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Extensible Markup Language  |  2003-05-23  |  57KB  |  1,182 lines
  1. <?xml version="1.0"?>
  2.  
  3. <KARMA ka_file_version="1.0">
  4.     <ASSET id="Alien" graphic="AlienMaleA.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">
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  10.             </PRIMITIVE>
  11.         </GEOMETRY>
  12.         <GEOMETRY id="bip01 l clavicle">
  13.             <PRIMITIVE id="bip01 l clavicle_1" type="sphyl">
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  19.         <GEOMETRY id="bip01 l forearm">
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  86.         <GEOMETRY id="bip01 r upperarm">
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  93.         <GEOMETRY id="bip01 spine">
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  111.             </PRIMITIVE>
  112.         </GEOMETRY>
  113.         <MODEL id="bip01 l calf" type="dynamics_and_geometry" geometry="bip01 r calf">
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  124.         </MODEL>
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  149.         <MODEL id="bip01 l thigh" type="dynamics_and_geometry" geometry="bip01 r thigh">
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  262.                 <INERTIA>7e-005,0,0,7e-005,0,6e-005</INERTIA>
  263.                 <LIN_DAMP>0</LIN_DAMP>
  264.                 <ANG_DAMP>0</ANG_DAMP>
  265.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  266.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  267.             </DYNAMICS>
  268.         </MODEL>
  269.         <MODEL id="bip01 spine1" type="dynamics_only" geometry="bip01 spine1">
  270.             <DYNAMICS>
  271.                 <MASS>0.02</MASS>
  272.                 <DENSITY>1</DENSITY>
  273.                 <MASS_OFFSET>0.06401607,5.031029e-005,-8.634568e-010</MASS_OFFSET>
  274.                 <INERTIA>0.000174278,0,0,0.000174278,0,0.000174278</INERTIA>
  275.                 <LIN_DAMP>0</LIN_DAMP>
  276.                 <ANG_DAMP>0</ANG_DAMP>
  277.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  278.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  279.             </DYNAMICS>
  280.         </MODEL>
  281.         <MODEL id="bip01 spine2" type="dynamics_and_geometry" geometry="bip01 spine2">
  282.             <DYNAMICS>
  283.                 <MASS>0.04564525</MASS>
  284.                 <DENSITY>1</DENSITY>
  285.                 <MASS_OFFSET>0.06403842,3.196295e-005,-1.187924e-010</MASS_OFFSET>
  286.                 <INERTIA>0.0008551289,-7.20932e-008,2.418068e-011,0.0009995357,-1.923049e-011,0.0009995353</INERTIA>
  287.                 <LIN_DAMP>0</LIN_DAMP>
  288.                 <ANG_DAMP>0</ANG_DAMP>
  289.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  290.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  291.             </DYNAMICS>
  292.         </MODEL>
  293.         <PART id="bip01 l calf" model="bip01 l calf" parent="bip01 l thigh">
  294.             <TM>0.0232296,-0.02715311,0.9993613,0,-0.2490111,0.9679689,0.03208829,0,-0.968222,-0.2495974,0.01572411,0,0.2391357,0.4943622,-0.2093776,1</TM>
  295.         </PART>
  296.         <PART id="bip01 l clavicle" model="bip01 l clavicle" parent="bip01 neck">
  297.             <TM>0.9609115,-0.1979586,0.1935499,0,0.2658193,0.4642627,-0.8448671,0,0.07739075,0.8632917,0.4987365,0,0.07300472,1.544667,0.08777275,1</TM>
  298.         </PART>
  299.         <PART id="bip01 l forearm" model="bip01 l forearm" parent="bip01 l upperarm">
  300.             <TM>0.6381428,-0.3408041,-0.6903813,0,-0.6377339,0.2684087,-0.721978,0,0.4313574,0.9010046,-0.04605921,0,0.5235814,1.366786,0.09089086,1</TM>
  301.         </PART>
  302.         <PART id="bip01 l thigh" model="bip01 l thigh" parent="bip01 spine">
  303.             <TM>0.2290876,-0.9103698,-0.3445949,0,0.1003249,-0.3300422,0.9386198,0,-0.968222,-0.2495975,0.01572417,0,0.09445031,1.069327,0.008259651,1</TM>
  304.         </PART>
  305.         <PART id="bip01 l upperarm" model="bip01 l upperarm" parent="bip01 l clavicle">
  306.             <TM>0.8978843,-0.4337195,-0.07544004,0,-0.08794867,-0.008814371,-0.996086,0,0.431357,0.9010049,-0.04605934,0,0.2165554,1.515093,0.1166871,1</TM>
  307.         </PART>
  308.         <PART id="bip01 neck" model="bip01 neck" parent="bip01 spine2">
  309.             <TM>1.534322e-007,0.9971599,0.0753135,0,1.306693e-006,-0.0753135,0.9971599,0,1,-5.458483e-008,-1.314538e-006,0,0.001022754,1.544662,0.08784263,1</TM>
  310.         </PART>
  311.         <PART id="bip01 pelvis" model="bip01 pelvis" parent="bip01">
  312.             <TM>-1.086894e-006,0.9825781,-0.1858503,0,-2.764406e-006,0.1858503,0.9825781,0,1,1.581724e-006,2.514245e-006,0,0.00102281,1.069327,0.008259879,1</TM>
  313.         </PART>
  314.         <PART id="bip01 r calf" model="bip01 r calf" parent="bip01 r thigh">
  315.             <TM>-0.02323255,-0.02715514,0.9993612,0,0.2490113,0.9679688,0.032091,0,-0.9682219,0.2495978,-0.01572644,0,-0.2370894,0.494364,-0.2093775,1</TM>
  316.         </PART>
  317.         <PART id="bip01 r clavicle" model="bip01 r clavicle" parent="bip01 neck">
  318.             <TM>-0.960912,-0.1979587,0.1935469,0,-0.2658166,0.4642627,-0.8448678,0,0.07739232,-0.8632917,-0.4987363,0,-0.0709592,1.544667,0.08777288,1</TM>
  319.         </PART>
  320.         <PART id="bip01 r forearm" model="bip01 r forearm" parent="bip01 r upperarm">
  321.             <TM>-0.6381426,-0.340805,-0.690381,0,0.6377349,0.268406,-0.7219781,0,0.4313562,-0.901005,0.04606191,0,-0.5215342,1.366788,0.09088977,1</TM>
  322.         </PART>
  323.         <PART id="bip01 r thigh" model="bip01 r thigh" parent="bip01 spine">
  324.             <TM>-0.2290869,-0.9103696,-0.3445958,0,-0.1003273,-0.3300425,0.9386194,0,-0.9682219,0.2495978,-0.01572649,0,-0.09240469,1.069327,0.008259388,1</TM>
  325.         </PART>
  326.         <PART id="bip01 r upperarm" model="bip01 r upperarm" parent="bip01 r clavicle">
  327.             <TM>-0.8978844,-0.433719,-0.07544194,0,0.08795151,-0.008815943,-0.9960858,0,0.4313562,-0.9010051,0.04606194,0,-0.2145096,1.515094,0.1166866,1</TM>
  328.         </PART>
  329.         <PART id="bip01 spine" model="bip01 spine" parent="bip01 pelvis">
  330.             <TM>1.175316e-007,0.9995302,-0.03064918,0,1.361344e-006,0.03064918,0.9995302,0,1,-1.592005e-007,-1.357102e-006,0,0.001022846,1.183972,-0.01332259,1</TM>
  331.         </PART>
  332.         <PART id="bip01 spine1" model="bip01 spine1" parent="bip01 spine">
  333.             <TM>-3.644047e-007,0.9412133,0.3378128,0,1.397237e-006,-0.3378128,0.9412133,0,1,8.149872e-007,-1.191998e-006,0,0.001022863,1.311925,-0.01715082,1</TM>
  334.         </PART>
  335.         <PART id="bip01 spine2" model="bip01 spine2" parent="bip01 spine1">
  336.             <TM>-4.620183e-007,0.8767797,0.4808923,0,1.401357e-006,-0.4808923,0.8767797,0,1,1.07899e-006,-1.0065e-006,0,0.001022813,1.432396,0.02619536,1</TM>
  337.         </PART>
  338.         <NO_COLLISION part1="bip01 l calf" part2="bip01 l thigh"></NO_COLLISION>
  339.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 l upperarm"></NO_COLLISION>
  340.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 neck"></NO_COLLISION>
  341.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 r clavicle"></NO_COLLISION>
  342.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 spine2"></NO_COLLISION>
