5 * (dataxyz["shoulder_l"][0] + dataxyz["shoulder_r"][0])
    rooty = 0.5 * (dataxyz["shoulder_l"][1] + dataxyz["shoulder_r"][1])
    rootz = -poseslms[0].y * coef * 0.3 + 0.35 * (dataxyz["shoulder_l"][2] + dataxyz["shoulder_r"][2])
    rootv = poseslms[0].visibility
    dataxyz["head"] = [rootx, rooty, rootz, rootv]

    rootx = (0.044113 * dataxyz["head"][0] + 0.955887 * dataxyz["pelvis"][0])
    rooty = (0.044113 * dataxyz["head"][1] + 0.955887 * dataxyz["pelvis"][1])
    rootz = (0.044113 * dataxyz["head"][2] + 0.955887 * dataxyz["pelvis"][2])
    rootv = (0.044113 * dataxyz["head"][3] + 0.955887 * dataxyz["pelvis"][3])
    data["spine_01"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["spine_01"] = [rootx, rooty, rootz, rootv]

    rootx = (0.135799 * dataxyz["head"][0] + 0.864201 * dataxyz["pelvis"][0])
    rooty = (0.135799 * dataxyz["head"][1] + 0.864201 * dataxyz["pelvis"][1])
    rootz = (0.135799 * dataxyz["head"][2] + 0.864201 * dataxyz["pelvis"][2])
    rootv = (0.135799 * dataxyz["head"][3] + 0.864201 * dataxyz["pelvis"][3])
    dataxyz["spine_02"] = [rootx, rooty, rootz, rootv]

    rootx = (0.282213 * dataxyz["head"][0] + 0.717787 * dataxyz["pelvis"][0])
    rooty = (0.282213 * dataxyz["head"][1] + 0.717787 * dataxyz["pelvis"][1])
    rootz = (0.282213 * dataxyz["head"][2] + 0.717787 * dataxyz["pelvis"][2])
    rootv = (0.282213 * dataxyz["head"][3] + 0.717787 * dataxyz["pelvis"][3])
    data["spine_03"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["spine_03"] = [rootx, rooty, rootz, rootv]

    rootx = (0.451594 * dataxyz["head"][0] + 0.548406 * dataxyz["pelvis"][0])
    rooty = (0.451594 * dataxyz["head"][1] + 0.548406 * dataxyz["pelvis"][1])
    rootz = (0.451594 * dataxyz["head"][2] + 0.548406 * dataxyz["pelvis"][2])
    rootv = (0.451594 * dataxyz["head"][3] + 0.548406 * dataxyz["pelvis"][3])
    dataxyz["spine_04"] = [rootx, rooty, rootz, rootv]

    rootx = (0.771025 * dataxyz["head"][0] + 0.228975 * dataxyz["pelvis"][0])
    rooty = (0.771025 * dataxyz["head"][1] + 0.228975 * dataxyz["pelvis"][1])
    rootz = (0.771025 * dataxyz["head"][2] + 0.228975 * dataxyz["pelvis"][2])
    rootv = (0.771025 * dataxyz["head"][3] + 0.228975 * dataxyz["pelvis"][3])
    dataxyz["spine_05"] = [rootx, rooty, rootz, rootv]

    rootx = (0.635 * dataxyz["shoulder_r"][0] + 0.365 * dataxyz["shoulder_l"][0])
    rooty = 0.5 * (
                0.635 * dataxyz["shoulder_r"][1] + 0.365 * dataxyz["shoulder_l"][1] + 0.31 * dataxyz["head"][1] + 0.69 *
                dataxyz["spine_05"][1])
    rootz = (0.0635 * dataxyz["shoulder_r"][2] + 0.0365 * dataxyz["shoulder_l"][2] + 0.9 * dataxyz["spine_05"][2])
    rootv = (0.635 * dataxyz["shoulder_r"][3] + 0.451594 * dataxyz["shoulder_l"][3])
    dataxyz["clavicle_r"] = [rootx, rooty, rootz, rootv]

    rootx = (0.635 * dataxyz["shoulder_l"][0] + 0.365 * dataxyz["shoulder_r"][0])
    rooty = 0.5 * (
                0.635 * dataxyz["shoulder_l"][1] + 0.365 * dataxyz["shoulder_r"][1] + 0.31 * dataxyz["head"][1] + 0.69 *
                dataxyz["spine_05"][1])
    rootz = (0.0635 * dataxyz["shoulder_l"][2] + 0.0365 * dataxyz["shoulder_r"][2] + 0.9 * dataxyz["spine_05"][2])
    rootv = (0.635 * dataxyz["shoulder_l"][3] + 0.365 * dataxyz["shoulder_r"][3])
    dataxyz["clavicle_l"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[14].x * coef
    rooty = -poseslms[14].z * coef
    rootz = -poseslms[14].y * coef
    rootv = poseslms[14].visibility
    dataxyz["elbow_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[13].x * coef
    rooty = -poseslms[13].z * coef
    rootz = -poseslms[13].y * coef
    rootv = poseslms[13].visibility
    dataxyz["elbow_l"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[26].x * coef
    rooty = -poseslms[26].z * coef
    rootz = -poseslms[26].y * coef
    rootv = poseslms[26].visibility
    dataxyz["knee_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[25].x * coef
    rooty = -poseslms[25].z * coef
    rootz = -poseslms[25].y * coef
    rootv = poseslms[25].visibility
    dataxyz["knee_l"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[28].x * coef
    rooty = -poseslms[28].z * coef
    rootz = -poseslms[28].y * coef
    rootv = poseslms[28].visibility
    dataxyz["ankle_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[27].x * coef
    rooty = -poseslms[27].z * coef
    rootz = -poseslms[27].y * coef
    rootv = poseslms[27].visibility
    dataxyz["ankle_l"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[32].x * coef
    rooty = -poseslms[32].z * coef
    rootz = -poseslms[32].y * coef
    rootv = poseslms[32].visibility
    dataxyz["ball_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[31].x * coef
    rooty = -poseslms[31].z * coef
    rootz = -poseslms[31].y * coef
    rootv = poseslms[31].visibility
    dataxyz["ball_l"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[30].x * coef
    rooty = -poseslms[30].z * coef
    rootz = -poseslms[30].y * coef
    rootv = poseslms[30].visibility
    data["heel_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["heel_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[29].x * coef
    rooty = -poseslms[29].z * coef
    rootz = -poseslms[29].y * coef
    rootv = poseslms[29].visibility
    data["heel_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["heel_l"] = [rootx, rooty, rootz, rootv]

    data["elbow_r"]["translation"]["x"] = dataxyz["elbow_r"][0] - dataxyz["shoulder_r"][0]
    data["elbow_r"]["translation"]["y"] = dataxyz["elbow_r"][1] - dataxyz["shoulder_r"][1]
    data["elbow_r"]["translation"]["z"] = dataxyz["elbow_r"][2] - dataxyz["shoulder_r"][2]

    data["elbow_l"]["translation"]["x"] = dataxyz["elbow_l"][0] - dataxyz["shoulder_l"][0]
    data["elbow_l"]["translation"]["y"] = dataxyz["elbow_l"][1] - dataxyz["shoulder_l"][1]
    data["elbow_l"]["translation"]["z"] = dataxyz["elbow_l"][2] - dataxyz["shoulder_l"][2]

    data["shoulder_r"]["translation"]["x"] = dataxyz["shoulder_r"][0] - dataxyz["clavicle_r"][0]
    data["shoulder_r"]["translation"]["y"] = dataxyz["shoulder_r"][1] - dataxyz["clavicle_r"][1]
    data["shoulder_r"]["translation"]["z"] = dataxyz["shoulder_r"][2] - dataxyz["clavicle_r"][2]

    data["shoulder_l"]["translation"]["x"] = dataxyz["shoulder_l"][0] - dataxyz["clavicle_l"][0]
    data["shoulder_l"]["translation"]["y"] = dataxyz["shoulder_l"][1] - dataxyz["clavicle_l"][1]
    data["shoulder_l"]["translation"]["z"] = dataxyz["shoulder_l"][2] - dataxyz["clavicle_l"][2]

    data["clavicle_r"]["translation"]["x"] = dataxyz["clavicle_r"][0] - dataxyz["spine_05"][0]
    data["clavicle_r"]["translation"]["y"] = dataxyz["clavicle_r"][1] - dataxyz["spine_05"][1]
    data["clavicle_r"]["translation"]["z"] = dataxyz["clavicle_r"][2] - dataxyz["spine_05"][2]

    data["clavicle_l"]["translation"]["x"] = dataxyz["clavicle_l"][0] - dataxyz["spine_05"][0]
    data["clavicle_l"]["translation"]["y"] = dataxyz["clavicle_l"][1] - dataxyz["spine_05"][1]
    data["clavicle_l"]["translation"]["z"] = dataxyz["clavicle_l"][2] - dataxyz["spine_05"][2]

    data["head"]["translation"]["x"] = dataxyz["head"][0] - dataxyz["spine_05"][0]
    data["head"]["translation"]["y"] = dataxyz["head"][1] - dataxyz["spine_05"][1]
    data["head"]["translation"]["z"] = dataxyz["head"][2] - dataxyz["spine_05"][2]

    data["spine_05"]["translation"]["x"] = dataxyz["spine_05"][0] - dataxyz["spine_04"][0]
    data["spine_05"]["translation"]["y"] = dataxyz["spine_05"][1] - dataxyz["spine_04"][1]
    data["spine_05"]["translation"]["z"] = dataxyz["spine_05"][2] - dataxyz["spine_04"][2]

    data["spine_04"]["translation"]["x"] = dataxyz["spine_04"][0] - dataxyz["spine_03"][0]
    data["spine_04"]["translation"]["y"] = dataxyz["spine_04"][1] - dataxyz["spine_03"][1]
    data["spine_04"]["translation"]["z"] = dataxyz["spine_04"][2] - dataxyz["spine_03"][2]

    data["spine_03"]["translation"]["x"] = dataxyz["spine_03"][0] - dataxyz["spine_02"][0]
    data["spine_03"]["translation"]["y"] = dataxyz["spine_03"][1] - dataxyz["spine_02"][1]
    data["spine_03"]["translation"]["z"] = dataxyz["spine_03"][2] - dataxyz["spine_02"][2]

    data["spine_02"]["translation"]["x"] = dataxyz["spine_02"][0] - dataxyz["spine_01"][0]
    data["spine_02"]["translation"]["y"] = dataxyz["spine_02"][1] - dataxyz["spine_01"][1]
    data["spine_02"]["translation"]["z"] = dataxyz["spine_02"][2] - dataxyz["spine_01"][2]

    data["spine_01"]["translation"]["x"] = dataxyz["spine_01"][0] - dataxyz["pelvis"][0]
    data["spine_01"]["translation"]["y"] = dataxyz["spine_01"][1] - dataxyz["pelvis"][1]
    data["spine_01"]["translation"]["z"] = dataxyz["spine_01"][2] - dataxyz["pelvis"][2]

