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Extensible Markup Language  |  2003-05-23  |  50KB  |  1,064 lines
  1. <?xml version="1.0"?>
  2.  
  3. <KARMA ka_file_version="1.0">
  4.     <ASSET id="Bot2" graphic="BotA.psk" scale="0.0076" mass_scale="1" length_scale="1">
  5.         <GEOMETRY id="Bip01 L Calf">
  6.             <PRIMITIVE id="Bip01 L Calf_1" type="sphyl">
  7.                 <RADIUS>0.114</RADIUS>
  8.                 <HEIGHT>0.4649962</HEIGHT>
  9.                 <TM>3.551319e-009,-0.9999628,0.008621834,0,-3.231953e-008,-0.008621833,-0.9999628,0,1,1.97098e-008,-3.235793e-008,0,0.232498,6.10214e-009,-1.232491e-008,1</TM>
  10.             </PRIMITIVE>
  11.         </GEOMETRY>
  12.         <GEOMETRY id="Bip01 L Forearm">
  13.             <PRIMITIVE id="Bip01 L Forearm_1" type="sphyl">
  14.                 <RADIUS>0.095</RADIUS>
  15.                 <HEIGHT>0.2689762</HEIGHT>
  16.                 <TM>-7.708394e-008,-0.0001551636,-1,0,-8.19468e-009,1,-0.0001551687,0,1,-2.497311e-008,-6.762415e-008,0,0.1344881,-1.699214e-009,-3.030009e-009,1</TM>
  17.             </PRIMITIVE>
  18.         </GEOMETRY>
  19.         <GEOMETRY id="Bip01 L Thigh">
  20.             <PRIMITIVE id="Bip01 L Thigh_1" type="sphyl">
  21.                 <RADIUS>0.114</RADIUS>
  22.                 <HEIGHT>0.4164748</HEIGHT>
  23.                 <TM>3.118277e-009,-0.9999663,0.008210307,0,3.866968e-008,-0.008210306,-0.9999663,0,1,3.144998e-008,3.877963e-008,0,0.2082374,8.469383e-009,1.056333e-008,1</TM>
  24.             </PRIMITIVE>
  25.         </GEOMETRY>
  26.         <GEOMETRY id="Bip01 L UpperArm">
  27.             <PRIMITIVE id="Bip01 L UpperArm_1" type="sphyl">
  28.                 <RADIUS>0.095</RADIUS>
  29.                 <HEIGHT>0.3283208</HEIGHT>
  30.                 <TM>1.290217e-007,-0.0001551653,-1,0,-9.641187e-009,1,-0.0001551715,0,1,-2.255516e-008,8.419745e-008,0,0.1641605,-2.46851e-009,-9.272709e-009,1</TM>
  31.             </PRIMITIVE>
  32.         </GEOMETRY>
  33.         <GEOMETRY id="Bip01 Neck">
  34.             <PRIMITIVE id="Part0" type="sphere">
  35.                 <RADIUS>0.095</RADIUS>
  36.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.152,0.019,0,1</TM>
  37.             </PRIMITIVE>
  38.         </GEOMETRY>
  39.         <GEOMETRY id="Bip01 Pelvis">
  40.             <PRIMITIVE id="Bip01 Pelvis_1" type="sphere">
  41.                 <RADIUS>0.162609</RADIUS>
  42.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.03146312,-0.004640845,2.319336e-007,1</TM>
  43.             </PRIMITIVE>
  44.         </GEOMETRY>
  45.         <GEOMETRY id="Bip01 Spine1">
  46.             <PRIMITIVE id="Bip01 Spine1_1" type="sphyl">
  47.                 <RADIUS>0.07600001</RADIUS>
  48.                 <HEIGHT>0.1072725</HEIGHT>
  49.                 <TM>-0.001633723,0.9999987,-1.415968e-006,0,-5.367517e-008,1.415882e-006,1,0,0.9999987,0.001633698,5.136194e-008,0,-0.003363892,8.762592e-005,2.754858e-009,1</TM>
  50.             </PRIMITIVE>
  51.         </GEOMETRY>
  52.         <GEOMETRY id="Bip01 Spine2">
  53.             <PRIMITIVE id="Part3" type="sphere">
  54.                 <RADIUS>0.19</RADIUS>
  55.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.095,0,0,1</TM>
  56.             </PRIMITIVE>
  57.         </GEOMETRY>
  58.         <MODEL id="Bip01 L Calf" type="dynamics_and_geometry" geometry="Bip01 L Calf">
  59.             <DYNAMICS>
  60.                 <MASS>0.1059795</MASS>
  61.                 <DENSITY>1</DENSITY>
  62.                 <MASS_OFFSET>0.2307549,-0.01891923,0.0001543317</MASS_OFFSET>
  63.                 <INERTIA>0.0006886551,1.410172e-012,9.794841e-011,0.003716716,-1.907091e-012,0.003716717</INERTIA>
  64.                 <LIN_DAMP>0</LIN_DAMP>
  65.                 <ANG_DAMP>0</ANG_DAMP>
  66.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  67.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  68.             </DYNAMICS>
  69.         </MODEL>
  70.         <MODEL id="Bip01 L Clavicle" type="dynamics_only">
  71.             <DYNAMICS>
  72.                 <MASS>0.05411737</MASS>
  73.                 <DENSITY>1</DENSITY>
  74.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  75.                 <INERTIA>0.000397562,0,0,0.000397562,0,0.000397562</INERTIA>
  76.                 <LIN_DAMP>0</LIN_DAMP>
  77.                 <ANG_DAMP>0</ANG_DAMP>
  78.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  79.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  80.             </DYNAMICS>
  81.         </MODEL>
  82.         <MODEL id="Bip01 L Forearm" type="dynamics_and_geometry" geometry="Bip01 L Forearm">
  83.             <DYNAMICS>
  84.                 <MASS>0.04721496</MASS>
  85.                 <DENSITY>1</DENSITY>
  86.                 <MASS_OFFSET>0.1342005,-0.03799891,5.891889e-006</MASS_OFFSET>
  87.                 <INERTIA>0.0002130574,-1.12522e-011,4.146971e-011,0.0007248807,-3.700781e-012,0.0007248807</INERTIA>
  88.                 <LIN_DAMP>0</LIN_DAMP>
  89.                 <ANG_DAMP>0</ANG_DAMP>
  90.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  91.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  92.             </DYNAMICS>
  93.         </MODEL>
  94.         <MODEL id="Bip01 L Thigh" type="dynamics_and_geometry" geometry="Bip01 L Thigh">
  95.             <DYNAMICS>
  96.                 <MASS>0.09765793</MASS>
  97.                 <DENSITY>1</DENSITY>
  98.                 <MASS_OFFSET>0.2082374,8.469383e-009,1.056333e-008</MASS_OFFSET>
  99.                 <INERTIA>0.0006345812,9.801692e-012,-8.961981e-011,0.002956016,-3.136968e-012,0.002956016</INERTIA>
  100.                 <LIN_DAMP>0</LIN_DAMP>
  101.                 <ANG_DAMP>0</ANG_DAMP>
  102.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  103.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  104.             </DYNAMICS>
  105.         </MODEL>
  106.         <MODEL id="Bip01 L UpperArm" type="dynamics_and_geometry" geometry="Bip01 L UpperArm">
  107.             <DYNAMICS>
  108.                 <MASS>0.05428289</MASS>
  109.                 <DENSITY>1</DENSITY>
  110.                 <MASS_OFFSET>0.1641605,-2.46851e-009,-9.272709e-009</MASS_OFFSET>
  111.                 <INERTIA>0.0002449516,-1.578675e-011,-1.164168e-010,0.001062169,-6.588524e-012,0.001062169</INERTIA>
  112.                 <LIN_DAMP>0</LIN_DAMP>
  113.                 <ANG_DAMP>0</ANG_DAMP>
  114.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  115.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  116.             </DYNAMICS>
  117.         </MODEL>
  118.         <MODEL id="Bip01 Neck" type="dynamics_and_geometry" geometry="Bip01 Neck">
  119.             <DYNAMICS>
  120.                 <MASS>0.01508597</MASS>
  121.                 <DENSITY>1</DENSITY>
  122.                 <MASS_OFFSET>0.152,0.019,0</MASS_OFFSET>
  123.                 <INERTIA>5.446038e-005,0,0,5.446038e-005,0,5.446038e-005</INERTIA>
  124.                 <LIN_DAMP>0</LIN_DAMP>
  125.                 <ANG_DAMP>0</ANG_DAMP>
  126.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  127.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  128.             </DYNAMICS>
  129.         </MODEL>
  130.         <MODEL id="Bip01 Pelvis" type="dynamics_and_geometry" geometry="Bip01 Pelvis">
  131.             <DYNAMICS>
  132.                 <MASS>0.07565476</MASS>
  133.                 <DENSITY>1</DENSITY>
  134.                 <MASS_OFFSET>0.03146312,-0.004640845,2.319336e-007</MASS_OFFSET>
  135.                 <INERTIA>0.0008001759,0,0,0.0008001759,0,0.0008001759</INERTIA>
  136.                 <LIN_DAMP>0</LIN_DAMP>
  137.                 <ANG_DAMP>0</ANG_DAMP>
  138.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  139.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  140.             </DYNAMICS>
  141.         </MODEL>
  142.         <MODEL id="Bip01 R Calf" type="dynamics_and_geometry" geometry="Bip01 L Calf">
  143.             <DYNAMICS>
  144.                 <MASS>0.1059795</MASS>
  145.                 <DENSITY>1</DENSITY>