  343.         <NO_COLLISION part1="bip01 l forearm" part2="bip01 l upperarm"></NO_COLLISION>
  344.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 pelvis"></NO_COLLISION>
  345.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 r thigh"></NO_COLLISION>
  346.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 spine"></NO_COLLISION>
  347.         <NO_COLLISION part1="bip01 l upperarm" part2="bip01 spine2"></NO_COLLISION>
  348.         <NO_COLLISION part1="bip01 neck" part2="bip01 r clavicle"></NO_COLLISION>
  349.         <NO_COLLISION part1="bip01 neck" part2="bip01 spine2"></NO_COLLISION>
  350.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 r thigh"></NO_COLLISION>
  351.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine"></NO_COLLISION>
  352.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine2"></NO_COLLISION>
  353.         <NO_COLLISION part1="bip01 r calf" part2="bip01 r thigh"></NO_COLLISION>
  354.         <NO_COLLISION part1="bip01 r clavicle" part2="bip01 r upperarm"></NO_COLLISION>
  355.         <NO_COLLISION part1="bip01 r clavicle" part2="bip01 spine2"></NO_COLLISION>
  356.         <NO_COLLISION part1="bip01 r forearm" part2="bip01 r upperarm"></NO_COLLISION>
  357.         <NO_COLLISION part1="bip01 r thigh" part2="bip01 spine"></NO_COLLISION>
  358.         <NO_COLLISION part1="bip01 r upperarm" part2="bip01 spine2"></NO_COLLISION>
  359.         <NO_COLLISION part1="bip01 spine" part2="bip01 spine1"></NO_COLLISION>
  360.         <NO_COLLISION part1="bip01 spine1" part2="bip01 spine2"></NO_COLLISION>
  361.         <JOINT id="bip01 l calf" part1="bip01 l calf" part2="bip01 l thigh" type="hinge">
  362.             <HIGH_LIMIT>0.3032148</HIGH_LIMIT>
  363.             <LOW_LIMIT>-1.074806</LOW_LIMIT>
  364.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  365.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  366.             <LIMITED>1</LIMITED>
  367.             <MOTORIZED>0</MOTORIZED>
  368.             <DES_VEL>1</DES_VEL>
  369.             <MAX_FORCE>1000</MAX_FORCE>
  370.             <POS1>0,0,0</POS1>
  371.             <POS2>0.631573,-5.047297e-007,5.986407e-008</POS2>
  372.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  373.             <PRIMARY_AXIS2>2.086481e-008,-6.148051e-008,1</PRIMARY_AXIS2>
  374.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  375.             <ORTHOGONAL_AXIS2>-0.3143339,0.9493126,-1.73719e-009</ORTHOGONAL_AXIS2>
  376.         </JOINT>
  377.         <JOINT id="bip01 l clavicle" part1="bip01 l clavicle" part2="bip01 neck" type="hinge">
  378.             <HIGH_LIMIT>0.3084981</HIGH_LIMIT>
  379.             <LOW_LIMIT>-0.3084981</LOW_LIMIT>
  380.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  381.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  382.             <LIMITED>1</LIMITED>
  383.             <MOTORIZED>0</MOTORIZED>
  384.             <DES_VEL>1</DES_VEL>
  385.             <MAX_FORCE>1000</MAX_FORCE>
  386.             <POS1>0,0,0</POS1>
  387.             <POS2>-3.09523e-007,-6.996324e-005,0.07198197</POS2>
  388.             <PRIMARY_AXIS1>-2.384186e-007,1,6.27314e-008</PRIMARY_AXIS1>
  389.             <PRIMARY_AXIS2>0.3993145,-0.8774327,0.26582</PRIMARY_AXIS2>
  390.             <ORTHOGONAL_AXIS1>6.273139e-008,-1.788139e-007,1</ORTHOGONAL_AXIS1>
  391.             <ORTHOGONAL_AXIS2>0.8984016,0.4323029,0.07739004</ORTHOGONAL_AXIS2>
  392.         </JOINT>
  393.         <JOINT id="bip01 l forearm" part1="bip01 l forearm" part2="bip01 l upperarm" type="hinge">
  394.             <HIGH_LIMIT>0.8892471</HIGH_LIMIT>
  395.             <LOW_LIMIT>-0.3849595</LOW_LIMIT>
  396.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  397.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  398.             <LIMITED>1</LIMITED>
  399.             <MOTORIZED>0</MOTORIZED>
  400.             <DES_VEL>1</DES_VEL>
  401.             <MAX_FORCE>1000</MAX_FORCE>
  402.             <POS1>0,0,0</POS1>
  403.             <POS2>0.3419437,-6.9906e-008,2.277677e-007</POS2>
  404.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  405.             <PRIMARY_AXIS2>5.076893e-007,-1.441549e-007,1</PRIMARY_AXIS2>
  406.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  407.             <ORTHOGONAL_AXIS2>0.7728742,0.6345595,-3.044751e-007</ORTHOGONAL_AXIS2>
  408.         </JOINT>
  409.         <JOINT id="bip01 l thigh" part1="bip01 l thigh" part2="bip01 pelvis" type="skeletal">
  410.             <CONE_TYPE>2</CONE_TYPE>
  411.             <CONE_HALF_ANGLE_X>0.7853982</CONE_HALF_ANGLE_X>
  412.             <CONE_HALF_ANGLE_Y>0.3661611</CONE_HALF_ANGLE_Y>
  413.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  414.             <CONE_DAMPING>1</CONE_DAMPING>
  415.             <TWIST_TYPE>2</TWIST_TYPE>
  416.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  417.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  418.             <TWIST_DAMPING>1</TWIST_DAMPING>
  419.             <POS1>0,0,0</POS1>
  420.             <POS2>-2.332375e-008,-4.800996e-007,0.0934275</POS2>
  421.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  422.             <PRIMARY_AXIS2>-0.8304667,-0.5077846,0.2290853</PRIMARY_AXIS2>
  423.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  424.             <ORTHOGONAL_AXIS2>-0.4987351,0.8609286,0.1003267</ORTHOGONAL_AXIS2>
  425.         </JOINT>
  426.         <JOINT id="bip01 l upperarm" part1="bip01 l upperarm" part2="bip01 l clavicle" type="skeletal">
  427.             <CONE_TYPE>2</CONE_TYPE>
  428.             <CONE_HALF_ANGLE_X>0.3667138</CONE_HALF_ANGLE_X>
  429.             <CONE_HALF_ANGLE_Y>0.818278</CONE_HALF_ANGLE_Y>
  430.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  431.             <CONE_DAMPING>1</CONE_DAMPING>
  432.             <TWIST_TYPE>2</TWIST_TYPE>
  433.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  434.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  435.             <TWIST_DAMPING>1</TWIST_DAMPING>
  436.             <POS1>0,0,0</POS1>
  437.             <POS2>0.1493901,4.995596e-008,-2.015104e-007</POS2>
  438.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  439.             <PRIMARY_AXIS2>0.9340444,0.1010519,-0.3425633</PRIMARY_AXIS2>
  440.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  441.             <ORTHOGONAL_AXIS2>-0.2755584,0.8140899,-0.5112004</ORTHOGONAL_AXIS2>
  442.         </JOINT>
  443.         <JOINT id="bip01 neck" part1="bip01 neck" part2="bip01 spine2" type="hinge">
  444.             <HIGH_LIMIT>0.2555873</HIGH_LIMIT>
  445.             <LOW_LIMIT>-0.2555873</LOW_LIMIT>
  446.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  447.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  448.             <LIMITED>1</LIMITED>
  449.             <MOTORIZED>0</MOTORIZED>
  450.             <DES_VEL>1</DES_VEL>
  451.             <MAX_FORCE>1000</MAX_FORCE>
  452.             <POS1>0,0,0</POS1>
  453.             <POS2>0.1280778,6.347665e-005,1.841765e-011</POS2>
  454.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  455.             <PRIMARY_AXIS2>-1.191321e-006,1.665046e-007,1</PRIMARY_AXIS2>
  456.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  457.             <ORTHOGONAL_AXIS2>0.9105074,-0.4134932,1.09395e-006</ORTHOGONAL_AXIS2>
  458.         </JOINT>
  459.         <JOINT id="bip01 r calf" part1="bip01 r calf" part2="bip01 r thigh" type="hinge">
  460.             <HIGH_LIMIT>0.3032148</HIGH_LIMIT>
