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Extensible Markup Language  |  2003-05-23  |  119KB  |  2,506 lines
  1. <?xml version="1.0"?>
  2.  
  3. <KARMA ka_file_version="1.0">
  4.     <ASSET id="Female" graphic="MercFemaleA.psk" scale="0.0096" mass_scale="1" length_scale="1">
  5.         <GEOMETRY id="bip01 head">
  6.             <PRIMITIVE id="bip01 head_1" type="sphere">
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  9.             </PRIMITIVE>
  10.         </GEOMETRY>
  11.         <GEOMETRY id="bip01 l calf">
  12.             <PRIMITIVE id="bip01 l calf_1" type="sphyl">
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  16.             </PRIMITIVE>
  17.         </GEOMETRY>
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  160.         <MODEL id="bip01 l calf" type="dynamics_and_geometry" geometry="bip01 l calf">
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  258.                 <MASS>0.001107805</MASS>
  259.                 <DENSITY>1</DENSITY>
  260.                 <MASS_OFFSET>0.1021735,0.007209412,-0.0323388</MASS_OFFSET>
  261.                 <INERTIA>5.312986e-006,0,0,5.312986e-006,0,5.312987e-006</INERTIA>
  262.                 <LIN_DAMP>0</LIN_DAMP>
  263.                 <ANG_DAMP>0</ANG_DAMP>
  264.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  265.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  266.             </DYNAMICS>
  267.         </MODEL>
  268.         <MODEL id="bip01 r forearm" type="dynamics_and_geometry" geometry="bip01 l forearm">
  269.             <DYNAMICS>
  270.                 <MASS>0.006344397</MASS>
  271.                 <DENSITY>1</DENSITY>
  272.                 <MASS_OFFSET>0.1496164,1.877994e-008,-5.650818e-008</MASS_OFFSET>
  273.                 <INERTIA>1.621224e-005,-2.544768e-012,2.256018e-011,9.06575e-005,-3.823337e-013,9.06575e-005</INERTIA>
  274.                 <LIN_DAMP>0</LIN_DAMP>
  275.                 <ANG_DAMP>0</ANG_DAMP>
  276.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  277.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  278.             </DYNAMICS>
  279.         </MODEL>
  280.         <MODEL id="bip01 r thigh" type="dynamics_and_geometry" geometry="bip01 l thigh">
  281.             <DYNAMICS>
  282.                 <MASS>0.02849828</MASS>
  283.                 <DENSITY>1</DENSITY>
  284.                 <MASS_OFFSET>0.2659589,3.447687e-009,2.974823e-008</MASS_OFFSET>
  285.                 <INERTIA>0.0001883741,3.159928e-012,-4.619305e-011,0.001212363,4.496731e-012,0.001212363</INERTIA>
  286.                 <LIN_DAMP>0</LIN_DAMP>
  287.                 <ANG_DAMP>0</ANG_DAMP>
  288.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  289.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  290.             </DYNAMICS>
  291.         </MODEL>
  292.         <MODEL id="bip01 r upperarm" type="dynamics_and_geometry" geometry="bip01 l upperarm">
  293.             <DYNAMICS>
  294.                 <MASS>0.006751349</MASS>
  295.                 <DENSITY>1</DENSITY>
  296.                 <MASS_OFFSET>0.1622896,1.744083e-008,-6.380657e-008</MASS_OFFSET>
  297.                 <INERTIA>1.725215e-005,-1.486797e-012,-7.166242e-012,0.0001081036,1.025446e-011,0.0001081036</INERTIA>
  298.                 <LIN_DAMP>0</LIN_DAMP>
  299.                 <ANG_DAMP>0</ANG_DAMP>
  300.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  301.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  302.             </DYNAMICS>
  303.         </MODEL>
  304.         <MODEL id="bip01 spine" type="dynamics_only" geometry="bip01 spine">
  305.             <DYNAMICS>
  306.                 <MASS>0.005325987</MASS>
  307.                 <DENSITY>1</DENSITY>
  308.                 <MASS_OFFSET>0.06896109,5.362639e-005,-1.679554e-009</MASS_OFFSET>
  309.                 <INERTIA>3.11082e-005,0,0,5.777237e-005,0,5.777237e-005</INERTIA>
  310.                 <LIN_DAMP>0</LIN_DAMP>
  311.                 <ANG_DAMP>0</ANG_DAMP>
  312.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  313.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  314.             </DYNAMICS>
  315.         </MODEL>
  316.         <MODEL id="bip01 spine1" type="dynamics_and_geometry" geometry="bip01 spine1">
  317.             <DYNAMICS>
  318.                 <MASS>0.02123843</MASS>
  319.                 <DENSITY>1</DENSITY>
  320.                 <MASS_OFFSET>0.1098054,5.159806e-005,1.280532e-009</MASS_OFFSET>
  321.                 <INERTIA>0.0002005388,-9.468324e-008,-1.441089e-012,0.0003270856,-8.036465e-014,0.0003270856</INERTIA>
  322.                 <LIN_DAMP>0</LIN_DAMP>
  323.                 <ANG_DAMP>0</ANG_DAMP>
  324.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  325.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  326.             </DYNAMICS>
  327.         </MODEL>
  328.         <MODEL id="bip01 spine2" type="dynamics_only" geometry="bip01 spine2">
  329.             <DYNAMICS>
  330.                 <MASS>0.008089194</MASS>
  331.                 <DENSITY>1</DENSITY>
  332.                 <MASS_OFFSET>0.06898662,2.69752e-005,-2.387767e-009</MASS_OFFSET>
  333.                 <INERTIA>3.868779e-005,-1.154805e-008,1.182598e-012,6.819089e-005,-7.684833e-014,6.819087e-005</INERTIA>
  334.                 <LIN_DAMP>0</LIN_DAMP>
  335.                 <ANG_DAMP>0</ANG_DAMP>
  336.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  337.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  338.             </DYNAMICS>
  339.         </MODEL>
  340.         <PART id="bip01 l calf" model="bip01 l calf" parent="bip01 l thigh">
  341.             <TM>0.09213095,-0.982919,0.1593175,0,0.0003538441,0.1600303,0.987112,0,-0.9957469,-0.0908872,0.01509154,0,0.1580202,0.7181816,-0.007745089,1</TM>
  342.         </PART>
  343.         <PART id="bip01 l clavicle" model="bip01 l clavicle" parent="bip01 neck">
  344.             <TM>0.9723227,-0.2315574,0.03114013,0,0.1254599,0.4050189,-0.9056597,0,0.1970998,0.8845003,0.4228603,0,0.05706815,1.771257,0.01903154,1</TM>
  345.         </PART>
  346.         <PART id="bip01 l forearm" model="bip01 l forearm" parent="bip01 l upperarm">
  347.             <TM>0.8225418,-0.5392131,-0.1807603,0,-0.2194395,-0.007694763,-0.9755958,0,0.5246631,0.8421342,-0.1246539,0,0.445621,1.572811,0.02355905,1</TM>
  348.         </PART>
  349.         <PART id="bip01 l thigh" model="bip01 l thigh" parent="bip01 pelvis">
  350.             <TM>0.0911016,-0.9957406,0.01418325,0,0.01373816,0.01549779,0.9997855,0,-0.9957469,-0.09088721,0.01509152,0,0.1095616,1.247834,-0.0152894,1</TM>
  351.         </PART>
  352.         <PART id="bip01 l upperarm" model="bip01 l upperarm" parent="bip01 l clavicle">
  353.             <TM>0.8489368,-0.528487,0.002798164,0,-0.06352162,-0.1072915,-0.9921963,0,0.524663,0.8421342,-0.1246541,0,0.1700767,1.744345,0.02265093,1</TM>
  354.         </PART>
  355.         <PART id="bip01 neck" model="bip01 neck" parent="bip01 spine2">
  356.             <TM>1.129604e-007,0.9988564,-0.04781122,0,1.30601e-006,0.04781123,0.9988564,0,0.9999999,-1.752732e-007,-1.299116e-006,0,-0.0006229738,1.77126,0.01909185,1</TM>
  357.         </PART>
  358.         <PART id="bip01 pelvis" model="bip01 pelvis" parent="bip01">
  359.             <TM>-1.193162e-006,0.9955531,-0.09420217,0,-2.84806e-006,0.09420217,0.9955531,0,1,1.45615e-006,2.722996e-006,0,-0.0006229476,1.247834,-0.01528957,1</TM>
  360.         </PART>
  361.         <PART id="bip01 r calf" model="bip01 r calf" parent="bip01 r thigh">
  362.             <TM>-0.09213158,-0.982919,0.1593172,0,-0.0003569121,0.1600303,0.987112,0,-0.9957468,0.09088733,-0.01509466,0,-0.159266,0.7181821,-0.007745558,1</TM>
  363.         </PART>
  364.         <PART id="bip01 r clavicle" model="bip01 r clavicle" parent="bip01 neck">
  365.             <TM>-0.9723227,-0.2315578,0.03113729,0,-0.1254574,0.4050188,-0.9056601,0,0.1971015,-0.8845003,-0.4228596,0,-0.05831406,1.771257,0.01903107,1</TM>
  366.         </PART>
  367.         <PART id="bip01 r forearm" model="bip01 r forearm" parent="bip01 r upperarm">
  368.             <TM>-0.8225406,-0.5392139,-0.1807631,0,0.2194426,-0.007694381,-0.9755951,0,0.5246636,-0.8421337,0.1246555,0,-0.4468656,1.572811,0.02355742,1</TM>
  369.         </PART>
  370.         <PART id="bip01 r thigh" model="bip01 r thigh" parent="bip01 pelvis">
  371.             <TM>-0.09110188,-0.9957406,0.01418296,0,-0.01374131,0.01549779,0.9997855,0,-0.9957468,0.09088745,-0.01509466,0,-0.1108075,1.247834,-0.01528973,1</TM>
  372.         </PART>
  373.         <PART id="bip01 r upperarm" model="bip01 r upperarm" parent="bip01 r clavicle">
  374.             <TM>-0.8489364,-0.5284876,0.002795444,0,0.06352475,-0.1072913,-0.9921961,0,0.5246633,-0.8421339,0.1246555,0,-0.1713221,1.744345,0.02265012,1</TM>
  375.         </PART>
  376.         <PART id="bip01 spine" model="bip01 spine" parent="bip01 pelvis">
  377.             <TM>2.737773e-007,0.9891418,-0.1469641,0,1.327868e-006,0.1469641,0.9891418,0,1,-4.659534e-007,-1.273214e-006,0,-0.0006229272,1.371289,-0.02686101,1</TM>
  378.         </PART>
  379.         <PART id="bip01 spine1" model="bip01 spine1" parent="bip01 spine">
  380.             <TM>-7.472343e-008,0.9975041,0.07060903,0,1.304175e-006,-0.07060904,0.9975041,0,1,1.666235e-007,-1.295644e-006,0,-0.0006228928,1.507728,-0.04702467,1</TM>
  381.         </PART>
  382.         <PART id="bip01 spine2" model="bip01 spine2" parent="bip01 spine1">
  383.             <TM>-4.991982e-007,0.9131974,0.4075175,0,1.381799e-006,-0.4075175,0.9131974,0,1,1.018974e-006,-1.058423e-006,0,-0.0006229003,1.645286,-0.03718411,1</TM>
  384.         </PART>
  385.         <NO_COLLISION part1="bip01 l calf" part2="bip01 l thigh"></NO_COLLISION>
  386.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 l upperarm"></NO_COLLISION>
  387.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 neck"></NO_COLLISION>
  388.         <NO_COLLISION part1="bip01 l forearm" part2="bip01 l upperarm"></NO_COLLISION>
  389.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 pelvis"></NO_COLLISION>
  390.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 r thigh"></NO_COLLISION>
  391.         <NO_COLLISION part1="bip01 l upperarm" part2="bip01 spine1"></NO_COLLISION>
  392.         <NO_COLLISION part1="bip01 neck" part2="bip01 r clavicle"></NO_COLLISION>
  393.         <NO_COLLISION part1="bip01 neck" part2="bip01 spine1"></NO_COLLISION>
  394.         <NO_COLLISION part1="bip01 neck" part2="bip01 spine2"></NO_COLLISION>
  395.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 r thigh"></NO_COLLISION>
  396.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine"></NO_COLLISION>
  397.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine1"></NO_COLLISION>
  398.         <NO_COLLISION part1="bip01 r calf" part2="bip01 r thigh"></NO_COLLISION>
  399.         <NO_COLLISION part1="bip01 r clavicle" part2="bip01 r upperarm"></NO_COLLISION>
  400.         <NO_COLLISION part1="bip01 r forearm" part2="bip01 r upperarm"></NO_COLLISION>
  401.         <NO_COLLISION part1="bip01 r upperarm" part2="bip01 spine1"></NO_COLLISION>
  402.         <NO_COLLISION part1="bip01 spine" part2="bip01 spine1"></NO_COLLISION>
  403.         <NO_COLLISION part1="bip01 spine1" part2="bip01 spine2"></NO_COLLISION>
  404.         <JOINT id="bip01 l calf" part1="bip01 l calf" part2="bip01 l thigh" type="hinge">
  405.             <HIGH_LIMIT>1.287415</HIGH_LIMIT>
  406.             <LOW_LIMIT>-0.2850108</LOW_LIMIT>
  407.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  408.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  409.             <LIMITED>1</LIMITED>
  410.             <MOTORIZED>0</MOTORIZED>
  411.             <DES_VEL>1</DES_VEL>
  412.             <MAX_FORCE>1000</MAX_FORCE>
  413.             <POS1>0,0,0</POS1>
  414.             <POS2>0.5319178,-1.023043e-008,-2.337746e-008</POS2>
  415.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  416.             <PRIMARY_AXIS2>-1.819059e-008,-9.446966e-008,1</PRIMARY_AXIS2>
  417.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  418.             <ORTHOGONAL_AXIS2>0.9893852,0.145316,-5.470161e-008</ORTHOGONAL_AXIS2>
  419.         </JOINT>
  420.         <JOINT id="bip01 l clavicle" part1="bip01 l clavicle" part2="bip01 neck" type="hinge">
  421.             <HIGH_LIMIT>0.2843004</HIGH_LIMIT>
  422.             <LOW_LIMIT>-0.2843004</LOW_LIMIT>
  423.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  424.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  425.             <LIMITED>1</LIMITED>
  426.             <MOTORIZED>0</MOTORIZED>
  427.             <DES_VEL>1</DES_VEL>
  428.             <MAX_FORCE>1000</MAX_FORCE>
  429.             <POS1>0,0,0</POS1>
  430.             <POS2>-8.395016e-008,-6.030906e-005,0.05769112</POS2>
  431.             <PRIMARY_AXIS1>-8.940697e-008,1,0</PRIMARY_AXIS1>
  432.             <PRIMARY_AXIS2>0.4478566,-0.8852595,0.1254608</PRIMARY_AXIS2>
  433.             <ORTHOGONAL_AXIS1>0,-2.980232e-008,1</ORTHOGONAL_AXIS1>
  434.             <ORTHOGONAL_AXIS2>0.8632715,0.4646661,0.197099</ORTHOGONAL_AXIS2>
  435.         </JOINT>
  436.         <JOINT id="bip01 l forearm" part1="bip01 l forearm" part2="bip01 l upperarm" type="hinge">
  437.             <HIGH_LIMIT>1.570796</HIGH_LIMIT>
  438.             <LOW_LIMIT>-0.1670241</LOW_LIMIT>
  439.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  440.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  441.             <LIMITED>1</LIMITED>
  442.             <MOTORIZED>0</MOTORIZED>
  443.             <DES_VEL>1</DES_VEL>
  444.             <MAX_FORCE>1000</MAX_FORCE>
  445.             <POS1>0,0,0</POS1>
  446.             <POS2>0.3245753,5.00703e-008,1.516174e-007</POS2>
