iLeftFoot.rotateAroundAnchor( leftLowerLegAnk, iLeftLowerLeg.iPitch );
leftfootLegAnk.rotateXYZ( iLeftLowerLeg.iPitch.x, iLeftLowerLeg.iPitch.y, iLeftLowerLeg.iPitch.z, leftLowerLegAnk );
iLeftFoot.rotateAroundAnchor( leftfootLegAnk, iLeftFoot.iPitch );
//torso and neck are not transformed neither translated
iTorso.translateLimb( new Offset( 0.0f, 0.0f, 0.0f ) );
iNeck.translateLimb( new Offset( 0.0f, 0.0f, 0.0f ) );
}