  461.             <LOW_LIMIT>-1.074806</LOW_LIMIT>
  462.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  463.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  464.             <LIMITED>1</LIMITED>
  465.             <MOTORIZED>0</MOTORIZED>
  466.             <DES_VEL>1</DES_VEL>
  467.             <MAX_FORCE>1000</MAX_FORCE>
  468.             <POS1>0,0,0</POS1>
  469.             <POS2>0.6315711,-1.755131e-007,2.313166e-008</POS2>
  470.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  471.             <PRIMARY_AXIS2>7.767118e-008,6.442867e-008,1</PRIMARY_AXIS2>
  472.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  473.             <ORTHOGONAL_AXIS2>-0.3143323,0.9493132,-1.099024e-007</ORTHOGONAL_AXIS2>
  474.         </JOINT>
  475.         <JOINT id="bip01 r clavicle" part1="bip01 r clavicle" part2="bip01 neck" type="hinge">
  476.             <HIGH_LIMIT>0.3084981</HIGH_LIMIT>
  477.             <LOW_LIMIT>-0.3084981</LOW_LIMIT>
  478.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  479.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  480.             <LIMITED>1</LIMITED>
  481.             <MOTORIZED>0</MOTORIZED>
  482.             <DES_VEL>1</DES_VEL>
  483.             <MAX_FORCE>1000</MAX_FORCE>
  484.             <POS1>0,0,0</POS1>
  485.             <POS2>1.539715e-007,-7.005355e-005,-0.07198196</POS2>
  486.             <PRIMARY_AXIS1>-8.940697e-008,1,0</PRIMARY_AXIS1>
  487.             <PRIMARY_AXIS2>0.3993142,-0.877434,-0.2658155</PRIMARY_AXIS2>
  488.             <ORTHOGONAL_AXIS1>0,-2.980232e-008,1</ORTHOGONAL_AXIS1>
  489.             <ORTHOGONAL_AXIS2>-0.8984016,-0.4323023,0.07739303</ORTHOGONAL_AXIS2>
  490.         </JOINT>
  491.         <JOINT id="bip01 r forearm" part1="bip01 r forearm" part2="bip01 r upperarm" type="hinge">
  492.             <HIGH_LIMIT>0.8892471</HIGH_LIMIT>
  493.             <LOW_LIMIT>-0.3849595</LOW_LIMIT>
  494.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  495.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  496.             <LIMITED>1</LIMITED>
  497.             <MOTORIZED>0</MOTORIZED>
  498.             <DES_VEL>1</DES_VEL>
  499.             <MAX_FORCE>1000</MAX_FORCE>
  500.             <POS1>0,0,0</POS1>
  501.             <POS2>0.3419421,6.546476e-009,-4.677009e-007</POS2>
  502.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  503.             <PRIMARY_AXIS2>5.310472e-008,4.313287e-008,1</PRIMARY_AXIS2>
  504.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  505.             <ORTHOGONAL_AXIS2>0.7728755,0.6345575,-6.543748e-008</ORTHOGONAL_AXIS2>
  506.         </JOINT>
  507.         <JOINT id="bip01 r thigh" part1="bip01 r thigh" part2="bip01 pelvis" type="skeletal">
  508.             <CONE_TYPE>2</CONE_TYPE>
  509.             <CONE_HALF_ANGLE_X>0.7853982</CONE_HALF_ANGLE_X>
  510.             <CONE_HALF_ANGLE_Y>0.3661611</CONE_HALF_ANGLE_Y>
  511.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  512.             <CONE_DAMPING>1</CONE_DAMPING>
  513.             <TWIST_TYPE>2</TWIST_TYPE>
  514.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  515.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  516.             <TWIST_DAMPING>1</TWIST_DAMPING>
  517.             <POS1>0,0,0</POS1>
  518.             <POS2>2.287513e-007,-2.225291e-007,-0.0934275</POS2>
  519.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  520.             <PRIMARY_AXIS2>-0.8304659,-0.5077842,-0.2290892</PRIMARY_AXIS2>
  521.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  522.             <ORTHOGONAL_AXIS2>-0.4987352,0.8609287,-0.1003254</ORTHOGONAL_AXIS2>
  523.         </JOINT>
  524.         <JOINT id="bip01 r upperarm" part1="bip01 r upperarm" part2="bip01 r clavicle" type="skeletal">
  525.             <CONE_TYPE>2</CONE_TYPE>
  526.             <CONE_HALF_ANGLE_X>0.3667138</CONE_HALF_ANGLE_X>
  527.             <CONE_HALF_ANGLE_Y>0.818278</CONE_HALF_ANGLE_Y>
  528.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  529.             <CONE_DAMPING>1</CONE_DAMPING>
  530.             <TWIST_TYPE>2</TWIST_TYPE>
  531.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  532.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  533.             <TWIST_DAMPING>1</TWIST_DAMPING>
  534.             <POS1>0,0,0</POS1>
  535.             <POS2>0.1493897,1.581729e-007,2.356741e-007</POS2>
  536.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  537.             <PRIMARY_AXIS2>0.9340448,0.1010515,0.3425623</PRIMARY_AXIS2>
  538.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  539.             <ORTHOGONAL_AXIS2>-0.2755578,0.8140888,0.5112016</ORTHOGONAL_AXIS2>
  540.         </JOINT>
  541.         <JOINT id="bip01 spine" part1="bip01 spine" part2="bip01 pelvis" type="skeletal">
  542.             <CONE_TYPE>2</CONE_TYPE>
  543.             <CONE_HALF_ANGLE_X>0.3271983</CONE_HALF_ANGLE_X>
  544.             <CONE_HALF_ANGLE_Y>0.3271983</CONE_HALF_ANGLE_Y>
  545.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  546.             <CONE_DAMPING>1</CONE_DAMPING>
  547.             <TWIST_TYPE>2</TWIST_TYPE>
  548.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  549.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  550.             <TWIST_DAMPING>1</TWIST_DAMPING>
  551.             <POS1>0,0,0</POS1>
  552.             <POS2>0.1166588,0.0001003527,1.630728e-007</POS2>
  553.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  554.             <PRIMARY_AXIS2>0.9878127,0.1556478,1.621453e-006</PRIMARY_AXIS2>
  555.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  556.             <ORTHOGONAL_AXIS2>-0.1556478,0.9878127,3.922886e-006</ORTHOGONAL_AXIS2>
  557.         </JOINT>
  558.         <JOINT id="bip01 spine1" part1="bip01 spine1" part2="bip01 spine" type="skeletal">
  559.             <CONE_TYPE>2</CONE_TYPE>
  560.             <CONE_HALF_ANGLE_X>0.1950368</CONE_HALF_ANGLE_X>
  561.             <CONE_HALF_ANGLE_Y>0.1950368</CONE_HALF_ANGLE_Y>
  562.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  563.             <CONE_DAMPING>1</CONE_DAMPING>
  564.             <TWIST_TYPE>2</TWIST_TYPE>
  565.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  566.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  567.             <TWIST_DAMPING>1</TWIST_DAMPING>
  568.             <POS1>0,0,0</POS1>
  569.             <POS2>0.1280103,9.522076e-005,1.845001e-009</POS2>
  570.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  571.             <PRIMARY_AXIS2>0.9304175,0.3665016,-9.726929e-007</PRIMARY_AXIS2>
  572.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  573.             <ORTHOGONAL_AXIS2>-0.3665016,0.9304175,1.736946e-007</ORTHOGONAL_AXIS2>
  574.         </JOINT>
  575.         <JOINT id="bip01 spine2" part1="bip01 spine2" part2="bip01 spine1" type="skeletal">
  576.             <CONE_TYPE>2</CONE_TYPE>
  577.             <CONE_HALF_ANGLE_X>0.1589337</CONE_HALF_ANGLE_X>
  578.             <CONE_HALF_ANGLE_Y>0.1589337</CONE_HALF_ANGLE_Y>
  579.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  580.             <CONE_DAMPING>1</CONE_DAMPING>
  581.             <TWIST_TYPE>2</TWIST_TYPE>
  582.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  583.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  584.             <TWIST_DAMPING>1</TWIST_DAMPING>
  585.             <POS1>0,0,0</POS1>
  586.             <POS2>0.1280318,0.0001013404,-3.429826e-009</POS2>
