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I have a set of 3d vectors representing the positions of a character's hand, foot, shoulders and so on. Is there any kind of easy to read file I can use to animate those with walking, standing, jumping etc motions? Is there a database with some of them?

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Most 3D animation/modelling programs support BVH file format for motion captured skeletal animations. There is free BVH database at https://sites.google.com/a/cgspeed.com/cgspeed/motion-capture/cmu-bvh-conversion and you can quickly test the downloaded animation at http://www.akjava.com/demo/bvhplayer/

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