# Full Body Model Description

The full body kinematic model consists of one kinematic chain comprised of the lower body, upper body, and head, with the pelvis as the root segment. Abdomen and neck segments are included. The Full Body Model must be used in order to save skeleton poses as FBX format. 

## Full Body Kinematic Chain

| Segment         | Parent          | Origin             | Joint Type                                                                                | Proximal       | Distal                       |
| --------------- | --------------- | ------------------ | ----------------------------------------------------------------------------------------- | -------------- | ---------------------------- |
| Pelvis          | Lab             | Midpoint of pelvis | Free joint (6 DOF)                                                                        | -              | Abdomen                      |
| Abdomen         | Pelvis          | Pelvis origin      | Two rotational DOF (flexion/extension, abduction/adduction)                               | Pelvis         | Thorax                       |
| Thorax          | Abdomen         | Base of neck       | Three rotational DOF, one translational DOF (along Z)                                     | Abdomen        | Neck                         |
| Neck            | Thorax          | Base of neck       | Three rotational DOF                                                                      | Thorax         | Head                         |
| Head            | Neck            | C1                 | Three rotational DOF                                                                      | Neck           | -                            |
| Right Upper Arm | Thorax          | Right shoulder     | Free joint (6 DOF)                                                                        | Right shoulder | Right elbow                  |
| Right Lower Arm | Right Upper Arm | Right elbow        | Two rotational DOF (flexion/extension, pronation/supination)                              | Right elbow    | Right wrist                  |
| Right Hand      | Right Lower Arm | Right wrist        | Two rotational DOF (flexion/extension, radial/ulnar deviation)                            | Right wrist    | Right mid hand (metacarpals) |
| Left Upper Arm  | Thorax          | Left shoulder      | Free joint (6 DOF)                                                                        | Left shoulder  | Left elbow                   |
| Left Lower Arm  | Left Upper Arm  | Left elbow         | Two rotational DOF (flexion/extension, pronation/supination)                              | Left elbow     | Left wrist                   |
| Left Hand       | Left Lower Arm  | Left wrist         | Two rotational DOF (flexion/extension, radial/ulnar deviation)                            | Left wrist     | Left mid hand (metacarpals)  |
| Right Thigh     | Pelvis          | Right hip          | Three rotational DOF                                                                      | Right hip      | Right knee                   |
| Right Shank     | Right Thigh     | Right knee         | Two or three rotational DOF (flexion/extension, ad/abduction, internal/external rotation) | Right knee     | Right ankle                  |
| Right Foot      | Right Shank     | Right ankle        | Free joint (6 DOF), with limited translation                                              | Right ankle    | Right mid foot               |
| Right Toes      | Right Foot      | Right mid foot     | One rotational DOF (flexion/extension)                                                    | Right mid foot | Right big toe                |
| Left Thigh      | Pelvis          | Left hip           | Three rotational DOF                                                                      | Left hip       | Left knee                    |
| Left Shank      | Left Thigh      | Left knee          | Two or three rotational DOF (flexion/extension, ad/abduction, internal/external rotation) | Left knee      | Left ankle                   |
| Left Foot       | Left Shank      | Left ankle         | Free joint (6 DOF), with limited translation                                              | Left ankle     | Left mid foot                |
| Left Toes       | Left Foot       | Left mid foot      | One rotational DOF (flexion/extension)                                                    | Left mid foot  | Left big toe                 |