    data["ball_l"]["translation"]["x"] = dataxyz["ball_l"][0] - dataxyz["ankle_l"][0]
    data["ball_l"]["translation"]["y"] = dataxyz["ball_l"][1] - dataxyz["ankle_l"][1]
    data["ball_l"]["translation"]["z"] = dataxyz["ball_l"][2] - dataxyz["ankle_l"][2]

    data["ball_r"]["translation"]["x"] = dataxyz["ball_r"][0] - dataxyz["ankle_r"][0]
    data["ball_r"]["translation"]["y"] = dataxyz["ball_r"][1] - dataxyz["ankle_r"][1]
    data["ball_r"]["translation"]["z"] = dataxyz["ball_r"][2] - dataxyz["ankle_r"][2]

    data["heel_l"]["translation"]["x"] = dataxyz["heel_l"][0] - dataxyz["ankle_l"][0]
    data["heel_l"]["translation"]["y"] = dataxyz["heel_l"][1] - dataxyz["ankle_l"][1]
    data["heel_l"]["translation"]["z"] = dataxyz["heel_l"][2] - dataxyz["ankle_l"][2]

    data["heel_r"]["translation"]["x"] = dataxyz["heel_r"][0] - dataxyz["ankle_r"][0]
    data["heel_r"]["translation"]["y"] = dataxyz["heel_r"][1] - dataxyz["ankle_r"][1]
    data["heel_r"]["translation"]["z"] = dataxyz["heel_r"][2] - dataxyz["ankle_r"][2]

    data["ankle_l"]["translation"]["x"] = dataxyz["ankle_l"][0] - dataxyz["knee_l"][0]
    data["ankle_l"]["translation"]["y"] = dataxyz["ankle_l"][1] - dataxyz["knee_l"][1]
    data["ankle_l"]["translation"]["z"] = dataxyz["ankle_l"][2] - dataxyz["knee_l"][2]

    data["ankle_r"]["translation"]["x"] = dataxyz["ankle_r"][0] - dataxyz["knee_r"][0]
    data["ankle_r"]["translation"]["y"] = dataxyz["ankle_r"][1] - dataxyz["knee_r"][1]
    data["ankle_r"]["translation"]["z"] = dataxyz["ankle_r"][2] - dataxyz["knee_r"][2]

    data["knee_l"]["translation"]["x"] = dataxyz["knee_l"][0] - dataxyz["hip_l"][0]
    data["knee_l"]["translation"]["y"] = dataxyz["knee_l"][1] - dataxyz["hip_l"][1]
    data["knee_l"]["translation"]["z"] = dataxyz["knee_l"][2] - dataxyz["hip_l"][2]

    data["knee_r"]["translation"]["x"] = dataxyz["knee_r"][0] - dataxyz["hip_r"][0]
    data["knee_r"]["translation"]["y"] = dataxyz["knee_r"][1] - dataxyz["hip_r"][1]
    data["knee_r"]["translation"]["z"] = dataxyz["knee_r"][2] - dataxyz["hip_r"][2]

    data["hip_l"]["translation"]["x"] = dataxyz["hip_l"][0] - dataxyz["pelvis"][0]
    data["hip_l"]["translation"]["y"] = dataxyz["hip_l"][1] - dataxyz["pelvis"][1]
    data["hip_l"]["translation"]["z"] = dataxyz["hip_l"][2] - dataxyz["pelvis"][2]

    data["hip_r"]["translation"]["x"] = dataxyz["hip_r"][0] - dataxyz["pelvis"][0]
    data["hip_r"]["translation"]["y"] = dataxyz["hip_r"][1] - dataxyz["pelvis"][1]
    data["hip_r"]["translation"]["z"] = dataxyz["hip_r"][2] - dataxyz["pelvis"][2]

    data["pelvis"]["translation"]["x"] = 0.
    data["pelvis"]["translation"]["y"] = 0.
    data["pelvis"]["translation"]["z"] = dataxyz["pelvis"][2] - dataxyz["root"][2]

def updateValueAPoseWorld(data, dataxyz, parent_name, current_name):
    tvec0 = [dataxyz[parent_name][0], dataxyz[parent_name][1], dataxyz[parent_name][2]]
    tvec1 = [dataxyz[current_name][0], dataxyz[current_name][1], dataxyz[current_name][2]]
    tvec0_apose = [data[parent_name]["translation"]["x"], data[parent_name]["translation"]["y"], data[parent_name]["translation"]["z"]]
    tvec1_apose = [data[current_name]["translation"]["x"], data[current_name]["translation"]["y"], data[current_name]["translation"]["z"]]
    rvec_apose = [data[current_name]["rotation"]["rotx"], data[current_name]["rotation"]["roty"], data[current_name]["rotation"]["rotz"]]
    rvec = checkRot(tvec0, tvec1, tvec0_apose, tvec1_apose, rvec_apose)
    data[current_name]["translation"]["x"] = dataxyz[current_name][0]
    data[current_name]["translation"]["y"] = dataxyz[current_name][1]
    data[current_name]["translation"]["z"] = dataxyz[current_name][2]
    # data[current_name]["rotation"]["rotx"] = rvec[0]
    # data[current_name]["rotation"]["roty"] = rvec[1]
    # data[current_name]["rotation"]["rotz"] = rvec[2]
    data[current_name]["visible"] = dataxyz[current_name][3]

def bodyconvertwithrot(poseslms, data, coef, maxy):
    dataxyz = {}

    rootx = poseslms[24].x * coef
    rooty = -poseslms[24].z * coef
    rootz = -poseslms[24].y * coef
    rootv = poseslms[24].visibility
    dataxyz["hip_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[23].x * coef
    rooty = -poseslms[23].z * coef
    rootz = -poseslms[23].y * coef
    rootv = poseslms[23].visibility
    dataxyz["hip_l"] = [rootx, rooty, rootz, rootv]

    rootx = 0.5 * (dataxyz["hip_l"][0] + dataxyz["hip_r"][0])
    rooty = 0.5 * (dataxyz["hip_l"][1] + dataxyz["hip_r"][1])
    rootz = -maxy * coef
    rootv = 1.0
    dataxyz["root"] = [rootx, rooty, rootz, rootv]

    rootx = 0.5 * (dataxyz["hip_l"][0] + dataxyz["hip_r"][0])
    rooty = 0.5 * (dataxyz["hip_l"][1] + dataxyz["hip_r"][1])
    rootz = 0.5 * (dataxyz["hip_l"][2] + dataxyz["hip_r"][2])
    rootv = 0.5 * (dataxyz["hip_l"][3] + dataxyz["hip_r"][3])
    dataxyz["pelvis"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[12].x * coef
    rooty = -poseslms[12].z * coef
    rootz = -poseslms[12].y * coef
    rootv = poseslms[12].visibility
    dataxyz["shoulder_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[11].x * coef
    rooty = -poseslms[11].z * coef
    rootz = -poseslms[11].y * coef
    rootv = poseslms[11].visibility
    dataxyz["shoulder_l"] = [rootx, rooty, rootz, rootv]

    rootx = 0.5 * (dataxyz["shoulder_l"][0] + dataxyz["shoulder_r"][0])
    rooty = 0.5 * (dataxyz["shoulder_l"][1] + dataxyz["shoulder_r"][1])
    rootz = -poseslms[0].y * coef * 0.3 + 0.35 * (dataxyz["shoulder_l"][2] + dataxyz["shoulder_r"][2])
    rootv = poseslms[0].visibility
    dataxyz["head"] = [rootx, rooty, rootz, rootv]

    rootx = (0.044113 * dataxyz["head"][0] + 0.955887 * dataxyz["pelvis"][0])
    rooty = (0.044113 * dataxyz["head"][1] + 0.955887 * dataxyz["pelvis"][1])
    rootz = (0.044113 * dataxyz["head"][2] + 0.955887 * dataxyz["pelvis"][2])
    rootv = (0.044113 * dataxyz["head"][3] + 0.955887 * dataxyz["pelvis"][3])
    data["spine_01"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["spine_01"] = [rootx, rooty, rootz, rootv]

    rootx = (0.135799 * dataxyz["head"][0] + 0.864201 * dataxyz["pelvis"][0])
    rooty = (0.135799 * dataxyz["head"][1] + 0.864201 * dataxyz["pelvis"][1])
    rootz = (0.135799 * dataxyz["head"][2] + 0.864201 * dataxyz["pelvis"][2])
    rootv = (0.135799 * dataxyz["head"][3] + 0.864201 * dataxyz["pelvis"][3])
    dataxyz["spine_02"] = [rootx, rooty, rootz, rootv]

    rootx = (0.282213 * dataxyz["head"][0] + 0.717787 * dataxyz["pelvis"][0])
    rooty = (0.282213 * dataxyz["head"][1] + 0.717787 * dataxyz["pelvis"][1])
    rootz = (0.282213 * dataxyz["head"][2] + 0.717787 * dataxyz["pelvis"][2])
    rootv = (0.282213 * dataxyz["head"][3] + 0.717787 * dataxyz["pelvis"][3])
    data["spine_03"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["spine_03"] = [rootx, rooty, rootz, rootv]

    rootx = (0.451594 * dataxyz["head"][0] + 0.548406 * dataxyz["pelvis"][0])
    rooty = (0.451594 * dataxyz["head"][1] + 0.548406 * dataxyz["pelvis"][1])
    rootz = (0.451594 * dataxyz["head"][2] + 0.548406 * dataxyz["pelvis"][2])
    rootv = (0.451594 * dataxyz["head"][3] + 0.548406 * dataxyz["pelvis"][3])
    dataxyz["spine_04"] = [rootx, rooty, rootz, rootv]

    rootx = (0.771025 * dataxyz["head"][0] + 0.228975 * dataxyz["pelvis"][0])
    rooty = (0.771025 * dataxyz["head"][1] + 0.228975 * dataxyz["pelvis"][1])
    rootz = (0.771025 * dataxyz["head"][2] + 0.228975 * dataxyz["pelvis"][2])
    rootv = (0.771025 * dataxyz["head"][3] + 0.228975 * dataxyz["pelvis"][3])
    dataxyz["spine_05"] = [rootx, rooty, rootz, rootv]

    rootx = (0.635 * dataxyz["shoulder_r"][0] + 0.365 * dataxyz["shoulder_l"][0])
    rooty = 0.5 * (
            0.635 * dataxyz["shoulder_r"][1] + 0.365 * dataxyz["shoulder_l"][1] + 0.31 * dataxyz["head"][1] + 0.69 *
            dataxyz["spine_05"][1])
    rootz = (0.0635 * dataxyz["shoulder_r"][2] + 0.0365 * dataxyz["shoulder_l"][2] + 0.9 * dataxyz["spine_05"][2])
    rootv = (0.635 * dataxyz["shoulder_r"][3] + 0.451594 * dataxyz["shoulder_l"][3])
    dataxyz["clavicle_r"] = [rootx, rooty, rootz, rootv]