  587.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  588.             <PRIMARY_AXIS2>0.9876885,0.1564348,-3.206767e-007</PRIMARY_AXIS2>
  589.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  590.             <ORTHOGONAL_AXIS2>-0.1564348,0.9876885,-3.568403e-008</ORTHOGONAL_AXIS2>
  591.         </JOINT>
  592.     </ASSET>
  593.     <ASSET id="Alien2" graphic="AlienMaleA.psk" scale="0.008" mass_scale="1" length_scale="1">
  594.         <GEOMETRY id="bip01 l calf">
  595.             <PRIMITIVE id="bip01 l calf_1" type="sphyl">
  596.                 <RADIUS>0.0811227</RADIUS>
  597.                 <HEIGHT>0.4260297</HEIGHT>
  598.                 <TM>-6.247176e-008,-0.9684831,0.2490793,0,3.103512e-008,-0.2490793,-0.9684831,0,1,-5.842845e-008,5.167068e-008,0,0.2130149,-3.981731e-008,3.152895e-012,1</TM>
  599.             </PRIMITIVE>
  600.         </GEOMETRY>
  601.         <GEOMETRY id="bip01 l clavicle">
  602.             <PRIMITIVE id="bip01 l clavicle_1" type="sphyl">
  603.                 <RADIUS>0.1088984</RADIUS>
  604.                 <HEIGHT>0.1493906</HEIGHT>
  605.                 <TM>5.563996e-007,-0.5083497,-0.8611509,0,-5.707396e-008,0.8611509,-0.5083497,0,0.9999999,2.064674e-007,4.650365e-007,0,0.0746953,3.401254e-008,1.044454e-007,1</TM>
  606.             </PRIMITIVE>
  607.         </GEOMETRY>
  608.         <GEOMETRY id="bip01 l forearm">
  609.             <PRIMITIVE id="bip01 l forearm_1" type="sphyl">
  610.                 <RADIUS>0.09634495</RADIUS>
  611.                 <HEIGHT>0.343963</HEIGHT>
  612.                 <TM>-1.238384e-007,0.5602621,0.8283154,0,-6.291974e-008,-0.8283155,0.560262,0,1,2.738869e-007,6.506185e-008,0,0.1719815,5.876604e-008,-1.937835e-008,1</TM>
  613.             </PRIMITIVE>
  614.         </GEOMETRY>
  615.         <GEOMETRY id="bip01 l thigh">
  616.             <PRIMITIVE id="bip01 l thigh_1" type="sphyl">
  617.                 <RADIUS>0.1351451</RADIUS>
  618.                 <HEIGHT>0.6315703</HEIGHT>
  619.                 <TM>-3.581614e-008,-0.9946746,-0.1030658,0,8.069829e-010,0.1030658,-0.9946746,0,1,-5.393041e-008,5.649407e-008,0,0.3157852,8.423691e-009,2.113256e-008,1</TM>
  620.             </PRIMITIVE>
  621.         </GEOMETRY>
  622.         <GEOMETRY id="bip01 l upperarm">
  623.             <PRIMITIVE id="bip01 l upperarm_1" type="sphyl">
  624.                 <RADIUS>0.06136322</RADIUS>
  625.                 <HEIGHT>0.3419449</HEIGHT>
  626.                 <TM>-5.717255e-008,0.04619094,-0.9989327,0,6.403528e-009,0.9989327,0.04619092,0,0.9999998,9.589625e-009,-1.889435e-007,0,0.1709724,2.123509e-009,-3.634748e-008,1</TM>
  627.             </PRIMITIVE>
  628.         </GEOMETRY>
  629.         <GEOMETRY id="bip01 neck">
  630.             <PRIMITIVE id="bip01 neck_1" type="sphere">
  631.                 <RADIUS>0.14</RADIUS>
  632.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.2023731,-0.01619344,-3.517151e-006,1</TM>
  633.             </PRIMITIVE>
  634.         </GEOMETRY>
  635.         <GEOMETRY id="bip01 pelvis">
  636.             <PRIMITIVE id="bip01 pelvis_1" type="sphyl">
  637.                 <RADIUS>0.1353721</RADIUS>
  638.                 <HEIGHT>0.1166586</HEIGHT>
  639.                 <TM>-0.0008627634,0.9999997,2.764125e-006,0,-1.363209e-006,-2.764986e-006,1,0,0.9999996,0.000862723,1.396287e-006,0,0.05832927,5.031731e-005,8.145417e-008,1</TM>
  640.             </PRIMITIVE>
  641.         </GEOMETRY>
  642.         <GEOMETRY id="bip01 r calf">
  643.             <PRIMITIVE id="Part13" type="sphyl">
  644.                 <RADIUS>0.1</RADIUS>
  645.                 <HEIGHT>0.5</HEIGHT>
  646.                 <TM>-2.869821e-008,-1.338219e-008,-1,0,-0.7660445,0.6427875,2.882446e-009,0,0.6427875,0.7660445,-1.676381e-008,0,0.2667855,-0.2118924,0,1</TM>
  647.             </PRIMITIVE>
  648.             <PRIMITIVE id="bip01 r calf_1" type="sphyl">
  649.                 <RADIUS>0.08112273</RADIUS>
  650.                 <HEIGHT>0.4260296</HEIGHT>
  651.                 <TM>-7.084986e-008,-0.968483,-0.249079,0,2.384969e-008,0.2490791,-0.9684829,0,0.9999999,-6.000704e-008,1.311156e-008,0,0.2130148,-2.23919e-008,7.477619e-009,1</TM>
  652.             </PRIMITIVE>
  653.         </GEOMETRY>
  654.         <GEOMETRY id="bip01 r clavicle">
  655.             <PRIMITIVE id="bip01 r clavicle_1" type="sphyl">
  656.                 <RADIUS>0.1088982</RADIUS>
  657.                 <HEIGHT>0.1493906</HEIGHT>
  658.                 <TM>-6.342197e-007,0.5083491,-0.861151,0,-2.131202e-007,0.8611511,0.5083491,0,0.9999998,3.781852e-007,-4.063112e-007,0,0.07469526,7.583478e-008,-3.260834e-008,1</TM>
  659.             </PRIMITIVE>
  660.         </GEOMETRY>
  661.         <GEOMETRY id="bip01 r forearm">
  662.             <PRIMITIVE id="bip01 r forearm_1" type="sphyl">
  663.                 <RADIUS>0.09634473</RADIUS>
  664.                 <HEIGHT>0.343963</HEIGHT>
  665.                 <TM>-1.268386e-007,0.5602608,-0.8283163,0,8.676998e-008,0.8283163,0.5602608,0,1,8.569917e-008,-1.042184e-007,0,0.1719815,2.446675e-008,-8.409226e-008,1</TM>
  666.             </PRIMITIVE>
  667.         </GEOMETRY>
  668.         <GEOMETRY id="bip01 r thigh">
  669.             <PRIMITIVE id="bip01 r thigh_1" type="sphyl">
  670.                 <RADIUS>0.1351449</RADIUS>
  671.                 <HEIGHT>0.6315703</HEIGHT>
  672.                 <TM>2.944105e-008,-0.9946742,0.1030686,0,-7.01103e-008,-0.1030686,-0.9946742,0,1,1.263815e-008,-8.11517e-008,0,0.3157852,2.466687e-008,-1.797248e-008,1</TM>
  673.             </PRIMITIVE>
  674.         </GEOMETRY>
  675.         <GEOMETRY id="bip01 r upperarm">
  676.             <PRIMITIVE id="bip01 r upperarm_1" type="sphyl">
  677.                 <RADIUS>0.09</RADIUS>
  678.                 <HEIGHT>0.341945</HEIGHT>
  679.                 <TM>-2.098343e-008,-0.04619209,-0.9989325,0,-3.88246e-008,0.9989327,-0.04619214,0,0.9999999,2.608604e-008,1.035018e-007,0,0.1709724,1.53011e-009,-3.349614e-008,1</TM>
  680.             </PRIMITIVE>
  681.         </GEOMETRY>
  682.         <GEOMETRY id="bip01 spine">
  683.             <PRIMITIVE id="bip01 spine_1" type="sphere">
  684.                 <RADIUS>0.05977989</RADIUS>
  685.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1047446,-0.0375275,-5.180359e-006,1</TM>
  686.             </PRIMITIVE>
  687.         </GEOMETRY>
  688.         <GEOMETRY id="bip01 spine1">
  689.             <PRIMITIVE id="bip01 spine1_1" type="sphyl">
  690.                 <RADIUS>0.1657565</RADIUS>
  691.                 <HEIGHT>0.128032</HEIGHT>
  692.                 <TM>-0.0007861169,0.9999998,-1.459293e-006,0,3.839478e-008,1.444041e-006,0.9999999,0,0.9999997,0.000786137,-1.291013e-008,0,0.06401607,5.031029e-005,-8.634568e-010,1</TM>
  693.             </PRIMITIVE>
  694.         </GEOMETRY>
  695.         <GEOMETRY id="bip01 spine2">
  696.             <PRIMITIVE id="bip01 spine2_1" type="sphyl">
  697.                 <RADIUS>0.1935677</RADIUS>
  698.                 <HEIGHT>0.1280768</HEIGHT>
  699.                 <TM>-0.0004994217,1,-1.558035e-006,0,2.504372e-008,1.538797e-006,0.9999999,0,0.9999999,0.0004994529,-1.905164e-009,0,0.06403842,3.196295e-005,-1.187924e-010,1</TM>
  700.             </PRIMITIVE>
  701.         </GEOMETRY>
  702.         <MODEL id="bip01 l calf" type="dynamics_and_geometry" geometry="bip01 r calf">
  703.             <DYNAMICS>
  704.                 <MASS>0.09311325</MASS>
  705.                 <DENSITY>1</DENSITY>