  146.                 <MASS_OFFSET>0.2307549,-0.01891923,-0.0001543002</MASS_OFFSET>
  147.                 <INERTIA>0.0006328388,1.410172e-012,9.794841e-011,0.003660899,-1.907091e-012,0.003716717</INERTIA>
  148.                 <LIN_DAMP>0</LIN_DAMP>
  149.                 <ANG_DAMP>0</ANG_DAMP>
  150.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  151.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  152.             </DYNAMICS>
  153.         </MODEL>
  154.         <MODEL id="Bip01 R Clavicle" type="dynamics_only">
  155.             <DYNAMICS>
  156.                 <MASS>0.05411737</MASS>
  157.                 <DENSITY>1</DENSITY>
  158.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  159.                 <INERTIA>0.000397562,0,0,0.000397562,0,0.000397562</INERTIA>
  160.                 <LIN_DAMP>0</LIN_DAMP>
  161.                 <ANG_DAMP>0</ANG_DAMP>
  162.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  163.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  164.             </DYNAMICS>
  165.         </MODEL>
  166.         <MODEL id="Bip01 R Forearm" type="dynamics_and_geometry" geometry="Bip01 L Forearm">
  167.             <DYNAMICS>
  168.                 <MASS>0.04721496</MASS>
  169.                 <DENSITY>1</DENSITY>
  170.                 <MASS_OFFSET>0.1342004,-0.03799891,-5.777653e-006</MASS_OFFSET>
  171.                 <INERTIA>0.0002130574,-1.12522e-011,4.146971e-011,0.0007248807,-3.700781e-012,0.0007248807</INERTIA>
  172.                 <LIN_DAMP>0</LIN_DAMP>
  173.                 <ANG_DAMP>0</ANG_DAMP>
  174.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  175.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  176.             </DYNAMICS>
  177.         </MODEL>
  178.         <MODEL id="Bip01 R Thigh" type="dynamics_and_geometry" geometry="Bip01 L Thigh">
  179.             <DYNAMICS>
  180.                 <MASS>0.09765793</MASS>
  181.                 <DENSITY>1</DENSITY>
  182.                 <MASS_OFFSET>0.2082374,8.469383e-009,1.056333e-008</MASS_OFFSET>
  183.                 <INERTIA>0.0006345812,9.801692e-012,-8.961981e-011,0.002956016,-3.136968e-012,0.002956016</INERTIA>
  184.                 <LIN_DAMP>0</LIN_DAMP>
  185.                 <ANG_DAMP>0</ANG_DAMP>
  186.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  187.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  188.             </DYNAMICS>
  189.         </MODEL>
  190.         <MODEL id="Bip01 R UpperArm" type="dynamics_and_geometry" geometry="Bip01 L UpperArm">
  191.             <DYNAMICS>
  192.                 <MASS>0.05428289</MASS>
  193.                 <DENSITY>1</DENSITY>
  194.                 <MASS_OFFSET>0.1641605,-2.46851e-009,-9.272709e-009</MASS_OFFSET>
  195.                 <INERTIA>0.0002449516,-1.578675e-011,-1.164168e-010,0.001062169,-6.588524e-012,0.001062169</INERTIA>
  196.                 <LIN_DAMP>0</LIN_DAMP>
  197.                 <ANG_DAMP>0</ANG_DAMP>
  198.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  199.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  200.             </DYNAMICS>
  201.         </MODEL>
  202.         <MODEL id="Bip01 Spine" type="dynamics_only">
  203.             <DYNAMICS>
  204.                 <MASS>0.05411737</MASS>
  205.                 <DENSITY>1</DENSITY>
  206.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  207.                 <INERTIA>0.0004019603,0,0,0.0004019603,0,0.0004019603</INERTIA>
  208.                 <LIN_DAMP>0</LIN_DAMP>
  209.                 <ANG_DAMP>0</ANG_DAMP>
  210.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  211.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  212.             </DYNAMICS>
  213.         </MODEL>
  214.         <MODEL id="Bip01 Spine1" type="dynamics_and_geometry" geometry="Bip01 Spine1">
  215.             <DYNAMICS>
  216.                 <MASS>0.01594886</MASS>
  217.                 <DENSITY>1</DENSITY>
  218.                 <MASS_OFFSET>-0.002851398,-0.01890546,2.9675e-008</MASS_OFFSET>
  219.                 <INERTIA>4.606044e-005,-5.743761e-008,-1.805721e-012,8.121708e-005,-2.96916e-015,8.121719e-005</INERTIA>
  220.                 <LIN_DAMP>0</LIN_DAMP>
  221.                 <ANG_DAMP>0</ANG_DAMP>
  222.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  223.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  224.             </DYNAMICS>
  225.         </MODEL>
  226.         <MODEL id="Bip01 Spine2" type="dynamics_and_geometry" geometry="Bip01 Spine2">
  227.             <DYNAMICS>
  228.                 <MASS>0.1206878</MASS>
  229.                 <DENSITY>1</DENSITY>
  230.                 <MASS_OFFSET>0.0950151,-0.01899999,2.692075e-008</MASS_OFFSET>
  231.                 <INERTIA>0.001742732,0,0,0.001742732,0,0.001742732</INERTIA>
  232.                 <LIN_DAMP>0</LIN_DAMP>
  233.                 <ANG_DAMP>0</ANG_DAMP>
  234.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  235.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  236.             </DYNAMICS>
  237.         </MODEL>
  238.         <PART id="bip01 l calf" model="Bip01 L Calf" parent="bip01 l thigh">
  239.             <TM>0.00503761,-0.99577,0.09174294,0,-0.008621777,0.09169745,0.9957496,0,-0.9999502,-0.005807185,-0.008123371,0,0.1285509,0.6358943,0.02079805,1</TM>
  240.         </PART>
  241.         <PART id="bip01 l clavicle" model="Bip01 L Clavicle" parent="bip01 neck">
  242.             <TM>0.974369,0.000713138,0.2249545,0,0.2249545,-3.562693e-007,-0.9743693,0,-0.0006947796,0.9999998,-0.0001607708,0,0.04123722,1.596708,0.0009407406,1</TM>
  243.         </PART>
  244.         <PART id="bip01 l forearm" model="Bip01 L Forearm" parent="bip01 l upperarm">
  245.             <TM>0.5038493,-0.8637584,-0.007567999,0,-0.003679228,0.006615283,-0.9999713,0,0.8637837,0.5038627,0.000155142,0,0.39662,1.313257,0.04780866,1</TM>
  246.         </PART>
  247.         <PART id="bip01 l thigh" model="Bip01 L Thigh" parent="bip01 pelvis">
  248.             <TM>0.005683759,-0.9998692,0.01513996,0,-0.008210174,0.01509303,0.9998524,0,-0.9999501,-0.005807222,-0.008123315,0,0.1261837,1.052312,0.01449272,1</TM>
  249.         </PART>
  250.         <PART id="bip01 l upperarm" model="Bip01 L UpperArm" parent="bip01 l clavicle">
  251.             <TM>0.5038411,-0.8637477,0.009171856,0,0.004755327,-0.007844352,-0.9999579,0,0.8637832,0.5038635,0.0001550959,0,0.2311982,1.596846,0.04479735,1</TM>
  252.         </PART>
  253.         <PART id="bip01 neck" model="Bip01 Neck" parent="bip01 spine2">
  254.             <TM>3.575519e-008,0.9993627,-0.03569596,0,1.417467e-006,0.03569596,0.9993627,0,1,-8.633025e-008,-1.415287e-006,0,-2.466633e-008,1.596709,0.0009938624,1</TM>
  255.         </PART>
  256.         <PART id="bip01 pelvis" model="Bip01 Pelvis" parent="Bip01">
  257.             <TM>-1.400709e-006,1,-8.906675e-008,0,-2.743398e-006,8.906291e-008,1,0,1,1.400709e-006,2.743398e-006,0,-2.282583e-008,1.052312,0.01449259,1</TM>
  258.         </PART>
  259.         <PART id="bip01 r calf" model="Bip01 R Calf" parent="bip01 r thigh">
  260.             <TM>-0.005037857,-0.9957698,0.09174459,0,0.008618845,0.09169911,0.9957495,0,-0.9999502,0.005807176,0.008120419,0,-0.1285509,0.6358882,0.02079781,1</TM>
  261.         </PART>
  262.         <PART id="bip01 r clavicle" model="Bip01 R Clavicle" parent="bip01 neck">
  263.             <TM>-0.9743692,0.0007130231,0.2249538,0,-0.2249539,-7.62044e-007,-0.9743694,0,-0.0006945765,-0.9999998,0.0001611398,0,-0.04123726,1.596699,0.0009406265,1</TM>
  264.         </PART>
  265.         <PART id="bip01 r forearm" model="Bip01 R Forearm" parent="bip01 r upperarm">
  266.             <TM>-0.5038468,-0.8637599,-0.007569078,0,0.00368252,0.006614611,-0.9999713,0,0.8637852,-0.5038602,-0.0001519377,0,-0.3966205,1.313248,0.04780886,1</TM>
  267.         </PART>
  268.         <PART id="bip01 r thigh" model="Bip01 R Thigh" parent="bip01 pelvis">
  269.             <TM>-0.005683718,-0.9998692,0.01513995,0,0.008207284,0.01509304,0.9998524,0,-0.9999502,0.005807137,0.008120426,0,-0.1261837,1.052311,0.01449238,1</TM>
  270.         </PART>
  271.         <PART id="bip01 r upperarm" model="Bip01 R UpperArm" parent="bip01 r clavicle">