    rootx = (0.635 * dataxyz["shoulder_l"][0] + 0.365 * dataxyz["shoulder_r"][0])
    rooty = 0.5 * (
            0.635 * dataxyz["shoulder_l"][1] + 0.365 * dataxyz["shoulder_r"][1] + 0.31 * dataxyz["head"][1] + 0.69 *
            dataxyz["spine_05"][1])
    rootz = (0.0635 * dataxyz["shoulder_l"][2] + 0.0365 * dataxyz["shoulder_r"][2] + 0.9 * dataxyz["spine_05"][2])
    rootv = (0.635 * dataxyz["shoulder_l"][3] + 0.365 * dataxyz["shoulder_r"][3])
    dataxyz["clavicle_l"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[16].x * coef
    rooty = -poseslms[16].z * coef
    rootz = -poseslms[16].y * coef
    rootv = poseslms[16].visibility
    dataxyz["hand_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[15].x * coef
    rooty = -poseslms[15].z * coef
    rootz = -poseslms[15].y * coef
    rootv = poseslms[15].visibility
    dataxyz["hand_l"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[14].x * coef
    rooty = -poseslms[14].z * coef
    rootz = -poseslms[14].y * coef
    rootv = poseslms[14].visibility
    dataxyz["elbow_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[13].x * coef
    rooty = -poseslms[13].z * coef
    rootz = -poseslms[13].y * coef
    rootv = poseslms[13].visibility
    dataxyz["elbow_l"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[26].x * coef
    rooty = -poseslms[26].z * coef
    rootz = -poseslms[26].y * coef
    rootv = poseslms[26].visibility
    dataxyz["knee_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[25].x * coef
    rooty = -poseslms[25].z * coef
    rootz = -poseslms[25].y * coef
    rootv = poseslms[25].visibility
    dataxyz["knee_l"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[28].x * coef
    rooty = -poseslms[28].z * coef
    rootz = -poseslms[28].y * coef
    rootv = poseslms[28].visibility
    dataxyz["ankle_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[27].x * coef
    rooty = -poseslms[27].z * coef
    rootz = -poseslms[27].y * coef
    rootv = poseslms[27].visibility
    dataxyz["ankle_l"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[32].x * coef
    rooty = -poseslms[32].z * coef
    rootz = -poseslms[32].y * coef
    rootv = poseslms[32].visibility
    dataxyz["ball_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[31].x * coef
    rooty = -poseslms[31].z * coef
    rootz = -poseslms[31].y * coef
    rootv = poseslms[31].visibility
    dataxyz["ball_l"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[30].x * coef
    rooty = -poseslms[30].z * coef
    rootz = -poseslms[30].y * coef
    rootv = poseslms[30].visibility
    data["heel_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["heel_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[29].x * coef
    rooty = -poseslms[29].z * coef
    rootz = -poseslms[29].y * coef
    rootv = poseslms[29].visibility
    data["heel_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["heel_l"] = [rootx, rooty, rootz, rootv]

    updateValueAPoseWorld(data, dataxyz, "elbow_r", "hand_r")
    rvecHandR = HandRRot(poseslms, coef)
    data["hand_r"]["rotation"]["rotx"] = rvecHandR[0]
    data["hand_r"]["rotation"]["roty"] = rvecHandR[1]
    # data["hand_r"]["rotation"]["rotz"] = rvecHandR[2]
    updateValueAPoseWorld(data, dataxyz, "elbow_l", "hand_l")
    rvecHandL = HandLRot(poseslms, coef)
    data["hand_l"]["rotation"]["rotx"] = rvecHandL[0]
    data["hand_l"]["rotation"]["roty"] = rvecHandL[1]
    # data["hand_l"]["rotation"]["rotz"] = rvecHandL[2]
    updateValueAPoseWorld(data, dataxyz, "shoulder_r", "elbow_r")
    rvecElbowR = ShoulderRRot(poseslms, coef)
    data["elbow_r"]["rotation"]["rotx"] = rvecElbowR[0]
    data["elbow_r"]["rotation"]["roty"] = rvecElbowR[1]
    # data["elbow_r"]["rotation"]["rotz"] = rvecElbowR[2]
    updateValueAPoseWorld(data, dataxyz, "shoulder_l", "elbow_l")
    rvecElbowL = ShoulderLRot(poseslms, coef)
    data["elbow_l"]["rotation"]["rotx"] = rvecElbowL[0]
    data["elbow_l"]["rotation"]["roty"] = rvecElbowL[1]
    # data["elbow_l"]["rotation"]["rotz"] = rvecElbowL[2]
    updateValueAPoseWorld(data, dataxyz, "clavicle_r", "shoulder_r")
    rvecShoulderR = ShoulderRRot(poseslms, coef)
    data["shoulder_r"]["rotation"]["rotx"] = rvecShoulderR[0]
    data["shoulder_r"]["rotation"]["roty"] = rvecShoulderR[1]
    # data["shoulder_r"]["rotation"]["rotz"] = rvecShoulderR[2]
    updateValueAPoseWorld(data, dataxyz, "clavicle_l", "shoulder_l")
    rvecShoulderL = ShoulderLRot(poseslms, coef)
    data["shoulder_l"]["rotation"]["rotx"] = rvecShoulderL[0]
    data["shoulder_l"]["rotation"]["roty"] = rvecShoulderL[1]
    # data["shoulder_l"]["rotation"]["rotz"] = rvecShoulderL[2]
    updateValueAPoseWorld(data, dataxyz, "spine_05", "clavicle_r")
    updateValueAPoseWorld(data, dataxyz, "spine_05", "clavicle_l")
    updateValueAPoseWorld(data, dataxyz, "spine_05", "head")
    rvecHead = HeadRot(poseslms, coef)
    data["head"]["rotation"]["rotx"] = rvecHead[0]
    data["head"]["rotation"]["roty"] = rvecHead[1]
    # data["head"]["rotation"]["rotz"] = rvecHead[2]
    updateValueAPoseWorld(data, dataxyz, "spine_04", "spine_05")
    updateValueAPoseWorld(data, dataxyz, "spine_02", "spine_04")
    updateValueAPoseWorld(data, dataxyz, "pelvis", "spine_02")
    updateValueAPoseWorld(data, dataxyz, "ankle_l", "ball_l")
    updateValueAPoseWorld(data, dataxyz, "ankle_r", "ball_r")
    updateValueAPoseWorld(data, dataxyz, "ankle_l", "heel_l")
    updateValueAPoseWorld(data, dataxyz, "ankle_r", "heel_r")
    updateValueAPoseWorld(data, dataxyz, "knee_l", "ankle_l")
    updateValueAPoseWorld(data, dataxyz, "knee_r", "ankle_r")
    updateValueAPoseWorld(data, dataxyz, "hip_l", "knee_l")
    updateValueAPoseWorld(data, dataxyz, "hip_r", "knee_r")
    updateValueAPoseWorld(data, dataxyz, "pelvis", "hip_l")
    rvecHipL = HipLRot(poseslms, coef)
    # data["hip_l"]["rotation"]["rotx"] = rvecHipL[0]
    # data["hip_l"]["rotation"]["roty"] = rvecHipL[1]
    # data["hip_l"]["rotation"]["rotz"] = rvecHipL[2]
    updateValueAPoseWorld(data, dataxyz, "pelvis", "hip_r")
    rvecHipR = HipRRot(poseslms, coef)
    # data["hip_r"]["rotation"]["rotx"] = rvecHipR[0]
    # data["hip_r"]["rotation"]["roty"] = rvecHipR[1]
    # data["hip_r"]["rotation"]["rotz"] = rvecHipR[2]
    updateValueAPoseWorld(data, dataxyz, "root", "pelvis")

    data["root"]["translation"]["x"] = dataxyz["root"][0]
    data["root"]["translation"]["y"] = dataxyz["root"][1]
    data["root"]["translation"]["z"] = dataxyz["root"][2]

    data["spine_01"]["rotation"]["rotx"] = data["pelvis"]["rotation"]["rotx"]
    data["spine_01"]["rotation"]["roty"] = data["pelvis"]["rotation"]["roty"]
    data["spine_01"]["rotation"]["rotz"] = data["pelvis"]["rotation"]["rotz"]

    data["spine_03"]["rotation"]["rotx"] = data["spine_02"]["rotation"]["rotx"]
    data["spine_03"]["rotation"]["roty"] = data["spine_02"]["rotation"]["roty"]
    data["spine_03"]["rotation"]["rotz"] = data["spine_02"]["rotation"]["rotz"]

    data["spine_03"]["rotation"]["rotx"] = data["spine_02"]["rotation"]["rotx"]
    data["spine_03"]["rotation"]["roty"] = data["spine_02"]["rotation"]["roty"]
    data["spine_03"]["rotation"]["rotz"] = data["spine_02"]["rotation"]["rotz"]

    rvecSpine5 = Spine5Rot(poseslms, coef)
    data["spine_05"]["rotation"]["rotx"] = rvecSpine5[0]
    data["spine_05"]["rotation"]["roty"] = rvecSpine5[1]
    data["spine_05"]["rotation"]["rotz"] = rvecSpine5[2]

    rvecPelvis = PelvisRot(poseslms, coef)
    data["pelvis"]["rotation"]["rotx"] = rvecPelvis[0]
    data["pelvis"]["rotation"]["roty"] = rvecPelvis[1]
    data["pelvis"]["rotation"]["rotz"] = rvecPelvis[2]

    data["spine_04"]["rotation"]["rotx"] = 0.4*rvecSpine5[0] + 0.6*rvecPelvis[0]
    data["spine_04"]["rotation"]["roty"] = 0.4*rvecSpine5[1] + 0.6*rvecPelvis[1]
    data["spine_04"]["rotation"]["rotz"] = 0.4*rvecSpine5[2] + 0.6*rvecPelvis[2]

    data["spine_03"]["rotation"]["rotx"] = 0.25*rvecSpine5[0] + 0.75*rvecPelvis[0]
    data["spine_03"]["rotation"]["roty"] = 0.25*rvecSpine5[1] + 0.75*rvecPelvis[1]
    data["spine_03"]["rotation"]["rotz"] = 0.25*rvecSpine5[2] + 0.75*rvecPelvis[2]

    data["spine_02"]["rotation"]["rotx"] = 0.12*rvecSpine5[0] + 0.88*rvecPelvis[0]
    data["spine_02"]["rotation"]["roty"] = 0.12*rvecSpine5[1] + 0.88*rvecPelvis[1]
    data["spine_02"]["rotation"]["rotz"] = 0.12*rvecSpine5[2] + 0.88*rvecPelvis[2]

    data["spine_01"]["rotation"]["rotx"] = 0.05*rvecSpine5[0] + 0.95*rvecPelvis[0]
    data["spine_01"]["rotation"]["roty"] = 0.05*rvecSpine5[1] + 0.95*rvecPelvis[1]
    data["spine_01"]["rotation"]["rotz"] = 0.05*rvecSpine5[2] + 0.95*rvecPelvis[2]

def bodyconvert(poseslms, data, coef, maxy):
    dataxyz = {}

    rootx = poseslms[24].x * coef
    rooty = -poseslms[24].z * coef
    rootz = -poseslms[24].y * coef
    rootv = poseslms[24].visibility
    data["hip_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["hip_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[23].x * coef
    rooty = -poseslms[23].z * coef
    rootz = -poseslms[23].y * coef
    rootv = poseslms[23].visibility
    data["hip_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["hip_l"] = [rootx, rooty, rootz, rootv]