  706.                 <MASS_OFFSET>0.247593,-0.1362611,2.669005e-009</MASS_OFFSET>
  707.                 <INERTIA>0.001638936,-0.001178446,8.348953e-011,0.00211021,-1.885875e-010,0.003372952</INERTIA>
  708.                 <LIN_DAMP>0</LIN_DAMP>
  709.                 <ANG_DAMP>0</ANG_DAMP>
  710.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  711.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  712.             </DYNAMICS>
  713.         </MODEL>
  714.         <MODEL id="bip01 l clavicle" type="dynamics_and_geometry" geometry="bip01 r clavicle">
  715.             <DYNAMICS>
  716.                 <MASS>0.03308697</MASS>
  717.                 <DENSITY>1</DENSITY>
  718.                 <MASS_OFFSET>0.0746953,3.401254e-008,1.044454e-007</MASS_OFFSET>
  719.                 <INERTIA>0.0001961869,-7.198883e-011,-6.129072e-011,0.0003388457,-1.376857e-011,0.0003388457</INERTIA>
  720.                 <LIN_DAMP>0</LIN_DAMP>
  721.                 <ANG_DAMP>0</ANG_DAMP>
  722.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  723.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  724.             </DYNAMICS>
  725.         </MODEL>
  726.         <MODEL id="bip01 l forearm" type="dynamics_and_geometry" geometry="bip01 r forearm">
  727.             <DYNAMICS>
  728.                 <MASS>0.04147538</MASS>
  729.                 <DENSITY>1</DENSITY>
  730.                 <MASS_OFFSET>0.1719815,5.876604e-008,-1.937835e-008</MASS_OFFSET>
  731.                 <INERTIA>0.0001924946,3.769726e-011,-1.074212e-010,0.0008702481,3.158064e-011,0.0008702481</INERTIA>
  732.                 <LIN_DAMP>0</LIN_DAMP>
  733.                 <ANG_DAMP>0</ANG_DAMP>
  734.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  735.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  736.             </DYNAMICS>
  737.         </MODEL>
  738.         <MODEL id="bip01 l thigh" type="dynamics_and_geometry" geometry="bip01 r thigh">
  739.             <DYNAMICS>
  740.                 <MASS>0.1401834</MASS>
  741.                 <DENSITY>1</DENSITY>
  742.                 <MASS_OFFSET>0.3157852,8.423691e-009,2.113256e-008</MASS_OFFSET>
  743.                 <INERTIA>0.001280168,2.294599e-010,9.646979e-011,0.008359334,5.484162e-011,0.008359334</INERTIA>
  744.                 <LIN_DAMP>0</LIN_DAMP>
  745.                 <ANG_DAMP>0</ANG_DAMP>
  746.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  747.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  748.             </DYNAMICS>
  749.         </MODEL>
  750.         <MODEL id="bip01 l upperarm" type="dynamics_and_geometry" geometry="bip01 r upperarm">
  751.             <DYNAMICS>
  752.                 <MASS>0.03538702</MASS>
  753.                 <DENSITY>1</DENSITY>
  754.                 <MASS_OFFSET>0.1709724,1.53011e-009,-3.349614e-008</MASS_OFFSET>
  755.                 <INERTIA>0.0001433174,-2.284369e-011,3.082945e-011,0.0007029768,-4.144412e-011,0.0007029764</INERTIA>
  756.                 <LIN_DAMP>0</LIN_DAMP>
  757.                 <ANG_DAMP>0</ANG_DAMP>
  758.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  759.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  760.             </DYNAMICS>
  761.         </MODEL>
  762.         <MODEL id="bip01 neck" type="dynamics_and_geometry" geometry="bip01 neck">
  763.             <DYNAMICS>
  764.                 <MASS>0.03454533</MASS>
  765.                 <DENSITY>1</DENSITY>
  766.                 <MASS_OFFSET>0.2023731,-0.01619344,-3.517151e-006</MASS_OFFSET>
  767.                 <INERTIA>0.0002708355,0,0,0.0002708355,0,0.0002708355</INERTIA>
  768.                 <LIN_DAMP>0</LIN_DAMP>
  769.                 <ANG_DAMP>0</ANG_DAMP>
  770.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  771.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  772.             </DYNAMICS>
  773.         </MODEL>
  774.         <MODEL id="bip01 pelvis" type="dynamics_and_geometry" geometry="bip01 pelvis">
  775.             <DYNAMICS>
  776.                 <MASS>0.05161167</MASS>
  777.                 <DENSITY>1</DENSITY>
  778.                 <MASS_OFFSET>0.05832927,5.031731e-005,8.145417e-008</MASS_OFFSET>
  779.                 <INERTIA>0.0004729075,-1.261602e-007,-1.851431e-010,0.0006191133,3.600312e-014,0.0006191133</INERTIA>
  780.                 <LIN_DAMP>0</LIN_DAMP>
  781.                 <ANG_DAMP>0</ANG_DAMP>
  782.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  783.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  784.             </DYNAMICS>
  785.         </MODEL>
  786.         <MODEL id="bip01 r calf" type="dynamics_and_geometry" geometry="bip01 r calf">
  787.             <DYNAMICS>
  788.                 <MASS>0.09311325</MASS>
  789.                 <DENSITY>1</DENSITY>
  790.                 <MASS_OFFSET>0.247593,-0.1362611,2.669005e-009</MASS_OFFSET>
  791.                 <INERTIA>0.001638936,-0.001178446,8.348953e-011,0.00211021,-1.885875e-010,0.003372952</INERTIA>
  792.                 <LIN_DAMP>0</LIN_DAMP>
  793.                 <ANG_DAMP>0</ANG_DAMP>
  794.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  795.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  796.             </DYNAMICS>
  797.         </MODEL>
  798.         <MODEL id="bip01 r clavicle" type="dynamics_and_geometry" geometry="bip01 r clavicle">
  799.             <DYNAMICS>
  800.                 <MASS>0.03308682</MASS>
  801.                 <DENSITY>1</DENSITY>
  802.                 <MASS_OFFSET>0.07469526,7.583478e-008,-3.260834e-008</MASS_OFFSET>
  803.                 <INERTIA>0.0001961853,-9.723794e-011,6.863999e-011,0.0003388436,2.108e-011,0.0003388436</INERTIA>
  804.                 <LIN_DAMP>0</LIN_DAMP>
  805.                 <ANG_DAMP>0</ANG_DAMP>
  806.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  807.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  808.             </DYNAMICS>
  809.         </MODEL>
  810.         <MODEL id="bip01 r forearm" type="dynamics_and_geometry" geometry="bip01 r forearm">
  811.             <DYNAMICS>
  812.                 <MASS>0.04147517</MASS>
  813.                 <DENSITY>1</DENSITY>
  814.                 <MASS_OFFSET>0.1719815,2.446675e-008,-8.409226e-008</MASS_OFFSET>
  815.                 <INERTIA>0.0001924927,1.720163e-011,1.136743e-010,0.0008702423,-1.924047e-011,0.0008702421</INERTIA>
  816.                 <LIN_DAMP>0</LIN_DAMP>
  817.                 <ANG_DAMP>0</ANG_DAMP>
  818.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  819.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  820.             </DYNAMICS>
  821.         </MODEL>
  822.         <MODEL id="bip01 r thigh" type="dynamics_and_geometry" geometry="bip01 r thigh">
  823.             <DYNAMICS>
  824.                 <MASS>0.140183</MASS>
  825.                 <DENSITY>1</DENSITY>
  826.                 <MASS_OFFSET>0.3157852,2.466687e-008,-1.797248e-008</MASS_OFFSET>
  827.                 <INERTIA>0.001280161,-1.682112e-010,5.044304e-010,0.008359301,1.674946e-010,0.008359298</INERTIA>
  828.                 <LIN_DAMP>0</LIN_DAMP>
  829.                 <ANG_DAMP>0</ANG_DAMP>
  830.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  831.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  832.             </DYNAMICS>
  833.         </MODEL>
  834.         <MODEL id="bip01 r upperarm" type="dynamics_and_geometry" geometry="bip01 r upperarm">
  835.             <DYNAMICS>