  272.             <TM>-0.5038361,-0.8637506,0.009170978,0,-0.004752106,-0.007845215,-0.9999579,0,0.8637862,-0.5038584,-0.000151932,0,-0.2311984,1.596839,0.04479784,1</TM>
  273.         </PART>
  274.         <PART id="bip01 spine" model="Bip01 Spine" parent="bip01 pelvis">
  275.             <TM>4.507282e-008,0.9953195,-0.09663849,0,1.417862e-006,0.09663849,0.9953195,0,1,-1.818819e-007,-1.40687e-006,0,-2.842308e-008,1.157721,0.01458137,1</TM>
  276.         </PART>
  277.         <PART id="bip01 spine1" model="Bip01 Spine1" parent="bip01 spine">
  278.             <TM>-5.627218e-008,0.9996362,-0.02697335,0,1.415844e-006,0.02697335,0.9996362,0,1,1.806165e-008,-1.416847e-006,0,-1.98993e-008,1.269289,0.003834307,1</TM>
  279.         </PART>
  280.         <PART id="bip01 spine2" model="Bip01 Spine2" parent="bip01 spine1">
  281.             <TM>-2.171187e-008,0.9999997,-0.0007971909,0,1.416858e-006,0.0007971909,0.9999997,0,1,2.058236e-008,-1.416875e-006,0,-2.017737e-008,1.376527,0.00111627,1</TM>
  282.         </PART>
  283.         <NO_COLLISION part1="bip01 l calf" part2="bip01 l thigh"></NO_COLLISION>
  284.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 l upperarm"></NO_COLLISION>
  285.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 neck"></NO_COLLISION>
  286.         <NO_COLLISION part1="bip01 l forearm" part2="bip01 l upperarm"></NO_COLLISION>
  287.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 pelvis"></NO_COLLISION>
  288.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 spine1"></NO_COLLISION>
  289.         <NO_COLLISION part1="bip01 l upperarm" part2="bip01 spine2"></NO_COLLISION>
  290.         <NO_COLLISION part1="bip01 neck" part2="bip01 r clavicle"></NO_COLLISION>
  291.         <NO_COLLISION part1="bip01 neck" part2="bip01 spine2"></NO_COLLISION>
  292.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 r thigh"></NO_COLLISION>
  293.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine"></NO_COLLISION>
  294.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine1"></NO_COLLISION>
  295.         <NO_COLLISION part1="bip01 r calf" part2="bip01 r thigh"></NO_COLLISION>
  296.         <NO_COLLISION part1="bip01 r clavicle" part2="bip01 r upperarm"></NO_COLLISION>
  297.         <NO_COLLISION part1="bip01 r forearm" part2="bip01 r upperarm"></NO_COLLISION>
  298.         <NO_COLLISION part1="bip01 r thigh" part2="bip01 spine1"></NO_COLLISION>
  299.         <NO_COLLISION part1="bip01 r upperarm" part2="bip01 spine2"></NO_COLLISION>
  300.         <NO_COLLISION part1="bip01 spine" part2="bip01 spine1"></NO_COLLISION>
  301.         <NO_COLLISION part1="bip01 spine1" part2="bip01 spine2"></NO_COLLISION>
  302.         <JOINT id="bip01 l calf" part1="bip01 l calf" part2="bip01 l thigh" type="hinge">
  303.             <HIGH_LIMIT>1.434471</HIGH_LIMIT>
  304.             <LOW_LIMIT>-0.2004324</LOW_LIMIT>
  305.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  306.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  307.             <LIMITED>1</LIMITED>
  308.             <MOTORIZED>0</MOTORIZED>
  309.             <DES_VEL>1</DES_VEL>
  310.             <MAX_FORCE>1000</MAX_FORCE>
  311.             <POS1>0,0,0</POS1>
  312.             <POS2>0.4164723,-4.239824e-008,1.456405e-008</POS2>
  313.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  314.             <PRIMARY_AXIS2>-2.903713e-008,-1.718586e-007,0.9999999</PRIMARY_AXIS2>
  315.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  316.             <ORTHOGONAL_AXIS2>0.9970574,0.07665891,-1.784501e-008</ORTHOGONAL_AXIS2>
  317.         </JOINT>
  318.         <JOINT id="bip01 l clavicle" part1="bip01 l clavicle" part2="bip01 neck" type="hinge">
  319.             <HIGH_LIMIT>0.2924968</HIGH_LIMIT>
  320.             <LOW_LIMIT>-0.2714835</LOW_LIMIT>
  321.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  322.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  323.             <LIMITED>1</LIMITED>
  324.             <MOTORIZED>0</MOTORIZED>
  325.             <DES_VEL>1</DES_VEL>
  326.             <MAX_FORCE>1000</MAX_FORCE>
  327.             <POS1>0,0,0</POS1>
  328.             <POS2>1.027206e-006,-5.306086e-005,0.04123725</POS2>
  329.             <PRIMARY_AXIS1>-8.940697e-008,1,0</PRIMARY_AXIS1>
  330.             <PRIMARY_AXIS2>0.0347807,-0.9737481,0.2249558</PRIMARY_AXIS2>
  331.             <ORTHOGONAL_AXIS1>0,-2.980232e-008,1</ORTHOGONAL_AXIS1>
  332.             <ORTHOGONAL_AXIS2>0.9993683,0.03553531,-0.0006948719</ORTHOGONAL_AXIS2>
  333.         </JOINT>
  334.         <JOINT id="bip01 l forearm" part1="bip01 l forearm" part2="bip01 l upperarm" type="hinge">
  335.             <HIGH_LIMIT>1.612719</HIGH_LIMIT>
  336.             <LOW_LIMIT>-0.1879124</LOW_LIMIT>
  337.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  338.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  339.             <LIMITED>1</LIMITED>
  340.             <MOTORIZED>0</MOTORIZED>
  341.             <DES_VEL>1</DES_VEL>
  342.             <MAX_FORCE>1000</MAX_FORCE>
  343.             <POS1>0,0,0</POS1>
  344.             <POS2>0.3283237,2.811312e-008,-1.359826e-006</POS2>
  345.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  346.             <PRIMARY_AXIS2>8.22955e-007,-1.551149e-007,1</PRIMARY_AXIS2>
  347.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  348.             <ORTHOGONAL_AXIS2>0.99986,0.01673933,-1.0148e-006</ORTHOGONAL_AXIS2>
  349.         </JOINT>
  350.         <JOINT id="bip01 l thigh" part1="bip01 l thigh" part2="bip01 pelvis" type="skeletal">
  351.             <CONE_TYPE>2</CONE_TYPE>
  352.             <CONE_HALF_ANGLE_X>0.638714</CONE_HALF_ANGLE_X>
  353.             <CONE_HALF_ANGLE_Y>0.5157039</CONE_HALF_ANGLE_Y>
  354.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  355.             <CONE_DAMPING>1</CONE_DAMPING>
  356.             <TWIST_TYPE>2</TWIST_TYPE>
  357.             <TWIST_HALF_ANGLE>0.4</TWIST_HALF_ANGLE>
  358.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  359.             <TWIST_DAMPING>1</TWIST_DAMPING>
  360.             <POS1>0,0,0</POS1>
  361.             <POS2>-1.780375e-007,-2.13521e-007,0.1261837</POS2>
  362.             <PRIMARY_AXIS1>0.9512513,-0.258819,-0.1677313</PRIMARY_AXIS1>
  363.             <PRIMARY_AXIS2>-0.9540595,-0.243017,0.1752526</PRIMARY_AXIS2>
  364.             <ORTHOGONAL_AXIS1>0.254887,0.9659259,-0.04494346</ORTHOGONAL_AXIS1>
  365.             <ORTHOGONAL_AXIS2>-0.2400141,0.9700072,0.03846184</ORTHOGONAL_AXIS2>
  366.         </JOINT>
  367.         <JOINT id="bip01 l upperarm" part1="bip01 l upperarm" part2="bip01 l clavicle" type="skeletal">
  368.             <CONE_TYPE>2</CONE_TYPE>
  369.             <CONE_HALF_ANGLE_X>0.5018904</CONE_HALF_ANGLE_X>
  370.             <CONE_HALF_ANGLE_Y>0.9985749</CONE_HALF_ANGLE_Y>
  371.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  372.             <CONE_DAMPING>1</CONE_DAMPING>
  373.             <TWIST_TYPE>2</TWIST_TYPE>
  374.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  375.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  376.             <TWIST_DAMPING>1</TWIST_DAMPING>
  377.             <POS1>0,0,0</POS1>
  378.             <POS2>0.1949579,2.806034e-008,-2.846625e-007</POS2>
  379.             <PRIMARY_AXIS1>0.8191521,0,0.5735763</PRIMARY_AXIS1>
  380.             <PRIMARY_AXIS2>0.8863026,0.1968894,-0.4191686</PRIMARY_AXIS2>
  381.             <ORTHOGONAL_AXIS1>0,0.9999999,0</ORTHOGONAL_AXIS1>
  382.             <ORTHOGONAL_AXIS2>-0.2203171,0.9753981,-0.00768688</ORTHOGONAL_AXIS2>
  383.         </JOINT>
  384.         <JOINT id="bip01 neck" part1="bip01 neck" part2="bip01 spine2" type="hinge">
  385.             <HIGH_LIMIT>0.347326</HIGH_LIMIT>
  386.             <LOW_LIMIT>-0.3659235</LOW_LIMIT>
  387.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  388.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  389.             <LIMITED>1</LIMITED>
  390.             <MOTORIZED>0</MOTORIZED>
  391.             <DES_VEL>1</DES_VEL>
  392.             <MAX_FORCE>1000</MAX_FORCE>
  393.             <POS1>0,0,0</POS1>