    rootx = 0.5 * (dataxyz["hip_l"][0] + dataxyz["hip_r"][0])
    rooty = 0.5 * (dataxyz["hip_l"][1] + dataxyz["hip_r"][1])
    rootz = -maxy * coef
    rootv = 1.0
    data["root"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["root"] = [rootx, rooty, rootz, rootv]

    rootx = 0.5 * (dataxyz["hip_l"][0] + dataxyz["hip_r"][0])
    rooty = 0.5 * (dataxyz["hip_l"][1] + dataxyz["hip_r"][1])
    rootz = 0.5 * (dataxyz["hip_l"][2] + dataxyz["hip_r"][2])
    rootv = 0.5 * (dataxyz["hip_l"][3] + dataxyz["hip_r"][3])
    data["pelvis"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["pelvis"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[12].x * coef
    rooty = -poseslms[12].z * coef
    rootz = -poseslms[12].y * coef
    rootv = poseslms[12].visibility
    data["shoulder_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["shoulder_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[11].x * coef
    rooty = -poseslms[11].z * coef
    rootz = -poseslms[11].y * coef
    rootv = poseslms[11].visibility
    data["shoulder_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["shoulder_l"] = [rootx, rooty, rootz, rootv]

    rootx = 0.5 * (dataxyz["shoulder_l"][0] + dataxyz["shoulder_r"][0])
    rooty = 0.5 * (dataxyz["shoulder_l"][1] + dataxyz["shoulder_r"][1])
    rootz = -poseslms[0].y * coef * 0.3 + 0.35 * (dataxyz["shoulder_l"][2] + dataxyz["shoulder_r"][2])
    rootv = poseslms[0].visibility
    data["head"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["head"] = [rootx, rooty, rootz, rootv]

    rootx = (0.044113 * dataxyz["head"][0] + 0.955887 * dataxyz["pelvis"][0])
    rooty = (0.044113 * dataxyz["head"][1] + 0.955887 * dataxyz["pelvis"][1])
    rootz = (0.044113 * dataxyz["head"][2] + 0.955887 * dataxyz["pelvis"][2])
    rootv = (0.044113 * dataxyz["head"][3] + 0.955887 * dataxyz["pelvis"][3])
    data["spine_01"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["spine_01"] = [rootx, rooty, rootz, rootv]

    rootx = (0.135799 * dataxyz["head"][0] + 0.864201 * dataxyz["pelvis"][0])
    rooty = (0.135799 * dataxyz["head"][1] + 0.864201 * dataxyz["pelvis"][1])
    rootz = (0.135799 * dataxyz["head"][2] + 0.864201 * dataxyz["pelvis"][2])
    rootv = (0.135799 * dataxyz["head"][3] + 0.864201 * dataxyz["pelvis"][3])
    data["spine_02"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["spine_02"] = [rootx, rooty, rootz, rootv]

    rootx = (0.282213 * dataxyz["head"][0] + 0.717787 * dataxyz["pelvis"][0])
    rooty = (0.282213 * dataxyz["head"][1] + 0.717787 * dataxyz["pelvis"][1])
    rootz = (0.282213 * dataxyz["head"][2] + 0.717787 * dataxyz["pelvis"][2])
    rootv = (0.282213 * dataxyz["head"][3] + 0.717787 * dataxyz["pelvis"][3])
    data["spine_03"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["spine_03"] = [rootx, rooty, rootz, rootv]

    rootx = (0.451594 * dataxyz["head"][0] + 0.548406 * dataxyz["pelvis"][0])
    rooty = (0.451594 * dataxyz["head"][1] + 0.548406 * dataxyz["pelvis"][1])
    rootz = (0.451594 * dataxyz["head"][2] + 0.548406 * dataxyz["pelvis"][2])
    rootv = (0.451594 * dataxyz["head"][3] + 0.548406 * dataxyz["pelvis"][3])
    data["spine_04"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["spine_04"] = [rootx, rooty, rootz, rootv]

    rootx = (0.771025 * dataxyz["head"][0] + 0.228975 * dataxyz["pelvis"][0])
    rooty = (0.771025 * dataxyz["head"][1] + 0.228975 * dataxyz["pelvis"][1])
    rootz = (0.771025 * dataxyz["head"][2] + 0.228975 * dataxyz["pelvis"][2])
    rootv = (0.771025 * dataxyz["head"][3] + 0.228975 * dataxyz["pelvis"][3])
    data["spine_05"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["spine_05"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[26].x * coef
    rooty = -poseslms[26].z * coef
    rootz = -poseslms[26].y * coef
    rootv = poseslms[26].visibility
    data["knee_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["knee_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[25].x * coef
    rooty = -poseslms[25].z * coef
    rootz = -poseslms[25].y * coef
    rootv = poseslms[25].visibility
    data["knee_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["knee_l"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[28].x * coef
    rooty = -poseslms[28].z * coef
    rootz = -poseslms[28].y * coef
    rootv = poseslms[28].visibility
    data["ankle_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["ankle_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[27].x * coef
    rooty = -poseslms[27].z * coef
    rootz = -poseslms[27].y * coef
    rootv = poseslms[27].visibility
    data["ankle_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["ankle_l"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[32].x * coef
    rooty = -poseslms[32].z * coef
    rootz = -poseslms[32].y * coef
    rootv = poseslms[32].visibility
    data["ball_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["ball_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[31].x * coef
    rooty = -poseslms[31].z * coef
    rootz = -poseslms[31].y * coef
    rootv = poseslms[31].visibility
    data["ball_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["ball_l"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[30].x * coef
    rooty = -poseslms[30].z * coef
    rootz = -poseslms[30].y * coef
    rootv = poseslms[30].visibility
    data["heel_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["heel_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[29].x * coef
    rooty = -poseslms[29].z * coef
    rootz = -poseslms[29].y * coef
    rootv = poseslms[29].visibility
    data["heel_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["heel_l"] = [rootx, rooty, rootz, rootv]

    rootx = (0.635 * dataxyz["shoulder_r"][0] + 0.365 * dataxyz["shoulder_l"][0])
    rooty = 0.5 * (0.635 * dataxyz["shoulder_r"][1] + 0.365 * dataxyz["shoulder_l"][1] + 0.31 * dataxyz["head"][1] + 0.69 * dataxyz["spine_05"][1])
    rootz = (0.0635 * dataxyz["shoulder_r"][2] + 0.0365 * dataxyz["shoulder_l"][2] + 0.9 * dataxyz["spine_05"][2])
    rootv = (0.635 * dataxyz["shoulder_r"][3] + 0.451594 * dataxyz["shoulder_l"][3])
    data["clavicle_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["clavicle_r"] = [rootx, rooty, rootz, rootv]

    rootx = (0.635 * dataxyz["shoulder_l"][0] + 0.365 * dataxyz["shoulder_r"][0])
    rooty = 0.5 * (0.635 * dataxyz["shoulder_l"][1] + 0.365 * dataxyz["shoulder_r"][1] + 0.31 * dataxyz["head"][1] + 0.69 * dataxyz["spine_05"][1])
    rootz = (0.0635 * dataxyz["shoulder_l"][2] + 0.0365 * dataxyz["shoulder_r"][2] + 0.9 * dataxyz["spine_05"][2])
    rootv = (0.635 * dataxyz["shoulder_l"][3] + 0.365 * dataxyz["shoulder_r"][3])
    data["clavicle_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["clavicle_l"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[14].x * coef
    rooty = -poseslms[14].z * coef
    rootz = -poseslms[14].y * coef
    rootv = poseslms[14].visibility
    data["elbow_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["elbow_r"] = [rootx, rooty, rootz, rootv]

    rootx = poseslms[13].x * coef
    rooty = -poseslms[13].z * coef
    rootz = -poseslms[13].y * coef
    rootv = poseslms[13].visibility
    data["elbow_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["elbow_l"] = [rootx, rooty, rootz, rootv]

def bonetranslation(data, bone_name, tvec):
    data[bone_name]["translation"]["x"] += tvec[0]
    data[bone_name]["translation"]["y"] += tvec[1]
    data[bone_name]["translation"]["z"] += tvec[2]

def rhandconverttranslation(data):
    tvec = [data["hand_r"]["translation"]["x"], data["hand_r"]["translation"]["y"], data["hand_r"]["translation"]["z"]]
    data_apose = {}
    bodyaposeworld(data_apose)
    tvec_pose = [data_apose["hand_r"]["translation"]["x"], data_apose["hand_r"]["translation"]["y"], data_apose["hand_r"]["translation"]["z"]]
    tvec[0] = tvec[0] - tvec_pose[0]
    tvec[1] = -(tvec[1] - tvec_pose[1])
    tvec[2] = tvec[2] - tvec_pose[2]

    bonetranslation(data, "pinky_4_r", tvec)
    bonetranslation(data, "pinky_3_r", tvec)
    bonetranslation(data, "pinky_2_r", tvec)
    bonetranslation(data, "middle_4_r", tvec)
    bonetranslation(data, "middle_3_r", tvec)
    bonetranslation(data, "middle_2_r", tvec)
    bonetranslation(data, "index_4_r", tvec)
    bonetranslation(data, "index_3_r", tvec)
    bonetranslation(data, "index_2_r", tvec)
    bonetranslation(data, "thumb_3_r", tvec)
    bonetranslation(data, "thumb_2_r", tvec)
    # bonetranslation(data, "thumb_1_r", tvec)
    bonetranslation(data, "ring_4_r", tvec)
    bonetranslation(data, "ring_3_r", tvec)
    bonetranslation(data, "ring_2_r", tvec)
    # bonetranslation(data, "hand_r", tvec)

def lhandconverttranslation(data):
    tvec = [data["hand_l"]["translation"]["x"], data["hand_l"]["translation"]["y"], data["hand_l"]["translation"]["z"]]
    data_apose = {}
    bodyaposeworld(data_apose)
    tvec_pose = [data_apose["hand_l"]["translation"]["x"], data_apose["hand_l"]["translation"]["y"], data_apose["hand_l"]["translation"]["z"]]
    tvec[0] = tvec[0] - tvec_pose[0]
    tvec[1] = -(tvec[1] - tvec_pose[1])
    tvec[2] = tvec[2] - tvec_pose[2]

    bonetranslation(data, "pinky_4_l", tvec)
    bonetranslation(data, "pinky_3_l", tvec)
    bonetranslation(data, "pinky_2_l", tvec)
    bonetranslation(data, "middle_4_l", tvec)
    bonetranslation(data, "middle_3_l", tvec)
    bonetranslation(data, "middle_2_l", tvec)
    bonetranslation(data, "index_4_l", tvec)
    bonetranslation(data, "index_3_l", tvec)
    bonetranslation(data, "index_2_l", tvec)
    bonetranslation(data, "thumb_3_l", tvec)
    bonetranslation(data, "thumb_2_l", tvec)
    # bonetranslation(data, "thumb_1_l", tvec)
    bonetranslation(data, "ring_4_l", tvec)
    bonetranslation(data, "ring_3_l", tvec)
    bonetranslation(data, "ring_2_l", tvec)
    # bonetranslation(data, "hand_l", tvec)

