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Extensible Markup Language  |  2002-09-07  |  51KB  |  1,080 lines
  1. <?xml version="1.0"?>
  2.  
  3. <KARMA ka_file_version="1.0">
  4.     <ASSET id="Jugg" graphic="JuggMaleA.psk" scale="0.008" mass_scale="1" length_scale="1">
  5.         <GEOMETRY id="bip01 l calf">
  6.             <PRIMITIVE id="bip01 l calf_1" type="sphyl">
  7.                 <RADIUS>0.1774896</RADIUS>
  8.                 <HEIGHT>0.4127366</HEIGHT>
  9.                 <TM>-3.449765e-009,-0.9999169,0.01289183,0,-3.468377e-008,-0.01289182,-0.999917,0,1,-1.772429e-008,-3.084181e-008,0,0.2063683,4.698421e-009,-5.135572e-009,1</TM>
  10.             </PRIMITIVE>
  11.         </GEOMETRY>
  12.         <GEOMETRY id="bip01 l forearm">
  13.             <PRIMITIVE id="bip01 l forearm_1" type="sphyl">
  14.                 <RADIUS>0.1227466</RADIUS>
  15.                 <HEIGHT>0.2624294</HEIGHT>
  16.                 <TM>4.304495e-007,0.06189191,-0.9980827,0,-4.944904e-008,0.9980827,0.06189193,0,0.9999998,1.572837e-008,2.624237e-007,0,0.1312146,6.963841e-010,7.813438e-008,1</TM>
  17.             </PRIMITIVE>
  18.         </GEOMETRY>
  19.         <GEOMETRY id="bip01 l thigh">
  20.             <PRIMITIVE id="bip01 l thigh_1" type="sphyl">
  21.                 <RADIUS>0.1768518</RADIUS>
  22.                 <HEIGHT>0.4731482</HEIGHT>
  23.                 <TM>-7.494585e-008,-0.03470769,0.9993976,0,1.195969e-008,-0.9993976,-0.03470769,0,1,8.13057e-009,7.904129e-008,0,0.2365741,-1.25978e-009,1.550713e-009,1</TM>
  24.             </PRIMITIVE>
  25.         </GEOMETRY>
  26.         <GEOMETRY id="bip01 l upperarm">
  27.             <PRIMITIVE id="bip01 l upperarm_1" type="sphyl">
  28.                 <RADIUS>0.1287261</RADIUS>
  29.                 <HEIGHT>0.3350841</HEIGHT>
  30.                 <TM>-1.218959e-007,0.0626393,-0.9980362,0,-2.012945e-008,0.9980362,0.06263928,0,0.9999999,-4.142774e-009,-2.990637e-007,0,0.167542,-8.593758e-009,-2.813841e-008,1</TM>
  31.             </PRIMITIVE>
  32.         </GEOMETRY>
  33.         <GEOMETRY id="bip01 neck">
  34.             <PRIMITIVE id="Part0" type="sphere">
  35.                 <RADIUS>0.1170732</RADIUS>
  36.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1560976,-0.05853659,0,1</TM>
  37.             </PRIMITIVE>
  38.         </GEOMETRY>
  39.         <GEOMETRY id="bip01 pelvis">
  40.             <PRIMITIVE id="bip01 pelvis_1" type="sphere">
  41.                 <RADIUS>0.1784621</RADIUS>
  42.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.01127367,0.00151828,4.272461e-007,1</TM>
  43.             </PRIMITIVE>
  44.         </GEOMETRY>
  45.         <GEOMETRY id="bip01 spine">
  46.             <PRIMITIVE id="bip01 spine_1" type="sphyl">
  47.                 <RADIUS>0.05303739</RADIUS>
  48.                 <HEIGHT>0.1209098</HEIGHT>
  49.                 <TM>-0.0007723775,0.9999996,-1.318098e-006,0,2.723033e-008,1.318269e-006,0.9999999,0,0.9999996,0.000772377,-3.519781e-008,0,0.06045485,4.669456e-005,-2.127878e-009,1</TM>
  50.             </PRIMITIVE>
  51.         </GEOMETRY>
  52.         <GEOMETRY id="bip01 spine1">
  53.             <PRIMITIVE id="bip01 spine1_1" type="sphyl">
  54.                 <RADIUS>0.09918273</RADIUS>
  55.                 <HEIGHT>0.1177085</HEIGHT>
  56.                 <TM>-0.00132761,0.9999991,-1.33425e-006,0,4.306785e-008,1.335066e-006,0.9999999,0,0.999999,0.001327614,-5.174966e-008,0,0.0588542,7.81359e-005,-3.045695e-009,1</TM>
  57.             </PRIMITIVE>
  58.         </GEOMETRY>
  59.         <GEOMETRY id="bip01 spine2">
  60.             <PRIMITIVE id="bip01 spine2_1" type="sphyl">
  61.                 <RADIUS>0.2439024</RADIUS>
  62.                 <HEIGHT>0.195122</HEIGHT>
  63.                 <TM>-0.0001966682,0.9999999,-1.398451e-006,0,-1.527803e-008,1.400387e-006,0.9999999,0,0.9999999,0.0001966682,8.327683e-009,0,0.09965737,0.039044,8.298922e-010,1</TM>
  64.             </PRIMITIVE>
  65.         </GEOMETRY>
  66.         <MODEL id="bip01 l calf" type="dynamics_and_geometry" geometry="bip01 l calf">
  67.             <DYNAMICS>
  68.                 <MASS>0.1712645</MASS>
  69.                 <DENSITY>1</DENSITY>
  70.                 <MASS_OFFSET>0.2063683,4.698421e-009,-5.135572e-009</MASS_OFFSET>
  71.                 <INERTIA>0.002697632,-1.899898e-011,1.729291e-010,0.007394787,-1.896002e-011,0.00739479</INERTIA>
  72.                 <LIN_DAMP>0</LIN_DAMP>
  73.                 <ANG_DAMP>0</ANG_DAMP>
  74.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  75.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  76.             </DYNAMICS>
  77.         </MODEL>
  78.         <MODEL id="bip01 l clavicle" type="dynamics_only">
  79.             <DYNAMICS>
  80.                 <MASS>0.04937878</MASS>
  81.                 <DENSITY>1</DENSITY>
  82.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  83.                 <INERTIA>0.0004487843,0,0,0.0004487843,0,0.0004487843</INERTIA>
  84.                 <LIN_DAMP>0</LIN_DAMP>
  85.                 <ANG_DAMP>0</ANG_DAMP>
  86.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  87.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  88.             </DYNAMICS>
  89.         </MODEL>
  90.         <MODEL id="bip01 l forearm" type="dynamics_and_geometry" geometry="bip01 l forearm">
  91.             <DYNAMICS>
  92.                 <MASS>0.05375161</MASS>
  93.                 <DENSITY>1</DENSITY>
  94.                 <MASS_OFFSET>0.1312146,6.963841e-010,7.813438e-008</MASS_OFFSET>
  95.                 <INERTIA>0.0004049304,-1.678909e-011,-3.349006e-010,0.001019597,2.933328e-011,0.001019597</INERTIA>
  96.                 <LIN_DAMP>0</LIN_DAMP>
  97.                 <ANG_DAMP>0</ANG_DAMP>
  98.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  99.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  100.             </DYNAMICS>
  101.         </MODEL>
  102.         <MODEL id="bip01 l thigh" type="dynamics_and_geometry" geometry="bip01 l thigh">
  103.             <DYNAMICS>
  104.                 <MASS>0.1855947</MASS>
  105.                 <DENSITY>1</DENSITY>
  106.                 <MASS_OFFSET>0.2365741,-1.25978e-009,1.550713e-009</MASS_OFFSET>
  107.                 <INERTIA>0.002902382,-6.296627e-011,-4.677854e-010,0.009256938,2.067057e-012,0.009256938</INERTIA>
  108.                 <LIN_DAMP>0</LIN_DAMP>
  109.                 <ANG_DAMP>0</ANG_DAMP>
  110.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  111.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  112.             </DYNAMICS>
  113.         </MODEL>
  114.         <MODEL id="bip01 l upperarm" type="dynamics_and_geometry" geometry="bip01 l upperarm">
  115.             <DYNAMICS>
  116.                 <MASS>0.07028247</MASS>
  117.                 <DENSITY>1</DENSITY>
  118.                 <MASS_OFFSET>0.167542,-8.593758e-009,-2.813841e-008</MASS_OFFSET>
  119.                 <INERTIA>0.0005823043,-5.235522e-011,4.272747e-011,0.001801341,-2.136277e-011,0.001801341</INERTIA>
  120.                 <LIN_DAMP>0</LIN_DAMP>
  121.                 <ANG_DAMP>0</ANG_DAMP>
  122.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  123.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  124.             </DYNAMICS>
  125.         </MODEL>
  126.         <MODEL id="bip01 neck" type="dynamics_and_geometry" geometry="bip01 neck">
  127.             <DYNAMICS>
  128.                 <MASS>0.01787074</MASS>
  129.                 <DENSITY>1</DENSITY>
  130.                 <MASS_OFFSET>0.1560976,-0.05853659,0</MASS_OFFSET>
  131.                 <INERTIA>9.79755e-005,0,0,9.79755e-005,0,9.797547e-005</INERTIA>
  132.                 <LIN_DAMP>0</LIN_DAMP>
  133.                 <ANG_DAMP>0</ANG_DAMP>
  134.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  135.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  136.             </DYNAMICS>
  137.         </MODEL>
  138.         <MODEL id="bip01 pelvis" type="dynamics_only" geometry="bip01 pelvis">
  139.             <DYNAMICS>
  140.                 <MASS>0.06330061</MASS>
  141.                 <DENSITY>1</DENSITY>
  142.                 <MASS_OFFSET>0.01127367,0.00151828,4.272461e-007</MASS_OFFSET>
  143.                 <INERTIA>0.0008064166,0,0,0.0008064166,0,0.0008064166</INERTIA>
  144.                 <LIN_DAMP>0</LIN_DAMP>