  447.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  448.             <PRIMARY_AXIS2>-8.514e-007,-2.491755e-007,0.9999999</PRIMARY_AXIS2>
  449.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  450.             <ORTHOGONAL_AXIS2>0.9827466,0.1849535,-7.280615e-007</ORTHOGONAL_AXIS2>
  451.         </JOINT>
  452.         <JOINT id="bip01 l thigh" part1="bip01 l thigh" part2="bip01 pelvis" type="skeletal">
  453.             <CONE_TYPE>2</CONE_TYPE>
  454.             <CONE_HALF_ANGLE_X>0.7853982</CONE_HALF_ANGLE_X>
  455.             <CONE_HALF_ANGLE_Y>0.3970303</CONE_HALF_ANGLE_Y>
  456.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  457.             <CONE_DAMPING>1</CONE_DAMPING>
  458.             <TWIST_TYPE>2</TWIST_TYPE>
  459.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  460.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  461.             <TWIST_DAMPING>1</TWIST_DAMPING>
  462.             <POS1>0,0,0</POS1>
  463.             <POS2>-1.894582e-007,-1.399667e-007,0.1101846</POS2>
  464.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  465.             <PRIMARY_AXIS2>-0.9926488,-0.079681,0.09110019</PRIMARY_AXIS2>
  466.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  467.             <ORTHOGONAL_AXIS2>-0.07875311,0.9967994,0.0137409</ORTHOGONAL_AXIS2>
  468.         </JOINT>
  469.         <JOINT id="bip01 l upperarm" part1="bip01 l upperarm" part2="bip01 l clavicle" type="skeletal">
  470.             <CONE_TYPE>2</CONE_TYPE>
  471.             <CONE_HALF_ANGLE_X>0.5187238</CONE_HALF_ANGLE_X>
  472.             <CONE_HALF_ANGLE_Y>0.7853982</CONE_HALF_ANGLE_Y>
  473.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  474.             <CONE_DAMPING>1</CONE_DAMPING>
  475.             <TWIST_TYPE>2</TWIST_TYPE>
  476.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  477.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  478.             <TWIST_DAMPING>1</TWIST_DAMPING>
  479.             <POS1>0,0,0</POS1>
  480.             <POS2>0.1162253,-9.677329e-008,8.426456e-008</POS2>
  481.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  482.             <PRIMARY_AXIS2>0.9479021,-0.110074,-0.2989384</PRIMARY_AXIS2>
  483.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  484.             <ORTHOGONAL_AXIS2>-0.0678165,0.8471679,-0.52698</ORTHOGONAL_AXIS2>
  485.         </JOINT>
  486.         <JOINT id="bip01 neck" part1="bip01 neck" part2="bip01 spine2" type="hinge">
  487.             <HIGH_LIMIT>0.2782851</HIGH_LIMIT>
  488.             <LOW_LIMIT>-0.2782851</LOW_LIMIT>
  489.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  490.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  491.             <LIMITED>1</LIMITED>
  492.             <MOTORIZED>0</MOTORIZED>
  493.             <DES_VEL>1</DES_VEL>
  494.             <MAX_FORCE>1000</MAX_FORCE>
  495.             <POS1>0,0,0</POS1>
  496.             <POS2>0.1379731,5.420537e-005,-4.693711e-009</POS2>
  497.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  498.             <PRIMARY_AXIS2>-1.242396e-006,1.604568e-007,0.9999999</PRIMARY_AXIS2>
  499.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  500.             <ORTHOGONAL_AXIS2>0.8926693,-0.4507126,1.121773e-006</ORTHOGONAL_AXIS2>
  501.         </JOINT>
  502.         <JOINT id="bip01 r calf" part1="bip01 r calf" part2="bip01 r thigh" type="hinge">
  503.             <HIGH_LIMIT>1.287415</HIGH_LIMIT>
  504.             <LOW_LIMIT>-0.2850108</LOW_LIMIT>
  505.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  506.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  507.             <LIMITED>1</LIMITED>
  508.             <MOTORIZED>0</MOTORIZED>
  509.             <DES_VEL>1</DES_VEL>
  510.             <MAX_FORCE>1000</MAX_FORCE>
  511.             <POS1>0,0,0</POS1>
  512.             <POS2>0.5319172,7.748095e-009,-1.159954e-007</POS2>
  513.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  514.             <PRIMARY_AXIS2>1.296894e-007,-1.021876e-007,1</PRIMARY_AXIS2>
  515.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  516.             <ORTHOGONAL_AXIS2>0.9893851,0.145316,-1.679539e-007</ORTHOGONAL_AXIS2>
  517.         </JOINT>
  518.         <JOINT id="bip01 r clavicle" part1="bip01 r clavicle" part2="bip01 neck" type="hinge">
  519.             <HIGH_LIMIT>0.2843004</HIGH_LIMIT>
  520.             <LOW_LIMIT>-0.2843004</LOW_LIMIT>
  521.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  522.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  523.             <LIMITED>1</LIMITED>
  524.             <MOTORIZED>0</MOTORIZED>
  525.             <DES_VEL>1</DES_VEL>
  526.             <MAX_FORCE>1000</MAX_FORCE>
  527.             <POS1>0,0,0</POS1>
  528.             <POS2>-7.445278e-008,-6.093046e-005,-0.05769108</POS2>
  529.             <PRIMARY_AXIS1>-8.940697e-008,1,0</PRIMARY_AXIS1>
  530.             <PRIMARY_AXIS2>0.4478565,-0.8852603,-0.1254562</PRIMARY_AXIS2>
  531.             <ORTHOGONAL_AXIS1>0,-2.980232e-008,1</ORTHOGONAL_AXIS1>
  532.             <ORTHOGONAL_AXIS2>-0.8632715,-0.4646649,0.197102</ORTHOGONAL_AXIS2>
  533.         </JOINT>
  534.         <JOINT id="bip01 r forearm" part1="bip01 r forearm" part2="bip01 r upperarm" type="hinge">
  535.             <HIGH_LIMIT>1.570796</HIGH_LIMIT>
  536.             <LOW_LIMIT>-0.1670241</LOW_LIMIT>
  537.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  538.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  539.             <LIMITED>1</LIMITED>
  540.             <MOTORIZED>0</MOTORIZED>
  541.             <DES_VEL>1</DES_VEL>
  542.             <MAX_FORCE>1000</MAX_FORCE>
  543.             <POS1>0,0,0</POS1>
  544.             <POS2>0.3245747,4.734069e-008,-6.419536e-008</POS2>
  545.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  546.             <PRIMARY_AXIS2>1.830598e-007,-4.900682e-008,1</PRIMARY_AXIS2>
  547.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  548.             <ORTHOGONAL_AXIS2>0.9827467,0.1849539,7.800245e-007</ORTHOGONAL_AXIS2>
  549.         </JOINT>
  550.         <JOINT id="bip01 r thigh" part1="bip01 r thigh" part2="bip01 pelvis" type="skeletal">
  551.             <CONE_TYPE>2</CONE_TYPE>
  552.             <CONE_HALF_ANGLE_X>0.7853982</CONE_HALF_ANGLE_X>
  553.             <CONE_HALF_ANGLE_Y>0.3970303</CONE_HALF_ANGLE_Y>
  554.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  555.             <CONE_DAMPING>1</CONE_DAMPING>
  556.             <TWIST_TYPE>2</TWIST_TYPE>
  557.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  558.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  559.             <TWIST_DAMPING>1</TWIST_DAMPING>
  560.             <POS1>0,0,0</POS1>
  561.             <POS2>1.043597e-007,1.6129e-007,-0.1101845</POS2>
  562.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  563.             <PRIMARY_AXIS2>-0.9926485,-0.07968077,-0.09110329</PRIMARY_AXIS2>
  564.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  565.             <ORTHOGONAL_AXIS2>-0.07875306,0.9967994,-0.01373857</ORTHOGONAL_AXIS2>
  566.         </JOINT>
  567.         <JOINT id="bip01 r upperarm" part1="bip01 r upperarm" part2="bip01 r clavicle" type="skeletal">
  568.             <CONE_TYPE>2</CONE_TYPE>
  569.             <CONE_HALF_ANGLE_X>0.5187238</CONE_HALF_ANGLE_X>
  570.             <CONE_HALF_ANGLE_Y>0.7853982</CONE_HALF_ANGLE_Y>
  571.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  572.             <CONE_DAMPING>1</CONE_DAMPING>
  573.             <TWIST_TYPE>2</TWIST_TYPE>
  574.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  575.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  576.             <TWIST_DAMPING>1</TWIST_DAMPING>
  577.             <POS1>0,0,0</POS1>
  578.             <POS2>0.1162248,-1.450529e-007,-6.140483e-009</POS2>
  579.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  580.             <PRIMARY_AXIS2>0.9479021,-0.1100738,0.2989388</PRIMARY_AXIS2>
  581.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  582.             <ORTHOGONAL_AXIS2>-0.06781656,0.847168,0.5269798</ORTHOGONAL_AXIS2>
  583.         </JOINT>
  584.         <JOINT id="bip01 spine" part1="bip01 spine" part2="bip01 pelvis" type="skeletal">
  585.             <CONE_TYPE>2</CONE_TYPE>
  586.             <CONE_HALF_ANGLE_X>0.3101279</CONE_HALF_ANGLE_X>
  587.             <CONE_HALF_ANGLE_Y>0.3101279</CONE_HALF_ANGLE_Y>
  588.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  589.             <CONE_DAMPING>1</CONE_DAMPING>
  590.             <TWIST_TYPE>2</TWIST_TYPE>
  591.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  592.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  593.             <TWIST_DAMPING>1</TWIST_DAMPING>
  594.             <POS1>0,0,0</POS1>
  595.             <POS2>0.1239959,0.0001097491,1.686402e-007</POS2>
  596.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  597.             <PRIMARY_AXIS2>0.9985875,-0.05313126,1.313933e-006</PRIMARY_AXIS2>
  598.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  599.             <ORTHOGONAL_AXIS2>0.05313126,0.9985875,4.235299e-006</ORTHOGONAL_AXIS2>
  600.         </JOINT>
  601.         <JOINT id="bip01 spine1" part1="bip01 spine1" part2="bip01 spine" type="skeletal">
  602.             <CONE_TYPE>2</CONE_TYPE>
  603.             <CONE_HALF_ANGLE_X>0.1612694</CONE_HALF_ANGLE_X>
  604.             <CONE_HALF_ANGLE_Y>0.1612694</CONE_HALF_ANGLE_Y>
  605.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  606.             <CONE_DAMPING>1</CONE_DAMPING>
  607.             <TWIST_TYPE>2</TWIST_TYPE>
  608.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  609.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  610.             <TWIST_DAMPING>1</TWIST_DAMPING>
  611.             <POS1>0,0,0</POS1>
  612.             <POS2>0.1379214,0.0001069902,-3.4207e-009</POS2>
  613.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  614.             <PRIMARY_AXIS2>0.9762961,0.2164396,-6.294134e-007</PRIMARY_AXIS2>
  615.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  616.             <ORTHOGONAL_AXIS2>-0.2164396,0.9762961,6.703939e-008</ORTHOGONAL_AXIS2>
  617.         </JOINT>
  618.         <JOINT id="bip01 spine2" part1="bip01 spine2" part2="bip01 spine1" type="skeletal">
  619.             <CONE_TYPE>2</CONE_TYPE>
  620.             <CONE_HALF_ANGLE_X>0.1530645</CONE_HALF_ANGLE_X>
  621.             <CONE_HALF_ANGLE_Y>0.1530645</CONE_HALF_ANGLE_Y>
  622.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  623.             <CONE_DAMPING>1</CONE_DAMPING>
  624.             <TWIST_TYPE>2</TWIST_TYPE>
  625.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  626.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  627.             <TWIST_DAMPING>1</TWIST_DAMPING>
  628.             <POS1>0,0,0</POS1>
  629.             <POS2>0.1379093,0.0001031767,2.588984e-009</POS2>
  630.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  631.             <PRIMARY_AXIS2>0.9396926,0.3420204,-8.750347e-007</PRIMARY_AXIS2>
  632.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  633.             <ORTHOGONAL_AXIS2>-0.3420204,0.9396926,1.307163e-007</ORTHOGONAL_AXIS2>
  634.         </JOINT>
  635.     </ASSET>
  636.     <ASSET id="Female2" graphic="MercFemaleA.psk" scale="0.0096" mass_scale="1" length_scale="1">
  637.         <GEOMETRY id="bip01 head">
  638.             <PRIMITIVE id="bip01 head_1" type="sphere">
  639.                 <RADIUS>0.1349665</RADIUS>
  640.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1192696,0.02983061,0.0007384277,1</TM>
  641.             </PRIMITIVE>
  642.         </GEOMETRY>
  643.         <GEOMETRY id="bip01 l calf">
  644.             <PRIMITIVE id="bip01 l calf_1" type="sphyl">
  645.                 <RADIUS>0.1056418</RADIUS>
  646.                 <HEIGHT>0.5555534</HEIGHT>
  647.                 <TM>1.312775e-008,-1,-0.0003553345,0,-4.446275e-008,0.0003553341,-0.9999998,0,1,2.931181e-008,-3.275166e-008,0,0.2777767,3.770519e-009,-3.535008e-009,1</TM>
  648.             </PRIMITIVE>
  649.         </GEOMETRY>
  650.         <GEOMETRY id="bip01 l clavicle">
  651.             <PRIMITIVE id="bip01 l clavicle_1" type="sphere">
  652.                 <RADIUS>0.06418185</RADIUS>
  653.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1036099,0.007394475,0.03262728,1</TM>
  654.             </PRIMITIVE>
  655.         </GEOMETRY>
  656.         <GEOMETRY id="bip01 l finger0">
  657.             <PRIMITIVE id="bip01 l finger0_1" type="sphyl">
  658.                 <RADIUS>0.03259169</RADIUS>
  659.                 <HEIGHT>0.04862343</HEIGHT>
  660.                 <TM>-1.153381e-006,-0.9998263,0.01862723,0,1.29873e-007,-0.01862717,-0.9998264,0,0.9999999,-1.449116e-006,1.446526e-007,0,0.02431171,-3.782904e-008,1.166982e-009,1</TM>
  661.             </PRIMITIVE>
  662.         </GEOMETRY>
  663.         <GEOMETRY id="bip01 l foot">
  664.             <PRIMITIVE id="bip01 l foot_1" type="sphyl">
  665.                 <RADIUS>0.07125455</RADIUS>
  666.                 <HEIGHT>0.2309975</HEIGHT>
  667.                 <TM>-0.6935193,-0.720438,1.088569e-006,0,-7.965029e-007,-7.37548e-007,-0.9999999,0,0.720438,-0.6935193,-6.447317e-008,0,0.0832097,-0.08010062,8.585983e-012,1</TM>
  668.             </PRIMITIVE>
  669.         </GEOMETRY>
  670.         <GEOMETRY id="bip01 l forearm">
  671.             <PRIMITIVE id="bip01 l forearm_1" type="sphyl">
  672.                 <RADIUS>0.07148936</RADIUS>
  673.                 <HEIGHT>0.299233</HEIGHT>
  674.                 <TM>-3.492948e-007,0.1267419,-0.9919357,0,-6.526239e-009,0.9919357,0.1267419,0,0.9999998,1.267898e-007,-5.41298e-007,0,0.1496164,1.877994e-008,-5.650818e-008,1</TM>
  675.             </PRIMITIVE>