  394.             <POS2>0.2201814,5.311906e-005,2.163144e-010</POS2>
  395.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  396.             <PRIMARY_AXIS2>-1.110743e-007,-1.176361e-007,1</PRIMARY_AXIS2>
  397.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  398.             <ORTHOGONAL_AXIS2>0.999391,-0.03489921,4.729647e-008</ORTHOGONAL_AXIS2>
  399.         </JOINT>
  400.         <JOINT id="bip01 r calf" part1="bip01 r calf" part2="bip01 r thigh" type="hinge">
  401.             <HIGH_LIMIT>1.434471</HIGH_LIMIT>
  402.             <LOW_LIMIT>-0.2004324</LOW_LIMIT>
  403.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  404.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  405.             <LIMITED>1</LIMITED>
  406.             <MOTORIZED>0</MOTORIZED>
  407.             <DES_VEL>1</DES_VEL>
  408.             <MAX_FORCE>1000</MAX_FORCE>
  409.             <POS1>0,0,0</POS1>
  410.             <POS2>0.4164776,-2.202138e-008,-3.128057e-008</POS2>
  411.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  412.             <PRIMARY_AXIS2>-3.059392e-008,-1.253132e-007,1</PRIMARY_AXIS2>
  413.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  414.             <ORTHOGONAL_AXIS2>0.9970572,0.07666057,-1.958724e-008</ORTHOGONAL_AXIS2>
  415.         </JOINT>
  416.         <JOINT id="bip01 r clavicle" part1="bip01 r clavicle" part2="bip01 neck" type="hinge">
  417.             <HIGH_LIMIT>0.2714835</HIGH_LIMIT>
  418.             <LOW_LIMIT>-0.2924968</LOW_LIMIT>
  419.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  420.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  421.             <LIMITED>1</LIMITED>
  422.             <MOTORIZED>0</MOTORIZED>
  423.             <DES_VEL>1</DES_VEL>
  424.             <MAX_FORCE>1000</MAX_FORCE>
  425.             <POS1>0,0,0</POS1>
  426.             <POS2>-7.573095e-006,-5.359905e-005,-0.04123724</POS2>
  427.             <PRIMARY_AXIS1>-2.384186e-007,1,6.27314e-008</PRIMARY_AXIS1>
  428.             <PRIMARY_AXIS2>0.03478023,-0.973749,-0.2249523</PRIMARY_AXIS2>
  429.             <ORTHOGONAL_AXIS1>6.273139e-008,-1.788139e-007,1</ORTHOGONAL_AXIS1>
  430.             <ORTHOGONAL_AXIS2>-0.9993684,-0.03553473,-0.0006945108</ORTHOGONAL_AXIS2>
  431.         </JOINT>
  432.         <JOINT id="bip01 r forearm" part1="bip01 r forearm" part2="bip01 r upperarm" type="hinge">
  433.             <HIGH_LIMIT>1.612719</HIGH_LIMIT>
  434.             <LOW_LIMIT>-0.1879124</LOW_LIMIT>
  435.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  436.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  437.             <LIMITED>1</LIMITED>
  438.             <MOTORIZED>0</MOTORIZED>
  439.             <DES_VEL>1</DES_VEL>
  440.             <MAX_FORCE>1000</MAX_FORCE>
  441.             <POS1>0,0,0</POS1>
  442.             <POS2>0.3283254,3.510118e-008,1.879944e-007</POS2>
  443.             <PRIMARY_AXIS1>5.01852e-007,-1.311302e-006,1</PRIMARY_AXIS1>
  444.             <PRIMARY_AXIS2>2.673365e-006,-1.259156e-006,1</PRIMARY_AXIS2>
  445.             <ORTHOGONAL_AXIS1>1,5.645832e-007,-1.251698e-006</ORTHOGONAL_AXIS1>
  446.             <ORTHOGONAL_AXIS2>0.9998603,0.01674003,-3.216021e-006</ORTHOGONAL_AXIS2>
  447.         </JOINT>
  448.         <JOINT id="bip01 r thigh" part1="bip01 r thigh" part2="bip01 pelvis" type="skeletal">
  449.             <CONE_TYPE>2</CONE_TYPE>
  450.             <CONE_HALF_ANGLE_X>0.638714</CONE_HALF_ANGLE_X>
  451.             <CONE_HALF_ANGLE_Y>0.5157039</CONE_HALF_ANGLE_Y>
  452.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  453.             <CONE_DAMPING>1</CONE_DAMPING>
  454.             <TWIST_TYPE>2</TWIST_TYPE>
  455.             <TWIST_HALF_ANGLE>0.4</TWIST_HALF_ANGLE>
  456.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  457.             <TWIST_DAMPING>1</TWIST_DAMPING>
  458.             <POS1>0,0,0</POS1>
  459.             <POS2>-7.305347e-007,1.373075e-007,-0.1261837</POS2>
  460.             <PRIMARY_AXIS1>0.9512514,-0.2588191,0.1677313</PRIMARY_AXIS1>
  461.             <PRIMARY_AXIS2>-0.9540591,-0.2430165,-0.1752558</PRIMARY_AXIS2>
  462.             <ORTHOGONAL_AXIS1>0.254887,0.965926,0.04494347</ORTHOGONAL_AXIS1>
  463.             <ORTHOGONAL_AXIS2>-0.240014,0.9700075,-0.03845998</ORTHOGONAL_AXIS2>
  464.         </JOINT>
  465.         <JOINT id="bip01 r upperarm" part1="bip01 r upperarm" part2="bip01 r clavicle" type="skeletal">
  466.             <CONE_TYPE>2</CONE_TYPE>
  467.             <CONE_HALF_ANGLE_X>0.8859067</CONE_HALF_ANGLE_X>
  468.             <CONE_HALF_ANGLE_Y>0.9985749</CONE_HALF_ANGLE_Y>
  469.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  470.             <CONE_DAMPING>1</CONE_DAMPING>
  471.             <TWIST_TYPE>2</TWIST_TYPE>
  472.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  473.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  474.             <TWIST_DAMPING>1</TWIST_DAMPING>
  475.             <POS1>0,0,0</POS1>
  476.             <POS2>0.1949583,-6.150014e-007,-7.466668e-007</POS2>
  477.             <PRIMARY_AXIS1>0.8191522,0,-0.5735763</PRIMARY_AXIS1>
  478.             <PRIMARY_AXIS2>0.8862998,0.1968909,0.4191739</PRIMARY_AXIS2>
  479.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  480.             <ORTHOGONAL_AXIS2>-0.2203197,0.9753976,0.007687364</ORTHOGONAL_AXIS2>
  481.         </JOINT>
  482.         <JOINT id="bip01 spine" part1="bip01 spine" part2="bip01 pelvis" type="skeletal">
  483.             <CONE_TYPE>2</CONE_TYPE>
  484.             <CONE_HALF_ANGLE_X>0.1714142</CONE_HALF_ANGLE_X>
  485.             <CONE_HALF_ANGLE_Y>0.2729374</CONE_HALF_ANGLE_Y>
  486.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  487.             <CONE_DAMPING>1</CONE_DAMPING>
  488.             <TWIST_TYPE>2</TWIST_TYPE>
  489.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  490.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  491.             <TWIST_DAMPING>1</TWIST_DAMPING>
  492.             <POS1>0,0,0</POS1>
  493.             <POS2>0.1054091,8.878666e-005,1.422939e-007</POS2>
  494.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  495.             <PRIMARY_AXIS2>0.9953195,-0.0966384,1.174108e-006</PRIMARY_AXIS2>
  496.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  497.             <ORTHOGONAL_AXIS2>0.0966384,0.9953195,4.283782e-006</ORTHOGONAL_AXIS2>
  498.         </JOINT>
  499.         <JOINT id="bip01 spine1" part1="bip01 spine1" part2="bip01 spine" type="skeletal">
  500.             <CONE_TYPE>2</CONE_TYPE>
  501.             <CONE_HALF_ANGLE_X>0.2133057</CONE_HALF_ANGLE_X>
  502.             <CONE_HALF_ANGLE_Y>0.2133057</CONE_HALF_ANGLE_Y>
  503.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  504.             <CONE_DAMPING>1</CONE_DAMPING>
  505.             <TWIST_TYPE>2</TWIST_TYPE>
  506.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  507.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  508.             <TWIST_DAMPING>1</TWIST_DAMPING>
  509.             <POS1>0,0,0</POS1>
  510.             <POS2>0.1120843,8.499961e-005,3.351302e-009</POS2>
  511.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  512.             <PRIMARY_AXIS2>0.9975641,0.06975622,-2.001399e-007</PRIMARY_AXIS2>
  513.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  514.             <ORTHOGONAL_AXIS2>-0.06975622,0.9975641,4.579877e-009</ORTHOGONAL_AXIS2>
  515.         </JOINT>
  516.         <JOINT id="bip01 spine2" part1="bip01 spine2" part2="bip01 spine1" type="skeletal">
  517.             <CONE_TYPE>2</CONE_TYPE>
  518.             <CONE_HALF_ANGLE_X>0.1714292</CONE_HALF_ANGLE_X>
  519.             <CONE_HALF_ANGLE_Y>0.1714292</CONE_HALF_ANGLE_Y>
  520.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  521.             <CONE_DAMPING>1</CONE_DAMPING>
  522.             <TWIST_TYPE>2</TWIST_TYPE>
  523.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  524.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  525.             <TWIST_DAMPING>1</TWIST_DAMPING>
  526.             <POS1>0,0,0</POS1>
  527.             <POS2>0.1072722,0.0001755174,5.50986e-009</POS2>
  528.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  529.             <PRIMARY_AXIS2>0.9996575,0.02617644,-2.520762e-009</PRIMARY_AXIS2>