  145.                 <ANG_DAMP>0</ANG_DAMP>
  146.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  147.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  148.             </DYNAMICS>
  149.         </MODEL>
  150.         <MODEL id="bip01 r calf" type="dynamics_and_geometry" geometry="bip01 l calf">
  151.             <DYNAMICS>
  152.                 <MASS>0.1712649</MASS>
  153.                 <DENSITY>1</DENSITY>
  154.                 <MASS_OFFSET>0.2063682,-5.432682e-009,4.291634e-009</MASS_OFFSET>
  155.                 <INERTIA>0.002697645,-4.51372e-011,-6.685444e-010,0.007394816,-1.06616e-011,0.007394816</INERTIA>
  156.                 <LIN_DAMP>0</LIN_DAMP>
  157.                 <ANG_DAMP>0</ANG_DAMP>
  158.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  159.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  160.             </DYNAMICS>
  161.         </MODEL>
  162.         <MODEL id="bip01 r clavicle" type="dynamics_only">
  163.             <DYNAMICS>
  164.                 <MASS>0.04937878</MASS>
  165.                 <DENSITY>1</DENSITY>
  166.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  167.                 <INERTIA>0.0004487843,0,0,0.0004487843,0,0.0004487843</INERTIA>
  168.                 <LIN_DAMP>0</LIN_DAMP>
  169.                 <ANG_DAMP>0</ANG_DAMP>
  170.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  171.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  172.             </DYNAMICS>
  173.         </MODEL>
  174.         <MODEL id="bip01 r forearm" type="dynamics_and_geometry" geometry="bip01 l forearm">
  175.             <DYNAMICS>
  176.                 <MASS>0.05373074</MASS>
  177.                 <DENSITY>1</DENSITY>
  178.                 <MASS_OFFSET>0.1312147,-1.242209e-009,7.783823e-009</MASS_OFFSET>
  179.                 <INERTIA>0.0004046416,2.928866e-011,2.256934e-010,0.001019033,5.333618e-011,0.001019033</INERTIA>
  180.                 <LIN_DAMP>0</LIN_DAMP>
  181.                 <ANG_DAMP>0</ANG_DAMP>
  182.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  183.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  184.             </DYNAMICS>
  185.         </MODEL>
  186.         <MODEL id="bip01 r thigh" type="dynamics_and_geometry" geometry="bip01 l thigh">
  187.             <DYNAMICS>
  188.                 <MASS>0.1855903</MASS>
  189.                 <DENSITY>1</DENSITY>
  190.                 <MASS_OFFSET>0.2365741,-9.439663e-009,-1.158294e-008</MASS_OFFSET>
  191.                 <INERTIA>0.002902251,-3.959506e-012,5.003536e-010,0.00925663,1.731658e-012,0.00925663</INERTIA>
  192.                 <LIN_DAMP>0</LIN_DAMP>
  193.                 <ANG_DAMP>0</ANG_DAMP>
  194.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  195.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  196.             </DYNAMICS>
  197.         </MODEL>
  198.         <MODEL id="bip01 r upperarm" type="dynamics_and_geometry" geometry="bip01 l upperarm">
  199.             <DYNAMICS>
  200.                 <MASS>0.07028104</MASS>
  201.                 <DENSITY>1</DENSITY>
  202.                 <MASS_OFFSET>0.167542,-1.356369e-009,-3.926333e-008</MASS_OFFSET>
  203.                 <INERTIA>0.000582282,-3.075899e-011,-1.420637e-010,0.001801289,1.31299e-010,0.001801289</INERTIA>
  204.                 <LIN_DAMP>0</LIN_DAMP>
  205.                 <ANG_DAMP>0</ANG_DAMP>
  206.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  207.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  208.             </DYNAMICS>
  209.         </MODEL>
  210.         <MODEL id="bip01 spine" type="dynamics_only" geometry="bip01 spine">
  211.             <DYNAMICS>
  212.                 <MASS>0.04937878</MASS>
  213.                 <DENSITY>1</DENSITY>
  214.                 <MASS_OFFSET>0.06045485,4.669456e-005,-2.127878e-009</MASS_OFFSET>
  215.                 <INERTIA>0.0005760994,0,0,0.0005760994,0,0.0005760994</INERTIA>
  216.                 <LIN_DAMP>0</LIN_DAMP>
  217.                 <ANG_DAMP>0</ANG_DAMP>
  218.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  219.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  220.             </DYNAMICS>
  221.         </MODEL>
  222.         <MODEL id="bip01 spine1" type="dynamics_only" geometry="bip01 spine1">
  223.             <DYNAMICS>
  224.                 <MASS>0.04937878</MASS>
  225.                 <DENSITY>1</DENSITY>
  226.                 <MASS_OFFSET>0.0588542,7.81359e-005,-3.045695e-009</MASS_OFFSET>
  227.                 <INERTIA>0.0005885944,0,0,0.0005885944,0,0.0005885944</INERTIA>
  228.                 <LIN_DAMP>0</LIN_DAMP>
  229.                 <ANG_DAMP>0</ANG_DAMP>
  230.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  231.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  232.             </DYNAMICS>
  233.         </MODEL>
  234.         <MODEL id="bip01 spine2" type="dynamics_and_geometry" geometry="bip01 spine2">
  235.             <DYNAMICS>
  236.                 <MASS>0.2595533</MASS>
  237.                 <DENSITY>1</DENSITY>
  238.                 <MASS_OFFSET>0.09965737,1.960898e-005,8.298922e-010</MASS_OFFSET>
  239.                 <INERTIA>0.007720209,-4.015e-007,-8.21636e-011,0.009761716,1.891053e-011,0.009761717</INERTIA>
  240.                 <LIN_DAMP>0</LIN_DAMP>
  241.                 <ANG_DAMP>0</ANG_DAMP>
  242.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  243.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  244.             </DYNAMICS>
  245.         </MODEL>
  246.         <PART id="bip01 l calf" model="bip01 l calf" parent="bip01 l thigh">
  247.             <TM>0.1949313,-0.9516479,0.2374197,0,-0.0126444,0.2396048,0.9707882,0,-0.9807354,-0.192239,0.03467347,0,0.227896,0.5956649,0.03048483,1</TM>
  248.         </PART>
  249.         <PART id="bip01 l clavicle" model="bip01 l clavicle" parent="bip01 neck">
  250.             <TM>0.9263164,-0.3364673,0.1694924,0,0.2589242,0.2417604,-0.9351525,0,0.2736717,0.9101328,0.3110662,0,0.08874451,1.626379,0.04232629,1</TM>
  251.         </PART>
  252.         <PART id="bip01 l forearm" model="bip01 l forearm" parent="bip01 l upperarm">
  253.             <TM>0.8125552,-0.5783653,-0.07244087,0,-0.09479398,-0.008495143,-0.9954607,0,0.5751245,0.8157337,-0.06172831,0,0.5095187,1.384912,0.1264769,1</TM>
  254.         </PART>
  255.         <PART id="bip01 l thigh" model="bip01 l thigh" parent="bip01 pelvis">
  256.             <TM>0.1936774,-0.9800586,0.04443327,0,0.02544018,0.05029274,0.9984105,0,-0.9807354,-0.1922391,0.03467343,0,0.1362578,1.059379,0.009461215,1</TM>
  257.         </PART>
  258.         <PART id="bip01 l upperarm" model="bip01 l upperarm" parent="bip01 l clavicle">
  259.             <TM>0.8114257,-0.5592352,0.1698359,0,0.1040202,-0.1477647,-0.9835372,0,0.5751244,0.8157338,-0.06172831,0,0.237629,1.572299,0.06956875,1</TM>
  260.         </PART>
  261.         <PART id="bip01 neck" model="bip01 neck" parent="bip01 spine2">
  262.             <TM>2.570511e-007,0.9415349,-0.3369154,0,1.319031e-006,0.3369154,0.9415349,0,1,-6.864242e-007,-1.155309e-006,0,-1.570342e-007,1.626394,0.04237085,1</TM>
  263.         </PART>
  264.         <PART id="bip01 pelvis" model="bip01 pelvis" parent="bip01">
  265.             <TM>-1.310721e-006,0.9832391,-0.182321,0,-2.847449e-006,0.182321,0.9832391,0,1,1.807902e-006,2.560751e-006,0,7.942614e-009,1.059379,0.009461073,1</TM>
  266.         </PART>
  267.         <PART id="bip01 r calf" model="bip01 r calf" parent="bip01 r thigh">
  268.             <TM>-0.1949317,-0.9516476,0.2374204,0,0.01264159,0.2396061,0.9707879,0,-0.9807354,0.1922387,-0.03467648,0,-0.2278956,0.5956668,0.03048409,1</TM>
  269.         </PART>
  270.         <PART id="bip01 r clavicle" model="bip01 r clavicle" parent="bip01 neck">
  271.             <TM>-0.9263159,-0.3364691,0.1694913,0,-0.258923,0.241758,-0.9351534,0,0.2736744,-0.9101327,-0.3110639,0,-0.08874401,1.626379,0.04232647,1</TM>
  272.         </PART>
  273.         <PART id="bip01 r forearm" model="bip01 r forearm" parent="bip01 r upperarm">
  274.             <TM>-0.8125501,-0.5783721,-0.07244332,0,0.09479728,-0.008494682,-0.9954603,0,0.5751311,-0.8157288,0.06173046,0,-0.5095114,1.384912,0.1264759,1</TM>
  275.         </PART>
  276.         <PART id="bip01 r thigh" model="bip01 r thigh" parent="bip01 pelvis">