  676.         </GEOMETRY>
  677.         <GEOMETRY id="bip01 l hand">
  678.             <PRIMITIVE id="bip01 l hand_1" type="sphyl">
  679.                 <RADIUS>0.05631578</RADIUS>
  680.                 <HEIGHT>0.08362864</HEIGHT>
  681.                 <TM>5.991447e-008,-0.9998409,0.01783121,0,9.028796e-008,-0.01783115,-0.999841,0,0.9999999,-2.126708e-007,8.174901e-008,0,0.0418143,1.043779e-008,-4.505878e-010,1</TM>
  682.             </PRIMITIVE>
  683.         </GEOMETRY>
  684.         <GEOMETRY id="bip01 l thigh">
  685.             <PRIMITIVE id="bip01 l thigh_1" type="sphyl">
  686.                 <RADIUS>0.1149784</RADIUS>
  687.                 <HEIGHT>0.5319178</HEIGHT>
  688.                 <TM>-4.729819e-008,-0.01509304,0.999886,0,-1.350527e-010,-0.9998862,-0.01509304,0,1,1.131122e-008,5.914042e-008,0,0.2659589,3.447687e-009,2.974823e-008,1</TM>
  689.             </PRIMITIVE>
  690.         </GEOMETRY>
  691.         <GEOMETRY id="bip01 l toe0">
  692.             <PRIMITIVE id="bip01 l toe0_1" type="sphyl">
  693.                 <RADIUS>0.05876916</RADIUS>
  694.                 <HEIGHT>0.1319761</HEIGHT>
  695.                 <TM>-2.916734e-008,-0.9999999,1.218636e-008,0,-7.047574e-008,-7.297097e-009,-0.9999999,0,0.9999999,-3.748174e-008,-6.849091e-008,0,0.06598802,-2.302966e-009,4.772323e-009,1</TM>
  696.             </PRIMITIVE>
  697.         </GEOMETRY>
  698.         <GEOMETRY id="bip01 l upperarm">
  699.             <PRIMITIVE id="bip01 l upperarm_1" type="sphyl">
  700.                 <RADIUS>0.07148936</RADIUS>
  701.                 <HEIGHT>0.3245791</HEIGHT>
  702.                 <TM>3.687709e-008,0.1246545,-0.9922001,0,-2.912814e-008,0.9922001,0.1246546,0,0.9999998,6.611108e-008,-1.633577e-007,0,0.1622896,1.744083e-008,-6.380657e-008,1</TM>
  703.             </PRIMITIVE>
  704.         </GEOMETRY>
  705.         <GEOMETRY id="bip01 neck">
  706.             <PRIMITIVE id="Part16" type="sphere">
  707.                 <RADIUS>0.1225532</RADIUS>
  708.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1634043,0,0,1</TM>
  709.             </PRIMITIVE>
  710.         </GEOMETRY>
  711.         <GEOMETRY id="bip01 pelvis">
  712.             <PRIMITIVE id="bip01 pelvis_1" type="sphere">
  713.                 <RADIUS>0.1327659</RADIUS>
  714.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.02944162,-0.01465841,0.01452879,1</TM>
  715.             </PRIMITIVE>
  716.         </GEOMETRY>
  717.         <GEOMETRY id="bip01 r calf">
  718.             <PRIMITIVE id="bip01 r calf_1" type="sphyl">
  719.                 <RADIUS>0.1056409</RADIUS>
  720.                 <HEIGHT>0.5555534</HEIGHT>
  721.                 <TM>-1.942547e-008,-0.9999999,0.0003584181,0,-6.108246e-008,-0.0003584186,-0.9999999,0,0.9999999,-2.088195e-008,-6.833996e-008,0,0.2777767,-1.239516e-008,-1.553036e-008,1</TM>
  722.             </PRIMITIVE>
  723.         </GEOMETRY>
  724.         <GEOMETRY id="bip01 r clavicle">
  725.             <PRIMITIVE id="bip01 r clavicle_1" type="sphere">
  726.                 <RADIUS>0.06418667</RADIUS>
  727.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1021735,0.007209412,-0.0323388,1</TM>
  728.             </PRIMITIVE>
  729.         </GEOMETRY>
  730.         <GEOMETRY id="bip01 r foot">
  731.             <PRIMITIVE id="bip01 r foot_1" type="sphyl">
  732.                 <RADIUS>0.07125454</RADIUS>
  733.                 <HEIGHT>0.2309975</HEIGHT>
  734.                 <TM>-0.6935193,-0.720438,1.108788e-006,0,-7.989491e-007,-7.408161e-007,-1,0,0.7204381,-0.6935194,-7.92656e-008,0,0.08320969,-0.08010063,-1.561751e-008,1</TM>
  735.             </PRIMITIVE>
  736.         </GEOMETRY>
  737.         <GEOMETRY id="bip01 r forearm">
  738.             <PRIMITIVE id="bip01 r forearm_1" type="sphyl">
  739.                 <RADIUS>0.06014941</RADIUS>
  740.                 <HEIGHT>0.2992329</HEIGHT>
  741.                 <TM>3.802473e-008,-0.1267436,-0.9919355,0,-4.871519e-008,0.9919356,-0.1267436,0,0.9999999,1.584893e-007,1.909618e-007,0,0.1496165,2.439306e-008,1.11329e-007,1</TM>
  742.             </PRIMITIVE>
  743.         </GEOMETRY>
  744.         <GEOMETRY id="bip01 r hand">
  745.             <PRIMITIVE id="bip01 r hand_1" type="sphere">
  746.                 <RADIUS>0.0608464</RADIUS>
  747.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.05309197,0.006783073,0.007647551,1</TM>
  748.             </PRIMITIVE>
  749.         </GEOMETRY>
  750.         <GEOMETRY id="bip01 r thigh">
  751.             <PRIMITIVE id="bip01 r thigh_1" type="sphyl">
  752.                 <RADIUS>0.1092021</RADIUS>
  753.                 <HEIGHT>0.5319178</HEIGHT>
  754.                 <TM>2.50519e-008,0.01509614,0.999886,0,3.602096e-009,-0.999886,0.01509614,0,1,4.565086e-009,-3.947015e-008,0,0.2659589,1.511184e-009,-8.801105e-009,1</TM>
  755.             </PRIMITIVE>
  756.         </GEOMETRY>
  757.         <GEOMETRY id="bip01 r toe0">
  758.             <PRIMITIVE id="bip01 r toe0_1" type="sphyl">
  759.                 <RADIUS>0.05876916</RADIUS>
  760.                 <HEIGHT>0.1319761</HEIGHT>
  761.                 <TM>3.166533e-008,-0.9999999,3.686576e-008,0,-6.720747e-008,-9.74316e-009,-1,0,0.9999999,1.452813e-008,-6.418311e-008,0,0.06598803,1.28638e-009,5.688863e-009,1</TM>
  762.             </PRIMITIVE>
  763.         </GEOMETRY>
  764.         <GEOMETRY id="bip01 r upperarm">
  765.             <PRIMITIVE id="bip01 r upperarm_1" type="sphyl">
  766.                 <RADIUS>0.06290361</RADIUS>
  767.                 <HEIGHT>0.3245791</HEIGHT>
  768.                 <TM>2.612272e-008,-0.1246562,-0.9922,0,6.817613e-009,0.9922001,-0.1246562,0,0.9999999,3.842975e-008,1.952376e-007,0,0.1622896,1.641898e-008,1.201728e-007,1</TM>
  769.             </PRIMITIVE>
  770.         </GEOMETRY>
  771.         <GEOMETRY id="bip01 spine">
  772.             <PRIMITIVE id="bip01 spine_1" type="sphyl">
  773.                 <RADIUS>0.09345179</RADIUS>
  774.                 <HEIGHT>0.1379222</HEIGHT>
  775.                 <TM>-0.0007775503,0.9999998,-1.326302e-006,0,2.620832e-008,1.326661e-006,0.9999999,0,0.9999998,0.0007775503,-2.459785e-008,0,0.06896109,5.362639e-005,-1.679554e-009,1</TM>
  776.             </PRIMITIVE>
  777.         </GEOMETRY>
  778.         <GEOMETRY id="bip01 spine1">
  779.             <PRIMITIVE id="bip01 spine1_1" type="sphyl">
  780.                 <RADIUS>0.1374209</RADIUS>
  781.                 <HEIGHT>0.173617</HEIGHT>
  782.                 <TM>-0.0007482012,0.9999998,-1.306166e-006,0,-1.656899e-008,1.305912e-006,0.9999999,0,0.9999997,0.000748198,1.824455e-008,0,0.1098054,5.159806e-005,1.280532e-009,1</TM>
  783.             </PRIMITIVE>
  784.         </GEOMETRY>
  785.         <GEOMETRY id="bip01 spine2">
  786.             <PRIMITIVE id="bip01 spine2_1" type="sphyl">
  787.                 <RADIUS>0.09780234</RADIUS>
  788.                 <HEIGHT>0.1379732</HEIGHT>
  789.                 <TM>-0.0003914185,0.9999999,-1.400134e-006,0,3.637422e-008,1.399015e-006,0.9999999,0,0.9999999,0.0003914185,-3.451123e-008,0,0.06898662,2.69752e-005,-2.387767e-009,1</TM>
  790.             </PRIMITIVE>
  791.         </GEOMETRY>
  792.         <MODEL id="bip01 l calf" type="dynamics_and_geometry" geometry="bip01 l calf">
  793.             <DYNAMICS>
  794.                 <MASS>0.1255433</MASS>
  795.                 <DENSITY>1</DENSITY>
  796.                 <MASS_OFFSET>0.2777767,3.770519e-009,-3.535008e-009</MASS_OFFSET>
  797.                 <INERTIA>0.000700543,-5.092675e-011,2.187727e-010,0.005436958,2.371975e-012,0.005436958</INERTIA>
  798.                 <LIN_DAMP>0</LIN_DAMP>
  799.                 <ANG_DAMP>0</ANG_DAMP>
  800.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  801.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  802.             </DYNAMICS>
  803.         </MODEL>
  804.         <MODEL id="bip01 l clavicle" type="dynamics_only" geometry="bip01 l clavicle">
  805.             <DYNAMICS>
  806.                 <MASS>0.005688846</MASS>
  807.                 <DENSITY>1</DENSITY>
  808.                 <MASS_OFFSET>0.1036099,0.007394475,0.03262728</MASS_OFFSET>
  809.                 <INERTIA>2.728347e-005,0,0,2.728347e-005,0,2.728347e-005</INERTIA>
  810.                 <LIN_DAMP>0</LIN_DAMP>
  811.                 <ANG_DAMP>0</ANG_DAMP>
  812.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  813.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  814.             </DYNAMICS>
  815.         </MODEL>
  816.         <MODEL id="bip01 l forearm" type="dynamics_and_geometry" geometry="bip01 l forearm">
  817.             <DYNAMICS>
  818.                 <MASS>0.03258001</MASS>
  819.                 <DENSITY>1</DENSITY>
  820.                 <MASS_OFFSET>0.1496164,1.877994e-008,-5.650818e-008</MASS_OFFSET>
  821.                 <INERTIA>8.325376e-005,-1.3068e-011,1.15852e-010,0.0004655482,-1.963376e-012,0.0004655482</INERTIA>
  822.                 <LIN_DAMP>0</LIN_DAMP>
  823.                 <ANG_DAMP>0</ANG_DAMP>
  824.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  825.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  826.             </DYNAMICS>
  827.         </MODEL>
  828.         <MODEL id="bip01 l thigh" type="dynamics_and_geometry" geometry="bip01 l thigh">
  829.             <DYNAMICS>
  830.                 <MASS>0.1463456</MASS>
  831.                 <DENSITY>1</DENSITY>
  832.                 <MASS_OFFSET>0.2659589,3.447687e-009,2.974823e-008</MASS_OFFSET>
  833.                 <INERTIA>0.0009673465,1.622699e-011,-2.372125e-010,0.006225777,2.30918e-011,0.006225777</INERTIA>
  834.                 <LIN_DAMP>0</LIN_DAMP>
  835.                 <ANG_DAMP>0</ANG_DAMP>
  836.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  837.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  838.             </DYNAMICS>
  839.         </MODEL>
  840.         <MODEL id="bip01 l upperarm" type="dynamics_and_geometry" geometry="bip01 l upperarm">
  841.             <DYNAMICS>
  842.                 <MASS>0.03466981</MASS>
  843.                 <DENSITY>1</DENSITY>
  844.                 <MASS_OFFSET>0.1622896,1.744083e-008,-6.380657e-008</MASS_OFFSET>
  845.                 <INERTIA>8.859396e-005,-7.635062e-012,-3.680038e-011,0.0005551381,5.265913e-011,0.0005551381</INERTIA>
  846.                 <LIN_DAMP>0</LIN_DAMP>
  847.                 <ANG_DAMP>0</ANG_DAMP>
  848.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  849.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  850.             </DYNAMICS>
  851.         </MODEL>
  852.         <MODEL id="bip01 neck" type="dynamics_and_geometry" geometry="bip01 neck">
  853.             <DYNAMICS>
  854.                 <MASS>0.08205068</MASS>
  855.                 <DENSITY>1</DENSITY>
  856.                 <MASS_OFFSET>0.1634043,0,0</MASS_OFFSET>
  857.                 <INERTIA>0.0002396222,0,0,0.0002396222,0,0.0002396222</INERTIA>
  858.                 <LIN_DAMP>0</LIN_DAMP>
  859.                 <ANG_DAMP>0</ANG_DAMP>
  860.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  861.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  862.             </DYNAMICS>
  863.         </MODEL>
  864.         <MODEL id="bip01 pelvis" type="dynamics_and_geometry" geometry="bip01 pelvis">
  865.             <DYNAMICS>
  866.                 <MASS>0.05033958</MASS>
  867.                 <DENSITY>1</DENSITY>
  868.                 <MASS_OFFSET>0.02944162,-0.01465841,0.01452879</MASS_OFFSET>
  869.                 <INERTIA>0.0003549303,0,0,0.0003549303,0,0.0003549303</INERTIA>
  870.                 <LIN_DAMP>0</LIN_DAMP>
  871.                 <ANG_DAMP>0</ANG_DAMP>
  872.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  873.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  874.             </DYNAMICS>
  875.         </MODEL>
  876.         <MODEL id="bip01 r calf" type="dynamics_and_geometry" geometry="bip01 l calf">
  877.             <DYNAMICS>
  878.                 <MASS>0.1255433</MASS>
  879.                 <DENSITY>1</DENSITY>
  880.                 <MASS_OFFSET>0.2777767,3.770519e-009,-3.535008e-009</MASS_OFFSET>
  881.                 <INERTIA>0.000700543,-5.092675e-011,2.187727e-010,0.005436958,2.371975e-012,0.005436958</INERTIA>
  882.                 <LIN_DAMP>0</LIN_DAMP>
  883.                 <ANG_DAMP>0</ANG_DAMP>
  884.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  885.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  886.             </DYNAMICS>
  887.         </MODEL>
  888.         <MODEL id="bip01 r clavicle" type="dynamics_only" geometry="bip01 r clavicle">
  889.             <DYNAMICS>
  890.                 <MASS>0.005688846</MASS>
  891.                 <DENSITY>1</DENSITY>
  892.                 <MASS_OFFSET>0.1021735,0.007209412,-0.0323388</MASS_OFFSET>
  893.                 <INERTIA>2.728347e-005,0,0,2.728347e-005,0,2.728347e-005</INERTIA>
  894.                 <LIN_DAMP>0</LIN_DAMP>
  895.                 <ANG_DAMP>0</ANG_DAMP>
  896.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  897.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  898.             </DYNAMICS>
  899.         </MODEL>
  900.         <MODEL id="bip01 r forearm" type="dynamics_and_geometry" geometry="bip01 l forearm">
  901.             <DYNAMICS>
  902.                 <MASS>0.03258001</MASS>
  903.                 <DENSITY>1</DENSITY>
  904.                 <MASS_OFFSET>0.1496164,1.877994e-008,-5.650818e-008</MASS_OFFSET>
  905.                 <INERTIA>8.325376e-005,-1.3068e-011,1.15852e-010,0.0004655482,-1.963376e-012,0.0004655482</INERTIA>
  906.                 <LIN_DAMP>0</LIN_DAMP>
  907.                 <ANG_DAMP>0</ANG_DAMP>