  836.                 <MASS>0.03538702</MASS>
  837.                 <DENSITY>1</DENSITY>
  838.                 <MASS_OFFSET>0.1709724,1.53011e-009,-3.349614e-008</MASS_OFFSET>
  839.                 <INERTIA>0.0001433174,-2.284369e-011,3.082945e-011,0.0007029768,-4.144412e-011,0.0007029764</INERTIA>
  840.                 <LIN_DAMP>0</LIN_DAMP>
  841.                 <ANG_DAMP>0</ANG_DAMP>
  842.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  843.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  844.             </DYNAMICS>
  845.         </MODEL>
  846.         <MODEL id="bip01 spine" type="dynamics_only" geometry="bip01 spine">
  847.             <DYNAMICS>
  848.                 <MASS>0.03005499</MASS>
  849.                 <DENSITY>1</DENSITY>
  850.                 <MASS_OFFSET>0.1047446,-0.0375275,-5.180359e-006</MASS_OFFSET>
  851.                 <INERTIA>0.000210385,0,0,0.000210385,0,0.00018033</INERTIA>
  852.                 <LIN_DAMP>0</LIN_DAMP>
  853.                 <ANG_DAMP>0</ANG_DAMP>
  854.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  855.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  856.             </DYNAMICS>
  857.         </MODEL>
  858.         <MODEL id="bip01 spine1" type="dynamics_only" geometry="bip01 spine1">
  859.             <DYNAMICS>
  860.                 <MASS>0.06010998</MASS>
  861.                 <DENSITY>1</DENSITY>
  862.                 <MASS_OFFSET>0.06401607,5.031029e-005,-8.634568e-010</MASS_OFFSET>
  863.                 <INERTIA>0.0005237924,0,0,0.0005237924,0,0.0005237924</INERTIA>
  864.                 <LIN_DAMP>0</LIN_DAMP>
  865.                 <ANG_DAMP>0</ANG_DAMP>
  866.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  867.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  868.             </DYNAMICS>
  869.         </MODEL>
  870.         <MODEL id="bip01 spine2" type="dynamics_and_geometry" geometry="bip01 spine2">
  871.             <DYNAMICS>
  872.                 <MASS>0.1371868</MASS>
  873.                 <DENSITY>1</DENSITY>
  874.                 <MASS_OFFSET>0.06403842,3.196295e-005,-1.187924e-010</MASS_OFFSET>
  875.                 <INERTIA>0.002570089,-2.166761e-007,7.267502e-011,0.003004105,-5.779723e-011,0.003004103</INERTIA>
  876.                 <LIN_DAMP>0</LIN_DAMP>
  877.                 <ANG_DAMP>0</ANG_DAMP>
  878.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  879.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  880.             </DYNAMICS>
  881.         </MODEL>
  882.         <PART id="bip01 l calf" model="bip01 l calf" parent="bip01 l thigh">
  883.             <TM>0.02322963,-0.02715311,0.9993613,0,-0.2490111,0.9679689,0.0320883,0,-0.968222,-0.2495975,0.01572413,0,0.2391357,0.4943622,-0.2093776,1</TM>
  884.         </PART>
  885.         <PART id="bip01 l clavicle" model="bip01 l clavicle" parent="bip01 neck">
  886.             <TM>0.9609115,-0.1979586,0.19355,0,0.2658193,0.4642626,-0.8448671,0,0.07739071,0.8632917,0.4987365,0,0.07300472,1.544667,0.0877727,1</TM>
  887.         </PART>
  888.         <PART id="bip01 l forearm" model="bip01 l forearm" parent="bip01 l upperarm">
  889.             <TM>0.6381428,-0.3408039,-0.6903814,0,-0.6377339,0.2684089,-0.7219779,0,0.4313574,0.9010046,-0.04605903,0,0.5235816,1.366786,0.09089077,1</TM>
  890.         </PART>
  891.         <PART id="bip01 l thigh" model="bip01 l thigh" parent="bip01 spine">
  892.             <TM>0.2290875,-0.9103698,-0.3445949,0,0.1003249,-0.3300422,0.9386198,0,-0.968222,-0.2495975,0.0157242,0,0.09445031,1.069327,0.008259632,1</TM>
  893.         </PART>
  894.         <PART id="bip01 l upperarm" model="bip01 l upperarm" parent="bip01 l clavicle">
  895.             <TM>0.8978843,-0.4337195,-0.07544014,0,-0.08794867,-0.00881413,-0.996086,0,0.4313569,0.9010049,-0.04605912,0,0.2165554,1.515093,0.1166871,1</TM>
  896.         </PART>
  897.         <PART id="bip01 neck" model="bip01 neck" parent="bip01 spine2">
  898.             <TM>1.53432e-007,0.9971599,0.07531351,0,1.306691e-006,-0.07531351,0.9971599,0,1,-5.458478e-008,-1.314535e-006,0,0.001022754,1.544662,0.08784258,1</TM>
  899.         </PART>
  900.         <PART id="bip01 pelvis" model="bip01 pelvis" parent="bip01">
  901.             <TM>-1.086894e-006,0.9825781,-0.1858503,0,-2.764406e-006,0.1858503,0.9825781,0,1,1.581724e-006,2.514245e-006,0,0.00102281,1.069327,0.008259879,1</TM>
  902.         </PART>
  903.         <PART id="bip01 r calf" model="bip01 r calf" parent="bip01 r thigh">
  904.             <TM>-0.02323258,-0.02715517,0.9993612,0,0.2490112,0.9679688,0.03209104,0,-0.9682219,0.2495977,-0.01572647,0,-0.2370894,0.4943641,-0.2093774,1</TM>
  905.         </PART>
  906.         <PART id="bip01 r clavicle" model="bip01 r clavicle" parent="bip01 neck">
  907.             <TM>-0.960912,-0.1979588,0.193547,0,-0.2658167,0.4642627,-0.8448678,0,0.07739235,-0.8632916,-0.4987364,0,-0.0709592,1.544667,0.08777294,1</TM>
  908.         </PART>
  909.         <PART id="bip01 r forearm" model="bip01 r forearm" parent="bip01 r upperarm">
  910.             <TM>-0.6381423,-0.3408053,-0.6903812,0,0.637735,0.2684062,-0.7219779,0,0.4313565,-0.901005,0.04606212,0,-0.5215341,1.366788,0.09088986,1</TM>
  911.         </PART>
  912.         <PART id="bip01 r thigh" model="bip01 r thigh" parent="bip01 spine">
  913.             <TM>-0.2290869,-0.9103696,-0.3445958,0,-0.1003273,-0.3300425,0.9386194,0,-0.9682218,0.2495977,-0.01572651,0,-0.09240469,1.069327,0.008259368,1</TM>
  914.         </PART>
  915.         <PART id="bip01 r upperarm" model="bip01 r upperarm" parent="bip01 r clavicle">
  916.             <TM>-0.8978842,-0.4337192,-0.07544191,0,0.08795156,-0.008816094,-0.9960858,0,0.4313565,-0.901005,0.04606212,0,-0.2145096,1.515094,0.1166867,1</TM>
  917.         </PART>
  918.         <PART id="bip01 spine" model="bip01 spine" parent="bip01 pelvis">
  919.             <TM>1.175316e-007,0.9995302,-0.03064918,0,1.361344e-006,0.03064918,0.9995302,0,1,-1.592005e-007,-1.357102e-006,0,0.001022846,1.183972,-0.01332261,1</TM>
  920.         </PART>
  921.         <PART id="bip01 spine1" model="bip01 spine1" parent="bip01 spine">
  922.             <TM>-3.644048e-007,0.9412133,0.3378128,0,1.397236e-006,-0.3378128,0.9412133,0,1,8.149868e-007,-1.191996e-006,0,0.001022863,1.311925,-0.01715082,1</TM>
  923.         </PART>
  924.         <PART id="bip01 spine2" model="bip01 spine2" parent="bip01 spine1">
  925.             <TM>-4.620189e-007,0.8767797,0.4808923,0,1.401354e-006,-0.4808923,0.8767797,0,1,1.078989e-006,-1.006498e-006,0,0.001022813,1.432396,0.02619539,1</TM>
  926.         </PART>
  927.         <NO_COLLISION part1="bip01 l calf" part2="bip01 l thigh"></NO_COLLISION>
  928.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 l upperarm"></NO_COLLISION>
  929.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 neck"></NO_COLLISION>
  930.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 r clavicle"></NO_COLLISION>
  931.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 spine2"></NO_COLLISION>
  932.         <NO_COLLISION part1="bip01 l forearm" part2="bip01 l upperarm"></NO_COLLISION>
  933.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 pelvis"></NO_COLLISION>
  934.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 r thigh"></NO_COLLISION>
  935.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 spine"></NO_COLLISION>
  936.         <NO_COLLISION part1="bip01 l upperarm" part2="bip01 spine2"></NO_COLLISION>