  277.             <TM>-0.1936771,-0.9800586,0.04443272,0,-0.02544327,0.05029278,0.9984104,0,-0.9807354,0.1922387,-0.03467645,0,-0.1362578,1.059379,0.009460823,1</TM>
  278.         </PART>
  279.         <PART id="bip01 r upperarm" model="bip01 r upperarm" parent="bip01 r clavicle">
  280.             <TM>-0.8114212,-0.5592416,0.1698366,0,-0.1040184,-0.1477676,-0.983537,0,0.5751311,-0.8157289,0.06173034,0,-0.2376267,1.572299,0.06956821,1</TM>
  281.         </PART>
  282.         <PART id="bip01 spine" model="bip01 spine" parent="bip01 pelvis">
  283.             <TM>-1.08358e-007,0.9999538,-0.009609634,0,1.318614e-006,0.009609634,0.9999538,0,0.9999999,9.568159e-008,-1.319594e-006,0,1.807639e-008,1.195154,-0.015619,1</TM>
  284.         </PART>
  285.         <PART id="bip01 spine1" model="bip01 spine1" parent="bip01 spine">
  286.             <TM>-2.68348e-007,0.9969862,0.07757937,0,1.339964e-006,-0.07757938,0.9969862,0,0.9999999,3.714927e-007,-1.315107e-006,0,1.16904e-009,1.316059,-0.0166875,1</TM>
  287.         </PART>
  288.         <PART id="bip01 spine2" model="bip01 spine2" parent="bip01 spine1">
  289.             <TM>-6.153221e-007,0.9683682,0.2495256,0,1.429348e-006,-0.2495256,0.9683682,0,0.9999999,9.525174e-007,-1.230597e-006,0,-3.61105e-008,1.433397,-0.007400144,1</TM>
  290.         </PART>
  291.         <NO_COLLISION part1="bip01 l calf" part2="bip01 l thigh"></NO_COLLISION>
  292.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 l upperarm"></NO_COLLISION>
  293.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 neck"></NO_COLLISION>
  294.         <NO_COLLISION part1="bip01 l forearm" part2="bip01 l upperarm"></NO_COLLISION>
  295.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 pelvis"></NO_COLLISION>
  296.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 r thigh"></NO_COLLISION>
  297.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 spine2"></NO_COLLISION>
  298.         <NO_COLLISION part1="bip01 l upperarm" part2="bip01 spine2"></NO_COLLISION>
  299.         <NO_COLLISION part1="bip01 neck" part2="bip01 r clavicle"></NO_COLLISION>
  300.         <NO_COLLISION part1="bip01 neck" part2="bip01 spine2"></NO_COLLISION>
  301.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 r thigh"></NO_COLLISION>
  302.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine"></NO_COLLISION>
  303.         <NO_COLLISION part1="bip01 r calf" part2="bip01 r thigh"></NO_COLLISION>
  304.         <NO_COLLISION part1="bip01 r clavicle" part2="bip01 r upperarm"></NO_COLLISION>
  305.         <NO_COLLISION part1="bip01 r forearm" part2="bip01 r upperarm"></NO_COLLISION>
  306.         <NO_COLLISION part1="bip01 r thigh" part2="bip01 spine2"></NO_COLLISION>
  307.         <NO_COLLISION part1="bip01 r upperarm" part2="bip01 spine2"></NO_COLLISION>
  308.         <NO_COLLISION part1="bip01 spine" part2="bip01 spine1"></NO_COLLISION>
  309.         <NO_COLLISION part1="bip01 spine1" part2="bip01 spine2"></NO_COLLISION>
  310.         <JOINT id="bip01 l calf" part1="bip01 l calf" part2="bip01 l thigh" type="hinge">
  311.             <HIGH_LIMIT>1.992743</HIGH_LIMIT>
  312.             <LOW_LIMIT>-0.1993015</LOW_LIMIT>
  313.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  314.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  315.             <LIMITED>1</LIMITED>
  316.             <MOTORIZED>0</MOTORIZED>
  317.             <DES_VEL>1</DES_VEL>
  318.             <MAX_FORCE>1000</MAX_FORCE>
  319.             <POS1>0,0,0</POS1>
  320.             <POS2>0.4731494,4.424187e-008,6.326841e-008</POS2>
  321.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  322.             <PRIMARY_AXIS2>-5.559733e-008,-7.925108e-008,0.9999999</PRIMARY_AXIS2>
  323.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  324.             <ORTHOGONAL_AXIS2>0.9809737,0.1941405,3.898978e-010</ORTHOGONAL_AXIS2>
  325.         </JOINT>
  326.         <JOINT id="bip01 l clavicle" part1="bip01 l clavicle" part2="bip01 neck" type="hinge">
  327.             <HIGH_LIMIT>0.1199258</HIGH_LIMIT>
  328.             <LOW_LIMIT>-0.1199258</LOW_LIMIT>
  329.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  330.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  331.             <LIMITED>1</LIMITED>
  332.             <MOTORIZED>0</MOTORIZED>
  333.             <DES_VEL>1</DES_VEL>
  334.             <MAX_FORCE>1000</MAX_FORCE>
  335.             <POS1>0,0,0</POS1>
  336.             <POS2>1.010448e-006,-4.688834e-005,0.08874462</POS2>
  337.             <PRIMARY_AXIS1>-8.940697e-008,1,0</PRIMARY_AXIS1>
  338.             <PRIMARY_AXIS2>0.542693,-0.7990251,0.2589248</PRIMARY_AXIS2>
  339.             <ORTHOGONAL_AXIS1>0,-2.980232e-008,1</ORTHOGONAL_AXIS1>
  340.             <ORTHOGONAL_AXIS2>0.7521183,0.5995175,0.2736704</ORTHOGONAL_AXIS2>
  341.         </JOINT>
  342.         <JOINT id="bip01 l forearm" part1="bip01 l forearm" part2="bip01 l upperarm" type="hinge">
  343.             <HIGH_LIMIT>2.077044</HIGH_LIMIT>
  344.             <LOW_LIMIT>-0.2302899</LOW_LIMIT>
  345.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  346.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  347.             <LIMITED>1</LIMITED>
  348.             <MOTORIZED>0</MOTORIZED>
  349.             <DES_VEL>1</DES_VEL>
  350.             <MAX_FORCE>1000</MAX_FORCE>
  351.             <POS1>0,0,0</POS1>
  352.             <POS2>0.3350767,-5.122866e-008,-4.689865e-007</POS2>
  353.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  354.             <PRIMARY_AXIS2>-5.464531e-008,-1.610261e-007,0.9999995</PRIMARY_AXIS2>
  355.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  356.             <ORTHOGONAL_AXIS2>0.9704668,0.2412323,-3.276127e-007</ORTHOGONAL_AXIS2>
  357.         </JOINT>
  358.         <JOINT id="bip01 l thigh" part1="bip01 l thigh" part2="bip01 pelvis" type="skeletal">
  359.             <CONE_TYPE>2</CONE_TYPE>
  360.             <CONE_HALF_ANGLE_X>0.8694222</CONE_HALF_ANGLE_X>
  361.             <CONE_HALF_ANGLE_Y>0.527415</CONE_HALF_ANGLE_Y>
  362.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  363.             <CONE_DAMPING>1</CONE_DAMPING>
  364.             <TWIST_TYPE>2</TWIST_TYPE>
  365.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  366.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  367.             <TWIST_DAMPING>1</TWIST_DAMPING>
  368.             <POS1>0,0,0</POS1>
  369.             <POS2>-1.676504e-007,-2.51122e-007,0.1362578</POS2>
  370.             <PRIMARY_AXIS1>0.9254166,-0.3368241,-0.1736482</PRIMARY_AXIS1>
  371.             <PRIMARY_AXIS2>-0.8206815,-0.4585037,0.3409639</PRIMARY_AXIS2>
  372.             <ORTHOGONAL_AXIS1>0.3420202,0.9396926,-2.521493e-010</ORTHOGONAL_AXIS1>
  373.             <ORTHOGONAL_AXIS2>-0.4569381,0.8849185,0.09014943</ORTHOGONAL_AXIS2>
  374.         </JOINT>
  375.         <JOINT id="bip01 l upperarm" part1="bip01 l upperarm" part2="bip01 l clavicle" type="skeletal">
  376.             <CONE_TYPE>2</CONE_TYPE>
  377.             <CONE_HALF_ANGLE_X>0.7254068</CONE_HALF_ANGLE_X>
  378.             <CONE_HALF_ANGLE_Y>0.8778182</CONE_HALF_ANGLE_Y>
  379.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  380.             <CONE_DAMPING>1</CONE_DAMPING>
  381.             <TWIST_TYPE>2</TWIST_TYPE>
  382.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  383.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  384.             <TWIST_DAMPING>1</TWIST_DAMPING>
  385.             <POS1>0,0,0</POS1>
  386.             <POS2>0.1607275,-4.337994e-007,-1.004103e-007</POS2>
  387.             <PRIMARY_AXIS1>0.9063078,0.4226183,0</PRIMARY_AXIS1>
  388.             <PRIMARY_AXIS2>0.8691196,0.3089285,-0.386255</PRIMARY_AXIS2>
  389.             <ORTHOGONAL_AXIS1>-0.4226183,0.9063078,0</ORTHOGONAL_AXIS1>
  390.             <ORTHOGONAL_AXIS2>-0.4280382,0.8610846,-0.2744373</ORTHOGONAL_AXIS2>
  391.         </JOINT>
  392.         <JOINT id="bip01 neck" part1="bip01 neck" part2="bip01 spine2" type="skeletal">
  393.             <CONE_TYPE>2</CONE_TYPE>
  394.             <CONE_HALF_ANGLE_X>0.2860274</CONE_HALF_ANGLE_X>
  395.             <CONE_HALF_ANGLE_Y>0.2860274</CONE_HALF_ANGLE_Y>
  396.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  397.             <CONE_DAMPING>1</CONE_DAMPING>
  398.             <TWIST_TYPE>2</TWIST_TYPE>
  399.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  400.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  401.             <TWIST_DAMPING>1</TWIST_DAMPING>