  908.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  909.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  910.             </DYNAMICS>
  911.         </MODEL>
  912.         <MODEL id="bip01 r thigh" type="dynamics_and_geometry" geometry="bip01 l thigh">
  913.             <DYNAMICS>
  914.                 <MASS>0.1463456</MASS>
  915.                 <DENSITY>1</DENSITY>
  916.                 <MASS_OFFSET>0.2659589,3.447687e-009,2.974823e-008</MASS_OFFSET>
  917.                 <INERTIA>0.0009673465,1.622699e-011,-2.372125e-010,0.006225777,2.30918e-011,0.006225777</INERTIA>
  918.                 <LIN_DAMP>0</LIN_DAMP>
  919.                 <ANG_DAMP>0</ANG_DAMP>
  920.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  921.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  922.             </DYNAMICS>
  923.         </MODEL>
  924.         <MODEL id="bip01 r upperarm" type="dynamics_and_geometry" geometry="bip01 l upperarm">
  925.             <DYNAMICS>
  926.                 <MASS>0.03466981</MASS>
  927.                 <DENSITY>1</DENSITY>
  928.                 <MASS_OFFSET>0.1622896,1.744083e-008,-6.380657e-008</MASS_OFFSET>
  929.                 <INERTIA>8.859396e-005,-7.635062e-012,-3.680038e-011,0.0005551381,5.265913e-011,0.0005551381</INERTIA>
  930.                 <LIN_DAMP>0</LIN_DAMP>
  931.                 <ANG_DAMP>0</ANG_DAMP>
  932.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  933.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  934.             </DYNAMICS>
  935.         </MODEL>
  936.         <MODEL id="bip01 spine" type="dynamics_only" geometry="bip01 spine">
  937.             <DYNAMICS>
  938.                 <MASS>0.02735023</MASS>
  939.                 <DENSITY>1</DENSITY>
  940.                 <MASS_OFFSET>0.06896109,5.362639e-005,-1.679554e-009</MASS_OFFSET>
  941.                 <INERTIA>0.0001597481,0,0,0.0002966751,0,0.0002966751</INERTIA>
  942.                 <LIN_DAMP>0</LIN_DAMP>
  943.                 <ANG_DAMP>0</ANG_DAMP>
  944.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  945.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  946.             </DYNAMICS>
  947.         </MODEL>
  948.         <MODEL id="bip01 spine1" type="dynamics_and_geometry" geometry="bip01 spine1">
  949.             <DYNAMICS>
  950.                 <MASS>0.1090645</MASS>
  951.                 <DENSITY>1</DENSITY>
  952.                 <MASS_OFFSET>0.1098054,5.159806e-005,1.280532e-009</MASS_OFFSET>
  953.                 <INERTIA>0.001029815,-4.862213e-007,-7.40034e-012,0.001679664,-4.126919e-013,0.001679664</INERTIA>
  954.                 <LIN_DAMP>0</LIN_DAMP>
  955.                 <ANG_DAMP>0</ANG_DAMP>
  956.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  957.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  958.             </DYNAMICS>
  959.         </MODEL>
  960.         <MODEL id="bip01 spine2" type="dynamics_only" geometry="bip01 spine2">
  961.             <DYNAMICS>
  962.                 <MASS>0.04153996</MASS>
  963.                 <DENSITY>1</DENSITY>
  964.                 <MASS_OFFSET>0.06898662,2.69752e-005,-2.387767e-009</MASS_OFFSET>
  965.                 <INERTIA>0.0001986711,-5.930202e-008,6.072926e-012,0.0003501767,-3.946347e-013,0.0003501766</INERTIA>
  966.                 <LIN_DAMP>0</LIN_DAMP>
  967.                 <ANG_DAMP>0</ANG_DAMP>
  968.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  969.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  970.             </DYNAMICS>
  971.         </MODEL>
  972.         <PART id="bip01 l calf" model="bip01 l calf" parent="bip01 l thigh">
  973.             <TM>0.09213095,-0.982919,0.1593175,0,0.0003538441,0.1600303,0.987112,0,-0.9957469,-0.0908872,0.01509154,0,0.1580202,0.7181816,-0.007745089,1</TM>
  974.         </PART>
  975.         <PART id="bip01 l clavicle" model="bip01 l clavicle" parent="bip01 neck">
  976.             <TM>0.9723227,-0.2315574,0.03114013,0,0.1254599,0.4050189,-0.9056597,0,0.1970998,0.8845003,0.4228603,0,0.05706815,1.771257,0.01903154,1</TM>
  977.         </PART>
  978.         <PART id="bip01 l forearm" model="bip01 l forearm" parent="bip01 l upperarm">
  979.             <TM>0.8225418,-0.5392131,-0.1807603,0,-0.2194395,-0.007694763,-0.9755958,0,0.5246631,0.8421342,-0.1246539,0,0.445621,1.572811,0.02355905,1</TM>
  980.         </PART>
  981.         <PART id="bip01 l thigh" model="bip01 l thigh" parent="bip01 pelvis">
  982.             <TM>0.0911016,-0.9957406,0.01418325,0,0.01373816,0.01549779,0.9997855,0,-0.9957469,-0.09088721,0.01509152,0,0.1095616,1.247834,-0.0152894,1</TM>
  983.         </PART>
  984.         <PART id="bip01 l upperarm" model="bip01 l upperarm" parent="bip01 l clavicle">
  985.             <TM>0.8489368,-0.528487,0.002798164,0,-0.06352162,-0.1072915,-0.9921963,0,0.524663,0.8421342,-0.1246541,0,0.1700767,1.744345,0.02265093,1</TM>
  986.         </PART>
  987.         <PART id="bip01 neck" model="bip01 neck" parent="bip01 spine2">
  988.             <TM>1.129604e-007,0.9988564,-0.04781122,0,1.30601e-006,0.04781123,0.9988564,0,0.9999999,-1.752732e-007,-1.299116e-006,0,-0.0006229738,1.77126,0.01909185,1</TM>
  989.         </PART>
  990.         <PART id="bip01 pelvis" model="bip01 pelvis" parent="bip01">
  991.             <TM>-1.193162e-006,0.9955531,-0.09420217,0,-2.84806e-006,0.09420217,0.9955531,0,1,1.45615e-006,2.722996e-006,0,-0.0006229476,1.247834,-0.01528957,1</TM>
  992.         </PART>
  993.         <PART id="bip01 r calf" model="bip01 r calf" parent="bip01 r thigh">
  994.             <TM>-0.09213158,-0.982919,0.1593172,0,-0.0003569121,0.1600303,0.987112,0,-0.9957468,0.09088733,-0.01509466,0,-0.159266,0.7181821,-0.007745558,1</TM>
  995.         </PART>
  996.         <PART id="bip01 r clavicle" model="bip01 r clavicle" parent="bip01 neck">
  997.             <TM>-0.9723227,-0.2315578,0.03113729,0,-0.1254574,0.4050188,-0.9056601,0,0.1971015,-0.8845003,-0.4228596,0,-0.05831406,1.771257,0.01903107,1</TM>
  998.         </PART>
  999.         <PART id="bip01 r forearm" model="bip01 r forearm" parent="bip01 r upperarm">
  1000.             <TM>-0.8225406,-0.5392139,-0.1807631,0,0.2194426,-0.007694381,-0.9755951,0,0.5246636,-0.8421337,0.1246555,0,-0.4468656,1.572811,0.02355742,1</TM>
  1001.         </PART>
  1002.         <PART id="bip01 r thigh" model="bip01 r thigh" parent="bip01 pelvis">
  1003.             <TM>-0.09110188,-0.9957406,0.01418296,0,-0.01374131,0.01549779,0.9997855,0,-0.9957468,0.09088745,-0.01509466,0,-0.1108075,1.247834,-0.01528973,1</TM>
  1004.         </PART>
  1005.         <PART id="bip01 r upperarm" model="bip01 r upperarm" parent="bip01 r clavicle">
  1006.             <TM>-0.8489364,-0.5284876,0.002795444,0,0.06352475,-0.1072913,-0.9921961,0,0.5246633,-0.8421339,0.1246555,0,-0.1713221,1.744345,0.02265012,1</TM>
  1007.         </PART>
  1008.         <PART id="bip01 spine" model="bip01 spine" parent="bip01 pelvis">
  1009.             <TM>2.737773e-007,0.9891418,-0.1469641,0,1.327868e-006,0.1469641,0.9891418,0,1,-4.659534e-007,-1.273214e-006,0,-0.0006229272,1.371289,-0.02686101,1</TM>
  1010.         </PART>
  1011.         <PART id="bip01 spine1" model="bip01 spine1" parent="bip01 spine">
  1012.             <TM>-7.472343e-008,0.9975041,0.07060903,0,1.304175e-006,-0.07060904,0.9975041,0,1,1.666235e-007,-1.295644e-006,0,-0.0006228928,1.507728,-0.04702467,1</TM>
  1013.         </PART>
  1014.         <PART id="bip01 spine2" model="bip01 spine2" parent="bip01 spine1">
  1015.             <TM>-4.991982e-007,0.9131974,0.4075175,0,1.381799e-006,-0.4075175,0.9131974,0,1,1.018974e-006,-1.058423e-006,0,-0.0006229003,1.645286,-0.03718411,1</TM>
  1016.         </PART>
  1017.         <NO_COLLISION part1="bip01 l calf" part2="bip01 l thigh"></NO_COLLISION>
  1018.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 l upperarm"></NO_COLLISION>
  1019.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 neck"></NO_COLLISION>
  1020.         <NO_COLLISION part1="bip01 l forearm" part2="bip01 l upperarm"></NO_COLLISION>
  1021.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 pelvis"></NO_COLLISION>
  1022.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 r thigh"></NO_COLLISION>
  1023.         <NO_COLLISION part1="bip01 l upperarm" part2="bip01 spine1"></NO_COLLISION>
  1024.         <NO_COLLISION part1="bip01 neck" part2="bip01 r clavicle"></NO_COLLISION>
  1025.         <NO_COLLISION part1="bip01 neck" part2="bip01 spine1"></NO_COLLISION>
  1026.         <NO_COLLISION part1="bip01 neck" part2="bip01 spine2"></NO_COLLISION>
  1027.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 r thigh"></NO_COLLISION>
  1028.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine"></NO_COLLISION>
  1029.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine1"></NO_COLLISION>
  1030.         <NO_COLLISION part1="bip01 r calf" part2="bip01 r thigh"></NO_COLLISION>
  1031.         <NO_COLLISION part1="bip01 r clavicle" part2="bip01 r upperarm"></NO_COLLISION>
  1032.         <NO_COLLISION part1="bip01 r forearm" part2="bip01 r upperarm"></NO_COLLISION>
  1033.         <NO_COLLISION part1="bip01 r upperarm" part2="bip01 spine1"></NO_COLLISION>
  1034.         <NO_COLLISION part1="bip01 spine" part2="bip01 spine1"></NO_COLLISION>
  1035.         <NO_COLLISION part1="bip01 spine1" part2="bip01 spine2"></NO_COLLISION>
  1036.         <JOINT id="bip01 l calf" part1="bip01 l calf" part2="bip01 l thigh" type="hinge">
  1037.             <HIGH_LIMIT>1.287415</HIGH_LIMIT>
  1038.             <LOW_LIMIT>-0.2850108</LOW_LIMIT>
  1039.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1040.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1041.             <LIMITED>1</LIMITED>
  1042.             <MOTORIZED>0</MOTORIZED>
  1043.             <DES_VEL>1</DES_VEL>
  1044.             <MAX_FORCE>1000</MAX_FORCE>
  1045.             <POS1>0,0,0</POS1>
  1046.             <POS2>0.5319178,-1.023043e-008,-2.337746e-008</POS2>
  1047.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  1048.             <PRIMARY_AXIS2>-1.819059e-008,-9.446966e-008,1</PRIMARY_AXIS2>
  1049.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  1050.             <ORTHOGONAL_AXIS2>0.9893852,0.145316,-5.470161e-008</ORTHOGONAL_AXIS2>
  1051.         </JOINT>
  1052.         <JOINT id="bip01 l clavicle" part1="bip01 l clavicle" part2="bip01 neck" type="hinge">
  1053.             <HIGH_LIMIT>0.2843004</HIGH_LIMIT>
  1054.             <LOW_LIMIT>-0.2843004</LOW_LIMIT>
  1055.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1056.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1057.             <LIMITED>1</LIMITED>
  1058.             <MOTORIZED>0</MOTORIZED>
  1059.             <DES_VEL>1</DES_VEL>
  1060.             <MAX_FORCE>1000</MAX_FORCE>
  1061.             <POS1>0,0,0</POS1>
  1062.             <POS2>-8.395016e-008,-6.030906e-005,0.05769112</POS2>
  1063.             <PRIMARY_AXIS1>-8.940697e-008,1,0</PRIMARY_AXIS1>
  1064.             <PRIMARY_AXIS2>0.4478566,-0.8852595,0.1254608</PRIMARY_AXIS2>
  1065.             <ORTHOGONAL_AXIS1>0,-2.980232e-008,1</ORTHOGONAL_AXIS1>
  1066.             <ORTHOGONAL_AXIS2>0.8632715,0.4646661,0.197099</ORTHOGONAL_AXIS2>
  1067.         </JOINT>
  1068.         <JOINT id="bip01 l forearm" part1="bip01 l forearm" part2="bip01 l upperarm" type="hinge">
  1069.             <HIGH_LIMIT>1.570796</HIGH_LIMIT>
  1070.             <LOW_LIMIT>-0.1670241</LOW_LIMIT>
  1071.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1072.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1073.             <LIMITED>1</LIMITED>
  1074.             <MOTORIZED>0</MOTORIZED>
  1075.             <DES_VEL>1</DES_VEL>
  1076.             <MAX_FORCE>1000</MAX_FORCE>
  1077.             <POS1>0,0,0</POS1>
  1078.             <POS2>0.3245753,5.00703e-008,1.516174e-007</POS2>
  1079.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  1080.             <PRIMARY_AXIS2>-8.514e-007,-2.491755e-007,0.9999999</PRIMARY_AXIS2>
  1081.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  1082.             <ORTHOGONAL_AXIS2>0.9827466,0.1849535,-7.280615e-007</ORTHOGONAL_AXIS2>
  1083.         </JOINT>
  1084.         <JOINT id="bip01 l thigh" part1="bip01 l thigh" part2="bip01 pelvis" type="skeletal">
  1085.             <CONE_TYPE>2</CONE_TYPE>
  1086.             <CONE_HALF_ANGLE_X>0.7853982</CONE_HALF_ANGLE_X>
  1087.             <CONE_HALF_ANGLE_Y>0.3970303</CONE_HALF_ANGLE_Y>
  1088.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1089.             <CONE_DAMPING>1</CONE_DAMPING>
  1090.             <TWIST_TYPE>2</TWIST_TYPE>
  1091.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1092.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1093.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1094.             <POS1>0,0,0</POS1>
  1095.             <POS2>-1.894582e-007,-1.399667e-007,0.1101846</POS2>
  1096.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1097.             <PRIMARY_AXIS2>-0.9926488,-0.079681,0.09110019</PRIMARY_AXIS2>
  1098.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1099.             <ORTHOGONAL_AXIS2>-0.07875311,0.9967994,0.0137409</ORTHOGONAL_AXIS2>
  1100.         </JOINT>
  1101.         <JOINT id="bip01 l upperarm" part1="bip01 l upperarm" part2="bip01 l clavicle" type="skeletal">
  1102.             <CONE_TYPE>2</CONE_TYPE>
  1103.             <CONE_HALF_ANGLE_X>0.5187238</CONE_HALF_ANGLE_X>
  1104.             <CONE_HALF_ANGLE_Y>0.7853982</CONE_HALF_ANGLE_Y>
  1105.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1106.             <CONE_DAMPING>1</CONE_DAMPING>
  1107.             <TWIST_TYPE>2</TWIST_TYPE>