  530.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  531.             <ORTHOGONAL_AXIS2>-0.02617644,0.9996575,2.519555e-011</ORTHOGONAL_AXIS2>
  532.         </JOINT>
  533.     </ASSET>
  534.     <ASSET id="BotA" graphic="BotA.psk" scale="0.008" mass_scale="1" length_scale="1">
  535.         <GEOMETRY id="Bip01 L Calf">
  536.             <PRIMITIVE id="Bip01 L Calf_1" type="sphyl">
  537.                 <RADIUS>0.12</RADIUS>
  538.                 <HEIGHT>0.4894697</HEIGHT>
  539.                 <TM>3.551319e-009,-0.9999628,0.008621834,0,-3.231953e-008,-0.008621833,-0.9999628,0,1,1.97098e-008,-3.235793e-008,0,0.2447348,6.423305e-009,-1.297359e-008,1</TM>
  540.             </PRIMITIVE>
  541.         </GEOMETRY>
  542.         <GEOMETRY id="Bip01 L Forearm">
  543.             <PRIMITIVE id="Bip01 L Forearm_1" type="sphyl">
  544.                 <RADIUS>0.1</RADIUS>
  545.                 <HEIGHT>0.2831328</HEIGHT>
  546.                 <TM>-7.708394e-008,-0.0001551636,-1,0,-8.19468e-009,1,-0.0001551687,0,1,-2.497311e-008,-6.762415e-008,0,0.1415664,-1.788646e-009,-3.189483e-009,1</TM>
  547.             </PRIMITIVE>
  548.         </GEOMETRY>
  549.         <GEOMETRY id="Bip01 L Thigh">
  550.             <PRIMITIVE id="Bip01 L Thigh_1" type="sphyl">
  551.                 <RADIUS>0.12</RADIUS>
  552.                 <HEIGHT>0.4383945</HEIGHT>
  553.                 <TM>3.118277e-009,-0.9999663,0.008210307,0,3.866968e-008,-0.008210306,-0.9999663,0,1,3.144998e-008,3.877963e-008,0,0.2191973,8.915141e-009,1.111929e-008,1</TM>
  554.             </PRIMITIVE>
  555.         </GEOMETRY>
  556.         <GEOMETRY id="Bip01 L UpperArm">
  557.             <PRIMITIVE id="Bip01 L UpperArm_1" type="sphyl">
  558.                 <RADIUS>0.1</RADIUS>
  559.                 <HEIGHT>0.3456008</HEIGHT>
  560.                 <TM>1.290217e-007,-0.0001551653,-1,0,-9.641187e-009,1,-0.0001551715,0,1,-2.255516e-008,8.419745e-008,0,0.1728005,-2.598432e-009,-9.760746e-009,1</TM>
  561.             </PRIMITIVE>
  562.         </GEOMETRY>
  563.         <GEOMETRY id="Bip01 Neck">
  564.             <PRIMITIVE id="Part0" type="sphere">
  565.                 <RADIUS>0.1</RADIUS>
  566.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.16,0.02,0,1</TM>
  567.             </PRIMITIVE>
  568.         </GEOMETRY>
  569.         <GEOMETRY id="Bip01 Pelvis">
  570.             <PRIMITIVE id="Bip01 Pelvis_1" type="sphere">
  571.                 <RADIUS>0.1711674</RADIUS>
  572.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.03311908,-0.0048851,2.441406e-007,1</TM>
  573.             </PRIMITIVE>
  574.         </GEOMETRY>
  575.         <GEOMETRY id="Bip01 Spine1">
  576.             <PRIMITIVE id="Bip01 Spine1_1" type="sphyl">
  577.                 <RADIUS>0.08000001</RADIUS>
  578.                 <HEIGHT>0.1129184</HEIGHT>
  579.                 <TM>-0.001633723,0.9999987,-1.415968e-006,0,-5.367517e-008,1.415882e-006,1,0,0.9999987,0.001633698,5.136194e-008,0,-0.003540939,9.223782e-005,2.899851e-009,1</TM>
  580.             </PRIMITIVE>
  581.         </GEOMETRY>
  582.         <GEOMETRY id="Bip01 Spine2">
  583.             <PRIMITIVE id="Part3" type="sphere">
  584.                 <RADIUS>0.2</RADIUS>
  585.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1,0,0,1</TM>
  586.             </PRIMITIVE>
  587.         </GEOMETRY>
  588.         <MODEL id="Bip01 L Calf" type="dynamics_and_geometry" geometry="Bip01 L Calf">
  589.             <DYNAMICS>
  590.                 <MASS>0.02942641</MASS>
  591.                 <DENSITY>1</DENSITY>
  592.                 <MASS_OFFSET>0.2447348,6.423305e-009,-1.297359e-008</MASS_OFFSET>
  593.                 <INERTIA>0.0002118702,4.338509e-013,3.013461e-011,0.001143477,-5.867318e-013,0.001143478</INERTIA>
  594.                 <LIN_DAMP>0</LIN_DAMP>
  595.                 <ANG_DAMP>0</ANG_DAMP>
  596.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  597.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  598.             </DYNAMICS>
  599.         </MODEL>
  600.         <MODEL id="Bip01 L Clavicle" type="dynamics_only">
  601.             <DYNAMICS>
  602.                 <MASS>0.0150263</MASS>
  603.                 <DENSITY>1</DENSITY>
  604.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  605.                 <INERTIA>0.0001223131,0,0,0.0001223131,0,0.0001223131</INERTIA>
  606.                 <LIN_DAMP>0</LIN_DAMP>
  607.                 <ANG_DAMP>0</ANG_DAMP>
  608.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  609.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  610.             </DYNAMICS>
  611.         </MODEL>
  612.         <MODEL id="Bip01 L Forearm" type="dynamics_and_geometry" geometry="Bip01 L Forearm">
  613.             <DYNAMICS>
  614.                 <MASS>0.01310977</MASS>
  615.                 <DENSITY>1</DENSITY>
  616.                 <MASS_OFFSET>0.1415664,-1.788646e-009,-3.189483e-009</MASS_OFFSET>
  617.                 <INERTIA>6.554881e-005,-3.46183e-012,1.275849e-011,0.0002230153,-1.138575e-012,0.0002230153</INERTIA>
  618.                 <LIN_DAMP>0</LIN_DAMP>
  619.                 <ANG_DAMP>0</ANG_DAMP>
  620.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  621.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  622.             </DYNAMICS>
  623.         </MODEL>
  624.         <MODEL id="Bip01 L Thigh" type="dynamics_and_geometry" geometry="Bip01 L Thigh">
  625.             <DYNAMICS>
  626.                 <MASS>0.02711583</MASS>
  627.                 <DENSITY>1</DENSITY>
  628.                 <MASS_OFFSET>0.2191973,8.915141e-009,1.111929e-008</MASS_OFFSET>
  629.                 <INERTIA>0.000195234,3.015569e-012,-2.757225e-011,0.0009094419,-9.651132e-013,0.0009094419</INERTIA>
  630.                 <LIN_DAMP>0</LIN_DAMP>
  631.                 <ANG_DAMP>0</ANG_DAMP>
  632.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  633.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  634.             </DYNAMICS>
  635.         </MODEL>
  636.         <MODEL id="Bip01 L UpperArm" type="dynamics_and_geometry" geometry="Bip01 L UpperArm">
  637.             <DYNAMICS>
  638.                 <MASS>0.01507226</MASS>
  639.                 <DENSITY>1</DENSITY>
  640.                 <MASS_OFFSET>0.1728005,-2.598432e-009,-9.760746e-009</MASS_OFFSET>
  641.                 <INERTIA>7.53613e-005,-4.856918e-012,-3.581657e-011,0.0003267845,-2.027012e-012,0.0003267845</INERTIA>
  642.                 <LIN_DAMP>0</LIN_DAMP>
  643.                 <ANG_DAMP>0</ANG_DAMP>
  644.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  645.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  646.             </DYNAMICS>
  647.         </MODEL>
  648.         <MODEL id="Bip01 Neck" type="dynamics_and_geometry" geometry="Bip01 Neck">
  649.             <DYNAMICS>
  650.                 <MASS>0.004188791</MASS>
  651.                 <DENSITY>1</DENSITY>
  652.                 <MASS_OFFSET>0.16,0.02,0</MASS_OFFSET>
  653.                 <INERTIA>1.675517e-005,0,0,1.675517e-005,0,1.675517e-005</INERTIA>
  654.                 <LIN_DAMP>0</LIN_DAMP>
  655.                 <ANG_DAMP>0</ANG_DAMP>
  656.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  657.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  658.             </DYNAMICS>
  659.         </MODEL>
  660.         <MODEL id="Bip01 Pelvis" type="dynamics_and_geometry" geometry="Bip01 Pelvis">
  661.             <DYNAMICS>
  662.                 <MASS>0.0210064</MASS>
  663.                 <DENSITY>1</DENSITY>
  664.                 <MASS_OFFSET>0.03311908,-0.0048851,2.441406e-007</MASS_OFFSET>
  665.                 <INERTIA>0.0002461805,0,0,0.0002461805,0,0.0002461805</INERTIA>
  666.                 <LIN_DAMP>0</LIN_DAMP>
  667.                 <ANG_DAMP>0</ANG_DAMP>
  668.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  669.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  670.             </DYNAMICS>
  671.         </MODEL>
  672.         <MODEL id="Bip01 R Calf" type="dynamics_and_geometry" geometry="Bip01 L Calf">