  402.             <POS1>0,0,0</POS1>
  403.             <POS2>0.1993106,3.910605e-005,1.660742e-009</POS2>
  404.             <PRIMARY_AXIS1>1,6.273139e-008,-1.490116e-007</PRIMARY_AXIS1>
  405.             <PRIMARY_AXIS2>0.8276829,-0.5611949,1.419474e-006</PRIMARY_AXIS2>
  406.             <ORTHOGONAL_AXIS1>-1.490116e-007,1,6.273137e-008</ORTHOGONAL_AXIS1>
  407.             <ORTHOGONAL_AXIS2>0.5611948,0.8276831,5.440287e-007</ORTHOGONAL_AXIS2>
  408.         </JOINT>
  409.         <JOINT id="bip01 r calf" part1="bip01 r calf" part2="bip01 r thigh" type="hinge">
  410.             <HIGH_LIMIT>1.992743</HIGH_LIMIT>
  411.             <LOW_LIMIT>-0.1993015</LOW_LIMIT>
  412.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  413.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  414.             <LIMITED>1</LIMITED>
  415.             <MOTORIZED>0</MOTORIZED>
  416.             <DES_VEL>1</DES_VEL>
  417.             <MAX_FORCE>1000</MAX_FORCE>
  418.             <POS1>0,0,0</POS1>
  419.             <POS2>0.4731475,3.636508e-008,1.498373e-008</POS2>
  420.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  421.             <PRIMARY_AXIS2>7.940717e-008,-1.451966e-007,1</PRIMARY_AXIS2>
  422.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  423.             <ORTHOGONAL_AXIS2>0.9809734,0.1941417,-8.531971e-008</ORTHOGONAL_AXIS2>
  424.         </JOINT>
  425.         <JOINT id="bip01 r clavicle" part1="bip01 r clavicle" part2="bip01 neck" type="hinge">
  426.             <HIGH_LIMIT>0.1199258</HIGH_LIMIT>
  427.             <LOW_LIMIT>-0.1199258</LOW_LIMIT>
  428.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  429.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  430.             <LIMITED>1</LIMITED>
  431.             <MOTORIZED>0</MOTORIZED>
  432.             <DES_VEL>1</DES_VEL>
  433.             <MAX_FORCE>1000</MAX_FORCE>
  434.             <POS1>0,0,0</POS1>
  435.             <POS2>1.015564e-006,-4.691042e-005,-0.08874381</POS2>
  436.             <PRIMARY_AXIS1>-8.940697e-008,1,0</PRIMARY_AXIS1>
  437.             <PRIMARY_AXIS2>0.5426909,-0.7990276,-0.2589216</PRIMARY_AXIS2>
  438.             <ORTHOGONAL_AXIS1>0,-2.980232e-008,1</ORTHOGONAL_AXIS1>
  439.             <ORTHOGONAL_AXIS2>-0.752119,-0.5995145,0.273675</ORTHOGONAL_AXIS2>
  440.         </JOINT>
  441.         <JOINT id="bip01 r forearm" part1="bip01 r forearm" part2="bip01 r upperarm" type="hinge">
  442.             <HIGH_LIMIT>2.077044</HIGH_LIMIT>
  443.             <LOW_LIMIT>-0.2302899</LOW_LIMIT>
  444.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  445.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  446.             <LIMITED>1</LIMITED>
  447.             <MOTORIZED>0</MOTORIZED>
  448.             <DES_VEL>1</DES_VEL>
  449.             <MAX_FORCE>1000</MAX_FORCE>
  450.             <POS1>0,0,0</POS1>
  451.             <POS2>0.3350728,-1.062847e-008,1.358199e-006</POS2>
  452.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  453.             <PRIMARY_AXIS2>4.542043e-007,-1.57734e-007,0.999999</PRIMARY_AXIS2>
  454.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  455.             <ORTHOGONAL_AXIS2>0.9704654,0.2412353,5.155392e-007</ORTHOGONAL_AXIS2>
  456.         </JOINT>
  457.         <JOINT id="bip01 r thigh" part1="bip01 r thigh" part2="bip01 pelvis" type="skeletal">
  458.             <CONE_TYPE>2</CONE_TYPE>
  459.             <CONE_HALF_ANGLE_X>0.8694222</CONE_HALF_ANGLE_X>
  460.             <CONE_HALF_ANGLE_Y>0.527415</CONE_HALF_ANGLE_Y>
  461.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  462.             <CONE_DAMPING>1</CONE_DAMPING>
  463.             <TWIST_TYPE>2</TWIST_TYPE>
  464.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  465.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  466.             <TWIST_DAMPING>1</TWIST_DAMPING>
  467.             <POS1>0,0,0</POS1>
  468.             <POS2>2.610272e-007,1.393371e-007,-0.1362578</POS2>
  469.             <PRIMARY_AXIS1>0.9254166,-0.3368241,0.1736482</PRIMARY_AXIS1>
  470.             <PRIMARY_AXIS2>-0.8206805,-0.4585028,-0.3409674</PRIMARY_AXIS2>
  471.             <ORTHOGONAL_AXIS1>0.3420202,0.9396927,2.40085e-009</ORTHOGONAL_AXIS1>
  472.             <ORTHOGONAL_AXIS2>-0.4569378,0.8849187,-0.0901484</ORTHOGONAL_AXIS2>
  473.         </JOINT>
  474.         <JOINT id="bip01 r upperarm" part1="bip01 r upperarm" part2="bip01 r clavicle" type="skeletal">
  475.             <CONE_TYPE>2</CONE_TYPE>
  476.             <CONE_HALF_ANGLE_X>0.7254068</CONE_HALF_ANGLE_X>
  477.             <CONE_HALF_ANGLE_Y>0.8778182</CONE_HALF_ANGLE_Y>
  478.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  479.             <CONE_DAMPING>1</CONE_DAMPING>
  480.             <TWIST_TYPE>2</TWIST_TYPE>
  481.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  482.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  483.             <TWIST_DAMPING>1</TWIST_DAMPING>
  484.             <POS1>0,0,0</POS1>
  485.             <POS2>0.1607257,-2.550943e-007,2.275315e-007</POS2>
  486.             <PRIMARY_AXIS1>0.9063078,0.4226183,0</PRIMARY_AXIS1>
  487.             <PRIMARY_AXIS2>0.8691182,0.3089256,0.3862598</PRIMARY_AXIS2>
  488.             <ORTHOGONAL_AXIS1>-0.4226183,0.9063078,0</ORTHOGONAL_AXIS1>
  489.             <ORTHOGONAL_AXIS2>-0.4280368,0.8610857,0.2744356</ORTHOGONAL_AXIS2>
  490.         </JOINT>
  491.         <JOINT id="bip01 spine" part1="bip01 spine" part2="bip01 pelvis" type="skeletal">
  492.             <CONE_TYPE>2</CONE_TYPE>
  493.             <CONE_HALF_ANGLE_X>0.2809396</CONE_HALF_ANGLE_X>
  494.             <CONE_HALF_ANGLE_Y>0.2809396</CONE_HALF_ANGLE_Y>
  495.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  496.             <CONE_DAMPING>1</CONE_DAMPING>
  497.             <TWIST_TYPE>2</TWIST_TYPE>
  498.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  499.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  500.             <TWIST_DAMPING>1</TWIST_DAMPING>
  501.             <POS1>0,0,0</POS1>
  502.             <POS2>0.1380719,9.492027e-005,1.913778e-007</POS2>
  503.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  504.             <PRIMARY_AXIS2>0.9849456,0.172864,1.674852e-006</PRIMARY_AXIS2>
  505.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  506.             <ORTHOGONAL_AXIS2>-0.172864,0.9849456,3.89662e-006</ORTHOGONAL_AXIS2>
  507.         </JOINT>
  508.         <JOINT id="bip01 spine1" part1="bip01 spine1" part2="bip01 spine" type="skeletal">
  509.             <CONE_TYPE>2</CONE_TYPE>
  510.             <CONE_HALF_ANGLE_X>0.07425106</CONE_HALF_ANGLE_X>
  511.             <CONE_HALF_ANGLE_Y>0.07425106</CONE_HALF_ANGLE_Y>
  512.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  513.             <CONE_DAMPING>1</CONE_DAMPING>
  514.             <TWIST_TYPE>2</TWIST_TYPE>
  515.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  516.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  517.             <TWIST_DAMPING>1</TWIST_DAMPING>
  518.             <POS1>0,0,0</POS1>
  519.             <POS2>0.1209098,9.339882e-005,-3.928964e-009</POS2>
  520.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  521.             <PRIMARY_AXIS2>0.9961944,0.08715644,-2.753279e-007</PRIMARY_AXIS2>
  522.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  523.             <ORTHOGONAL_AXIS2>-0.08715644,0.9961944,1.692349e-008</ORTHOGONAL_AXIS2>
  524.         </JOINT>
  525.         <JOINT id="bip01 spine2" part1="bip01 spine2" part2="bip01 spine1" type="skeletal">
  526.             <CONE_TYPE>2</CONE_TYPE>
  527.             <CONE_HALF_ANGLE_X>0.03305169</CONE_HALF_ANGLE_X>
  528.             <CONE_HALF_ANGLE_Y>0.03305169</CONE_HALF_ANGLE_Y>
  529.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  530.             <CONE_DAMPING>1</CONE_DAMPING>
  531.             <TWIST_TYPE>2</TWIST_TYPE>
  532.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  533.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  534.             <TWIST_DAMPING>1</TWIST_DAMPING>
  535.             <POS1>0,0,0</POS1>
  536.             <POS2>0.1177051,0.0001563409,-5.903085e-009</POS2>
  537.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  538.             <PRIMARY_AXIS2>0.9848073,0.1736481,-5.837328e-007</PRIMARY_AXIS2>