  937.         <NO_COLLISION part1="bip01 neck" part2="bip01 r clavicle"></NO_COLLISION>
  938.         <NO_COLLISION part1="bip01 neck" part2="bip01 spine2"></NO_COLLISION>
  939.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 r thigh"></NO_COLLISION>
  940.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine"></NO_COLLISION>
  941.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine2"></NO_COLLISION>
  942.         <NO_COLLISION part1="bip01 r calf" part2="bip01 r thigh"></NO_COLLISION>
  943.         <NO_COLLISION part1="bip01 r clavicle" part2="bip01 r upperarm"></NO_COLLISION>
  944.         <NO_COLLISION part1="bip01 r clavicle" part2="bip01 spine2"></NO_COLLISION>
  945.         <NO_COLLISION part1="bip01 r forearm" part2="bip01 r upperarm"></NO_COLLISION>
  946.         <NO_COLLISION part1="bip01 r thigh" part2="bip01 spine"></NO_COLLISION>
  947.         <NO_COLLISION part1="bip01 r upperarm" part2="bip01 spine2"></NO_COLLISION>
  948.         <NO_COLLISION part1="bip01 spine" part2="bip01 spine1"></NO_COLLISION>
  949.         <NO_COLLISION part1="bip01 spine1" part2="bip01 spine2"></NO_COLLISION>
  950.         <JOINT id="bip01 l calf" part1="bip01 l calf" part2="bip01 l thigh" type="hinge">
  951.             <HIGH_LIMIT>0.3032148</HIGH_LIMIT>
  952.             <LOW_LIMIT>-1.303867</LOW_LIMIT>
  953.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  954.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  955.             <LIMITED>1</LIMITED>
  956.             <MOTORIZED>0</MOTORIZED>
  957.             <DES_VEL>1</DES_VEL>
  958.             <MAX_FORCE>1000</MAX_FORCE>
  959.             <POS1>0,0,0</POS1>
  960.             <POS2>0.631573,-4.584244e-007,7.533466e-008</POS2>
  961.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  962.             <PRIMARY_AXIS2>1.099769e-007,-4.099613e-008,0.9999999</PRIMARY_AXIS2>
  963.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  964.             <ORTHOGONAL_AXIS2>-0.3143339,0.9493126,3.320674e-009</ORTHOGONAL_AXIS2>
  965.         </JOINT>
  966.         <JOINT id="bip01 l clavicle" part1="bip01 l clavicle" part2="bip01 neck" type="hinge">
  967.             <HIGH_LIMIT>0.3084981</HIGH_LIMIT>
  968.             <LOW_LIMIT>-0.3084981</LOW_LIMIT>
  969.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  970.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  971.             <LIMITED>1</LIMITED>
  972.             <MOTORIZED>0</MOTORIZED>
  973.             <DES_VEL>1</DES_VEL>
  974.             <MAX_FORCE>1000</MAX_FORCE>
  975.             <POS1>0,0,0</POS1>
  976.             <POS2>-3.135901e-007,-6.996397e-005,0.07198197</POS2>
  977.             <PRIMARY_AXIS1>-2.384186e-007,1,6.27314e-008</PRIMARY_AXIS1>
  978.             <PRIMARY_AXIS2>0.3993144,-0.8774327,0.2658201</PRIMARY_AXIS2>
  979.             <ORTHOGONAL_AXIS1>6.273139e-008,-1.788139e-007,1</ORTHOGONAL_AXIS1>
  980.             <ORTHOGONAL_AXIS2>0.8984016,0.4323029,0.07739002</ORTHOGONAL_AXIS2>
  981.         </JOINT>
  982.         <JOINT id="bip01 l forearm" part1="bip01 l forearm" part2="bip01 l upperarm" type="hinge">
  983.             <HIGH_LIMIT>1.12895</HIGH_LIMIT>
  984.             <LOW_LIMIT>-0.3849595</LOW_LIMIT>
  985.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  986.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  987.             <LIMITED>1</LIMITED>
  988.             <MOTORIZED>0</MOTORIZED>
  989.             <DES_VEL>1</DES_VEL>
  990.             <MAX_FORCE>1000</MAX_FORCE>
  991.             <POS1>0,0,0</POS1>
  992.             <POS2>0.3419436,-1.227501e-008,8.440797e-007</POS2>
  993.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  994.             <PRIMARY_AXIS2>5.194229e-007,-1.79771e-007,1</PRIMARY_AXIS2>
  995.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  996.             <ORTHOGONAL_AXIS2>0.7728742,0.6345596,-4.122039e-007</ORTHOGONAL_AXIS2>
  997.         </JOINT>
  998.         <JOINT id="bip01 l thigh" part1="bip01 l thigh" part2="bip01 pelvis" type="skeletal">
  999.             <CONE_TYPE>2</CONE_TYPE>
  1000.             <CONE_HALF_ANGLE_X>0.7853982</CONE_HALF_ANGLE_X>
  1001.             <CONE_HALF_ANGLE_Y>0.5704294</CONE_HALF_ANGLE_Y>
  1002.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1003.             <CONE_DAMPING>1</CONE_DAMPING>
  1004.             <TWIST_TYPE>2</TWIST_TYPE>
  1005.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1006.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1007.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1008.             <POS1>0,0,0</POS1>
  1009.             <POS2>-1.968893e-008,-4.993167e-007,0.0934275</POS2>
  1010.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1011.             <PRIMARY_AXIS2>-0.8304667,-0.5077846,0.2290853</PRIMARY_AXIS2>
  1012.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1013.             <ORTHOGONAL_AXIS2>-0.4987351,0.8609286,0.1003267</ORTHOGONAL_AXIS2>
  1014.         </JOINT>
  1015.         <JOINT id="bip01 l upperarm" part1="bip01 l upperarm" part2="bip01 l clavicle" type="skeletal">
  1016.             <CONE_TYPE>2</CONE_TYPE>
  1017.             <CONE_HALF_ANGLE_X>0.8857031</CONE_HALF_ANGLE_X>
  1018.             <CONE_HALF_ANGLE_Y>0.818278</CONE_HALF_ANGLE_Y>
  1019.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1020.             <CONE_DAMPING>1</CONE_DAMPING>
  1021.             <TWIST_TYPE>2</TWIST_TYPE>
  1022.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1023.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1024.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1025.             <POS1>0,0,0</POS1>
  1026.             <POS2>0.1493903,-3.209822e-007,-7.97553e-007</POS2>
  1027.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1028.             <PRIMARY_AXIS2>0.9340444,0.1010521,-0.3425633</PRIMARY_AXIS2>
  1029.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1030.             <ORTHOGONAL_AXIS2>-0.2755585,0.81409,-0.5112002</ORTHOGONAL_AXIS2>
  1031.         </JOINT>
  1032.         <JOINT id="bip01 neck" part1="bip01 neck" part2="bip01 spine2" type="hinge">
  1033.             <HIGH_LIMIT>0.2555873</HIGH_LIMIT>
  1034.             <LOW_LIMIT>-0.2555873</LOW_LIMIT>
  1035.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1036.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1037.             <LIMITED>1</LIMITED>
  1038.             <MOTORIZED>0</MOTORIZED>
  1039.             <DES_VEL>1</DES_VEL>
  1040.             <MAX_FORCE>1000</MAX_FORCE>
  1041.             <POS1>0,0,0</POS1>
  1042.             <POS2>0.1280782,6.316212e-005,1.829884e-011</POS2>
  1043.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  1044.             <PRIMARY_AXIS2>-1.19132e-006,1.665043e-007,1</PRIMARY_AXIS2>
  1045.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  1046.             <ORTHOGONAL_AXIS2>0.9105075,-0.4134932,1.09395e-006</ORTHOGONAL_AXIS2>
  1047.         </JOINT>
  1048.         <JOINT id="bip01 r calf" part1="bip01 r calf" part2="bip01 r thigh" type="hinge">
  1049.             <HIGH_LIMIT>0.3032148</HIGH_LIMIT>
  1050.             <LOW_LIMIT>-1.303867</LOW_LIMIT>
  1051.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1052.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1053.             <LIMITED>1</LIMITED>
  1054.             <MOTORIZED>0</MOTORIZED>
  1055.             <DES_VEL>1</DES_VEL>
  1056.             <MAX_FORCE>1000</MAX_FORCE>
  1057.             <POS1>0,0,0</POS1>
