--- a
+++ b/app/config/AnybodyFirstFrame.py
@@ -0,0 +1,54 @@
+import json
+import numpy as np
+
+
+# rotation matrix from anybody to LeapMotion
+ROTATION_KS = np.array([[0, 0, 1],
+                        [0, 1, 0],
+                        [-1, 0, 0]])
+
+ROTATION_FINGER = np.array([[0, -1, 0],
+                            [-1, 0, 0],
+                            [0, 0, -1]])
+
+ROTATION_THUMB = np.array([[0.9497,    0.1712,   -0.2624],
+                           [-0.0351,   -0.7742,   -0.6320],
+                           [-0.3113,    0.6094,   -0.7292]])
+
+ROTATION_HAND = np.array([[-1, -0.2, -0.0],
+                          [0.2, -0.5, 0.9],
+                          [-0.2, 0.88, 0.5]])
+
+ROTATION_ELBOW = np.array([[-1, 0, 0],
+                          [0, -0.3, 1],
+                          [0, 1, 0.3]])
+
+class AnybodyFirstFrame:
+
+    def __init__(self, update_values=False):
+        self.joint_values = None
+        if not update_values:
+            self.load('config/anybody_joint_values_waagerecht.json')
+
+    def load(self, filename):
+        with open(filename) as o:
+            self.joint_values = json.load(o)
+
+    def get_basis(self, joint_name):
+        anybody_basis = self.joint_values[joint_name]['Axes0']
+        # print("joint: {}, basis: \n{}".format(joint_name, np.matmul(ROTATION_BASIS,
+        # np.matmul(ROTATION_KS, np.array(anybody_basis)))))
+        if joint_name in ('RightElbow'):
+            return np.matmul(ROTATION_ELBOW, np.transpose(np.array(anybody_basis)))
+        if joint_name in ('RightHand'):
+            return np.matmul(ROTATION_HAND, np.transpose(np.array(anybody_basis)))
+        if 'RightHandThumb' in joint_name:
+            return np.matmul(ROTATION_THUMB, np.transpose(np.array(anybody_basis)))
+        return np.matmul(ROTATION_FINGER, np.transpose(np.array(anybody_basis)))
+
+    def get_position(self, joint_name):
+        if '_Nub' in joint_name:
+            anybody_position = self.joint_values[joint_name]['r']
+        else:
+            anybody_position = self.joint_values[joint_name]['r0']
+        return np.matmul(ROTATION_KS, np.array(anybody_position) * 1000)