  539.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  540.             <ORTHOGONAL_AXIS2>-0.1736481,0.9848073,6.314362e-008</ORTHOGONAL_AXIS2>
  541.         </JOINT>
  542.     </ASSET>
  543.     <ASSET id="Jugg2" graphic="JuggMaleA.psk" scale="0.0072" mass_scale="1" length_scale="1">
  544.         <GEOMETRY id="bip01 l calf">
  545.             <PRIMITIVE id="bip01 l calf_1" type="sphyl">
  546.                 <RADIUS>0.1597406</RADIUS>
  547.                 <HEIGHT>0.3714629</HEIGHT>
  548.                 <TM>-3.449765e-009,-0.9999169,0.01289183,0,-3.468377e-008,-0.01289182,-0.999917,0,1,-1.772429e-008,-3.084181e-008,0,0.1857315,4.228579e-009,-4.622015e-009,1</TM>
  549.             </PRIMITIVE>
  550.         </GEOMETRY>
  551.         <GEOMETRY id="bip01 l forearm">
  552.             <PRIMITIVE id="bip01 l forearm_1" type="sphyl">
  553.                 <RADIUS>0.1104719</RADIUS>
  554.                 <HEIGHT>0.2361864</HEIGHT>
  555.                 <TM>4.304495e-007,0.06189191,-0.9980827,0,-4.944904e-008,0.9980827,0.06189193,0,0.9999998,1.572837e-008,2.624237e-007,0,0.1180931,6.267457e-010,7.032094e-008,1</TM>
  556.             </PRIMITIVE>
  557.         </GEOMETRY>
  558.         <GEOMETRY id="bip01 l thigh">
  559.             <PRIMITIVE id="bip01 l thigh_1" type="sphyl">
  560.                 <RADIUS>0.1591666</RADIUS>
  561.                 <HEIGHT>0.4258334</HEIGHT>
  562.                 <TM>-7.494585e-008,-0.03470769,0.9993976,0,1.195969e-008,-0.9993976,-0.03470769,0,1,8.13057e-009,7.904129e-008,0,0.2129167,-1.133802e-009,1.395642e-009,1</TM>
  563.             </PRIMITIVE>
  564.         </GEOMETRY>
  565.         <GEOMETRY id="bip01 l upperarm">
  566.             <PRIMITIVE id="bip01 l upperarm_1" type="sphyl">
  567.                 <RADIUS>0.1158535</RADIUS>
  568.                 <HEIGHT>0.3015757</HEIGHT>
  569.                 <TM>-1.218959e-007,0.0626393,-0.9980362,0,-2.012945e-008,0.9980362,0.06263928,0,0.9999999,-4.142774e-009,-2.990637e-007,0,0.1507878,-7.734382e-009,-2.532457e-008,1</TM>
  570.             </PRIMITIVE>
  571.         </GEOMETRY>
  572.         <GEOMETRY id="bip01 neck">
  573.             <PRIMITIVE id="Part0" type="sphere">
  574.                 <RADIUS>0.1053659</RADIUS>
  575.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1404878,-0.05268293,0,1</TM>
  576.             </PRIMITIVE>
  577.         </GEOMETRY>
  578.         <GEOMETRY id="bip01 pelvis">
  579.             <PRIMITIVE id="bip01 pelvis_1" type="sphere">
  580.                 <RADIUS>0.1606159</RADIUS>
  581.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.0101463,0.001366452,3.845215e-007,1</TM>
  582.             </PRIMITIVE>
  583.         </GEOMETRY>
  584.         <GEOMETRY id="bip01 spine">
  585.             <PRIMITIVE id="bip01 spine_1" type="sphyl">
  586.                 <RADIUS>0.04773365</RADIUS>
  587.                 <HEIGHT>0.1088188</HEIGHT>
  588.                 <TM>-0.0007723775,0.9999996,-1.318098e-006,0,2.723033e-008,1.318269e-006,0.9999999,0,0.9999996,0.000772377,-3.519781e-008,0,0.05440936,4.20251e-005,-1.91509e-009,1</TM>
  589.             </PRIMITIVE>
  590.         </GEOMETRY>
  591.         <GEOMETRY id="bip01 spine1">
  592.             <PRIMITIVE id="bip01 spine1_1" type="sphyl">
  593.                 <RADIUS>0.08926446</RADIUS>
  594.                 <HEIGHT>0.1059376</HEIGHT>
  595.                 <TM>-0.00132761,0.9999991,-1.33425e-006,0,4.306785e-008,1.335066e-006,0.9999999,0,0.999999,0.001327614,-5.174966e-008,0,0.05296878,7.03223e-005,-2.741126e-009,1</TM>
  596.             </PRIMITIVE>
  597.         </GEOMETRY>
  598.         <GEOMETRY id="bip01 spine2">
  599.             <PRIMITIVE id="bip01 spine2_1" type="sphyl">
  600.                 <RADIUS>0.2195121</RADIUS>
  601.                 <HEIGHT>0.1756098</HEIGHT>
  602.                 <TM>-0.0001966682,0.9999999,-1.398451e-006,0,-1.527803e-008,1.400387e-006,0.9999999,0,0.9999999,0.0001966682,8.327683e-009,0,0.08969163,0.0351396,7.46903e-010,1</TM>
  603.             </PRIMITIVE>
  604.         </GEOMETRY>
  605.         <MODEL id="bip01 l calf" type="dynamics_and_geometry" geometry="bip01 l calf">
  606.             <DYNAMICS>
  607.                 <MASS>0.1598468</MASS>
  608.                 <DENSITY>1</DENSITY>
  609.                 <MASS_OFFSET>0.1771843,-0.03494837,-0.00124825</MASS_OFFSET>
  610.                 <INERTIA>0.002039409,-1.436323e-011,1.307344e-010,0.005590457,-1.433377e-011,0.00559046</INERTIA>
  611.                 <LIN_DAMP>0</LIN_DAMP>
  612.                 <ANG_DAMP>0</ANG_DAMP>
  613.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  614.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  615.             </DYNAMICS>
  616.         </MODEL>
  617.         <MODEL id="bip01 l clavicle" type="dynamics_only">
  618.             <DYNAMICS>
  619.                 <MASS>0.04608685</MASS>
  620.                 <DENSITY>1</DENSITY>
  621.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  622.                 <INERTIA>0.0003392808,0,0,0.0003392808,0,0.0003392809</INERTIA>
  623.                 <LIN_DAMP>0</LIN_DAMP>
  624.                 <ANG_DAMP>0</ANG_DAMP>
  625.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  626.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  627.             </DYNAMICS>
  628.         </MODEL>
  629.         <MODEL id="bip01 l forearm" type="dynamics_and_geometry" geometry="bip01 l forearm">
  630.             <DYNAMICS>
  631.                 <MASS>0.05016816</MASS>
  632.                 <DENSITY>1</DENSITY>
  633.                 <MASS_OFFSET>0.1180931,6.267457e-010,7.032094e-008</MASS_OFFSET>
  634.                 <INERTIA>0.0003061274,-1.269255e-011,-2.531848e-010,0.0007708152,2.217595e-011,0.0007708152</INERTIA>
  635.                 <LIN_DAMP>0</LIN_DAMP>
  636.                 <ANG_DAMP>0</ANG_DAMP>
  637.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  638.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  639.             </DYNAMICS>
  640.         </MODEL>
  641.         <MODEL id="bip01 l thigh" type="dynamics_and_geometry" geometry="bip01 l thigh">
  642.             <DYNAMICS>
  643.                 <MASS>0.1732217</MASS>
  644.                 <DENSITY>1</DENSITY>
  645.                 <MASS_OFFSET>0.2129167,-1.133802e-009,1.395642e-009</MASS_OFFSET>
  646.                 <INERTIA>0.0021942,-4.760249e-011,-3.536457e-010,0.006998244,1.562695e-012,0.006998244</INERTIA>
  647.                 <LIN_DAMP>0</LIN_DAMP>
  648.                 <ANG_DAMP>0</ANG_DAMP>
  649.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  650.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  651.             </DYNAMICS>
  652.         </MODEL>
  653.         <MODEL id="bip01 l upperarm" type="dynamics_and_geometry" geometry="bip01 l upperarm">
  654.             <DYNAMICS>
  655.                 <MASS>0.06559696</MASS>
  656.                 <DENSITY>1</DENSITY>
  657.                 <MASS_OFFSET>0.1507878,-7.734382e-009,-2.532457e-008</MASS_OFFSET>
  658.                 <INERTIA>0.0004402219,-3.958054e-011,3.230196e-011,0.001361813,-1.615025e-011,0.001361814</INERTIA>
  659.                 <LIN_DAMP>0</LIN_DAMP>
  660.                 <ANG_DAMP>0</ANG_DAMP>
  661.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  662.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  663.             </DYNAMICS>
  664.         </MODEL>
  665.         <MODEL id="bip01 neck" type="dynamics_and_geometry" geometry="bip01 neck">
  666.             <DYNAMICS>
  667.                 <MASS>0.01667935</MASS>
  668.                 <DENSITY>1</DENSITY>
  669.                 <MASS_OFFSET>0.1404878,-0.05268293,0</MASS_OFFSET>
  670.                 <INERTIA>7.406946e-005,0,0,7.406946e-005,0,7.406944e-005</INERTIA>
  671.                 <LIN_DAMP>0</LIN_DAMP>
  672.                 <ANG_DAMP>0</ANG_DAMP>
  673.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  674.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  675.             </DYNAMICS>
  676.         </MODEL>
  677.         <MODEL id="bip01 pelvis" type="dynamics_only" geometry="bip01 pelvis">
  678.             <DYNAMICS>
  679.                 <MASS>0.05908056</MASS>
  680.                 <DENSITY>1</DENSITY>
  681.                 <MASS_OFFSET>0.0101463,0.001366452,3.845215e-007</MASS_OFFSET>
  682.                 <INERTIA>0.0006096507,0,0,0.0006096507,0,0.0006096509</INERTIA>
