centre  de gravité des segments
 Avant-brasX Avant-brasY BrasX BrasY Tronc+teteX Tronc+teteY cuisseX cuisseY jambeX jambeY piedX piedY
      0.09542     -0.09542      0.27236     -0.27236      0.59535     -0.34420      0.99832     -0.36712      1.36237     -0.40125      1.64650     -0.38140
      0.02120     -0.10602      0.17363     -0.30145      0.48375     -0.38140      0.80115     -0.21903      1.02938      0.10225      1.18140      0.33490
      0.03181     -0.09542      0.15027     -0.32481      0.42795     -0.43720      0.66482     -0.26678      0.72311      0.10532      0.73490      0.40000
     -0.02120     -0.13788     -0.08965     -0.37828      0.03725     -0.47440      0.17244     -0.30398      0.09798      0.05201      0.03720      0.28840
     -0.08482     -0.11668     -0.23278     -0.27813     -0.14885     -0.35350      0.05638     -0.21903      0.17051      0.11030      0.22330      0.34420
     -0.12728     -0.05301     -0.31771     -0.11398     -0.23255     -0.15810      0.03835     -0.11352      0.29074      0.06194      0.47440      0.22325
     -0.14849     -0.03181     -0.35491     -0.04531     -0.27905     -0.10230     -0.00134     -0.12713      0.28825     -0.01802      0.50230      0.09300
     -0.13788      0.04241     -0.32582      0.13734     -0.25115      0.05580      0.00115     -0.09856      0.26965     -0.15436      0.48370     -0.14880
     -0.11668      0.10602     -0.21519      0.31194     -0.15815      0.19535      0.01170     -0.10724      0.25354     -0.29578      0.46510     -0.40000
     -0.02120      0.13788      0.00476      0.34680     -0.00930      0.22325     -0.03164     -0.13447      0.01611     -0.46380      0.08370     -0.69770