def updateValueAPoseWorldForHands(data, dataxyz, data_apose, parent_name, current_name):
    tvec0 = [dataxyz[parent_name][0], dataxyz[parent_name][1], dataxyz[parent_name][2]]
    tvec1 = [dataxyz[current_name][0], dataxyz[current_name][1], dataxyz[current_name][2]]
    tvec0_apose = [data_apose[parent_name]["translation"]["x"], data_apose[parent_name]["translation"]["y"], data_apose[parent_name]["translation"]["z"]]
    tvec1_apose = [data[current_name]["translation"]["x"], data[current_name]["translation"]["y"], data[current_name]["translation"]["z"]]
    rvec_apose = [data[current_name]["rotation"]["rotx"], data[current_name]["rotation"]["roty"], data[current_name]["rotation"]["rotz"]]
    rvec = checkRot(tvec0, tvec1, tvec0_apose, tvec1_apose, rvec_apose)
    data[current_name]["translation"]["x"] = dataxyz[current_name][0]
    data[current_name]["translation"]["y"] = dataxyz[current_name][1]
    data[current_name]["translation"]["z"] = dataxyz[current_name][2]
    data[current_name]["rotation"]["rotx"] = rvec[0]
    data[current_name]["rotation"]["roty"] = rvec[1]
    data[current_name]["rotation"]["rotz"] = rvec[2]
    data[current_name]["visible"] = dataxyz[current_name]

def rhandconvertwithrot(rhandlms, data, coef):
    dataxyz = {}
    data_apose = {}
    bodyaposeworld(data_apose)

    rootx = rhandlms[0].x * coef
    rooty = -rhandlms[0].z * coef
    rootz = -rhandlms[0].y * coef
    rootv = 1.0
    dataxyz["hand_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[5].x * coef
    rooty = -rhandlms[5].z * coef
    rootz = -rhandlms[5].y * coef
    rootv = 1.0
    dataxyz["index_2_r"] = [rootx, rooty, rootz, rootv]

    rootx = (0.75 * dataxyz["hand_r"][0] + 0.25 * dataxyz["index_2_r"][0])
    rooty = (0.75 * dataxyz["hand_r"][1] + 0.25 * dataxyz["index_2_r"][1])
    rootz = (0.75 * dataxyz["hand_r"][2] + 0.25 * dataxyz["index_2_r"][2])
    rootv = 1.0
    data["index_1_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["index_1_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[9].x * coef
    rooty = -rhandlms[9].z * coef
    rootz = -rhandlms[9].y * coef
    rootv = 1.0
    dataxyz["middle_2_r"] = [rootx, rooty, rootz, rootv]

    rootx = (0.75 * dataxyz["hand_r"][0] + 0.25 * dataxyz["middle_2_r"][0])
    rooty = (0.75 * dataxyz["hand_r"][1] + 0.25 * dataxyz["middle_2_r"][1])
    rootz = (0.75 * dataxyz["hand_r"][2] + 0.25 * dataxyz["middle_2_r"][2])
    rootv = 1.0
    data["middle_1_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["middle_1_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[13].x * coef
    rooty = -rhandlms[13].z * coef
    rootz = -rhandlms[13].y * coef
    rootv = 1.0
    dataxyz["ring_2_r"] = [rootx, rooty, rootz, rootv]

    rootx = (0.75 * dataxyz["hand_r"][0] + 0.25 * dataxyz["ring_2_r"][0])
    rooty = (0.75 * dataxyz["hand_r"][1] + 0.25 * dataxyz["ring_2_r"][1])
    rootz = (0.75 * dataxyz["hand_r"][2] + 0.25 * dataxyz["ring_2_r"][2])
    rootv = 1.0
    data["ring_1_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["ring_1_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[17].x * coef
    rooty = -rhandlms[17].z * coef
    rootz = -rhandlms[17].y * coef
    rootv = 1.0
    dataxyz["pinky_2_r"] = [rootx, rooty, rootz, rootv]

    rootx = (0.75 * dataxyz["hand_r"][0] + 0.25 * dataxyz["pinky_2_r"][0])
    rooty = (0.75 * dataxyz["hand_r"][1] + 0.25 * dataxyz["pinky_2_r"][1])
    rootz = (0.75 * dataxyz["hand_r"][2] + 0.25 * dataxyz["pinky_2_r"][2])
    rootv = 1.0
    data["pinky_1_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["pinky_1_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[1].x * coef
    rooty = -rhandlms[1].z * coef
    rootz = -rhandlms[1].y * coef
    rootv = 1.0
    data["thumb_1_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["thumb_1_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[2].x * coef
    rooty = -rhandlms[2].z * coef
    rootz = -rhandlms[2].y * coef
    rootv = 1.0
    dataxyz["thumb_2_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[3].x * coef
    rooty = -rhandlms[3].z * coef
    rootz = -rhandlms[3].y * coef
    rootv = 1.0
    dataxyz["thumb_3_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[6].x * coef
    rooty = -rhandlms[6].z * coef
    rootz = -rhandlms[6].y * coef
    rootv = 1.0
    dataxyz["index_3_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[7].x * coef
    rooty = -rhandlms[7].z * coef
    rootz = -rhandlms[7].y * coef
    rootv = 1.0
    dataxyz["index_4_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[10].x * coef
    rooty = -rhandlms[10].z * coef
    rootz = -rhandlms[10].y * coef
    rootv = 1.0
    dataxyz["middle_3_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[11].x * coef
    rooty = -rhandlms[11].z * coef
    rootz = -rhandlms[11].y * coef
    rootv = 1.0
    dataxyz["middle_4_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[14].x * coef
    rooty = -rhandlms[14].z * coef
    rootz = -rhandlms[14].y * coef
    rootv = 1.0
    dataxyz["ring_3_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[15].x * coef
    rooty = -rhandlms[15].z * coef
    rootz = -rhandlms[15].y * coef
    rootv = 1.0
    dataxyz["ring_4_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[18].x * coef
    rooty = -rhandlms[18].z * coef
    rootz = -rhandlms[18].y * coef
    rootv = 1.0
    dataxyz["pinky_3_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[19].x * coef
    rooty = -rhandlms[19].z * coef
    rootz = -rhandlms[19].y * coef
    rootv = 1.0
    dataxyz["pinky_4_r"] = [rootx, rooty, rootz, rootv]

    updateValueAPoseWorld(data, dataxyz, "pinky_3_r", "pinky_4_r")
    updateValueAPoseWorld(data, dataxyz, "pinky_2_r", "pinky_3_r")
    updateValueAPoseWorldForHands(data, dataxyz, data_apose, "hand_r", "pinky_2_r")
    updateValueAPoseWorld(data, dataxyz, "middle_3_r", "middle_4_r")
    updateValueAPoseWorld(data, dataxyz, "middle_2_r", "middle_3_r")
    updateValueAPoseWorldForHands(data, dataxyz, data_apose, "hand_r", "middle_2_r")
    updateValueAPoseWorld(data, dataxyz, "index_3_r", "index_4_r")
    updateValueAPoseWorld(data, dataxyz, "index_2_r", "index_3_r")
    updateValueAPoseWorldForHands(data, dataxyz, data_apose, "hand_r", "index_2_r")
    updateValueAPoseWorld(data, dataxyz, "thumb_2_r", "thumb_3_r")
    updateValueAPoseWorld(data, dataxyz, "thumb_1_r", "thumb_2_r")
    updateValueAPoseWorldForHands(data, dataxyz, data_apose, "hand_r", "thumb_1_r")
    updateValueAPoseWorld(data, dataxyz, "ring_3_r", "ring_4_r")
    updateValueAPoseWorld(data, dataxyz, "ring_2_r", "ring_3_r")
    updateValueAPoseWorldForHands(data, dataxyz, data_apose, "hand_r", "ring_2_r")

    data["hand_r"]["translation"]["x"] = dataxyz["hand_r"][0]
    data["hand_r"]["translation"]["y"] = dataxyz["hand_r"][1]
    data["hand_r"]["translation"]["z"] = dataxyz["hand_r"][2]

    data["pinky_1_r"]["rotation"]["rotx"] = data["hand_r"]["rotation"]["rotx"]
    data["pinky_1_r"]["rotation"]["roty"] = data["hand_r"]["rotation"]["roty"]
    data["pinky_1_r"]["rotation"]["rotz"] = data["hand_r"]["rotation"]["rotz"]

    data["ring_1_r"]["rotation"]["rotx"] = data["hand_r"]["rotation"]["rotx"]
    data["ring_1_r"]["rotation"]["roty"] = data["hand_r"]["rotation"]["roty"]
    data["ring_1_r"]["rotation"]["rotz"] = data["hand_r"]["rotation"]["rotz"]

    data["middle_1_r"]["rotation"]["rotx"] = data["hand_r"]["rotation"]["rotx"]
    data["middle_1_r"]["rotation"]["roty"] = data["hand_r"]["rotation"]["roty"]
    data["middle_1_r"]["rotation"]["rotz"] = data["hand_r"]["rotation"]["rotz"]

    data["index_1_r"]["rotation"]["rotx"] = data["hand_r"]["rotation"]["rotx"]
    data["index_1_r"]["rotation"]["roty"] = data["hand_r"]["rotation"]["roty"]
    data["index_1_r"]["rotation"]["rotz"] = data["hand_r"]["rotation"]["rotz"]

def lhandconvertwithrot(rhandlms, data, coef):
    dataxyz = {}
    data_apose = {}
    bodyaposeworld(data_apose)

    rootx = rhandlms[0].x * coef
    rooty = -rhandlms[0].z * coef
    rootz = -rhandlms[0].y * coef
    rootv = 1.0
    dataxyz["hand_l"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[5].x * coef
    rooty = -rhandlms[5].z * coef
    rootz = -rhandlms[5].y * coef
    rootv = 1.0
    dataxyz["index_2_l"] = [rootx, rooty, rootz, rootv]

    rootx = (0.75 * dataxyz["hand_l"][0] + 0.25 * dataxyz["index_2_l"][0])
    rooty = (0.75 * dataxyz["hand_l"][1] + 0.25 * dataxyz["index_2_l"][1])
    rootz = (0.75 * dataxyz["hand_l"][2] + 0.25 * dataxyz["index_2_l"][2])
    rootv = 1.0
    data["index_1_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["index_1_l"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[9].x * coef
    rooty = -rhandlms[9].z * coef
    rootz = -rhandlms[9].y * coef
    rootv = 1.0
    dataxyz["middle_2_l"] = [rootx, rooty, rootz, rootv]

    rootx = (0.75 * dataxyz["hand_l"][0] + 0.25 * dataxyz["middle_2_l"][0])
    rooty = (0.75 * dataxyz["hand_l"][1] + 0.25 * dataxyz["middle_2_l"][1])
    rootz = (0.75 * dataxyz["hand_l"][2] + 0.25 * dataxyz["middle_2_l"][2])
    rootv = 1.0
    data["middle_1_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["middle_1_l"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[13].x * coef
    rooty = -rhandlms[13].z * coef
    rootz = -rhandlms[13].y * coef
    rootv = 1.0
    dataxyz["ring_2_l"] = [rootx, rooty, rootz, rootv]