  1108.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1109.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1110.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1111.             <POS1>0,0,0</POS1>
  1112.             <POS2>0.1162253,-9.677329e-008,8.426456e-008</POS2>
  1113.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1114.             <PRIMARY_AXIS2>0.9479021,-0.110074,-0.2989384</PRIMARY_AXIS2>
  1115.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1116.             <ORTHOGONAL_AXIS2>-0.0678165,0.8471679,-0.52698</ORTHOGONAL_AXIS2>
  1117.         </JOINT>
  1118.         <JOINT id="bip01 neck" part1="bip01 neck" part2="bip01 spine2" type="hinge">
  1119.             <HIGH_LIMIT>0.2782851</HIGH_LIMIT>
  1120.             <LOW_LIMIT>-0.2782851</LOW_LIMIT>
  1121.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1122.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1123.             <LIMITED>1</LIMITED>
  1124.             <MOTORIZED>0</MOTORIZED>
  1125.             <DES_VEL>1</DES_VEL>
  1126.             <MAX_FORCE>1000</MAX_FORCE>
  1127.             <POS1>0,0,0</POS1>
  1128.             <POS2>0.1379731,5.420537e-005,-4.693711e-009</POS2>
  1129.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  1130.             <PRIMARY_AXIS2>-1.242396e-006,1.604568e-007,0.9999999</PRIMARY_AXIS2>
  1131.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  1132.             <ORTHOGONAL_AXIS2>0.8926693,-0.4507126,1.121773e-006</ORTHOGONAL_AXIS2>
  1133.         </JOINT>
  1134.         <JOINT id="bip01 r calf" part1="bip01 r calf" part2="bip01 r thigh" type="hinge">
  1135.             <HIGH_LIMIT>1.287415</HIGH_LIMIT>
  1136.             <LOW_LIMIT>-0.2850108</LOW_LIMIT>
  1137.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1138.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1139.             <LIMITED>1</LIMITED>
  1140.             <MOTORIZED>0</MOTORIZED>
  1141.             <DES_VEL>1</DES_VEL>
  1142.             <MAX_FORCE>1000</MAX_FORCE>
  1143.             <POS1>0,0,0</POS1>
  1144.             <POS2>0.5319172,7.748095e-009,-1.159954e-007</POS2>
  1145.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  1146.             <PRIMARY_AXIS2>1.296894e-007,-1.021876e-007,1</PRIMARY_AXIS2>
  1147.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  1148.             <ORTHOGONAL_AXIS2>0.9893851,0.145316,-1.679539e-007</ORTHOGONAL_AXIS2>
  1149.         </JOINT>
  1150.         <JOINT id="bip01 r clavicle" part1="bip01 r clavicle" part2="bip01 neck" type="hinge">
  1151.             <HIGH_LIMIT>0.2843004</HIGH_LIMIT>
  1152.             <LOW_LIMIT>-0.2843004</LOW_LIMIT>
  1153.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1154.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1155.             <LIMITED>1</LIMITED>
  1156.             <MOTORIZED>0</MOTORIZED>
  1157.             <DES_VEL>1</DES_VEL>
  1158.             <MAX_FORCE>1000</MAX_FORCE>
  1159.             <POS1>0,0,0</POS1>
  1160.             <POS2>-7.445278e-008,-6.093046e-005,-0.05769108</POS2>
  1161.             <PRIMARY_AXIS1>-8.940697e-008,1,0</PRIMARY_AXIS1>
  1162.             <PRIMARY_AXIS2>0.4478565,-0.8852603,-0.1254562</PRIMARY_AXIS2>
  1163.             <ORTHOGONAL_AXIS1>0,-2.980232e-008,1</ORTHOGONAL_AXIS1>
  1164.             <ORTHOGONAL_AXIS2>-0.8632715,-0.4646649,0.197102</ORTHOGONAL_AXIS2>
  1165.         </JOINT>
  1166.         <JOINT id="bip01 r forearm" part1="bip01 r forearm" part2="bip01 r upperarm" type="hinge">
  1167.             <HIGH_LIMIT>1.570796</HIGH_LIMIT>
  1168.             <LOW_LIMIT>-0.1670241</LOW_LIMIT>
  1169.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1170.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1171.             <LIMITED>1</LIMITED>
  1172.             <MOTORIZED>0</MOTORIZED>
  1173.             <DES_VEL>1</DES_VEL>
  1174.             <MAX_FORCE>1000</MAX_FORCE>
  1175.             <POS1>0,0,0</POS1>
  1176.             <POS2>0.3245747,4.734069e-008,-6.419536e-008</POS2>
  1177.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  1178.             <PRIMARY_AXIS2>1.830598e-007,-4.900682e-008,1</PRIMARY_AXIS2>
  1179.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  1180.             <ORTHOGONAL_AXIS2>0.9827467,0.1849539,7.800245e-007</ORTHOGONAL_AXIS2>
  1181.         </JOINT>
  1182.         <JOINT id="bip01 r thigh" part1="bip01 r thigh" part2="bip01 pelvis" type="skeletal">
  1183.             <CONE_TYPE>2</CONE_TYPE>
  1184.             <CONE_HALF_ANGLE_X>0.7853982</CONE_HALF_ANGLE_X>
  1185.             <CONE_HALF_ANGLE_Y>0.3970303</CONE_HALF_ANGLE_Y>
  1186.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1187.             <CONE_DAMPING>1</CONE_DAMPING>
  1188.             <TWIST_TYPE>2</TWIST_TYPE>
  1189.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1190.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1191.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1192.             <POS1>0,0,0</POS1>
  1193.             <POS2>1.043597e-007,1.6129e-007,-0.1101845</POS2>
  1194.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1195.             <PRIMARY_AXIS2>-0.9926485,-0.07968077,-0.09110329</PRIMARY_AXIS2>
  1196.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1197.             <ORTHOGONAL_AXIS2>-0.07875306,0.9967994,-0.01373857</ORTHOGONAL_AXIS2>
  1198.         </JOINT>
  1199.         <JOINT id="bip01 r upperarm" part1="bip01 r upperarm" part2="bip01 r clavicle" type="skeletal">
  1200.             <CONE_TYPE>2</CONE_TYPE>
  1201.             <CONE_HALF_ANGLE_X>0.5187238</CONE_HALF_ANGLE_X>
  1202.             <CONE_HALF_ANGLE_Y>0.7853982</CONE_HALF_ANGLE_Y>
  1203.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1204.             <CONE_DAMPING>1</CONE_DAMPING>
  1205.             <TWIST_TYPE>2</TWIST_TYPE>
  1206.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1207.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1208.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1209.             <POS1>0,0,0</POS1>
  1210.             <POS2>0.1162248,-1.450529e-007,-6.140483e-009</POS2>
  1211.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1212.             <PRIMARY_AXIS2>0.9479021,-0.1100738,0.2989388</PRIMARY_AXIS2>
  1213.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1214.             <ORTHOGONAL_AXIS2>-0.06781656,0.847168,0.5269798</ORTHOGONAL_AXIS2>
  1215.         </JOINT>
  1216.         <JOINT id="bip01 spine" part1="bip01 spine" part2="bip01 pelvis" type="skeletal">
  1217.             <CONE_TYPE>2</CONE_TYPE>
  1218.             <CONE_HALF_ANGLE_X>0.3101279</CONE_HALF_ANGLE_X>
  1219.             <CONE_HALF_ANGLE_Y>0.3101279</CONE_HALF_ANGLE_Y>
  1220.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1221.             <CONE_DAMPING>1</CONE_DAMPING>
  1222.             <TWIST_TYPE>2</TWIST_TYPE>
  1223.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1224.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1225.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1226.             <POS1>0,0,0</POS1>
  1227.             <POS2>0.1239959,0.0001097491,1.686402e-007</POS2>
  1228.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1229.             <PRIMARY_AXIS2>0.9985875,-0.05313126,1.313933e-006</PRIMARY_AXIS2>
  1230.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1231.             <ORTHOGONAL_AXIS2>0.05313126,0.9985875,4.235299e-006</ORTHOGONAL_AXIS2>
  1232.         </JOINT>
  1233.         <JOINT id="bip01 spine1" part1="bip01 spine1" part2="bip01 spine" type="skeletal">
  1234.             <CONE_TYPE>2</CONE_TYPE>
  1235.             <CONE_HALF_ANGLE_X>0.1612694</CONE_HALF_ANGLE_X>
  1236.             <CONE_HALF_ANGLE_Y>0.1612694</CONE_HALF_ANGLE_Y>
  1237.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1238.             <CONE_DAMPING>1</CONE_DAMPING>
  1239.             <TWIST_TYPE>2</TWIST_TYPE>
  1240.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1241.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1242.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1243.             <POS1>0,0,0</POS1>
  1244.             <POS2>0.1379214,0.0001069902,-3.4207e-009</POS2>
  1245.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1246.             <PRIMARY_AXIS2>0.9762961,0.2164396,-6.294134e-007</PRIMARY_AXIS2>
  1247.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1248.             <ORTHOGONAL_AXIS2>-0.2164396,0.9762961,6.703939e-008</ORTHOGONAL_AXIS2>
  1249.         </JOINT>
  1250.         <JOINT id="bip01 spine2" part1="bip01 spine2" part2="bip01 spine1" type="skeletal">
  1251.             <CONE_TYPE>2</CONE_TYPE>
  1252.             <CONE_HALF_ANGLE_X>0.1530645</CONE_HALF_ANGLE_X>
  1253.             <CONE_HALF_ANGLE_Y>0.1530645</CONE_HALF_ANGLE_Y>
  1254.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1255.             <CONE_DAMPING>1</CONE_DAMPING>
  1256.             <TWIST_TYPE>2</TWIST_TYPE>
  1257.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1258.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1259.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1260.             <POS1>0,0,0</POS1>
  1261.             <POS2>0.1379093,0.0001031767,2.588984e-009</POS2>
  1262.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1263.             <PRIMARY_AXIS2>0.9396926,0.3420204,-8.750347e-007</PRIMARY_AXIS2>
  1264.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1265.             <ORTHOGONAL_AXIS2>-0.3420204,0.9396926,1.307163e-007</ORTHOGONAL_AXIS2>
  1266.         </JOINT>
  1267.     </ASSET>
  1268.     <ASSET id="Male" graphic="MercMaleA.psk" scale="0.0086" mass_scale="1" length_scale="1">
  1269.         <GEOMETRY id="bip01 head">
  1270.             <PRIMITIVE id="bip01 head_1" type="sphyl">
  1271.                 <RADIUS>0.08724424</RADIUS>
  1272.                 <HEIGHT>0.1965759</HEIGHT>
  1273.                 <TM>-2.847121e-008,0.9999999,-1.336903e-006,0,-8.262018e-009,1.33711e-006,0.9999998,0,0.9999999,2.847169e-008,9.09328e-009,0,0.09828784,1.546085e-008,9.001672e-010,1</TM>
  1274.             </PRIMITIVE>
  1275.         </GEOMETRY>
  1276.         <GEOMETRY id="bip01 l calf">
  1277.             <PRIMITIVE id="bip01 l calf_1" type="sphyl">
  1278.                 <RADIUS>0.1061622</RADIUS>
  1279.                 <HEIGHT>0.4384839</HEIGHT>
  1280.                 <TM>1.163896e-008,-0.9999688,0.007896274,0,4.050811e-008,-0.007896274,-0.9999688,0,0.9999999,2.890487e-008,4.334406e-008,0,0.2192419,5.302759e-009,2.251e-009,1</TM>
  1281.             </PRIMITIVE>
  1282.         </GEOMETRY>
  1283.         <GEOMETRY id="bip01 l finger0">
  1284.             <PRIMITIVE id="bip01 l finger0_1" type="sphyl">
  1285.                 <RADIUS>0.04443267</RADIUS>
  1286.                 <HEIGHT>0.1366424</HEIGHT>
  1287.                 <TM>-3.050778e-007,-0.996422,-0.08451512,0,6.783642e-008,0.08451508,-0.9964221,0,0.9999999,-2.802366e-007,-3.553662e-010,0,0.06832117,5.434739e-008,4.504834e-009,1</TM>
  1288.             </PRIMITIVE>
  1289.         </GEOMETRY>
  1290.         <GEOMETRY id="bip01 l foot">
  1291.             <PRIMITIVE id="bip01 l foot_1" type="sphyl">
  1292.                 <RADIUS>0.07925379</RADIUS>
  1293.                 <HEIGHT>0.2045405</HEIGHT>
  1294.                 <TM>-0.5968004,-0.8023897,1.193889e-006,0,-7.136503e-007,-9.630689e-007,-1,0,0.8023897,-0.5968005,5.604364e-009,0,0.08206061,-0.06103495,3.110103e-009,1</TM>
  1295.             </PRIMITIVE>
  1296.         </GEOMETRY>
  1297.         <GEOMETRY id="bip01 l forearm">
  1298.             <PRIMITIVE id="bip01 l forearm_1" type="sphyl">
  1299.                 <RADIUS>0.09775694</RADIUS>
  1300.                 <HEIGHT>0.2854281</HEIGHT>
  1301.                 <TM>-2.107009e-007,0.07011085,-0.9975391,0,-4.699977e-008,0.9975391,0.07011081,0,0.9999999,8.845551e-008,-2.551469e-007,0,0.1427141,1.376412e-008,-1.900881e-008,1</TM>
  1302.             </PRIMITIVE>
  1303.         </GEOMETRY>
  1304.         <GEOMETRY id="bip01 l hand">
  1305.             <PRIMITIVE id="bip01 l hand_1" type="sphyl">
  1306.                 <RADIUS>0.07203513</RADIUS>
  1307.                 <HEIGHT>0.1098466</HEIGHT>
  1308.                 <TM>-2.59443e-007,-0.9966915,-0.08127636,0,6.311193e-009,0.08127631,-0.9966916,0,0.9999999,-3.134711e-007,-4.971559e-008,0,0.05492331,-7.337233e-008,-2.012883e-010,1</TM>
  1309.             </PRIMITIVE>
  1310.         </GEOMETRY>
  1311.         <GEOMETRY id="bip01 l thigh">
  1312.             <PRIMITIVE id="bip01 l thigh_1" type="sphyl">
  1313.                 <RADIUS>0.1</RADIUS>
  1314.                 <HEIGHT>0.519384</HEIGHT>
  1315.                 <TM>-3.69731e-008,-0.005768344,0.9999834,0,6.362954e-009,-0.9999834,-0.005768344,0,0.9999999,6.029218e-010,4.493229e-008,0,0.2596921,-5.805622e-010,1.847503e-008,1</TM>
  1316.             </PRIMITIVE>
  1317.         </GEOMETRY>
  1318.         <GEOMETRY id="bip01 l toe0">
  1319.             <PRIMITIVE id="bip01 l toe0_1" type="sphyl">
  1320.                 <RADIUS>0.05879239</RADIUS>
  1321.                 <HEIGHT>0.1177608</HEIGHT>
  1322.                 <TM>2.759039e-008,-0.9999999,6.026767e-008,0,-2.004106e-008,-6.590106e-008,-0.9999999,0,1,5.299335e-008,-2.180057e-008,0,0.05888038,3.149222e-009,-9.162591e-010,1</TM>
  1323.             </PRIMITIVE>
  1324.         </GEOMETRY>
  1325.         <GEOMETRY id="bip01 l upperarm">
  1326.             <PRIMITIVE id="bip01 l upperarm_1" type="sphyl">
  1327.                 <RADIUS>0.1026223</RADIUS>
  1328.                 <HEIGHT>0.3293402</HEIGHT>
  1329.                 <TM>-1.090272e-007,0.07049617,-0.9975119,0,1.528317e-008,0.997512,0.07049613,0,0.9999999,-4.096083e-010,-9.213706e-008,0,0.16467,9.335983e-009,-1.787599e-008,1</TM>
  1330.             </PRIMITIVE>
  1331.         </GEOMETRY>
  1332.         <GEOMETRY id="bip01 neck">