  673.             <DYNAMICS>
  674.                 <MASS>0.02942641</MASS>
  675.                 <DENSITY>1</DENSITY>
  676.                 <MASS_OFFSET>0.2447348,6.423305e-009,-1.297359e-008</MASS_OFFSET>
  677.                 <INERTIA>0.0002118702,4.338509e-013,3.013461e-011,0.001143477,-5.867318e-013,0.001143478</INERTIA>
  678.                 <LIN_DAMP>0</LIN_DAMP>
  679.                 <ANG_DAMP>0</ANG_DAMP>
  680.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  681.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  682.             </DYNAMICS>
  683.         </MODEL>
  684.         <MODEL id="Bip01 R Clavicle" type="dynamics_only">
  685.             <DYNAMICS>
  686.                 <MASS>0.0150263</MASS>
  687.                 <DENSITY>1</DENSITY>
  688.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  689.                 <INERTIA>0.0001223131,0,0,0.0001223131,0,0.0001223131</INERTIA>
  690.                 <LIN_DAMP>0</LIN_DAMP>
  691.                 <ANG_DAMP>0</ANG_DAMP>
  692.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  693.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  694.             </DYNAMICS>
  695.         </MODEL>
  696.         <MODEL id="Bip01 R Forearm" type="dynamics_and_geometry" geometry="Bip01 L Forearm">
  697.             <DYNAMICS>
  698.                 <MASS>0.01310977</MASS>
  699.                 <DENSITY>1</DENSITY>
  700.                 <MASS_OFFSET>0.1415664,-1.788646e-009,-3.189483e-009</MASS_OFFSET>
  701.                 <INERTIA>6.554881e-005,-3.46183e-012,1.275849e-011,0.0002230153,-1.138575e-012,0.0002230153</INERTIA>
  702.                 <LIN_DAMP>0</LIN_DAMP>
  703.                 <ANG_DAMP>0</ANG_DAMP>
  704.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  705.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  706.             </DYNAMICS>
  707.         </MODEL>
  708.         <MODEL id="Bip01 R Thigh" type="dynamics_and_geometry" geometry="Bip01 L Thigh">
  709.             <DYNAMICS>
  710.                 <MASS>0.02711583</MASS>
  711.                 <DENSITY>1</DENSITY>
  712.                 <MASS_OFFSET>0.2191973,8.915141e-009,1.111929e-008</MASS_OFFSET>
  713.                 <INERTIA>0.000195234,3.015569e-012,-2.757225e-011,0.0009094419,-9.651132e-013,0.0009094419</INERTIA>
  714.                 <LIN_DAMP>0</LIN_DAMP>
  715.                 <ANG_DAMP>0</ANG_DAMP>
  716.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  717.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  718.             </DYNAMICS>
  719.         </MODEL>
  720.         <MODEL id="Bip01 R UpperArm" type="dynamics_and_geometry" geometry="Bip01 L UpperArm">
  721.             <DYNAMICS>
  722.                 <MASS>0.01507226</MASS>
  723.                 <DENSITY>1</DENSITY>
  724.                 <MASS_OFFSET>0.1728005,-2.598432e-009,-9.760746e-009</MASS_OFFSET>
  725.                 <INERTIA>7.53613e-005,-4.856918e-012,-3.581657e-011,0.0003267845,-2.027012e-012,0.0003267845</INERTIA>
  726.                 <LIN_DAMP>0</LIN_DAMP>
  727.                 <ANG_DAMP>0</ANG_DAMP>
  728.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  729.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  730.             </DYNAMICS>
  731.         </MODEL>
  732.         <MODEL id="Bip01 Spine" type="dynamics_only">
  733.             <DYNAMICS>
  734.                 <MASS>0.0150263</MASS>
  735.                 <DENSITY>1</DENSITY>
  736.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  737.                 <INERTIA>0.0001236663,0,0,0.0001236663,0,0.0001236663</INERTIA>
  738.                 <LIN_DAMP>0</LIN_DAMP>
  739.                 <ANG_DAMP>0</ANG_DAMP>
  740.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  741.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  742.             </DYNAMICS>
  743.         </MODEL>
  744.         <MODEL id="Bip01 Spine1" type="dynamics_and_geometry" geometry="Bip01 Spine1">
  745.             <DYNAMICS>
  746.                 <MASS>0.004428381</MASS>
  747.                 <DENSITY>1</DENSITY>
  748.                 <MASS_OFFSET>-0.003540939,9.223782e-005,2.899851e-009</MASS_OFFSET>
  749.                 <INERTIA>1.417086e-005,-1.767114e-008,-5.555444e-013,2.498708e-005,-9.134859e-016,2.498711e-005</INERTIA>
  750.                 <LIN_DAMP>0</LIN_DAMP>
  751.                 <ANG_DAMP>0</ANG_DAMP>
  752.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  753.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  754.             </DYNAMICS>
  755.         </MODEL>
  756.         <MODEL id="Bip01 Spine2" type="dynamics_and_geometry" geometry="Bip01 Spine2">
  757.             <DYNAMICS>
  758.                 <MASS>0.03351033</MASS>
  759.                 <DENSITY>1</DENSITY>
  760.                 <MASS_OFFSET>0.1,0,0</MASS_OFFSET>
  761.                 <INERTIA>0.0005361653,0,0,0.0005361653,0,0.0005361653</INERTIA>
  762.                 <LIN_DAMP>0</LIN_DAMP>
  763.                 <ANG_DAMP>0</ANG_DAMP>
  764.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  765.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  766.             </DYNAMICS>
  767.         </MODEL>
  768.         <PART id="bip01 l calf" model="Bip01 L Calf" parent="bip01 l thigh">
  769.             <TM>0.00503761,-0.9957699,0.09174331,0,-0.008621762,0.09169782,0.9957495,0,-0.9999501,-0.005807187,-0.008123353,0,0.1353167,0.6693592,0.02189279,1</TM>
  770.         </PART>
  771.         <PART id="bip01 l clavicle" model="Bip01 L Clavicle" parent="bip01 neck">
  772.             <TM>0.9743692,0.0007131117,0.2249538,0,0.2249538,-3.530798e-007,-0.9743694,0,-0.0006947548,0.9999997,-0.0001607612,0,0.0434076,1.680745,0.0009903455,1</TM>
  773.         </PART>
  774.         <PART id="bip01 l forearm" model="Bip01 L Forearm" parent="bip01 l upperarm">
  775.             <TM>0.5038496,-0.8637583,-0.007568068,0,-0.003679239,0.006615356,-0.9999713,0,0.8637835,0.503863,0.0001551708,0,0.4174946,1.382376,0.05032476,1</TM>
  776.         </PART>
  777.         <PART id="bip01 l thigh" model="Bip01 L Thigh" parent="bip01 pelvis">
  778.             <TM>0.005683759,-0.9998692,0.01513996,0,-0.008210174,0.01509303,0.9998524,0,-0.9999501,-0.005807222,-0.008123315,0,0.132825,1.107697,0.0152555,1</TM>
  779.         </PART>
  780.         <PART id="bip01 l upperarm" model="Bip01 L UpperArm" parent="bip01 l clavicle">
  781.             <TM>0.503841,-0.8637477,0.009171758,0,0.00475532,-0.007844242,-0.9999579,0,0.8637833,0.5038635,0.0001551452,0,0.2433663,1.680891,0.04715498,1</TM>
  782.         </PART>
  783.         <PART id="bip01 neck" model="Bip01 Neck" parent="bip01 spine2">
  784.             <TM>3.575895e-008,0.9993627,-0.03569596,0,1.417503e-006,0.03569596,0.9993627,0,1,-8.633529e-008,-1.415323e-006,0,-2.596315e-008,1.680746,0.001046158,1</TM>
  785.         </PART>
  786.         <PART id="bip01 pelvis" model="Bip01 Pelvis" parent="Bip01">
  787.             <TM>-1.400709e-006,1,-8.906675e-008,0,-2.743398e-006,8.906291e-008,1,0,1,1.400709e-006,2.743398e-006,0,-2.402719e-008,1.107697,0.01525536,1</TM>
  788.         </PART>
  789.         <PART id="bip01 r calf" model="Bip01 R Calf" parent="bip01 r thigh">
  790.             <TM>-0.005037859,-0.9957699,0.09174435,0,0.008618845,0.09169886,0.9957495,0,-0.9999502,0.005807176,0.008120419,0,-0.1353167,0.6693592,0.02189243,1</TM>
  791.         </PART>
  792.         <PART id="bip01 r clavicle" model="Bip01 R Clavicle" parent="bip01 neck">
  793.             <TM>-0.9743695,0.0007129924,0.2249524,0,-0.2249525,-6.593794e-007,-0.9743698,0,-0.00069457,-0.9999998,0.0001610319,0,-0.04340764,1.680736,0.0009902291,1</TM>
  794.         </PART>
  795.         <PART id="bip01 r forearm" model="Bip01 R Forearm" parent="bip01 r upperarm">
  796.             <TM>-0.5038487,-0.8637587,-0.00756938,0,0.00368259,0.00661492,-0.9999713,0,0.8637841,-0.5038621,-0.0001520497,0,-0.4174957,1.382367,0.05032448,1</TM>
  797.         </PART>
  798.         <PART id="bip01 r thigh" model="Bip01 R Thigh" parent="bip01 pelvis">
  799.             <TM>-0.005683718,-0.9998692,0.01513995,0,0.008207284,0.01509304,0.9998524,0,-0.9999502,0.005807137,0.008120426,0,-0.132825,1.107696,0.01525514,1</TM>