    rootx = (0.75 * dataxyz["hand_l"][0] + 0.25 * dataxyz["ring_2_l"][0])
    rooty = (0.75 * dataxyz["hand_l"][1] + 0.25 * dataxyz["ring_2_l"][1])
    rootz = (0.75 * dataxyz["hand_l"][2] + 0.25 * dataxyz["ring_2_l"][2])
    rootv = 1.0
    data["ring_1_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["ring_1_l"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[17].x * coef
    rooty = -rhandlms[17].z * coef
    rootz = -rhandlms[17].y * coef
    rootv = 1.0
    dataxyz["pinky_2_l"] = [rootx, rooty, rootz, rootv]

    rootx = (0.75 * dataxyz["hand_l"][0] + 0.25 * dataxyz["pinky_2_l"][0])
    rooty = (0.75 * dataxyz["hand_l"][1] + 0.25 * dataxyz["pinky_2_l"][1])
    rootz = (0.75 * dataxyz["hand_l"][2] + 0.25 * dataxyz["pinky_2_l"][2])
    rootv = 1.0
    data["pinky_1_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["pinky_1_l"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[1].x * coef
    rooty = -rhandlms[1].z * coef
    rootz = -rhandlms[1].y * coef
    rootv = 1.0
    data["thumb_1_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["thumb_1_l"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[2].x * coef
    rooty = -rhandlms[2].z * coef
    rootz = -rhandlms[2].y * coef
    rootv = 1.0
    dataxyz["thumb_2_l"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[3].x * coef
    rooty = -rhandlms[3].z * coef
    rootz = -rhandlms[3].y * coef
    rootv = 1.0
    dataxyz["thumb_3_l"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[6].x * coef
    rooty = -rhandlms[6].z * coef
    rootz = -rhandlms[6].y * coef
    rootv = 1.0
    dataxyz["index_3_l"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[7].x * coef
    rooty = -rhandlms[7].z * coef
    rootz = -rhandlms[7].y * coef
    rootv = 1.0
    dataxyz["index_4_l"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[10].x * coef
    rooty = -rhandlms[10].z * coef
    rootz = -rhandlms[10].y * coef
    rootv = 1.0
    dataxyz["middle_3_l"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[11].x * coef
    rooty = -rhandlms[11].z * coef
    rootz = -rhandlms[11].y * coef
    rootv = 1.0
    dataxyz["middle_4_l"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[14].x * coef
    rooty = -rhandlms[14].z * coef
    rootz = -rhandlms[14].y * coef
    rootv = 1.0
    dataxyz["ring_3_l"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[15].x * coef
    rooty = -rhandlms[15].z * coef
    rootz = -rhandlms[15].y * coef
    rootv = 1.0
    dataxyz["ring_4_l"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[18].x * coef
    rooty = -rhandlms[18].z * coef
    rootz = -rhandlms[18].y * coef
    rootv = 1.0
    dataxyz["pinky_3_l"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[19].x * coef
    rooty = -rhandlms[19].z * coef
    rootz = -rhandlms[19].y * coef
    rootv = 1.0
    dataxyz["pinky_4_l"] = [rootx, rooty, rootz, rootv]

    updateValueAPoseWorld(data, dataxyz, "pinky_3_l", "pinky_4_l")
    updateValueAPoseWorld(data, dataxyz, "pinky_2_l", "pinky_3_l")
    updateValueAPoseWorldForHands(data, dataxyz, data_apose, "hand_l", "pinky_2_l")
    updateValueAPoseWorld(data, dataxyz, "middle_3_l", "middle_4_l")
    updateValueAPoseWorld(data, dataxyz, "middle_2_l", "middle_3_l")
    updateValueAPoseWorldForHands(data, dataxyz, data_apose, "hand_l", "middle_2_l")
    updateValueAPoseWorld(data, dataxyz, "index_3_l", "index_4_l")
    updateValueAPoseWorld(data, dataxyz, "index_2_l", "index_3_l")
    updateValueAPoseWorldForHands(data, dataxyz, data_apose, "hand_l", "index_2_l")
    updateValueAPoseWorld(data, dataxyz, "thumb_2_l", "thumb_3_l")
    updateValueAPoseWorld(data, dataxyz, "thumb_1_l", "thumb_2_l")
    updateValueAPoseWorldForHands(data, dataxyz, data_apose, "hand_l", "thumb_1_l")
    updateValueAPoseWorld(data, dataxyz, "ring_3_l", "ring_4_l")
    updateValueAPoseWorld(data, dataxyz, "ring_2_l", "ring_3_l")
    updateValueAPoseWorldForHands(data, dataxyz, data_apose, "hand_l", "ring_2_l")

    data["hand_l"]["translation"]["x"] = dataxyz["hand_l"][0]
    data["hand_l"]["translation"]["y"] = dataxyz["hand_l"][1]
    data["hand_l"]["translation"]["z"] = dataxyz["hand_l"][2]

def rhandconvert(rhandlms, data, coef):
    dataxyz = {}

    rootx = rhandlms[0].x * coef
    rooty = -rhandlms[0].z * coef
    rootz = -rhandlms[0].y * coef
    rootv = 1.0
    data["hand_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["hand_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[5].x * coef
    rooty = -rhandlms[5].z * coef
    rootz = -rhandlms[5].y * coef
    rootv = 1.0
    data["index_2_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["index_2_r"] = [rootx, rooty, rootz, rootv]

    rootx = (0.75 * dataxyz["hand_r"][0] + 0.25 * dataxyz["index_2_r"][0])
    rooty = (0.75 * dataxyz["hand_r"][1] + 0.25 * dataxyz["index_2_r"][1])
    rootz = (0.75 * dataxyz["hand_r"][2] + 0.25 * dataxyz["index_2_r"][2])
    rootv = 1.0
    data["index_1_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["index_1_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[9].x * coef
    rooty = -rhandlms[9].z * coef
    rootz = -rhandlms[9].y * coef
    rootv = 1.0
    data["middle_2_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["middle_2_r"] = [rootx, rooty, rootz, rootv]

    rootx = (0.75 * dataxyz["hand_r"][0] + 0.25 * dataxyz["middle_2_r"][0])
    rooty = (0.75 * dataxyz["hand_r"][1] + 0.25 * dataxyz["middle_2_r"][1])
    rootz = (0.75 * dataxyz["hand_r"][2] + 0.25 * dataxyz["middle_2_r"][2])
    rootv = 1.0
    data["middle_1_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["middle_1_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[13].x * coef
    rooty = -rhandlms[13].z * coef
    rootz = -rhandlms[13].y * coef
    rootv = 1.0
    data["ring_2_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["ring_2_r"] = [rootx, rooty, rootz, rootv]

    rootx = (0.75 * dataxyz["hand_r"][0] + 0.25 * dataxyz["ring_2_r"][0])
    rooty = (0.75 * dataxyz["hand_r"][1] + 0.25 * dataxyz["ring_2_r"][1])
    rootz = (0.75 * dataxyz["hand_r"][2] + 0.25 * dataxyz["ring_2_r"][2])
    rootv = 1.0
    data["ring_1_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["ring_1_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[17].x * coef
    rooty = -rhandlms[17].z * coef
    rootz = -rhandlms[17].y * coef
    rootv = 1.0
    data["pinky_2_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["pinky_2_r"] = [rootx, rooty, rootz, rootv]

    rootx = (0.75 * dataxyz["hand_r"][0] + 0.25 * dataxyz["pinky_2_r"][0])
    rooty = (0.75 * dataxyz["hand_r"][1] + 0.25 * dataxyz["pinky_2_r"][1])
    rootz = (0.75 * dataxyz["hand_r"][2] + 0.25 * dataxyz["pinky_2_r"][2])
    rootv = 1.0
    data["pinky_1_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["pinky_1_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[1].x * coef
    rooty = -rhandlms[1].z * coef
    rootz = -rhandlms[1].y * coef
    rootv = 1.0
    data["thumb_1_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["thumb_1_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[2].x * coef
    rooty = -rhandlms[2].z * coef
    rootz = -rhandlms[2].y * coef
    rootv = 1.0
    data["thumb_2_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["thumb_2_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[3].x * coef
    rooty = -rhandlms[3].z * coef
    rootz = -rhandlms[3].y * coef
    rootv = 1.0
    data["thumb_3_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["thumb_3_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[6].x * coef
    rooty = -rhandlms[6].z * coef
    rootz = -rhandlms[6].y * coef
    rootv = 1.0
    data["index_3_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["index_3_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[7].x * coef
    rooty = -rhandlms[7].z * coef
    rootz = -rhandlms[7].y * coef
    rootv = 1.0
    data["index_4_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["index_4_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[10].x * coef
    rooty = -rhandlms[10].z * coef
    rootz = -rhandlms[10].y * coef
    rootv = 1.0
    data["middle_3_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["middle_3_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[11].x * coef
    rooty = -rhandlms[11].z * coef
    rootz = -rhandlms[11].y * coef
    rootv = 1.0
    data["middle_4_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["middle_4_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[14].x * coef
    rooty = -rhandlms[14].z * coef
    rootz = -rhandlms[14].y * coef
    rootv = 1.0
    data["ring_3_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["ring_3_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[15].x * coef
    rooty = -rhandlms[15].z * coef
    rootz = -rhandlms[15].y * coef
    rootv = 1.0
    data["ring_4_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["ring_4_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[18].x * coef
    rooty = -rhandlms[18].z * coef
    rootz = -rhandlms[18].y * coef
    rootv = 1.0
    data["pinky_3_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["pinky_3_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[19].x * coef
    rooty = -rhandlms[19].z * coef
    rootz = -rhandlms[19].y * coef
    rootv = 1.0
    data["pinky_4_r"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["pinky_4_r"] = [rootx, rooty, rootz, rootv]

def lhandconvert(lhandlms, data, coef):
    dataxyz = {}

    rootx = lhandlms[0].x * coef
    rooty = -lhandlms[0].z * coef
    rootz = -lhandlms[0].y * coef
    rootv = 1.0
    data["hand_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["hand_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[5].x * coef
    rooty = -lhandlms[5].z * coef
    rootz = -lhandlms[5].y * coef
    rootv = 1.0
    data["index_2_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["index_2_l"] = [rootx, rooty, rootz, rootv]

    rootx = (0.75 * dataxyz["hand_l"][0] + 0.25 * dataxyz["index_2_l"][0])
    rooty = (0.75 * dataxyz["hand_l"][1] + 0.25 * dataxyz["index_2_l"][1])
    rootz = (0.75 * dataxyz["hand_l"][2] + 0.25 * dataxyz["index_2_l"][2])
    rootv = 1.0
    data["index_1_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["index_1_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[9].x * coef
    rooty = -lhandlms[9].z * coef
    rootz = -lhandlms[9].y * coef
    rootv = 1.0
    data["middle_2_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["middle_2_l"] = [rootx, rooty, rootz, rootv]