  1333.             <PRIMITIVE id="bip01 neck_1" type="sphere">
  1334.                 <RADIUS>0.1</RADIUS>
  1335.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1864481,-0.04031076,0.000444256,1</TM>
  1336.             </PRIMITIVE>
  1337.         </GEOMETRY>
  1338.         <GEOMETRY id="bip01 pelvis">
  1339.             <PRIMITIVE id="Part9" type="sphere">
  1340.                 <RADIUS>0.18</RADIUS>
  1341.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.04,0.02,0,1</TM>
  1342.             </PRIMITIVE>
  1343.         </GEOMETRY>
  1344.         <GEOMETRY id="bip01 r calf">
  1345.             <PRIMITIVE id="bip01 r calf_1" type="sphyl">
  1346.                 <RADIUS>0.1061624</RADIUS>
  1347.                 <HEIGHT>0.4384839</HEIGHT>
  1348.                 <TM>-3.247325e-009,-0.999969,-0.00789316,0,-1.939892e-009,0.00789316,-0.9999689,0,1,-1.2386e-008,-1.01736e-009,0,0.219242,-4.8345e-009,-7.001555e-009,1</TM>
  1349.             </PRIMITIVE>
  1350.         </GEOMETRY>
  1351.         <GEOMETRY id="bip01 r foot">
  1352.             <PRIMITIVE id="bip01 r foot_1" type="sphyl">
  1353.                 <RADIUS>0.0792538</RADIUS>
  1354.                 <HEIGHT>0.2045406</HEIGHT>
  1355.                 <TM>-0.5968006,-0.8023898,1.198544e-006,0,-7.351524e-007,-9.644189e-007,-1,0,0.8023899,-0.5968005,2.66855e-009,0,0.08206064,-0.06103496,-3.785344e-009,1</TM>
  1356.             </PRIMITIVE>
  1357.         </GEOMETRY>
  1358.         <GEOMETRY id="bip01 r forearm">
  1359.             <PRIMITIVE id="bip01 r forearm_1" type="sphyl">
  1360.                 <RADIUS>0.09779242</RADIUS>
  1361.                 <HEIGHT>0.2854282</HEIGHT>
  1362.                 <TM>-7.519998e-008,-0.07011269,-0.997539,0,-2.774475e-008,0.9975389,-0.07011263,0,0.9999999,1.617811e-008,-3.009882e-008,0,0.1427142,-4.20052e-009,3.016605e-008,1</TM>
  1363.             </PRIMITIVE>
  1364.         </GEOMETRY>
  1365.         <GEOMETRY id="bip01 r hand">
  1366.             <PRIMITIVE id="bip01 r hand_1" type="sphere">
  1367.                 <RADIUS>0.06450626</RADIUS>
  1368.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.07698974,-0.02648589,0.021383,1</TM>
  1369.             </PRIMITIVE>
  1370.         </GEOMETRY>
  1371.         <GEOMETRY id="bip01 r thigh">
  1372.             <PRIMITIVE id="bip01 r thigh_1" type="sphyl">
  1373.                 <RADIUS>0.1289518</RADIUS>
  1374.                 <HEIGHT>0.5193842</HEIGHT>
  1375.                 <TM>9.553675e-009,0.005771475,0.9999835,0,7.125667e-009,-0.9999834,0.005771474,0,1,8.102804e-009,1.234445e-009,0,0.2596921,1.337684e-009,4.704481e-010,1</TM>
  1376.             </PRIMITIVE>
  1377.         </GEOMETRY>
  1378.         <GEOMETRY id="bip01 r toe0">
  1379.             <PRIMITIVE id="bip01 r toe0_1" type="sphyl">
  1380.                 <RADIUS>0.05879239</RADIUS>
  1381.                 <HEIGHT>0.1177608</HEIGHT>
  1382.                 <TM>8.658831e-008,-1,-2.400579e-008,0,-1.111694e-008,2.003774e-009,-1,0,1,7.541247e-008,-1.224389e-008,0,0.0588804,4.451649e-009,3.4569e-009,1</TM>
  1383.             </PRIMITIVE>
  1384.         </GEOMETRY>
  1385.         <GEOMETRY id="bip01 r upperarm">
  1386.             <PRIMITIVE id="bip01 r upperarm_1" type="sphyl">
  1387.                 <RADIUS>0.1026227</RADIUS>
  1388.                 <HEIGHT>0.3293402</HEIGHT>
  1389.                 <TM>1.304405e-007,-0.070498,-0.9975119,0,1.459152e-008,0.9975117,-0.07049794,0,0.9999999,2.947962e-008,1.910949e-007,0,0.1646701,8.689599e-010,5.518653e-008,1</TM>
  1390.             </PRIMITIVE>
  1391.         </GEOMETRY>
  1392.         <GEOMETRY id="bip01 spine">
  1393.             <PRIMITIVE id="bip01 spine_1" type="sphere">
  1394.                 <RADIUS>0.05181317</RADIUS>
  1395.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1368998,0.01515086,-0.0008707146,1</TM>
  1396.             </PRIMITIVE>
  1397.         </GEOMETRY>
  1398.         <GEOMETRY id="bip01 spine1">
  1399.             <PRIMITIVE id="Part11" type="sphere">
  1400.                 <RADIUS>0.15</RADIUS>
  1401.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,0.02,0,1</TM>
  1402.             </PRIMITIVE>
  1403.         </GEOMETRY>
  1404.         <GEOMETRY id="bip01 spine2">
  1405.             <PRIMITIVE id="bip01 spine2_1" type="sphyl">
  1406.                 <RADIUS>0.164207</RADIUS>
  1407.                 <HEIGHT>0.11</HEIGHT>
  1408.                 <TM>-0.0003159357,0.9999998,-1.378676e-006,0,-1.706692e-008,1.378381e-006,0.9999999,0,0.9999998,0.0003159357,1.743774e-008,0,0.04781241,2.775461e-005,1.508849e-009,1</TM>
  1409.             </PRIMITIVE>
  1410.         </GEOMETRY>
  1411.         <MODEL id="bip01 l calf" type="dynamics_and_geometry" geometry="bip01 l calf">
  1412.             <DYNAMICS>
  1413.                 <MASS>0.02056851</MASS>
  1414.                 <DENSITY>1</DENSITY>
  1415.                 <MASS_OFFSET>0.2192419,5.302759e-009,2.251e-009</MASS_OFFSET>
  1416.                 <INERTIA>0.0001159079,-4.259814e-012,-2.069532e-011,0.0006363795,-2.252402e-013,0.0006363795</INERTIA>
  1417.                 <LIN_DAMP>0</LIN_DAMP>
  1418.                 <ANG_DAMP>0</ANG_DAMP>
  1419.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  1420.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  1421.             </DYNAMICS>
  1422.         </MODEL>
  1423.         <MODEL id="bip01 l clavicle" type="dynamics_only">
  1424.             <DYNAMICS>
  1425.                 <MASS>0.01</MASS>
  1426.                 <DENSITY>1</DENSITY>
  1427.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  1428.                 <INERTIA>7.443903e-005,0,0,7.443903e-005,0,7.443903e-005</INERTIA>
  1429.                 <LIN_DAMP>0</LIN_DAMP>
  1430.                 <ANG_DAMP>0</ANG_DAMP>
  1431.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  1432.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  1433.             </DYNAMICS>
  1434.         </MODEL>
  1435.         <MODEL id="bip01 l forearm" type="dynamics_and_geometry" geometry="bip01 l forearm">
  1436.             <DYNAMICS>
  1437.                 <MASS>0.0125068</MASS>
  1438.                 <DENSITY>1</DENSITY>
  1439.                 <MASS_OFFSET>0.1427141,1.376412e-008,-1.900881e-008</MASS_OFFSET>
  1440.                 <INERTIA>5.976011e-005,-7.708028e-012,2.835395e-011,0.0002107504,-9.019664e-012,0.0002107504</INERTIA>
  1441.                 <LIN_DAMP>0</LIN_DAMP>
  1442.                 <ANG_DAMP>0</ANG_DAMP>
  1443.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  1444.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  1445.             </DYNAMICS>
  1446.         </MODEL>
  1447.         <MODEL id="bip01 l thigh" type="dynamics_and_geometry" geometry="bip01 l thigh">
  1448.             <DYNAMICS>
  1449.                 <MASS>0.02053182</MASS>
  1450.                 <DENSITY>1</DENSITY>
  1451.                 <MASS_OFFSET>0.2596921,-5.805622e-010,1.847503e-008</MASS_OFFSET>
  1452.                 <INERTIA>0.0001026591,-4.747896e-012,-2.433344e-011,0.0007821341,-8.600323e-013,0.0007821342</INERTIA>
  1453.                 <LIN_DAMP>0</LIN_DAMP>
  1454.                 <ANG_DAMP>0</ANG_DAMP>
  1455.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  1456.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  1457.             </DYNAMICS>
  1458.         </MODEL>
  1459.         <MODEL id="bip01 l upperarm" type="dynamics_and_geometry" geometry="bip01 l upperarm">
  1460.             <DYNAMICS>
  1461.                 <MASS>0.01545153</MASS>
  1462.                 <DENSITY>1</DENSITY>
  1463.                 <MASS_OFFSET>0.16467,9.335983e-009,-1.787599e-008</MASS_OFFSET>
  1464.                 <INERTIA>8.136263e-005,2.397132e-012,2.78177e-011,0.0003215256,-9.120604e-012,0.0003215255</INERTIA>
  1465.                 <LIN_DAMP>0</LIN_DAMP>
  1466.                 <ANG_DAMP>0</ANG_DAMP>
  1467.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  1468.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  1469.             </DYNAMICS>
  1470.         </MODEL>
  1471.         <MODEL id="bip01 neck" type="dynamics_and_geometry" geometry="bip01 neck">
  1472.             <DYNAMICS>
  1473.                 <MASS>0.00418879</MASS>
  1474.                 <DENSITY>1</DENSITY>
  1475.                 <MASS_OFFSET>0.1864481,-0.04031076,0.000444256</MASS_OFFSET>
  1476.                 <INERTIA>1.675516e-005,0,0,1.675516e-005,0,1.675516e-005</INERTIA>
  1477.                 <LIN_DAMP>0</LIN_DAMP>
  1478.                 <ANG_DAMP>0</ANG_DAMP>
  1479.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  1480.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  1481.             </DYNAMICS>
  1482.         </MODEL>
  1483.         <MODEL id="bip01 pelvis" type="dynamics_and_geometry" geometry="bip01 pelvis">
  1484.             <DYNAMICS>
  1485.                 <MASS>0.02442903</MASS>
  1486.                 <DENSITY>1</DENSITY>
  1487.                 <MASS_OFFSET>0.04,0.02,0</MASS_OFFSET>
  1488.                 <INERTIA>0.0003166002,0,0,0.0003166002,0,0.0003166002</INERTIA>
  1489.                 <LIN_DAMP>0</LIN_DAMP>
  1490.                 <ANG_DAMP>0</ANG_DAMP>
  1491.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  1492.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  1493.             </DYNAMICS>
  1494.         </MODEL>
  1495.         <MODEL id="bip01 r calf" type="dynamics_and_geometry" geometry="bip01 l calf">
  1496.             <DYNAMICS>
  1497.                 <MASS>0.02056851</MASS>
  1498.                 <DENSITY>1</DENSITY>
  1499.                 <MASS_OFFSET>0.2192419,5.302759e-009,2.251e-009</MASS_OFFSET>
  1500.                 <INERTIA>0.0001159079,-4.259814e-012,-2.069532e-011,0.0006363795,-2.252402e-013,0.0006363795</INERTIA>
  1501.                 <LIN_DAMP>0</LIN_DAMP>
  1502.                 <ANG_DAMP>0</ANG_DAMP>
  1503.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  1504.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  1505.             </DYNAMICS>
  1506.         </MODEL>
  1507.         <MODEL id="bip01 r clavicle" type="dynamics_only">
  1508.             <DYNAMICS>
  1509.                 <MASS>0.01</MASS>
  1510.                 <DENSITY>1</DENSITY>
  1511.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  1512.                 <INERTIA>7.443903e-005,0,0,7.443903e-005,0,7.443903e-005</INERTIA>
  1513.                 <LIN_DAMP>0</LIN_DAMP>
  1514.                 <ANG_DAMP>0</ANG_DAMP>
  1515.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  1516.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  1517.             </DYNAMICS>
  1518.         </MODEL>
  1519.         <MODEL id="bip01 r forearm" type="dynamics_and_geometry" geometry="bip01 l forearm">
  1520.             <DYNAMICS>
  1521.                 <MASS>0.0125068</MASS>
  1522.                 <DENSITY>1</DENSITY>
  1523.                 <MASS_OFFSET>0.1427141,1.376412e-008,-1.900881e-008</MASS_OFFSET>
  1524.                 <INERTIA>5.976011e-005,-7.708028e-012,2.835395e-011,0.0002107504,-9.019664e-012,0.0002107504</INERTIA>
  1525.                 <LIN_DAMP>0</LIN_DAMP>
  1526.                 <ANG_DAMP>0</ANG_DAMP>
  1527.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  1528.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  1529.             </DYNAMICS>
  1530.         </MODEL>
  1531.         <MODEL id="bip01 r thigh" type="dynamics_and_geometry" geometry="bip01 l thigh">
  1532.             <DYNAMICS>
  1533.                 <MASS>0.02053182</MASS>
  1534.                 <DENSITY>1</DENSITY>
  1535.                 <MASS_OFFSET>0.2596921,-5.805622e-010,1.847503e-008</MASS_OFFSET>
  1536.                 <INERTIA>0.0001026591,-4.747896e-012,-2.433344e-011,0.0007821341,-8.600323e-013,0.0007821342</INERTIA>
  1537.                 <LIN_DAMP>0</LIN_DAMP>
  1538.                 <ANG_DAMP>0</ANG_DAMP>
  1539.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  1540.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  1541.             </DYNAMICS>
  1542.         </MODEL>
  1543.         <MODEL id="bip01 r upperarm" type="dynamics_and_geometry" geometry="bip01 l upperarm">
  1544.             <DYNAMICS>
  1545.                 <MASS>0.01545153</MASS>
  1546.                 <DENSITY>1</DENSITY>
  1547.                 <MASS_OFFSET>0.16467,9.335983e-009,-1.787599e-008</MASS_OFFSET>
  1548.                 <INERTIA>8.136263e-005,2.397132e-012,2.78177e-011,0.0003215256,-9.120604e-012,0.0003215255</INERTIA>
  1549.                 <LIN_DAMP>0</LIN_DAMP>
  1550.                 <ANG_DAMP>0</ANG_DAMP>
  1551.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  1552.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  1553.             </DYNAMICS>
  1554.         </MODEL>
  1555.         <MODEL id="bip01 spine" type="dynamics_only" geometry="bip01 spine">
  1556.             <DYNAMICS>
  1557.                 <MASS>0.01</MASS>
  1558.                 <DENSITY>1</DENSITY>
  1559.                 <MASS_OFFSET>0.1368998,0.01515086,-0.0008707146</MASS_OFFSET>
  1560.                 <INERTIA>4.805948e-005,0,0,4.805948e-005,0,4.299752e-005</INERTIA>
  1561.                 <LIN_DAMP>0</LIN_DAMP>
  1562.                 <ANG_DAMP>0</ANG_DAMP>
  1563.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  1564.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  1565.             </DYNAMICS>
  1566.         </MODEL>
  1567.         <MODEL id="bip01 spine1" type="dynamics_and_geometry" geometry="bip01 spine1">
  1568.             <DYNAMICS>
  1569.                 <MASS>0.0145694</MASS>
  1570.                 <DENSITY>1</DENSITY>
  1571.                 <MASS_OFFSET>-0.01221472,0.01006876,-1.316611e-009</MASS_OFFSET>