  800.         </PART>
  801.         <PART id="bip01 r upperarm" model="Bip01 R UpperArm" parent="bip01 r clavicle">
  802.             <TM>-0.5038384,-0.8637493,0.009170609,0,-0.00475204,-0.007844826,-0.9999579,0,0.8637848,-0.5038607,-0.000152047,0,-0.2433668,1.680883,0.0471551,1</TM>
  803.         </PART>
  804.         <PART id="bip01 spine" model="Bip01 Spine" parent="bip01 pelvis">
  805.             <TM>4.507323e-008,0.9953195,-0.09663847,0,1.417862e-006,0.09663847,0.9953195,0,1,-1.818823e-007,-1.40687e-006,0,-2.992199e-008,1.218654,0.01534881,1</TM>
  806.         </PART>
  807.         <PART id="bip01 spine1" model="Bip01 Spine1" parent="bip01 spine">
  808.             <TM>-5.627021e-008,0.9996362,-0.02697335,0,1.415856e-006,0.02697335,0.9996362,0,1,1.805937e-008,-1.416859e-006,0,-2.094655e-008,1.336094,0.004036094,1</TM>
  809.         </PART>
  810.         <PART id="bip01 spine2" model="Bip01 Spine2" parent="bip01 spine1">
  811.             <TM>-2.170738e-008,0.9999997,-0.0007971909,0,1.416887e-006,0.0007971909,0.9999997,0,1,2.057785e-008,-1.416904e-006,0,-2.123891e-008,1.448976,0.001175011,1</TM>
  812.         </PART>
  813.         <NO_COLLISION part1="bip01 l calf" part2="bip01 l thigh"></NO_COLLISION>
  814.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 l upperarm"></NO_COLLISION>
  815.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 neck"></NO_COLLISION>
  816.         <NO_COLLISION part1="bip01 l forearm" part2="bip01 l upperarm"></NO_COLLISION>
  817.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 pelvis"></NO_COLLISION>
  818.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 spine1"></NO_COLLISION>
  819.         <NO_COLLISION part1="bip01 l upperarm" part2="bip01 spine2"></NO_COLLISION>
  820.         <NO_COLLISION part1="bip01 neck" part2="bip01 r clavicle"></NO_COLLISION>
  821.         <NO_COLLISION part1="bip01 neck" part2="bip01 spine2"></NO_COLLISION>
  822.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 r thigh"></NO_COLLISION>
  823.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine"></NO_COLLISION>
  824.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine1"></NO_COLLISION>
  825.         <NO_COLLISION part1="bip01 r calf" part2="bip01 r thigh"></NO_COLLISION>
  826.         <NO_COLLISION part1="bip01 r clavicle" part2="bip01 r upperarm"></NO_COLLISION>
  827.         <NO_COLLISION part1="bip01 r forearm" part2="bip01 r upperarm"></NO_COLLISION>
  828.         <NO_COLLISION part1="bip01 r thigh" part2="bip01 spine1"></NO_COLLISION>
  829.         <NO_COLLISION part1="bip01 r upperarm" part2="bip01 spine2"></NO_COLLISION>
  830.         <NO_COLLISION part1="bip01 spine" part2="bip01 spine1"></NO_COLLISION>
  831.         <NO_COLLISION part1="bip01 spine1" part2="bip01 spine2"></NO_COLLISION>
  832.         <JOINT id="bip01 l calf" part1="bip01 l calf" part2="bip01 l thigh" type="hinge">
  833.             <HIGH_LIMIT>1.434471</HIGH_LIMIT>
  834.             <LOW_LIMIT>-0.2004324</LOW_LIMIT>
  835.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  836.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  837.             <LIMITED>1</LIMITED>
  838.             <MOTORIZED>0</MOTORIZED>
  839.             <DES_VEL>1</DES_VEL>
  840.             <MAX_FORCE>1000</MAX_FORCE>
  841.             <POS1>0,0,0</POS1>
  842.             <POS2>0.4383955,4.438422e-009,7.971478e-010</POS2>
  843.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  844.             <PRIMARY_AXIS2>-2.703365e-008,-1.546766e-007,0.9999999</PRIMARY_AXIS2>
  845.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  846.             <ORTHOGONAL_AXIS2>0.9970573,0.07665928,-2.121732e-008</ORTHOGONAL_AXIS2>
  847.         </JOINT>
  848.         <JOINT id="bip01 l clavicle" part1="bip01 l clavicle" part2="bip01 neck" type="hinge">
  849.             <HIGH_LIMIT>0.1785728</HIGH_LIMIT>
  850.             <LOW_LIMIT>-0.2024575</LOW_LIMIT>
  851.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  852.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  853.             <LIMITED>1</LIMITED>
  854.             <MOTORIZED>0</MOTORIZED>
  855.             <DES_VEL>1</DES_VEL>
  856.             <MAX_FORCE>1000</MAX_FORCE>
  857.             <POS1>0,0,0</POS1>
  858.             <POS2>1.027722e-007,-5.577909e-005,0.04340763</POS2>
  859.             <PRIMARY_AXIS1>-8.940697e-008,1,0</PRIMARY_AXIS1>
  860.             <PRIMARY_AXIS2>0.03478071,-0.9737483,0.2249551</PRIMARY_AXIS2>
  861.             <ORTHOGONAL_AXIS1>0,-2.980232e-008,1</ORTHOGONAL_AXIS1>
  862.             <ORTHOGONAL_AXIS2>0.9993683,0.03553532,-0.0006948475</ORTHOGONAL_AXIS2>
  863.         </JOINT>
  864.         <JOINT id="bip01 l forearm" part1="bip01 l forearm" part2="bip01 l upperarm" type="hinge">
  865.             <HIGH_LIMIT>1.570796</HIGH_LIMIT>
  866.             <LOW_LIMIT>-0.2400251</LOW_LIMIT>
  867.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  868.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  869.             <LIMITED>1</LIMITED>
  870.             <MOTORIZED>0</MOTORIZED>
  871.             <DES_VEL>1</DES_VEL>
  872.             <MAX_FORCE>1000</MAX_FORCE>
  873.             <POS1>0,0,0</POS1>
  874.             <POS2>0.345603,1.043117e-008,-8.90733e-007</POS2>
  875.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  876.             <PRIMARY_AXIS2>4.757839e-007,-1.487373e-007,0.9999999</PRIMARY_AXIS2>
  877.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  878.             <ORTHOGONAL_AXIS2>0.9998598,0.01673931,-5.347277e-007</ORTHOGONAL_AXIS2>
  879.         </JOINT>
  880.         <JOINT id="bip01 l thigh" part1="bip01 l thigh" part2="bip01 pelvis" type="skeletal">
  881.             <CONE_TYPE>2</CONE_TYPE>
  882.             <CONE_HALF_ANGLE_X>1.225992</CONE_HALF_ANGLE_X>
  883.             <CONE_HALF_ANGLE_Y>0.3508572</CONE_HALF_ANGLE_Y>
  884.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  885.             <CONE_DAMPING>1</CONE_DAMPING>
  886.             <TWIST_TYPE>2</TWIST_TYPE>
  887.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  888.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  889.             <TWIST_DAMPING>1</TWIST_DAMPING>
  890.             <POS1>0,0,0</POS1>
  891.             <POS2>-1.874079e-007,-2.267909e-007,0.132825</POS2>
  892.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  893.             <PRIMARY_AXIS2>-0.9998692,0.01513986,0.0056824</PRIMARY_AXIS2>
  894.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  895.             <ORTHOGONAL_AXIS2>0.01509296,0.9998524,-0.00820741</ORTHOGONAL_AXIS2>
  896.         </JOINT>
  897.         <JOINT id="bip01 l upperarm" part1="bip01 l upperarm" part2="bip01 l clavicle" type="skeletal">
  898.             <CONE_TYPE>2</CONE_TYPE>
  899.             <CONE_HALF_ANGLE_X>0.5804728</CONE_HALF_ANGLE_X>
  900.             <CONE_HALF_ANGLE_Y>0.7853982</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>0.2052186,5.486574e-008,-8.967866e-008</POS2>
  909.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  910.             <PRIMARY_AXIS2>0.4923744,0.1044046,-0.864099</PRIMARY_AXIS2>
  911.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  912.             <ORTHOGONAL_AXIS2>-0.2203164,0.9753982,-0.007686798</ORTHOGONAL_AXIS2>
  913.         </JOINT>
  914.         <JOINT id="bip01 neck" part1="bip01 neck" part2="bip01 spine2" type="hinge">
  915.             <HIGH_LIMIT>0.347326</HIGH_LIMIT>
  916.             <LOW_LIMIT>-0.3659235</LOW_LIMIT>
  917.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  918.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  919.             <LIMITED>1</LIMITED>
  920.             <MOTORIZED>0</MOTORIZED>
  921.             <DES_VEL>1</DES_VEL>
  922.             <MAX_FORCE>1000</MAX_FORCE>
  923.             <POS1>0,0,0</POS1>
  924.             <POS2>0.2317711,5.591381e-005,2.277052e-010</POS2>
  925.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  926.             <PRIMARY_AXIS2>-1.110746e-007,-1.176423e-007,1</PRIMARY_AXIS2>