  1058.             <POS2>0.6315709,-7.861122e-008,4.944165e-008</POS2>
  1059.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  1060.             <PRIMARY_AXIS2>9.471783e-008,8.160698e-008,0.9999998</PRIMARY_AXIS2>
  1061.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  1062.             <ORTHOGONAL_AXIS2>-0.3143323,0.9493131,-1.037187e-007</ORTHOGONAL_AXIS2>
  1063.         </JOINT>
  1064.         <JOINT id="bip01 r clavicle" part1="bip01 r clavicle" part2="bip01 neck" type="hinge">
  1065.             <HIGH_LIMIT>0.3084981</HIGH_LIMIT>
  1066.             <LOW_LIMIT>-0.3084981</LOW_LIMIT>
  1067.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1068.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1069.             <LIMITED>1</LIMITED>
  1070.             <MOTORIZED>0</MOTORIZED>
  1071.             <DES_VEL>1</DES_VEL>
  1072.             <MAX_FORCE>1000</MAX_FORCE>
  1073.             <POS1>0,0,0</POS1>
  1074.             <POS2>-3.177226e-007,-6.991435e-005,-0.07198196</POS2>
  1075.             <PRIMARY_AXIS1>-8.940697e-008,1,0</PRIMARY_AXIS1>
  1076.             <PRIMARY_AXIS2>0.3993143,-0.8774341,-0.2658155</PRIMARY_AXIS2>
  1077.             <ORTHOGONAL_AXIS1>0,-2.980232e-008,1</ORTHOGONAL_AXIS1>
  1078.             <ORTHOGONAL_AXIS2>-0.8984017,-0.4323023,0.07739305</ORTHOGONAL_AXIS2>
  1079.         </JOINT>
  1080.         <JOINT id="bip01 r forearm" part1="bip01 r forearm" part2="bip01 r upperarm" type="hinge">
  1081.             <HIGH_LIMIT>1.12895</HIGH_LIMIT>
  1082.             <LOW_LIMIT>-0.3849595</LOW_LIMIT>
  1083.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1084.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1085.             <LIMITED>1</LIMITED>
  1086.             <MOTORIZED>0</MOTORIZED>
  1087.             <DES_VEL>1</DES_VEL>
  1088.             <MAX_FORCE>1000</MAX_FORCE>
  1089.             <POS1>0,0,0</POS1>
  1090.             <POS2>0.341942,5.831126e-008,-6.117214e-007</POS2>
  1091.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  1092.             <PRIMARY_AXIS2>2.218732e-007,-2.790247e-008,1</PRIMARY_AXIS2>
  1093.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  1094.             <ORTHOGONAL_AXIS2>0.7728755,0.634558,8.603334e-008</ORTHOGONAL_AXIS2>
  1095.         </JOINT>
  1096.         <JOINT id="bip01 r thigh" part1="bip01 r thigh" part2="bip01 pelvis" type="skeletal">
  1097.             <CONE_TYPE>2</CONE_TYPE>
  1098.             <CONE_HALF_ANGLE_X>0.7853982</CONE_HALF_ANGLE_X>
  1099.             <CONE_HALF_ANGLE_Y>0.5704294</CONE_HALF_ANGLE_Y>
  1100.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1101.             <CONE_DAMPING>1</CONE_DAMPING>
  1102.             <TWIST_TYPE>2</TWIST_TYPE>
  1103.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1104.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1105.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1106.             <POS1>0,0,0</POS1>
  1107.             <POS2>2.323862e-007,-2.417461e-007,-0.0934275</POS2>
  1108.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1109.             <PRIMARY_AXIS2>-0.8304659,-0.5077842,-0.2290892</PRIMARY_AXIS2>
  1110.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1111.             <ORTHOGONAL_AXIS2>-0.4987351,0.8609287,-0.1003255</ORTHOGONAL_AXIS2>
  1112.         </JOINT>
  1113.         <JOINT id="bip01 r upperarm" part1="bip01 r upperarm" part2="bip01 r clavicle" type="skeletal">
  1114.             <CONE_TYPE>2</CONE_TYPE>
  1115.             <CONE_HALF_ANGLE_X>0.8857031</CONE_HALF_ANGLE_X>
  1116.             <CONE_HALF_ANGLE_Y>0.818278</CONE_HALF_ANGLE_Y>
  1117.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1118.             <CONE_DAMPING>1</CONE_DAMPING>
  1119.             <TWIST_TYPE>2</TWIST_TYPE>
  1120.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1121.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1122.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1123.             <POS1>0,0,0</POS1>
  1124.             <POS2>0.1493897,1.470002e-007,8.051572e-008</POS2>
  1125.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1126.             <PRIMARY_AXIS2>0.9340448,0.1010514,0.3425626</PRIMARY_AXIS2>
  1127.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1128.             <ORTHOGONAL_AXIS2>-0.2755579,0.814089,0.511202</ORTHOGONAL_AXIS2>
  1129.         </JOINT>
  1130.         <JOINT id="bip01 spine" part1="bip01 spine" part2="bip01 pelvis" type="skeletal">
  1131.             <CONE_TYPE>2</CONE_TYPE>
  1132.             <CONE_HALF_ANGLE_X>0.3271983</CONE_HALF_ANGLE_X>
  1133.             <CONE_HALF_ANGLE_Y>0.3271983</CONE_HALF_ANGLE_Y>
  1134.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1135.             <CONE_DAMPING>1</CONE_DAMPING>
  1136.             <TWIST_TYPE>2</TWIST_TYPE>
  1137.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1138.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1139.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1140.             <POS1>0,0,0</POS1>
  1141.             <POS2>0.1166588,0.0001003298,1.630728e-007</POS2>
  1142.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1143.             <PRIMARY_AXIS2>0.9878127,0.1556478,1.621453e-006</PRIMARY_AXIS2>
  1144.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1145.             <ORTHOGONAL_AXIS2>-0.1556478,0.9878127,3.922886e-006</ORTHOGONAL_AXIS2>
  1146.         </JOINT>
  1147.         <JOINT id="bip01 spine1" part1="bip01 spine1" part2="bip01 spine" type="skeletal">
  1148.             <CONE_TYPE>2</CONE_TYPE>
  1149.             <CONE_HALF_ANGLE_X>0.1950368</CONE_HALF_ANGLE_X>
  1150.             <CONE_HALF_ANGLE_Y>0.1950368</CONE_HALF_ANGLE_Y>
  1151.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1152.             <CONE_DAMPING>1</CONE_DAMPING>
  1153.             <TWIST_TYPE>2</TWIST_TYPE>
  1154.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1155.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1156.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1157.             <POS1>0,0,0</POS1>
  1158.             <POS2>0.1280103,9.524497e-005,1.844998e-009</POS2>
  1159.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1160.             <PRIMARY_AXIS2>0.9304175,0.3665016,-9.72693e-007</PRIMARY_AXIS2>
  1161.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1162.             <ORTHOGONAL_AXIS2>-0.3665016,0.9304175,1.736934e-007</ORTHOGONAL_AXIS2>
  1163.         </JOINT>
  1164.         <JOINT id="bip01 spine2" part1="bip01 spine2" part2="bip01 spine1" type="skeletal">
  1165.             <CONE_TYPE>2</CONE_TYPE>
  1166.             <CONE_HALF_ANGLE_X>0.1589337</CONE_HALF_ANGLE_X>
  1167.             <CONE_HALF_ANGLE_Y>0.1589337</CONE_HALF_ANGLE_Y>
  1168.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1169.             <CONE_DAMPING>1</CONE_DAMPING>
  1170.             <TWIST_TYPE>2</TWIST_TYPE>
  1171.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1172.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1173.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1174.             <POS1>0,0,0</POS1>
  1175.             <POS2>0.1280318,0.0001013667,-3.430315e-009</POS2>
  1176.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1177.             <PRIMARY_AXIS2>0.9876885,0.1564348,-3.20677e-007</PRIMARY_AXIS2>
  1178.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1179.             <ORTHOGONAL_AXIS2>-0.1564348,0.9876885,-3.568507e-008</ORTHOGONAL_AXIS2>
  1180.         </JOINT>
  1181.     </ASSET>
  1182. </KARMA>