  1572.                 <INERTIA>0.0001231114,-2.339244e-008,5.794808e-013,0.0001529818,-2.07082e-014,0.0001529818</INERTIA>
  1573.                 <LIN_DAMP>0</LIN_DAMP>
  1574.                 <ANG_DAMP>0</ANG_DAMP>
  1575.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  1576.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  1577.             </DYNAMICS>
  1578.         </MODEL>
  1579.         <MODEL id="bip01 spine2" type="dynamics_and_geometry" geometry="bip01 spine2">
  1580.             <DYNAMICS>
  1581.                 <MASS>0.02798018</MASS>
  1582.                 <DENSITY>1</DENSITY>
  1583.                 <MASS_OFFSET>0.04781241,2.775461e-005,1.508849e-009</MASS_OFFSET>
  1584.                 <INERTIA>0.0003772279,-2.078173e-008,-7.8979e-013,0.0004430062,-1.285055e-013,0.0004430062</INERTIA>
  1585.                 <LIN_DAMP>0</LIN_DAMP>
  1586.                 <ANG_DAMP>0</ANG_DAMP>
  1587.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  1588.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  1589.             </DYNAMICS>
  1590.         </MODEL>
  1591.         <PART id="bip01 l calf" model="bip01 l calf" parent="bip01 l thigh">
  1592.             <TM>0.08623859,-0.9838701,0.1567242,0,-0.007866861,0.1566329,0.9876255,0,-0.9962434,-0.08640436,0.005767827,0,0.1505407,0.5966579,0.03048553,1</TM>
  1593.         </PART>
  1594.         <PART id="bip01 l clavicle" model="bip01 l clavicle" parent="bip01 neck">
  1595.             <TM>0.974687,-0.2217584,0.02843445,0,0.1046338,0.3400611,-0.9345642,0,0.197578,0.9138827,0.3546566,0,0.04852117,1.735674,0.08766542,1</TM>
  1596.         </PART>
  1597.         <PART id="bip01 l forearm" model="bip01 l forearm" parent="bip01 l upperarm">
  1598.             <TM>0.7952952,-0.6018937,-0.07231531,0,-0.09983119,-0.01237224,-0.9949275,0,0.5979459,0.7984803,-0.06992736,0,0.4709323,1.505992,0.1340651,1</TM>
  1599.         </PART>
  1600.         <PART id="bip01 l thigh" model="bip01 l thigh" parent="bip01 spine">
  1601.             <TM>0.08647548,-0.9961626,0.01349482,0,0.004579678,0.0139429,0.9998923,0,-0.9962435,-0.08640436,0.005767823,0,0.1056267,1.114053,0.02347656,1</TM>
  1602.         </PART>
  1603.         <PART id="bip01 l upperarm" model="bip01 l upperarm" parent="bip01 l clavicle">
  1604.             <TM>0.7992755,-0.587438,0.126788,0,0.06015968,-0.1317036,-0.989462,0,0.597946,0.7984802,-0.06992739,0,0.2076997,1.699458,0.09230895,1</TM>
  1605.         </PART>
  1606.         <PART id="bip01 neck" model="bip01 neck" parent="bip01 spine2">
  1607.             <TM>2.634478e-007,0.9917386,-0.1282751,0,1.304769e-006,0.1282751,0.9917386,0,1,-4.286407e-007,-1.260196e-006,0,-0.0004296697,1.735682,0.08772708,1</TM>
  1608.         </PART>
  1609.         <PART id="bip01 pelvis" model="bip01 pelvis" parent="bip01">
  1610.             <TM>-1.302998e-006,0.9961871,-0.08724272,0,-2.866887e-006,0.08724272,0.9961871,0,1,1.548145e-006,2.742279e-006,0,-0.0004295772,1.114053,0.02347649,1</TM>
  1611.         </PART>
  1612.         <PART id="bip01 r calf" model="bip01 r calf" parent="bip01 r thigh">
  1613.             <TM>-0.08623932,-0.9838701,0.1567241,0,0.007863803,0.156633,0.9876255,0,-0.9962434,0.08640461,-0.005770966,0,-0.1514006,0.5966588,0.03048516,1</TM>
  1614.         </PART>
  1615.         <PART id="bip01 r clavicle" model="bip01 r clavicle" parent="bip01 neck">
  1616.             <TM>-0.9746869,-0.2217589,0.02843164,0,-0.1046313,0.3400611,-0.9345645,0,0.1975795,-0.9138826,-0.354656,0,-0.04938037,1.735675,0.08766513,1</TM>
  1617.         </PART>
  1618.         <PART id="bip01 r forearm" model="bip01 r forearm" parent="bip01 r upperarm">
  1619.             <TM>-0.7952946,-0.6018941,-0.07231773,0,0.09983344,-0.01237115,-0.9949272,0,0.5979462,-0.79848,0.06992787,0,-0.4717887,1.505995,0.1340637,1</TM>
  1620.         </PART>
  1621.         <PART id="bip01 r thigh" model="bip01 r thigh" parent="bip01 spine">
  1622.             <TM>-0.0864755,-0.9961626,0.01349454,0,-0.004582821,0.0139429,0.9998923,0,-0.9962435,0.08640434,-0.005770954,0,-0.1064858,1.114053,0.02347624,1</TM>
  1623.         </PART>
  1624.         <PART id="bip01 r upperarm" model="bip01 r upperarm" parent="bip01 r clavicle">
  1625.             <TM>-0.7992756,-0.5874382,0.1267866,0,-0.06015839,-0.1317031,-0.9894621,0,0.597946,-0.7984802,0.06992771,0,-0.2085579,1.69946,0.09230818,1</TM>
  1626.         </PART>
  1627.         <PART id="bip01 spine" model="bip01 spine" parent="bip01 pelvis">
  1628.             <TM>1.069747e-007,0.9961173,-0.08803597,0,1.294404e-006,0.08803597,0.9961173,0,1,-2.205135e-007,-1.279961e-006,0,-0.0004295624,1.222558,0.01411437,1</TM>
  1629.         </PART>
  1630.         <PART id="bip01 spine1" model="bip01 spine1" parent="bip01 spine">
  1631.             <TM>-2.424347e-007,0.9864311,0.164176,0,1.311617e-006,-0.164176,0.9864311,0,1,4.544811e-007,-1.254018e-006,0,-0.0004295401,1.39745,-0.001206833,1</TM>
  1632.         </PART>
  1633.         <PART id="bip01 spine2" model="bip01 spine2" parent="bip01 spine1">
  1634.             <TM>-4.993054e-007,0.9399945,0.3411897,0,1.373893e-006,-0.3411897,0.9399945,0,1,9.381023e-007,-1.121094e-006,0,-0.0004295852,1.570616,0.02775347,1</TM>
  1635.         </PART>
  1636.         <NO_COLLISION part1="bip01 l calf" part2="bip01 l thigh"></NO_COLLISION>
  1637.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 l upperarm"></NO_COLLISION>
  1638.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 neck"></NO_COLLISION>
  1639.         <NO_COLLISION part1="bip01 l forearm" part2="bip01 l upperarm"></NO_COLLISION>
  1640.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 pelvis"></NO_COLLISION>
  1641.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 spine"></NO_COLLISION>
  1642.         <NO_COLLISION part1="bip01 l upperarm" part2="bip01 spine2"></NO_COLLISION>
  1643.         <NO_COLLISION part1="bip01 neck" part2="bip01 r clavicle"></NO_COLLISION>
  1644.         <NO_COLLISION part1="bip01 neck" part2="bip01 spine2"></NO_COLLISION>
  1645.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 r thigh"></NO_COLLISION>
  1646.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine"></NO_COLLISION>
  1647.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine1"></NO_COLLISION>
  1648.         <NO_COLLISION part1="bip01 r calf" part2="bip01 r thigh"></NO_COLLISION>
  1649.         <NO_COLLISION part1="bip01 r clavicle" part2="bip01 r upperarm"></NO_COLLISION>
  1650.         <NO_COLLISION part1="bip01 r forearm" part2="bip01 r upperarm"></NO_COLLISION>
  1651.         <NO_COLLISION part1="bip01 r thigh" part2="bip01 spine"></NO_COLLISION>
  1652.         <NO_COLLISION part1="bip01 r upperarm" part2="bip01 spine2"></NO_COLLISION>
  1653.         <NO_COLLISION part1="bip01 spine" part2="bip01 spine1"></NO_COLLISION>
  1654.         <NO_COLLISION part1="bip01 spine1" part2="bip01 spine2"></NO_COLLISION>
  1655.         <JOINT id="bip01 l calf" part1="bip01 l calf" part2="bip01 l thigh" type="hinge">
  1656.             <HIGH_LIMIT>1.287455</HIGH_LIMIT>
  1657.             <LOW_LIMIT>-0.259183</LOW_LIMIT>
  1658.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1659.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1660.             <LIMITED>1</LIMITED>
  1661.             <MOTORIZED>0</MOTORIZED>
  1662.             <DES_VEL>1</DES_VEL>
  1663.             <MAX_FORCE>1000</MAX_FORCE>
  1664.             <POS1>0,0,0</POS1>
  1665.             <POS2>0.5193882,-8.450839e-008,3.528762e-007</POS2>
  1666.             <PRIMARY_AXIS1>6.273142e-008,-2.682209e-007,1</PRIMARY_AXIS1>
  1667.             <PRIMARY_AXIS2>9.892211e-008,-2.524124e-007,1</PRIMARY_AXIS2>
  1668.             <ORTHOGONAL_AXIS1>1,1.254628e-007,-2.086163e-007</ORTHOGONAL_AXIS1>
  1669.             <ORTHOGONAL_AXIS2>0.9896671,0.1433844,-2.154007e-007</ORTHOGONAL_AXIS2>
  1670.         </JOINT>
  1671.         <JOINT id="bip01 l clavicle" part1="bip01 l clavicle" part2="bip01 neck" type="hinge">
  1672.             <HIGH_LIMIT>0.3504506</HIGH_LIMIT>
  1673.             <LOW_LIMIT>-0.3571184</LOW_LIMIT>
  1674.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1675.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1676.             <LIMITED>1</LIMITED>
  1677.             <MOTORIZED>0</MOTORIZED>
  1678.             <DES_VEL>1</DES_VEL>
  1679.             <MAX_FORCE>1000</MAX_FORCE>
  1680.             <POS1>0,0,0</POS1>
  1681.             <POS2>-4.656366e-009,-6.211357e-005,0.04895084</POS2>
  1682.             <PRIMARY_AXIS1>-2.384186e-007,1,6.27314e-008</PRIMARY_AXIS1>
  1683.             <PRIMARY_AXIS2>0.4571332,-0.8832219,0.1046346</PRIMARY_AXIS2>
  1684.             <ORTHOGONAL_AXIS1>6.273139e-008,-1.788139e-007,1</ORTHOGONAL_AXIS1>
  1685.             <ORTHOGONAL_AXIS2>0.8608391,0.4689554,0.1975772</ORTHOGONAL_AXIS2>
  1686.         </JOINT>
  1687.         <JOINT id="bip01 l forearm" part1="bip01 l forearm" part2="bip01 l upperarm" type="hinge">
  1688.             <HIGH_LIMIT>1.570796</HIGH_LIMIT>
  1689.             <LOW_LIMIT>-0.3324313</LOW_LIMIT>
  1690.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1691.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1692.             <LIMITED>1</LIMITED>
  1693.             <MOTORIZED>0</MOTORIZED>
  1694.             <DES_VEL>1</DES_VEL>
  1695.             <MAX_FORCE>1000</MAX_FORCE>
  1696.             <POS1>0,0,0</POS1>
  1697.             <POS2>0.3293388,7.263138e-008,1.919399e-007</POS2>
  1698.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  1699.             <PRIMARY_AXIS2>-1.344399e-007,-1.203041e-007,0.9999999</PRIMARY_AXIS2>
  1700.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  1701.             <ORTHOGONAL_AXIS2>0.9800665,0.1986696,1.450302e-007</ORTHOGONAL_AXIS2>
  1702.         </JOINT>
  1703.         <JOINT id="bip01 l thigh" part1="bip01 l thigh" part2="bip01 pelvis" type="skeletal">
  1704.             <CONE_TYPE>2</CONE_TYPE>
  1705.             <CONE_HALF_ANGLE_X>0.7853982</CONE_HALF_ANGLE_X>
  1706.             <CONE_HALF_ANGLE_Y>0.3809904</CONE_HALF_ANGLE_Y>
  1707.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1708.             <CONE_DAMPING>1</CONE_DAMPING>
  1709.             <TWIST_TYPE>2</TWIST_TYPE>
  1710.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1711.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1712.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1713.             <POS1>0,0,0</POS1>
  1714.             <POS2>-1.602488e-007,-2.328027e-007,0.1060563</POS2>
  1715.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1716.             <PRIMARY_AXIS2>-0.9935418,-0.07346482,0.08647397</PRIMARY_AXIS2>
  1717.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1718.             <ORTHOGONAL_AXIS2>-0.0733436,0.9972962,0.004582442</ORTHOGONAL_AXIS2>
  1719.         </JOINT>
  1720.         <JOINT id="bip01 l upperarm" part1="bip01 l upperarm" part2="bip01 l clavicle" type="skeletal">
  1721.             <CONE_TYPE>2</CONE_TYPE>
  1722.             <CONE_HALF_ANGLE_X>0.326337</CONE_HALF_ANGLE_X>
  1723.             <CONE_HALF_ANGLE_Y>0.7853982</CONE_HALF_ANGLE_Y>
  1724.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1725.             <CONE_DAMPING>1</CONE_DAMPING>
  1726.             <TWIST_TYPE>2</TWIST_TYPE>
  1727.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1728.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1729.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1730.             <POS1>0,0,0</POS1>
  1731.             <POS2>0.1633125,1.340813e-007,-1.135063e-007</POS2>
  1732.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1733.             <PRIMARY_AXIS2>0.9129179,-0.2346251,-0.333964</PRIMARY_AXIS2>
  1734.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1735.             <ORTHOGONAL_AXIS2>0.05970843,0.8862231,-0.4593945</ORTHOGONAL_AXIS2>
  1736.         </JOINT>
  1737.         <JOINT id="bip01 neck" part1="bip01 neck" part2="bip01 spine2" type="hinge">
  1738.             <HIGH_LIMIT>0.2408883</HIGH_LIMIT>
  1739.             <LOW_LIMIT>-0.2408883</LOW_LIMIT>
  1740.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1741.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1742.             <LIMITED>1</LIMITED>
  1743.             <MOTORIZED>0</MOTORIZED>
  1744.             <DES_VEL>1</DES_VEL>
  1745.             <MAX_FORCE>1000</MAX_FORCE>
  1746.             <POS1>0,0,0</POS1>
  1747.             <POS2>0.1756238,5.598209e-005,3.138986e-009</POS2>
  1748.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  1749.             <PRIMARY_AXIS2>-1.386902e-006,2.296505e-007,1</PRIMARY_AXIS2>
  1750.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  1751.             <ORTHOGONAL_AXIS2>0.8884627,-0.4589488,1.278004e-006</ORTHOGONAL_AXIS2>
  1752.         </JOINT>
  1753.         <JOINT id="bip01 r calf" part1="bip01 r calf" part2="bip01 r thigh" type="hinge">
  1754.             <HIGH_LIMIT>1.287455</HIGH_LIMIT>
  1755.             <LOW_LIMIT>-0.259183</LOW_LIMIT>
  1756.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1757.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1758.             <LIMITED>1</LIMITED>
  1759.             <MOTORIZED>0</MOTORIZED>
  1760.             <DES_VEL>1</DES_VEL>
  1761.             <MAX_FORCE>1000</MAX_FORCE>
  1762.             <POS1>0,0,0</POS1>
  1763.             <POS2>0.5193874,2.273186e-008,5.107674e-007</POS2>
  1764.             <PRIMARY_AXIS1>6.273142e-008,-2.682209e-007,1</PRIMARY_AXIS1>
  1765.             <PRIMARY_AXIS2>-1.539929e-007,-2.652415e-007,1</PRIMARY_AXIS2>
  1766.             <ORTHOGONAL_AXIS1>1,1.254628e-007,-2.086163e-007</ORTHOGONAL_AXIS1>
  1767.             <ORTHOGONAL_AXIS2>0.9896671,0.1433846,7.226821e-008</ORTHOGONAL_AXIS2>