  683.                 <LIN_DAMP>0</LIN_DAMP>
  684.                 <ANG_DAMP>0</ANG_DAMP>
  685.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  686.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  687.             </DYNAMICS>
  688.         </MODEL>
  689.         <MODEL id="bip01 r calf" type="dynamics_and_geometry" geometry="bip01 l calf">
  690.             <DYNAMICS>
  691.                 <MASS>0.1598472</MASS>
  692.                 <DENSITY>1</DENSITY>
  693.                 <MASS_OFFSET>0.1771843,-0.03494837,0.001248358</MASS_OFFSET>
  694.                 <INERTIA>0.002039419,-3.412371e-011,-5.054194e-010,0.005590479,-8.060168e-012,0.005590479</INERTIA>
  695.                 <LIN_DAMP>0</LIN_DAMP>
  696.                 <ANG_DAMP>0</ANG_DAMP>
  697.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  698.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  699.             </DYNAMICS>
  700.         </MODEL>
  701.         <MODEL id="bip01 r clavicle" type="dynamics_only">
  702.             <DYNAMICS>
  703.                 <MASS>0.04608685</MASS>
  704.                 <DENSITY>1</DENSITY>
  705.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  706.                 <INERTIA>0.0003392808,0,0,0.0003392808,0,0.0003392809</INERTIA>
  707.                 <LIN_DAMP>0</LIN_DAMP>
  708.                 <ANG_DAMP>0</ANG_DAMP>
  709.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  710.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  711.             </DYNAMICS>
  712.         </MODEL>
  713.         <MODEL id="bip01 r forearm" type="dynamics_and_geometry" geometry="bip01 l forearm">
  714.             <DYNAMICS>
  715.                 <MASS>0.05014868</MASS>
  716.                 <DENSITY>1</DENSITY>
  717.                 <MASS_OFFSET>0.1180932,-1.117988e-009,7.005441e-009</MASS_OFFSET>
  718.                 <INERTIA>0.000305909,2.214222e-011,1.706242e-010,0.0007703888,4.032214e-011,0.0007703888</INERTIA>
  719.                 <LIN_DAMP>0</LIN_DAMP>
  720.                 <ANG_DAMP>0</ANG_DAMP>
  721.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  722.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  723.             </DYNAMICS>
  724.         </MODEL>
  725.         <MODEL id="bip01 r thigh" type="dynamics_and_geometry" geometry="bip01 l thigh">
  726.             <DYNAMICS>
  727.                 <MASS>0.1732176</MASS>
  728.                 <DENSITY>1</DENSITY>
  729.                 <MASS_OFFSET>0.2129167,-8.495697e-009,-1.042465e-008</MASS_OFFSET>
  730.                 <INERTIA>0.002194101,-2.993386e-012,3.782672e-010,0.00699801,1.309133e-012,0.006998011</INERTIA>
  731.                 <LIN_DAMP>0</LIN_DAMP>
  732.                 <ANG_DAMP>0</ANG_DAMP>
  733.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  734.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  735.             </DYNAMICS>
  736.         </MODEL>
  737.         <MODEL id="bip01 r upperarm" type="dynamics_and_geometry" geometry="bip01 l upperarm">
  738.             <DYNAMICS>
  739.                 <MASS>0.06559563</MASS>
  740.                 <DENSITY>1</DENSITY>
  741.                 <MASS_OFFSET>0.1507878,-1.220732e-009,-3.5337e-008</MASS_OFFSET>
  742.                 <INERTIA>0.0004402051,-2.325379e-011,-1.074001e-010,0.001361774,9.926202e-011,0.001361774</INERTIA>
  743.                 <LIN_DAMP>0</LIN_DAMP>
  744.                 <ANG_DAMP>0</ANG_DAMP>
  745.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  746.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  747.             </DYNAMICS>
  748.         </MODEL>
  749.         <MODEL id="bip01 spine" type="dynamics_only" geometry="bip01 spine">
  750.             <DYNAMICS>
  751.                 <MASS>0.04608685</MASS>
  752.                 <DENSITY>1</DENSITY>
  753.                 <MASS_OFFSET>0.05440936,4.20251e-005,-1.91509e-009</MASS_OFFSET>
  754.                 <INERTIA>0.000435531,0,0,0.000435531,0,0.000435531</INERTIA>
  755.                 <LIN_DAMP>0</LIN_DAMP>
  756.                 <ANG_DAMP>0</ANG_DAMP>
  757.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  758.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  759.             </DYNAMICS>
  760.         </MODEL>
  761.         <MODEL id="bip01 spine1" type="dynamics_only" geometry="bip01 spine1">
  762.             <DYNAMICS>
  763.                 <MASS>0.04608685</MASS>
  764.                 <DENSITY>1</DENSITY>
  765.                 <MASS_OFFSET>0.05296878,7.03223e-005,-2.741126e-009</MASS_OFFSET>
  766.                 <INERTIA>0.0004449773,0,0,0.0004449773,0,0.0004449773</INERTIA>
  767.                 <LIN_DAMP>0</LIN_DAMP>
  768.                 <ANG_DAMP>0</ANG_DAMP>
  769.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  770.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  771.             </DYNAMICS>
  772.         </MODEL>
  773.         <MODEL id="bip01 spine2" type="dynamics_and_geometry" geometry="bip01 spine2">
  774.             <DYNAMICS>
  775.                 <MASS>0.2422497</MASS>
  776.                 <DENSITY>1</DENSITY>
  777.                 <MASS_OFFSET>0.08969163,1.764808e-005,7.46903e-010</MASS_OFFSET>
  778.                 <INERTIA>0.005836477,-3.035339e-007,-6.211567e-011,0.007379856,1.429636e-011,0.007379856</INERTIA>
  779.                 <LIN_DAMP>0</LIN_DAMP>
  780.                 <ANG_DAMP>0</ANG_DAMP>
  781.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  782.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  783.             </DYNAMICS>
  784.         </MODEL>
  785.         <PART id="bip01 l calf" model="bip01 l calf" parent="bip01 l thigh">
  786.             <TM>0.1949313,-0.9516479,0.2374197,0,-0.01264443,0.2396048,0.9707881,0,-0.9807354,-0.192239,0.03467344,0,0.2051065,0.536098,0.02743645,1</TM>
  787.         </PART>
  788.         <PART id="bip01 l clavicle" model="bip01 l clavicle" parent="bip01 neck">
  789.             <TM>0.9263157,-0.3364688,0.169493,0,0.2589251,0.2417598,-0.9351524,0,0.273673,0.9101323,0.3110662,0,0.07986937,1.463741,0.0380937,1</TM>
  790.         </PART>
  791.         <PART id="bip01 l forearm" model="bip01 l forearm" parent="bip01 l upperarm">
  792.             <TM>0.8125538,-0.5783672,-0.07244106,0,-0.09479416,-0.008494825,-0.9954606,0,0.5751264,0.8157322,-0.06172834,0,0.458563,1.246421,0.1138291,1</TM>
  793.         </PART>
  794.         <PART id="bip01 l thigh" model="bip01 l thigh" parent="bip01 pelvis">
  795.             <TM>0.1936774,-0.9800586,0.04443327,0,0.02544018,0.05029274,0.9984105,0,-0.9807354,-0.1922391,0.03467343,0,0.122632,0.9534411,0.008515161,1</TM>
  796.         </PART>
  797.         <PART id="bip01 l upperarm" model="bip01 l upperarm" parent="bip01 l clavicle">
  798.             <TM>0.8114243,-0.5592371,0.1698364,0,0.1040203,-0.1477652,-0.9835371,0,0.5751263,0.8157324,-0.06172827,0,0.2138644,1.415069,0.06261193,1</TM>
  799.         </PART>
  800.         <PART id="bip01 neck" model="bip01 neck" parent="bip01 spine2">
  801.             <TM>2.570505e-007,0.9415349,-0.3369154,0,1.319028e-006,0.3369154,0.9415349,0,1,-6.86423e-007,-1.155307e-006,0,-1.413297e-007,1.463755,0.03813382,1</TM>
  802.         </PART>
  803.         <PART id="bip01 pelvis" model="bip01 pelvis" parent="bip01">
  804.             <TM>-1.310721e-006,0.9832391,-0.182321,0,-2.847449e-006,0.182321,0.9832391,0,1,1.807902e-006,2.560751e-006,0,7.148352e-009,0.9534411,0.008514966,1</TM>
  805.         </PART>
  806.         <PART id="bip01 r calf" model="bip01 r calf" parent="bip01 r thigh">
  807.             <TM>-0.1949317,-0.9516476,0.2374206,0,0.01264161,0.2396064,0.9707878,0,-0.9807354,0.1922387,-0.03467652,0,-0.205106,0.5361,0.02743575,1</TM>
  808.         </PART>
  809.         <PART id="bip01 r clavicle" model="bip01 r clavicle" parent="bip01 neck">
  810.             <TM>-0.926315,-0.3364712,0.1694923,0,-0.2589243,0.2417569,-0.9351534,0,0.2736762,-0.9101323,-0.3110636,0,-0.0798688,1.463741,0.0380937,1</TM>
  811.         </PART>
  812.         <PART id="bip01 r forearm" model="bip01 r forearm" parent="bip01 r upperarm">
  813.             <TM>-0.8125477,-0.5783753,-0.07244381,0,0.09479771,-0.008494018,-0.9954603,0,0.5751344,-0.8157266,0.06173045,0,-0.4585547,1.246422,0.1138279,1</TM>
  814.         </PART>
  815.         <PART id="bip01 r thigh" model="bip01 r thigh" parent="bip01 pelvis">