    rootx = (0.75 * dataxyz["hand_l"][0] + 0.25 * dataxyz["middle_2_l"][0])
    rooty = (0.75 * dataxyz["hand_l"][1] + 0.25 * dataxyz["middle_2_l"][1])
    rootz = (0.75 * dataxyz["hand_l"][2] + 0.25 * dataxyz["middle_2_l"][2])
    rootv = 1.0
    data["middle_1_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["middle_1_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[13].x * coef
    rooty = -lhandlms[13].z * coef
    rootz = -lhandlms[13].y * coef
    rootv = 1.0
    data["ring_2_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["ring_2_l"] = [rootx, rooty, rootz, rootv]

    rootx = (0.75 * dataxyz["hand_l"][0] + 0.25 * dataxyz["ring_2_l"][0])
    rooty = (0.75 * dataxyz["hand_l"][1] + 0.25 * dataxyz["ring_2_l"][1])
    rootz = (0.75 * dataxyz["hand_l"][2] + 0.25 * dataxyz["ring_2_l"][2])
    rootv = 1.0
    data["ring_1_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["ring_1_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[17].x * coef
    rooty = -lhandlms[17].z * coef
    rootz = -lhandlms[17].y * coef
    rootv = 1.0
    data["pinky_2_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["pinky_2_l"] = [rootx, rooty, rootz, rootv]

    rootx = (0.75 * dataxyz["hand_l"][0] + 0.25 * dataxyz["pinky_2_l"][0])
    rooty = (0.75 * dataxyz["hand_l"][1] + 0.25 * dataxyz["pinky_2_l"][1])
    rootz = (0.75 * dataxyz["hand_l"][2] + 0.25 * dataxyz["pinky_2_l"][2])
    rootv = 1.0
    data["pinky_1_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["pinky_1_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[1].x * coef
    rooty = -lhandlms[1].z * coef
    rootz = -lhandlms[1].y * coef
    rootv = 1.0
    data["thumb_1_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["thumb_1_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[2].x * coef
    rooty = -lhandlms[2].z * coef
    rootz = -lhandlms[2].y * coef
    rootv = 1.0
    data["thumb_2_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["thumb_2_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[3].x * coef
    rooty = -lhandlms[3].z * coef
    rootz = -lhandlms[3].y * coef
    rootv = 1.0
    data["thumb_3_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["thumb_3_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[6].x * coef
    rooty = -lhandlms[6].z * coef
    rootz = -lhandlms[6].y * coef
    rootv = 1.0
    data["index_3_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["index_3_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[7].x * coef
    rooty = -lhandlms[7].z * coef
    rootz = -lhandlms[7].y * coef
    rootv = 1.0
    data["index_4_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["index_4_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[10].x * coef
    rooty = -lhandlms[10].z * coef
    rootz = -lhandlms[10].y * coef
    rootv = 1.0
    data["middle_3_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["middle_3_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[11].x * coef
    rooty = -lhandlms[11].z * coef
    rootz = -lhandlms[11].y * coef
    rootv = 1.0
    data["middle_4_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["middle_4_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[14].x * coef
    rooty = -lhandlms[14].z * coef
    rootz = -lhandlms[14].y * coef
    rootv = 1.0
    data["ring_3_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["ring_3_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[15].x * coef
    rooty = -lhandlms[15].z * coef
    rootz = -lhandlms[15].y * coef
    rootv = 1.0
    data["ring_4_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["ring_4_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[18].x * coef
    rooty = -lhandlms[18].z * coef
    rootz = -lhandlms[18].y * coef
    rootv = 1.0
    data["pinky_3_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["pinky_3_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[19].x * coef
    rooty = -lhandlms[19].z * coef
    rootz = -lhandlms[19].y * coef
    rootv = 1.0
    data["pinky_4_l"] = makexyzrotvis(rootx, rooty, rootz, 0, 0, 0, rootv)
    dataxyz["pinky_4_l"] = [rootx, rooty, rootz, rootv]

    data["pinky_1_l"]["rotation"]["rotx"] = data["hand_l"]["rotation"]["rotx"]
    data["pinky_1_l"]["rotation"]["roty"] = data["hand_l"]["rotation"]["roty"]
    data["pinky_1_l"]["rotation"]["rotz"] = data["hand_l"]["rotation"]["rotz"]

    data["ring_1_l"]["rotation"]["rotx"] = data["hand_l"]["rotation"]["rotx"]
    data["ring_1_l"]["rotation"]["roty"] = data["hand_l"]["rotation"]["roty"]
    data["ring_1_l"]["rotation"]["rotz"] = data["hand_l"]["rotation"]["rotz"]

    data["middle_1_l"]["rotation"]["rotx"] = data["hand_l"]["rotation"]["rotx"]
    data["middle_1_l"]["rotation"]["roty"] = data["hand_l"]["rotation"]["roty"]
    data["middle_1_l"]["rotation"]["rotz"] = data["hand_l"]["rotation"]["rotz"]

    data["index_1_l"]["rotation"]["rotx"] = data["hand_l"]["rotation"]["rotx"]
    data["index_1_l"]["rotation"]["roty"] = data["hand_l"]["rotation"]["roty"]
    data["index_1_l"]["rotation"]["rotz"] = data["hand_l"]["rotation"]["rotz"]

def getVecNorm(vec):
    length = np.sqrt(pow(vec[0],2)+pow(vec[1],2)+pow(vec[2],2))
    vec_norm = [vec[0]/length,
                vec[1]/length,
                vec[2]/length]
    return vec_norm

def getRotaionVect(vec1, vec2):
    vec1_norm = getVecNorm(vec1)
    vec2_norm = getVecNorm(vec2)
    cr = np.cross(vec1_norm, vec2_norm)
    length = np.sqrt(pow(cr[0],2)+pow(cr[1],2)+pow(cr[2],2))
    cr[0] /= length
    cr[1] /= length
    cr[2] /= length
    angle = np.arccos(np.dot(vec1_norm, vec2_norm))
    return (cr[0],cr[1],cr[2],angle)

def toEuler(x, y, z, angle):
    s = np.sin(angle)
    c = np.cos(angle)
    t = 1-c
    if ((x*y*t + z*s) > 0.998):
        heading = 2*np.arctan2(x*np.sin(angle/2),np.cos(angle/2))
        attitude = np.pi/2
        bank = 0
        heading *= 180 / np.pi
        attitude *= 180 / np.pi
        bank *= 180 / np.pi
        return (heading, attitude, bank)
    if ((x*y*t + z*s) < -0.998):
        heading = -2*np.arctan2(x*np.sin(angle/2),np.cos(angle/2))
        attitude = -np.pi/2
        bank = 0
        heading *= 180 / np.pi
        attitude *= 180 / np.pi
        bank *= 180 / np.pi
        return (heading, attitude, bank)
    heading = np.arctan2(y * s- x * z * t , 1 - (y*y+ z*z ) * t)
    attitude = np.arcsin(x * y * t + z * s)
    bank = np.arctan2(x * s - y * z * t , 1 - (x*x + z*z) * t)
    heading *= 180 / np.pi
    attitude *= 180 / np.pi
    bank *= 180 / np.pi
    return (heading, attitude, bank)

def lfingerRot(current, child, data, dataxyz):
    vec2 = [dataxyz[child][0] - dataxyz[current][0],
            dataxyz[child][1] - dataxyz[current][1],
            dataxyz[child][2] - dataxyz[current][2]]
    vec1 = [1, 0, 0]

    rotvec = getRotaionVect(vec1, vec2)
    euler = toEuler(rotvec[0], rotvec[1], rotvec[2], rotvec[3])

    data[current]["rotation"]["rotx"] = -euler[0]
    data[current]["rotation"]["roty"] = euler[1]
    data[current]["rotation"]["rotz"] = -90

def lhandRot(current, child, data, dataxyz, support1, support2):
    vec2 = [dataxyz[child][0] - dataxyz[current][0],
            dataxyz[child][1] - dataxyz[current][1],
            dataxyz[child][2] - dataxyz[current][2]]
    vec1 = [1, 0, 0]

    rotvec = getRotaionVect(vec1, vec2)
    euler = toEuler(rotvec[0],rotvec[1],rotvec[2],rotvec[3])
    # print(euler)

    vec3 = [dataxyz[support2][0] - dataxyz[support1][0],
            dataxyz[support2][1] - dataxyz[support1][1],
            dataxyz[support2][2] - dataxyz[support1][2]]

    vec2_norm = getVecNorm(vec2)
    vec3_norm = getVecNorm(vec3)
    sup2 = np.cross(vec2_norm, vec3_norm)
    sup2_norm = getVecNorm(sup2)
    sup1 = [0, 1, 0]
    sup1_norm = getVecNorm(sup1)

    rotsup = getRotaionVect(sup1_norm, sup2_norm)
    euler_sup = toEuler(rotsup[0], rotsup[1], rotsup[2], rotsup[3])
    print(euler_sup)

    data[current]["rotation"]["rotx"] = -euler[0]
    data[current]["rotation"]["roty"] = euler[1]
    data[current]["rotation"]["rotz"] = -euler_sup[2]

def lhandrot(lhandlms, data, coef):
    dataxyz = {}

    rootx = lhandlms[17].x * coef
    rooty = -lhandlms[17].z * coef
    rootz = -lhandlms[17].y * coef
    rootv = 1.0
    dataxyz["pinky_2_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[18].x * coef
    rooty = -lhandlms[18].z * coef
    rootz = -lhandlms[18].y * coef
    rootv = 1.0
    dataxyz["pinky_3_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[19].x * coef
    rooty = -lhandlms[19].z * coef
    rootz = -lhandlms[19].y * coef
    rootv = 1.0
    dataxyz["pinky_4_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[20].x * coef
    rooty = -lhandlms[20].z * coef
    rootz = -lhandlms[20].y * coef
    rootv = 1.0
    dataxyz["pinky_5_l"] = [rootx, rooty, rootz, rootv]

    lfingerRot("pinky_2_l", "pinky_3_l", data, dataxyz)
    lfingerRot("pinky_3_l", "pinky_4_l", data, dataxyz)
    lfingerRot("pinky_4_l", "pinky_5_l", data, dataxyz)

    rootx = lhandlms[13].x * coef
    rooty = -lhandlms[13].z * coef
    rootz = -lhandlms[13].y * coef
    rootv = 1.0
    dataxyz["ring_2_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[14].x * coef
    rooty = -lhandlms[14].z * coef
    rootz = -lhandlms[14].y * coef
    rootv = 1.0
    dataxyz["ring_3_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[15].x * coef
    rooty = -lhandlms[15].z * coef
    rootz = -lhandlms[15].y * coef
    rootv = 1.0
    dataxyz["ring_4_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[16].x * coef
    rooty = -lhandlms[16].z * coef
    rootz = -lhandlms[16].y * coef
    rootv = 1.0
    dataxyz["ring_5_l"] = [rootx, rooty, rootz, rootv]