  927.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  928.             <ORTHOGONAL_AXIS2>0.999391,-0.03489921,4.729695e-008</ORTHOGONAL_AXIS2>
  929.         </JOINT>
  930.         <JOINT id="bip01 r calf" part1="bip01 r calf" part2="bip01 r thigh" type="hinge">
  931.             <HIGH_LIMIT>1.434471</HIGH_LIMIT>
  932.             <LOW_LIMIT>-0.2004324</LOW_LIMIT>
  933.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  934.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  935.             <LIMITED>1</LIMITED>
  936.             <MOTORIZED>0</MOTORIZED>
  937.             <DES_VEL>1</DES_VEL>
  938.             <MAX_FORCE>1000</MAX_FORCE>
  939.             <POS1>0,0,0</POS1>
  940.             <POS2>0.4383945,1.976989e-008,1.947578e-008</POS2>
  941.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  942.             <PRIMARY_AXIS2>-3.011422e-008,-1.243891e-007,1</PRIMARY_AXIS2>
  943.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  944.             <ORTHOGONAL_AXIS2>0.9970573,0.07666033,-2.000688e-008</ORTHOGONAL_AXIS2>
  945.         </JOINT>
  946.         <JOINT id="bip01 r clavicle" part1="bip01 r clavicle" part2="bip01 neck" type="hinge">
  947.             <HIGH_LIMIT>0.1785728</HIGH_LIMIT>
  948.             <LOW_LIMIT>-0.2024575</LOW_LIMIT>
  949.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  950.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  951.             <LIMITED>1</LIMITED>
  952.             <MOTORIZED>0</MOTORIZED>
  953.             <DES_VEL>1</DES_VEL>
  954.             <MAX_FORCE>1000</MAX_FORCE>
  955.             <POS1>0,0,0</POS1>
  956.             <POS2>-8.343805e-006,-5.632044e-005,-0.04340761</POS2>
  957.             <PRIMARY_AXIS1>-2.384186e-007,1,6.27314e-008</PRIMARY_AXIS1>
  958.             <PRIMARY_AXIS2>0.03478034,-0.9737494,-0.2249508</PRIMARY_AXIS2>
  959.             <ORTHOGONAL_AXIS1>6.273139e-008,-1.788139e-007,1</ORTHOGONAL_AXIS1>
  960.             <ORTHOGONAL_AXIS2>-0.9993684,-0.03553484,-0.0006945043</ORTHOGONAL_AXIS2>
  961.         </JOINT>
  962.         <JOINT id="bip01 r forearm" part1="bip01 r forearm" part2="bip01 r upperarm" type="hinge">
  963.             <HIGH_LIMIT>1.570796</HIGH_LIMIT>
  964.             <LOW_LIMIT>-0.2400251</LOW_LIMIT>
  965.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  966.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  967.             <LIMITED>1</LIMITED>
  968.             <MOTORIZED>0</MOTORIZED>
  969.             <DES_VEL>1</DES_VEL>
  970.             <MAX_FORCE>1000</MAX_FORCE>
  971.             <POS1>0,0,0</POS1>
  972.             <POS2>0.3456043,1.535714e-008,-1.427954e-007</POS2>
  973.             <PRIMARY_AXIS1>5.01852e-007,-1.311302e-006,1</PRIMARY_AXIS1>
  974.             <PRIMARY_AXIS2>2.110435e-006,-1.286519e-006,1</PRIMARY_AXIS2>
  975.             <ORTHOGONAL_AXIS1>1,5.645832e-007,-1.251698e-006</ORTHOGONAL_AXIS1>
  976.             <ORTHOGONAL_AXIS2>0.9998601,0.01673997,-2.906407e-006</ORTHOGONAL_AXIS2>
  977.         </JOINT>
  978.         <JOINT id="bip01 r thigh" part1="bip01 r thigh" part2="bip01 pelvis" type="skeletal">
  979.             <CONE_TYPE>2</CONE_TYPE>
  980.             <CONE_HALF_ANGLE_X>1.225992</CONE_HALF_ANGLE_X>
  981.             <CONE_HALF_ANGLE_Y>0.3508572</CONE_HALF_ANGLE_Y>
  982.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  983.             <CONE_DAMPING>1</CONE_DAMPING>
  984.             <TWIST_TYPE>2</TWIST_TYPE>
  985.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  986.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  987.             <TWIST_DAMPING>1</TWIST_DAMPING>
  988.             <POS1>0,0,0</POS1>
  989.             <POS2>-6.822862e-007,1.379303e-007,-0.132825</POS2>
  990.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  991.             <PRIMARY_AXIS2>-0.9998692,0.01513988,-0.005685077</PRIMARY_AXIS2>
  992.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  993.             <ORTHOGONAL_AXIS2>0.01509294,0.9998524,0.008210048</ORTHOGONAL_AXIS2>
  994.         </JOINT>
  995.         <JOINT id="bip01 r upperarm" part1="bip01 r upperarm" part2="bip01 r clavicle" type="skeletal">
  996.             <CONE_TYPE>2</CONE_TYPE>
  997.             <CONE_HALF_ANGLE_X>0.5804728</CONE_HALF_ANGLE_X>
  998.             <CONE_HALF_ANGLE_Y>0.7853982</CONE_HALF_ANGLE_Y>
  999.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1000.             <CONE_DAMPING>1</CONE_DAMPING>
  1001.             <TWIST_TYPE>2</TWIST_TYPE>
  1002.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1003.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1004.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1005.             <POS1>0,0,0</POS1>
  1006.             <POS2>0.2052191,-3.534767e-007,-4.239335e-008</POS2>
  1007.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1008.             <PRIMARY_AXIS2>0.4923719,0.1044047,0.8641006</PRIMARY_AXIS2>
  1009.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1010.             <ORTHOGONAL_AXIS2>-0.2203183,0.9753981,0.007687097</ORTHOGONAL_AXIS2>
  1011.         </JOINT>
  1012.         <JOINT id="bip01 spine" part1="bip01 spine" part2="bip01 pelvis" type="skeletal">
  1013.             <CONE_TYPE>2</CONE_TYPE>
  1014.             <CONE_HALF_ANGLE_X>0.4283839</CONE_HALF_ANGLE_X>
  1015.             <CONE_HALF_ANGLE_Y>0.4283839</CONE_HALF_ANGLE_Y>
  1016.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1017.             <CONE_DAMPING>1</CONE_DAMPING>
  1018.             <TWIST_TYPE>2</TWIST_TYPE>
  1019.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1020.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1021.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1022.             <POS1>0,0,0</POS1>
  1023.             <POS2>0.1109564,9.345582e-005,1.497792e-007</POS2>
  1024.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1025.             <PRIMARY_AXIS2>0.9953195,-0.09663838,1.174109e-006</PRIMARY_AXIS2>
  1026.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1027.             <ORTHOGONAL_AXIS2>0.09663838,0.9953195,4.283782e-006</ORTHOGONAL_AXIS2>
  1028.         </JOINT>
  1029.         <JOINT id="bip01 spine1" part1="bip01 spine1" part2="bip01 spine" type="skeletal">
  1030.             <CONE_TYPE>2</CONE_TYPE>
  1031.             <CONE_HALF_ANGLE_X>0.2643904</CONE_HALF_ANGLE_X>
  1032.             <CONE_HALF_ANGLE_Y>0.2643904</CONE_HALF_ANGLE_Y>
  1033.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1034.             <CONE_DAMPING>1</CONE_DAMPING>
  1035.             <TWIST_TYPE>2</TWIST_TYPE>
  1036.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1037.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1038.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1039.             <POS1>0,0,0</POS1>
  1040.             <POS2>0.1179835,8.945515e-005,3.530692e-009</POS2>
  1041.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1042.             <PRIMARY_AXIS2>0.9975641,0.06975621,-2.001383e-007</PRIMARY_AXIS2>
  1043.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1044.             <ORTHOGONAL_AXIS2>-0.06975621,0.9975641,4.591577e-009</ORTHOGONAL_AXIS2>
  1045.         </JOINT>
  1046.         <JOINT id="bip01 spine2" part1="bip01 spine2" part2="bip01 spine1" type="skeletal">
  1047.             <CONE_TYPE>2</CONE_TYPE>
  1048.             <CONE_HALF_ANGLE_X>0.2209086</CONE_HALF_ANGLE_X>
  1049.             <CONE_HALF_ANGLE_Y>0.2209086</CONE_HALF_ANGLE_Y>
  1050.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1051.             <CONE_DAMPING>1</CONE_DAMPING>
  1052.             <TWIST_TYPE>2</TWIST_TYPE>
  1053.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1054.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1055.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1056.             <POS1>0,0,0</POS1>
  1057.             <POS2>0.112918,0.0001847592,5.799979e-009</POS2>
  1058.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1059.             <PRIMARY_AXIS2>0.9996575,0.02617644,-2.518464e-009</PRIMARY_AXIS2>
  1060.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1061.             <ORTHOGONAL_AXIS2>-0.02617644,0.9996575,4.315632e-011</ORTHOGONAL_AXIS2>
  1062.         </JOINT>
  1063.     </ASSET>
  1064. </KARMA>