  816.             <TM>-0.1936771,-0.9800586,0.04443272,0,-0.02544327,0.05029278,0.9984104,0,-0.9807354,0.1922387,-0.03467645,0,-0.122632,0.9534411,0.008514808,1</TM>
  817.         </PART>
  818.         <PART id="bip01 r upperarm" model="bip01 r upperarm" parent="bip01 r clavicle">
  819.             <TM>-0.8114188,-0.5592448,0.1698374,0,-0.1040185,-0.1477685,-0.9835368,0,0.5751345,-0.8157265,0.0617303,0,-0.2138616,1.415069,0.06261127,1</TM>
  820.         </PART>
  821.         <PART id="bip01 spine" model="bip01 spine" parent="bip01 pelvis">
  822.             <TM>-1.083576e-007,0.9999538,-0.009609634,0,1.318614e-006,0.009609634,0.9999538,0,0.9999999,9.568124e-008,-1.319594e-006,0,1.626919e-008,1.075639,-0.01405703,1</TM>
  823.         </PART>
  824.         <PART id="bip01 spine1" model="bip01 spine1" parent="bip01 spine">
  825.             <TM>-2.683462e-007,0.9969862,0.07757924,0,1.339964e-006,-0.07757924,0.9969862,0,1,3.714908e-007,-1.315107e-006,0,1.052348e-009,1.184453,-0.01501875,1</TM>
  826.         </PART>
  827.         <PART id="bip01 spine2" model="bip01 spine2" parent="bip01 spine1">
  828.             <TM>-6.153166e-007,0.9683682,0.2495256,0,1.429347e-006,-0.2495256,0.9683682,0,0.9999999,9.525116e-007,-1.230596e-006,0,-3.249902e-008,1.290057,-0.006660116,1</TM>
  829.         </PART>
  830.         <NO_COLLISION part1="bip01 l calf" part2="bip01 l thigh"></NO_COLLISION>
  831.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 l upperarm"></NO_COLLISION>
  832.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 neck"></NO_COLLISION>
  833.         <NO_COLLISION part1="bip01 l forearm" part2="bip01 l upperarm"></NO_COLLISION>
  834.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 pelvis"></NO_COLLISION>
  835.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 r thigh"></NO_COLLISION>
  836.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 spine2"></NO_COLLISION>
  837.         <NO_COLLISION part1="bip01 l upperarm" part2="bip01 spine2"></NO_COLLISION>
  838.         <NO_COLLISION part1="bip01 neck" part2="bip01 r clavicle"></NO_COLLISION>
  839.         <NO_COLLISION part1="bip01 neck" part2="bip01 spine2"></NO_COLLISION>
  840.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 r thigh"></NO_COLLISION>
  841.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine"></NO_COLLISION>
  842.         <NO_COLLISION part1="bip01 r calf" part2="bip01 r thigh"></NO_COLLISION>
  843.         <NO_COLLISION part1="bip01 r clavicle" part2="bip01 r upperarm"></NO_COLLISION>
  844.         <NO_COLLISION part1="bip01 r forearm" part2="bip01 r upperarm"></NO_COLLISION>
  845.         <NO_COLLISION part1="bip01 r thigh" part2="bip01 spine2"></NO_COLLISION>
  846.         <NO_COLLISION part1="bip01 r upperarm" part2="bip01 spine2"></NO_COLLISION>
  847.         <NO_COLLISION part1="bip01 spine" part2="bip01 spine1"></NO_COLLISION>
  848.         <NO_COLLISION part1="bip01 spine1" part2="bip01 spine2"></NO_COLLISION>
  849.         <JOINT id="bip01 l calf" part1="bip01 l calf" part2="bip01 l thigh" type="hinge">
  850.             <HIGH_LIMIT>1.51736</HIGH_LIMIT>
  851.             <LOW_LIMIT>-0.1993015</LOW_LIMIT>
  852.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  853.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  854.             <LIMITED>1</LIMITED>
  855.             <MOTORIZED>0</MOTORIZED>
  856.             <DES_VEL>1</DES_VEL>
  857.             <MAX_FORCE>1000</MAX_FORCE>
  858.             <POS1>0,0,0</POS1>
  859.             <POS2>0.4258349,5.284667e-008,4.031283e-008</POS2>
  860.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  861.             <PRIMARY_AXIS2>-4.504642e-008,-9.457065e-008,0.9999999</PRIMARY_AXIS2>
  862.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  863.             <ORTHOGONAL_AXIS2>0.9809737,0.1941405,2.211989e-011</ORTHOGONAL_AXIS2>
  864.         </JOINT>
  865.         <JOINT id="bip01 l clavicle" part1="bip01 l clavicle" part2="bip01 neck" type="hinge">
  866.             <HIGH_LIMIT>0.1199258</HIGH_LIMIT>
  867.             <LOW_LIMIT>-0.1199258</LOW_LIMIT>
  868.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  869.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  870.             <LIMITED>1</LIMITED>
  871.             <MOTORIZED>0</MOTORIZED>
  872.             <DES_VEL>1</DES_VEL>
  873.             <MAX_FORCE>1000</MAX_FORCE>
  874.             <POS1>0,0,0</POS1>
  875.             <POS2>3.180236e-007,-4.239382e-005,0.07986948</POS2>
  876.             <PRIMARY_AXIS1>-8.940697e-008,1,0</PRIMARY_AXIS1>
  877.             <PRIMARY_AXIS2>0.5426925,-0.7990254,0.2589258</PRIMARY_AXIS2>
  878.             <ORTHOGONAL_AXIS1>0,-2.980232e-008,1</ORTHOGONAL_AXIS1>
  879.             <ORTHOGONAL_AXIS2>0.7521182,0.5995175,0.2736717</ORTHOGONAL_AXIS2>
  880.         </JOINT>
  881.         <JOINT id="bip01 l forearm" part1="bip01 l forearm" part2="bip01 l upperarm" type="hinge">
  882.             <HIGH_LIMIT>2.077044</HIGH_LIMIT>
  883.             <LOW_LIMIT>-0.2302899</LOW_LIMIT>
  884.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  885.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  886.             <LIMITED>1</LIMITED>
  887.             <MOTORIZED>0</MOTORIZED>
  888.             <DES_VEL>1</DES_VEL>
  889.             <MAX_FORCE>1000</MAX_FORCE>
  890.             <POS1>0,0,0</POS1>
  891.             <POS2>0.301567,-1.118413e-007,-4.068154e-007</POS2>
  892.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  893.             <PRIMARY_AXIS2>-2.116004e-007,-5.26123e-008,0.9999994</PRIMARY_AXIS2>
  894.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  895.             <ORTHOGONAL_AXIS2>0.9704668,0.2412331,-4.460224e-007</ORTHOGONAL_AXIS2>
  896.         </JOINT>
  897.         <JOINT id="bip01 l thigh" part1="bip01 l thigh" part2="bip01 pelvis" type="skeletal">
  898.             <CONE_TYPE>2</CONE_TYPE>
  899.             <CONE_HALF_ANGLE_X>0.8694222</CONE_HALF_ANGLE_X>
  900.             <CONE_HALF_ANGLE_Y>0.527415</CONE_HALF_ANGLE_Y>
  901.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  902.             <CONE_DAMPING>1</CONE_DAMPING>
  903.             <TWIST_TYPE>2</TWIST_TYPE>
  904.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  905.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  906.             <TWIST_DAMPING>1</TWIST_DAMPING>
  907.             <POS1>0,0,0</POS1>
  908.             <POS2>-2.227495e-007,-1.55425e-007,0.122632</POS2>
  909.             <PRIMARY_AXIS1>0.9254166,-0.3368241,-0.1736482</PRIMARY_AXIS1>
  910.             <PRIMARY_AXIS2>-0.8206815,-0.4585036,0.3409639</PRIMARY_AXIS2>
  911.             <ORTHOGONAL_AXIS1>0.3420202,0.9396926,-2.521493e-010</ORTHOGONAL_AXIS1>
  912.             <ORTHOGONAL_AXIS2>-0.4569382,0.8849184,0.09014944</ORTHOGONAL_AXIS2>
  913.         </JOINT>
  914.         <JOINT id="bip01 l upperarm" part1="bip01 l upperarm" part2="bip01 l clavicle" type="skeletal">
  915.             <CONE_TYPE>2</CONE_TYPE>
  916.             <CONE_HALF_ANGLE_X>0.7254068</CONE_HALF_ANGLE_X>
  917.             <CONE_HALF_ANGLE_Y>0.8778182</CONE_HALF_ANGLE_Y>
  918.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  919.             <CONE_DAMPING>1</CONE_DAMPING>
  920.             <TWIST_TYPE>2</TWIST_TYPE>
  921.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  922.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  923.             <TWIST_DAMPING>1</TWIST_DAMPING>
  924.             <POS1>0,0,0</POS1>
  925.             <POS2>0.1446539,-5.357714e-007,-3.255253e-007</POS2>
  926.             <PRIMARY_AXIS1>0.9063078,0.4226183,0</PRIMARY_AXIS1>
  927.             <PRIMARY_AXIS2>0.8691196,0.3089284,-0.3862559</PRIMARY_AXIS2>
  928.             <ORTHOGONAL_AXIS1>-0.4226183,0.9063078,0</ORTHOGONAL_AXIS1>
  929.             <ORTHOGONAL_AXIS2>-0.4280383,0.8610848,-0.2744372</ORTHOGONAL_AXIS2>
  930.         </JOINT>
  931.         <JOINT id="bip01 neck" part1="bip01 neck" part2="bip01 spine2" type="skeletal">
  932.             <CONE_TYPE>2</CONE_TYPE>
  933.             <CONE_HALF_ANGLE_X>0.2860274</CONE_HALF_ANGLE_X>
  934.             <CONE_HALF_ANGLE_Y>0.2860274</CONE_HALF_ANGLE_Y>
  935.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  936.             <CONE_DAMPING>1</CONE_DAMPING>
  937.             <TWIST_TYPE>2</TWIST_TYPE>
  938.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  939.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  940.             <TWIST_DAMPING>1</TWIST_DAMPING>