    lfingerRot("ring_2_l", "ring_3_l", data, dataxyz)
    lfingerRot("ring_3_l", "ring_4_l", data, dataxyz)
    lfingerRot("ring_4_l", "ring_5_l", data, dataxyz)

    rootx = lhandlms[9].x * coef
    rooty = -lhandlms[9].z * coef
    rootz = -lhandlms[9].y * coef
    rootv = 1.0
    dataxyz["middle_2_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[10].x * coef
    rooty = -lhandlms[10].z * coef
    rootz = -lhandlms[10].y * coef
    rootv = 1.0
    dataxyz["middle_3_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[11].x * coef
    rooty = -lhandlms[11].z * coef
    rootz = -lhandlms[11].y * coef
    rootv = 1.0
    dataxyz["middle_4_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[12].x * coef
    rooty = -lhandlms[12].z * coef
    rootz = -lhandlms[12].y * coef
    rootv = 1.0
    dataxyz["middle_5_l"] = [rootx, rooty, rootz, rootv]

    lfingerRot("middle_2_l", "middle_3_l", data, dataxyz)
    lfingerRot("middle_3_l", "middle_4_l", data, dataxyz)
    lfingerRot("middle_4_l", "middle_5_l", data, dataxyz)

    rootx = lhandlms[5].x * coef
    rooty = -lhandlms[5].z * coef
    rootz = -lhandlms[5].y * coef
    rootv = 1.0
    dataxyz["index_2_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[6].x * coef
    rooty = -lhandlms[6].z * coef
    rootz = -lhandlms[6].y * coef
    rootv = 1.0
    dataxyz["index_3_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[7].x * coef
    rooty = -lhandlms[7].z * coef
    rootz = -lhandlms[7].y * coef
    rootv = 1.0
    dataxyz["index_4_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[8].x * coef
    rooty = -lhandlms[8].z * coef
    rootz = -lhandlms[8].y * coef
    rootv = 1.0
    dataxyz["index_5_l"] = [rootx, rooty, rootz, rootv]

    lfingerRot("index_2_l", "index_3_l", data, dataxyz)
    lfingerRot("index_3_l", "index_4_l", data, dataxyz)
    lfingerRot("index_4_l", "index_5_l", data, dataxyz)

    rootx = lhandlms[1].x * coef
    rooty = -lhandlms[1].z * coef
    rootz = -lhandlms[1].y * coef
    rootv = 1.0
    dataxyz["thumb_2_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[2].x * coef
    rooty = -lhandlms[2].z * coef
    rootz = -lhandlms[2].y * coef
    rootv = 1.0
    dataxyz["thumb_3_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[3].x * coef
    rooty = -lhandlms[3].z * coef
    rootz = -lhandlms[3].y * coef
    rootv = 1.0
    dataxyz["thumb_4_l"] = [rootx, rooty, rootz, rootv]

    rootx = lhandlms[4].x * coef
    rooty = -lhandlms[4].z * coef
    rootz = -lhandlms[4].y * coef
    rootv = 1.0
    dataxyz["thumb_5_l"] = [rootx, rooty, rootz, rootv]

    lfingerRot("thumb_2_l", "thumb_3_l", data, dataxyz)
    lfingerRot("thumb_3_l", "thumb_4_l", data, dataxyz)
    lfingerRot("thumb_4_l", "thumb_5_l", data, dataxyz)

    rootx = lhandlms[0].x * coef
    rooty = -lhandlms[0].z * coef
    rootz = -lhandlms[0].y * coef
    rootv = 1.0
    dataxyz["hand_l"] = [rootx, rooty, rootz, rootv]

    lhandRot("hand_l", "middle_2_l", data, dataxyz, "pinky_2_l", "index_2_l")

def rhandRot(current, child, data, dataxyz, support1, support2):
    vec2 = [dataxyz[child][0] - dataxyz[current][0],
            dataxyz[child][1] - dataxyz[current][1],
            dataxyz[child][2] - dataxyz[current][2]]
    vec1 = [-1, 0, 0]

    rotvec = getRotaionVect(vec1, vec2)
    euler = toEuler(rotvec[0],rotvec[1],rotvec[2],rotvec[3])
    # print(euler)

    vec3 = [dataxyz[support2][0] - dataxyz[support1][0],
            dataxyz[support2][1] - dataxyz[support1][1],
            dataxyz[support2][2] - dataxyz[support1][2]]

    vec2_norm = getVecNorm(vec2)
    vec3_norm = getVecNorm(vec3)
    sup2 = np.cross(vec2_norm, vec3_norm)
    sup2_norm = getVecNorm(sup2)
    sup1 = [0, 1, 0]
    sup1_norm = getVecNorm(sup1)

    rotsup = getRotaionVect(sup1_norm, sup2_norm)
    euler_sup = toEuler(rotsup[0], rotsup[1], rotsup[2], rotsup[3])
    print(euler_sup)

    data[current]["rotation"]["rotx"] = -euler[0]
    data[current]["rotation"]["roty"] = euler[1]
    data[current]["rotation"]["rotz"] = -euler_sup[2]

def rfingerRot(current, child, data, dataxyz):
    vec2 = [dataxyz[child][0] - dataxyz[current][0],
            dataxyz[child][1] - dataxyz[current][1],
            dataxyz[child][2] - dataxyz[current][2]]
    vec1 = [-1, 0, 0]

    rotvec = getRotaionVect(vec1, vec2)
    euler = toEuler(rotvec[0], rotvec[1], rotvec[2], rotvec[3])

    data[current]["rotation"]["rotx"] = -euler[0]
    data[current]["rotation"]["roty"] = euler[1]
    data[current]["rotation"]["rotz"] = 90

def rhandrot(rhandlms, data, coef):
    dataxyz = {}

    rootx = rhandlms[17].x * coef
    rooty = -rhandlms[17].z * coef
    rootz = -rhandlms[17].y * coef
    rootv = 1.0
    dataxyz["pinky_2_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[18].x * coef
    rooty = -rhandlms[18].z * coef
    rootz = -rhandlms[18].y * coef
    rootv = 1.0
    dataxyz["pinky_3_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[19].x * coef
    rooty = -rhandlms[19].z * coef
    rootz = -rhandlms[19].y * coef
    rootv = 1.0
    dataxyz["pinky_4_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[20].x * coef
    rooty = -rhandlms[20].z * coef
    rootz = -rhandlms[20].y * coef
    rootv = 1.0
    dataxyz["pinky_5_r"] = [rootx, rooty, rootz, rootv]

    rfingerRot("pinky_2_r", "pinky_3_r", data, dataxyz)
    rfingerRot("pinky_3_r", "pinky_4_r", data, dataxyz)
    rfingerRot("pinky_4_r", "pinky_5_r", data, dataxyz)

    rootx = rhandlms[13].x * coef
    rooty = -rhandlms[13].z * coef
    rootz = -rhandlms[13].y * coef
    rootv = 1.0
    dataxyz["ring_2_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[14].x * coef
    rooty = -rhandlms[14].z * coef
    rootz = -rhandlms[14].y * coef
    rootv = 1.0
    dataxyz["ring_3_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[15].x * coef
    rooty = -rhandlms[15].z * coef
    rootz = -rhandlms[15].y * coef
    rootv = 1.0
    dataxyz["ring_4_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[16].x * coef
    rooty = -rhandlms[16].z * coef
    rootz = -rhandlms[16].y * coef
    rootv = 1.0
    dataxyz["ring_5_r"] = [rootx, rooty, rootz, rootv]

    rfingerRot("ring_2_r", "ring_3_r", data, dataxyz)
    rfingerRot("ring_3_r", "ring_4_r", data, dataxyz)
    rfingerRot("ring_4_r", "ring_5_r", data, dataxyz)

    rootx = rhandlms[9].x * coef
    rooty = -rhandlms[9].z * coef
    rootz = -rhandlms[9].y * coef
    rootv = 1.0
    dataxyz["middle_2_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[10].x * coef
    rooty = -rhandlms[10].z * coef
    rootz = -rhandlms[10].y * coef
    rootv = 1.0
    dataxyz["middle_3_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[11].x * coef
    rooty = -rhandlms[11].z * coef
    rootz = -rhandlms[11].y * coef
    rootv = 1.0
    dataxyz["middle_4_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[12].x * coef
    rooty = -rhandlms[12].z * coef
    rootz = -rhandlms[12].y * coef
    rootv = 1.0
    dataxyz["middle_5_r"] = [rootx, rooty, rootz, rootv]

    rfingerRot("middle_2_r", "middle_3_r", data, dataxyz)
    rfingerRot("middle_3_r", "middle_4_r", data, dataxyz)
    rfingerRot("middle_4_r", "middle_5_r", data, dataxyz)

    rootx = rhandlms[5].x * coef
    rooty = -rhandlms[5].z * coef
    rootz = -rhandlms[5].y * coef
    rootv = 1.0
    dataxyz["index_2_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[6].x * coef
    rooty = -rhandlms[6].z * coef
    rootz = -rhandlms[6].y * coef
    rootv = 1.0
    dataxyz["index_3_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[7].x * coef
    rooty = -rhandlms[7].z * coef
    rootz = -rhandlms[7].y * coef
    rootv = 1.0
    dataxyz["index_4_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[8].x * coef
    rooty = -rhandlms[8].z * coef
    rootz = -rhandlms[8].y * coef
    rootv = 1.0
    dataxyz["index_5_r"] = [rootx, rooty, rootz, rootv]

    rfingerRot("index_2_r", "index_3_r", data, dataxyz)
    rfingerRot("index_3_r", "index_4_r", data, dataxyz)
    rfingerRot("index_4_r", "index_5_r", data, dataxyz)

    rootx = rhandlms[1].x * coef
    rooty = -rhandlms[1].z * coef
    rootz = -rhandlms[1].y * coef
    rootv = 1.0
    dataxyz["thumb_2_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[2].x * coef
    rooty = -rhandlms[2].z * coef
    rootz = -rhandlms[2].y * coef
    rootv = 1.0
    dataxyz["thumb_3_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[3].x * coef
    rooty = -rhandlms[3].z * coef
    rootz = -rhandlms[3].y * coef
    rootv = 1.0
    dataxyz["thumb_4_r"] = [rootx, rooty, rootz, rootv]

    rootx = rhandlms[4].x * coef
    rooty = -rhandlms[4].z * coef
    rootz = -rhandlms[4].y * coef
    rootv = 1.0
    dataxyz["thumb_5_r"] = [rootx, rooty, rootz, rootv]

    rfingerRot("thumb_2_r", "thumb_3_r", data, dataxyz)
    rfingerRot("thumb_3_r", "thumb_4_r", data, dataxyz)
    rfingerRot("thumb_4_r", "thumb_5_r", data, dataxyz)

    rootx = rhandlms[0].x * coef
    rooty = -rhandlms[0].z * coef
    rootz = -rhandlms[0].y * coef
    rootv = 1.0
    dataxyz["hand_r"] = [rootx, rooty, rootz, rootv]

    rhandRot("hand_r", "middle_2_r", data, dataxyz, "pinky_2_r", "index_2_r")