  941.             <POS1>0,0,0</POS1>
  942.             <POS2>0.1793809,3.487285e-005,1.495693e-009</POS2>
  943.             <PRIMARY_AXIS1>1,6.273139e-008,-1.490116e-007</PRIMARY_AXIS1>
  944.             <PRIMARY_AXIS2>0.8276832,-0.561195,1.419468e-006</PRIMARY_AXIS2>
  945.             <ORTHOGONAL_AXIS1>-1.490116e-007,1,6.273137e-008</ORTHOGONAL_AXIS1>
  946.             <ORTHOGONAL_AXIS2>0.5611949,0.8276832,5.440257e-007</ORTHOGONAL_AXIS2>
  947.         </JOINT>
  948.         <JOINT id="bip01 r calf" part1="bip01 r calf" part2="bip01 r thigh" type="hinge">
  949.             <HIGH_LIMIT>1.51736</HIGH_LIMIT>
  950.             <LOW_LIMIT>-0.1993015</LOW_LIMIT>
  951.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  952.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  953.             <LIMITED>1</LIMITED>
  954.             <MOTORIZED>0</MOTORIZED>
  955.             <DES_VEL>1</DES_VEL>
  956.             <MAX_FORCE>1000</MAX_FORCE>
  957.             <POS1>0,0,0</POS1>
  958.             <POS2>0.4258327,3.619103e-008,1.593811e-009</POS2>
  959.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  960.             <PRIMARY_AXIS2>3.377436e-008,-1.838614e-007,1</PRIMARY_AXIS2>
  961.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  962.             <ORTHOGONAL_AXIS2>0.9809734,0.194142,-3.513084e-008</ORTHOGONAL_AXIS2>
  963.         </JOINT>
  964.         <JOINT id="bip01 r clavicle" part1="bip01 r clavicle" part2="bip01 neck" type="hinge">
  965.             <HIGH_LIMIT>0.1199258</HIGH_LIMIT>
  966.             <LOW_LIMIT>-0.1199258</LOW_LIMIT>
  967.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  968.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  969.             <LIMITED>1</LIMITED>
  970.             <MOTORIZED>0</MOTORIZED>
  971.             <DES_VEL>1</DES_VEL>
  972.             <MAX_FORCE>1000</MAX_FORCE>
  973.             <POS1>0,0,0</POS1>
  974.             <POS2>2.769629e-007,-4.260452e-005,-0.07986863</POS2>
  975.             <PRIMARY_AXIS1>-8.940697e-008,1,0</PRIMARY_AXIS1>
  976.             <PRIMARY_AXIS2>0.5426899,-0.7990279,-0.258923</PRIMARY_AXIS2>
  977.             <ORTHOGONAL_AXIS1>0,-2.980232e-008,1</ORTHOGONAL_AXIS1>
  978.             <ORTHOGONAL_AXIS2>-0.7521189,-0.5995142,0.2736769</ORTHOGONAL_AXIS2>
  979.         </JOINT>
  980.         <JOINT id="bip01 r forearm" part1="bip01 r forearm" part2="bip01 r upperarm" type="hinge">
  981.             <HIGH_LIMIT>2.077044</HIGH_LIMIT>
  982.             <LOW_LIMIT>-0.2302899</LOW_LIMIT>
  983.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  984.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  985.             <LIMITED>1</LIMITED>
  986.             <MOTORIZED>0</MOTORIZED>
  987.             <DES_VEL>1</DES_VEL>
  988.             <MAX_FORCE>1000</MAX_FORCE>
  989.             <POS1>0,0,0</POS1>
  990.             <POS2>0.301562,-1.319481e-007,3.997921e-007</POS2>
  991.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  992.             <PRIMARY_AXIS2>5.37028e-007,-1.707616e-007,0.9999992</PRIMARY_AXIS2>
  993.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  994.             <ORTHOGONAL_AXIS2>0.9704652,0.2412366,2.301784e-007</ORTHOGONAL_AXIS2>
  995.         </JOINT>
  996.         <JOINT id="bip01 r thigh" part1="bip01 r thigh" part2="bip01 pelvis" type="skeletal">
  997.             <CONE_TYPE>2</CONE_TYPE>
  998.             <CONE_HALF_ANGLE_X>0.8694222</CONE_HALF_ANGLE_X>
  999.             <CONE_HALF_ANGLE_Y>0.527415</CONE_HALF_ANGLE_Y>
  1000.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1001.             <CONE_DAMPING>1</CONE_DAMPING>
  1002.             <TWIST_TYPE>2</TWIST_TYPE>
  1003.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1004.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1005.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1006.             <POS1>0,0,0</POS1>
  1007.             <POS2>1.630772e-007,1.958965e-007,-0.122632</POS2>
  1008.             <PRIMARY_AXIS1>0.9254166,-0.3368241,0.1736482</PRIMARY_AXIS1>
  1009.             <PRIMARY_AXIS2>-0.8206805,-0.4585027,-0.3409674</PRIMARY_AXIS2>
  1010.             <ORTHOGONAL_AXIS1>0.3420202,0.9396927,2.40085e-009</ORTHOGONAL_AXIS1>
  1011.             <ORTHOGONAL_AXIS2>-0.4569379,0.8849187,-0.09014841</ORTHOGONAL_AXIS2>
  1012.         </JOINT>
  1013.         <JOINT id="bip01 r upperarm" part1="bip01 r upperarm" part2="bip01 r clavicle" type="skeletal">
  1014.             <CONE_TYPE>2</CONE_TYPE>
  1015.             <CONE_HALF_ANGLE_X>0.7254068</CONE_HALF_ANGLE_X>
  1016.             <CONE_HALF_ANGLE_Y>0.8778182</CONE_HALF_ANGLE_Y>
  1017.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1018.             <CONE_DAMPING>1</CONE_DAMPING>
  1019.             <TWIST_TYPE>2</TWIST_TYPE>
  1020.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1021.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1022.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1023.             <POS1>0,0,0</POS1>
  1024.             <POS2>0.1446517,-4.238419e-007,5.986341e-007</POS2>
  1025.             <PRIMARY_AXIS1>0.9063078,0.4226183,0</PRIMARY_AXIS1>
  1026.             <PRIMARY_AXIS2>0.8691178,0.3089252,0.3862614</PRIMARY_AXIS2>
  1027.             <ORTHOGONAL_AXIS1>-0.4226183,0.9063078,0</ORTHOGONAL_AXIS1>
  1028.             <ORTHOGONAL_AXIS2>-0.428037,0.8610857,0.274435</ORTHOGONAL_AXIS2>
  1029.         </JOINT>
  1030.         <JOINT id="bip01 spine" part1="bip01 spine" part2="bip01 pelvis" type="hinge">
  1031.             <HIGH_LIMIT>0.1791504</HIGH_LIMIT>
  1032.             <LOW_LIMIT>-1.071147</LOW_LIMIT>
  1033.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1034.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1035.             <LIMITED>1</LIMITED>
  1036.             <MOTORIZED>0</MOTORIZED>
  1037.             <DES_VEL>1</DES_VEL>
  1038.             <MAX_FORCE>1000</MAX_FORCE>
  1039.             <POS1>0,0,0</POS1>
  1040.             <POS2>0.1242651,8.558499e-005,1.722414e-007</POS2>
  1041.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  1042.             <PRIMARY_AXIS2>-9.554466e-007,-4.244895e-006,0.9999999</PRIMARY_AXIS2>
  1043.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  1044.             <ORTHOGONAL_AXIS2>0.9849456,0.172864,1.615248e-006</ORTHOGONAL_AXIS2>
  1045.         </JOINT>
  1046.         <JOINT id="bip01 spine1" part1="bip01 spine1" part2="bip01 spine" type="hinge">
  1047.             <HIGH_LIMIT>0.20905</HIGH_LIMIT>
  1048.             <LOW_LIMIT>-0.1994931</LOW_LIMIT>
  1049.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1050.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1051.             <LIMITED>1</LIMITED>
  1052.             <MOTORIZED>0</MOTORIZED>
  1053.             <DES_VEL>1</DES_VEL>
  1054.             <MAX_FORCE>1000</MAX_FORCE>
  1055.             <POS1>0,0,0</POS1>
  1056.             <POS2>0.1088182,8.398242e-005,-3.536291e-009</POS2>
  1057.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  1058.             <PRIMARY_AXIS2>2.861435e-007,-1.116183e-007,0.9999998</PRIMARY_AXIS2>
  1059.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  1060.             <ORTHOGONAL_AXIS2>0.9961945,0.08715639,-3.349309e-007</ORTHOGONAL_AXIS2>
  1061.         </JOINT>
  1062.         <JOINT id="bip01 spine2" part1="bip01 spine2" part2="bip01 spine1" type="skeletal">
  1063.             <CONE_TYPE>2</CONE_TYPE>
  1064.             <CONE_HALF_ANGLE_X>0.1467119</CONE_HALF_ANGLE_X>
  1065.             <CONE_HALF_ANGLE_Y>0.1467119</CONE_HALF_ANGLE_Y>
  1066.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1067.             <CONE_DAMPING>1</CONE_DAMPING>
  1068.             <TWIST_TYPE>2</TWIST_TYPE>
  1069.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1070.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1071.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1072.             <POS1>0,0,0</POS1>
  1073.             <POS2>0.1059342,0.0001407615,-5.312938e-009</POS2>
  1074.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1075.             <PRIMARY_AXIS2>0.9848074,0.1736483,-5.837294e-007</PRIMARY_AXIS2>
  1076.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1077.             <ORTHOGONAL_AXIS2>-0.1736483,0.9848074,6.314208e-008</ORTHOGONAL_AXIS2>
  1078.         </JOINT>
  1079.     </ASSET>
  1080. </KARMA>