  1768.         </JOINT>
  1769.         <JOINT id="bip01 r clavicle" part1="bip01 r clavicle" part2="bip01 neck" type="hinge">
  1770.             <HIGH_LIMIT>0.3504506</HIGH_LIMIT>
  1771.             <LOW_LIMIT>-0.3571184</LOW_LIMIT>
  1772.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1773.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1774.             <LIMITED>1</LIMITED>
  1775.             <MOTORIZED>0</MOTORIZED>
  1776.             <DES_VEL>1</DES_VEL>
  1777.             <MAX_FORCE>1000</MAX_FORCE>
  1778.             <POS1>0,0,0</POS1>
  1779.             <POS2>8.343961e-007,-6.242244e-005,-0.0489507</POS2>
  1780.             <PRIMARY_AXIS1>-6.854534e-007,1,2.509257e-007</PRIMARY_AXIS1>
  1781.             <PRIMARY_AXIS2>0.4571329,-0.8832226,-0.1046296</PRIMARY_AXIS2>
  1782.             <ORTHOGONAL_AXIS1>2.509257e-007,-6.258488e-007,1</ORTHOGONAL_AXIS1>
  1783.             <ORTHOGONAL_AXIS2>-0.8608394,-0.4689536,0.1975802</ORTHOGONAL_AXIS2>
  1784.         </JOINT>
  1785.         <JOINT id="bip01 r forearm" part1="bip01 r forearm" part2="bip01 r upperarm" type="hinge">
  1786.             <HIGH_LIMIT>1.570796</HIGH_LIMIT>
  1787.             <LOW_LIMIT>-0.3324313</LOW_LIMIT>
  1788.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1789.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1790.             <LIMITED>1</LIMITED>
  1791.             <MOTORIZED>0</MOTORIZED>
  1792.             <DES_VEL>1</DES_VEL>
  1793.             <MAX_FORCE>1000</MAX_FORCE>
  1794.             <POS1>0,0,0</POS1>
  1795.             <POS2>0.3293365,-9.431956e-008,-1.933469e-007</POS2>
  1796.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  1797.             <PRIMARY_AXIS2>-1.802266e-007,-3.600375e-007,0.9999998</PRIMARY_AXIS2>
  1798.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  1799.             <ORTHOGONAL_AXIS2>0.9800661,0.1986706,1.948694e-007</ORTHOGONAL_AXIS2>
  1800.         </JOINT>
  1801.         <JOINT id="bip01 r thigh" part1="bip01 r thigh" part2="bip01 pelvis" type="skeletal">
  1802.             <CONE_TYPE>2</CONE_TYPE>
  1803.             <CONE_HALF_ANGLE_X>0.7853982</CONE_HALF_ANGLE_X>
  1804.             <CONE_HALF_ANGLE_Y>0.3809904</CONE_HALF_ANGLE_Y>
  1805.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1806.             <CONE_DAMPING>1</CONE_DAMPING>
  1807.             <TWIST_TYPE>2</TWIST_TYPE>
  1808.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1809.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1810.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1811.             <POS1>0,0,0</POS1>
  1812.             <POS2>1.440837e-007,5.614646e-008,-0.1060562</POS2>
  1813.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1814.             <PRIMARY_AXIS2>-0.9935415,-0.0734646,-0.086477</PRIMARY_AXIS2>
  1815.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1816.             <ORTHOGONAL_AXIS2>-0.07334359,0.9972962,-0.004580057</ORTHOGONAL_AXIS2>
  1817.         </JOINT>
  1818.         <JOINT id="bip01 r upperarm" part1="bip01 r upperarm" part2="bip01 r clavicle" type="skeletal">
  1819.             <CONE_TYPE>2</CONE_TYPE>
  1820.             <CONE_HALF_ANGLE_X>0.326337</CONE_HALF_ANGLE_X>
  1821.             <CONE_HALF_ANGLE_Y>0.7853982</CONE_HALF_ANGLE_Y>
  1822.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1823.             <CONE_DAMPING>1</CONE_DAMPING>
  1824.             <TWIST_TYPE>2</TWIST_TYPE>
  1825.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1826.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1827.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1828.             <POS1>0,0,0</POS1>
  1829.             <POS2>0.1633114,2.072776e-007,-1.017842e-007</POS2>
  1830.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1831.             <PRIMARY_AXIS2>0.9129178,-0.2346259,0.3339634</PRIMARY_AXIS2>
  1832.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1833.             <ORTHOGONAL_AXIS2>0.05970987,0.8862235,0.4593938</ORTHOGONAL_AXIS2>
  1834.         </JOINT>
  1835.         <JOINT id="bip01 spine" part1="bip01 spine" part2="bip01 pelvis" type="skeletal">
  1836.             <CONE_TYPE>2</CONE_TYPE>
  1837.             <CONE_HALF_ANGLE_X>0.3204355</CONE_HALF_ANGLE_X>
  1838.             <CONE_HALF_ANGLE_Y>0.3204355</CONE_HALF_ANGLE_Y>
  1839.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1840.             <CONE_DAMPING>1</CONE_DAMPING>
  1841.             <TWIST_TYPE>2</TWIST_TYPE>
  1842.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1843.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1844.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1845.             <POS1>0,0,0</POS1>
  1846.             <POS2>0.108908,0.0001398454,1.570874e-007</POS2>
  1847.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1848.             <PRIMARY_AXIS2>0.9999997,-0.0007963131,1.407689e-006</PRIMARY_AXIS2>
  1849.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1850.             <ORTHOGONAL_AXIS2>0.0007963131,0.9999997,4.162328e-006</ORTHOGONAL_AXIS2>
  1851.         </JOINT>
  1852.         <JOINT id="bip01 spine1" part1="bip01 spine1" part2="bip01 spine" type="skeletal">
  1853.             <CONE_TYPE>2</CONE_TYPE>
  1854.             <CONE_HALF_ANGLE_X>0.1671732</CONE_HALF_ANGLE_X>
  1855.             <CONE_HALF_ANGLE_Y>0.1671732</CONE_HALF_ANGLE_Y>
  1856.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1857.             <CONE_DAMPING>1</CONE_DAMPING>
  1858.             <TWIST_TYPE>2</TWIST_TYPE>
  1859.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1860.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1861.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1862.             <POS1>0,0,0</POS1>
  1863.             <POS2>0.1755617,0.0001350681,3.372955e-009</POS2>
  1864.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1865.             <PRIMARY_AXIS2>0.9681476,0.2503799,-6.700949e-007</PRIMARY_AXIS2>
  1866.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1867.             <ORTHOGONAL_AXIS2>-0.2503799,0.9681476,8.522706e-008</ORTHOGONAL_AXIS2>
  1868.         </JOINT>
  1869.         <JOINT id="bip01 spine2" part1="bip01 spine2" part2="bip01 spine1" type="skeletal">
  1870.             <CONE_TYPE>2</CONE_TYPE>
  1871.             <CONE_HALF_ANGLE_X>0.215947</CONE_HALF_ANGLE_X>
  1872.             <CONE_HALF_ANGLE_Y>0.215947</CONE_HALF_ANGLE_Y>
  1873.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1874.             <CONE_DAMPING>1</CONE_DAMPING>
  1875.             <TWIST_TYPE>2</TWIST_TYPE>
  1876.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1877.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1878.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1879.             <POS1>0,0,0</POS1>
  1880.             <POS2>0.1755709,0.0001376432,-2.716323e-009</POS2>
  1881.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1882.             <PRIMARY_AXIS2>0.9832549,0.1822356,-4.999538e-007</PRIMARY_AXIS2>
  1883.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  1884.             <ORTHOGONAL_AXIS2>-0.1822356,0.9832549,4.005849e-008</ORTHOGONAL_AXIS2>
  1885.         </JOINT>
  1886.     </ASSET>
  1887.     <ASSET id="Male2" graphic="MercMaleA.psk" scale="0.0078" mass_scale="1" length_scale="1">
  1888.         <GEOMETRY id="bip01 head">
  1889.             <PRIMITIVE id="bip01 head_1" type="sphyl">
  1890.                 <RADIUS>0.0791285</RADIUS>
  1891.                 <HEIGHT>0.1782898</HEIGHT>
  1892.                 <TM>-2.847121e-008,0.9999999,-1.336903e-006,0,-8.262018e-009,1.33711e-006,0.9999998,0,0.9999999,2.847169e-008,9.09328e-009,0,0.08914479,1.402263e-008,8.164308e-010,1</TM>
  1893.             </PRIMITIVE>
  1894.         </GEOMETRY>
  1895.         <GEOMETRY id="bip01 l calf">
  1896.             <PRIMITIVE id="bip01 l calf_1" type="sphyl">
  1897.                 <RADIUS>0.09628665</RADIUS>
  1898.                 <HEIGHT>0.3976947</HEIGHT>
  1899.                 <TM>1.163896e-008,-0.9999688,0.007896274,0,4.050811e-008,-0.007896274,-0.9999688,0,0.9999999,2.890487e-008,4.334406e-008,0,0.1988473,4.809479e-009,2.041605e-009,1</TM>
  1900.             </PRIMITIVE>
  1901.         </GEOMETRY>
  1902.         <GEOMETRY id="bip01 l finger0">
  1903.             <PRIMITIVE id="bip01 l finger0_1" type="sphyl">
  1904.                 <RADIUS>0.0402994</RADIUS>
  1905.                 <HEIGHT>0.1239315</HEIGHT>
  1906.                 <TM>-3.050778e-007,-0.996422,-0.08451512,0,6.783642e-008,0.08451508,-0.9964221,0,0.9999999,-2.802366e-007,-3.553662e-010,0,0.06196571,4.929182e-008,4.08578e-009,1</TM>
  1907.             </PRIMITIVE>
  1908.         </GEOMETRY>
  1909.         <GEOMETRY id="bip01 l foot">
  1910.             <PRIMITIVE id="bip01 l foot_1" type="sphyl">
  1911.                 <RADIUS>0.07188135</RADIUS>
  1912.                 <HEIGHT>0.1855135</HEIGHT>
  1913.                 <TM>-0.5968004,-0.8023897,1.193889e-006,0,-7.136503e-007,-9.630689e-007,-1,0,0.8023897,-0.5968005,5.604364e-009,0,0.07442707,-0.05535728,2.820791e-009,1</TM>
  1914.             </PRIMITIVE>
  1915.         </GEOMETRY>
  1916.         <GEOMETRY id="bip01 l forearm">
  1917.             <PRIMITIVE id="bip01 l forearm_1" type="sphyl">
  1918.                 <RADIUS>0.08866327</RADIUS>
  1919.                 <HEIGHT>0.2588767</HEIGHT>
  1920.                 <TM>-2.107009e-007,0.07011085,-0.9975391,0,-4.699977e-008,0.9975391,0.07011081,0,0.9999999,8.845551e-008,-2.551469e-007,0,0.1294384,1.248374e-008,-1.724055e-008,1</TM>
  1921.             </PRIMITIVE>
  1922.         </GEOMETRY>
  1923.         <GEOMETRY id="bip01 l hand">
  1924.             <PRIMITIVE id="bip01 l hand_1" type="sphyl">
  1925.                 <RADIUS>0.06533419</RADIUS>
  1926.                 <HEIGHT>0.09962831</HEIGHT>
  1927.                 <TM>-2.59443e-007,-0.9966915,-0.08127636,0,6.311193e-009,0.08127631,-0.9966916,0,0.9999999,-3.134711e-007,-4.971559e-008,0,0.04981417,-6.6547e-008,-1.825638e-010,1</TM>
  1928.             </PRIMITIVE>
  1929.         </GEOMETRY>
  1930.         <GEOMETRY id="bip01 l thigh">
  1931.             <PRIMITIVE id="bip01 l thigh_1" type="sphyl">
  1932.                 <RADIUS>0.09069768</RADIUS>
  1933.                 <HEIGHT>0.4710692</HEIGHT>
  1934.                 <TM>-3.69731e-008,-0.005768344,0.9999834,0,6.362954e-009,-0.9999834,-0.005768344,0,0.9999999,6.029218e-010,4.493229e-008,0,0.2355347,-5.265564e-010,1.675642e-008,1</TM>
  1935.             </PRIMITIVE>
  1936.         </GEOMETRY>
  1937.         <GEOMETRY id="bip01 l toe0">
  1938.             <PRIMITIVE id="bip01 l toe0_1" type="sphyl">
  1939.                 <RADIUS>0.05332333</RADIUS>
  1940.                 <HEIGHT>0.1068063</HEIGHT>
  1941.                 <TM>2.759039e-008,-0.9999999,6.026767e-008,0,-2.004106e-008,-6.590106e-008,-0.9999999,0,1,5.299335e-008,-2.180057e-008,0,0.05340314,2.856271e-009,-8.310257e-010,1</TM>
  1942.             </PRIMITIVE>
  1943.         </GEOMETRY>
  1944.         <GEOMETRY id="bip01 l upperarm">
  1945.             <PRIMITIVE id="bip01 l upperarm_1" type="sphyl">
  1946.                 <RADIUS>0.09307604</RADIUS>
  1947.                 <HEIGHT>0.2987039</HEIGHT>
  1948.                 <TM>-1.090272e-007,0.07049617,-0.9975119,0,1.528317e-008,0.997512,0.07049613,0,0.9999999,-4.096083e-010,-9.213706e-008,0,0.1493519,8.467519e-009,-1.621311e-008,1</TM>
  1949.             </PRIMITIVE>
  1950.         </GEOMETRY>
  1951.         <GEOMETRY id="bip01 neck">
  1952.             <PRIMITIVE id="bip01 neck_1" type="sphere">
  1953.                 <RADIUS>0.09069768</RADIUS>
  1954.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1691041,-0.03656092,0.0004029299,1</TM>
  1955.             </PRIMITIVE>
  1956.         </GEOMETRY>
  1957.         <GEOMETRY id="bip01 pelvis">
  1958.             <PRIMITIVE id="Part9" type="sphere">
  1959.                 <RADIUS>0.1632558</RADIUS>
  1960.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.03627907,0.01813954,0,1</TM>
  1961.             </PRIMITIVE>
  1962.         </GEOMETRY>
  1963.         <GEOMETRY id="bip01 r calf">
  1964.             <PRIMITIVE id="bip01 r calf_1" type="sphyl">
  1965.                 <RADIUS>0.09628683</RADIUS>
  1966.                 <HEIGHT>0.3976947</HEIGHT>
  1967.                 <TM>-3.247325e-009,-0.999969,-0.00789316,0,-1.939892e-009,0.00789316,-0.9999689,0,1,-1.2386e-008,-1.01736e-009,0,0.1988474,-4.384779e-009,-6.350247e-009,1</TM>
  1968.             </PRIMITIVE>
  1969.         </GEOMETRY>
  1970.         <GEOMETRY id="bip01 r foot">
  1971.             <PRIMITIVE id="bip01 r foot_1" type="sphyl">
  1972.                 <RADIUS>0.07188135</RADIUS>
  1973.                 <HEIGHT>0.1855136</HEIGHT>
  1974.                 <TM>-0.5968006,-0.8023898,1.198544e-006,0,-7.351524e-007,-9.644189e-007,-1,0,0.8023899,-0.5968005,2.66855e-009,0,0.0744271,-0.05535729,-3.433219e-009,1</TM>
  1975.             </PRIMITIVE>
  1976.         </GEOMETRY>
  1977.         <GEOMETRY id="bip01 r forearm">
  1978.             <PRIMITIVE id="bip01 r forearm_1" type="sphyl">
  1979.                 <RADIUS>0.08869545</RADIUS>
  1980.                 <HEIGHT>0.2588767</HEIGHT>
  1981.                 <TM>-7.519998e-008,-0.07011269,-0.997539,0,-2.774475e-008,0.9975389,-0.07011263,0,0.9999999,1.617811e-008,-3.009882e-008,0,0.1294385,-3.809774e-009,2.735991e-008,1</TM>
  1982.             </PRIMITIVE>
  1983.         </GEOMETRY>
  1984.         <GEOMETRY id="bip01 r hand">
  1985.             <PRIMITIVE id="bip01 r hand_1" type="sphere">
  1986.                 <RADIUS>0.05850568</RADIUS>
  1987.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.06982791,-0.02402209,0.01939388,1</TM>
  1988.             </PRIMITIVE>
  1989.         </GEOMETRY>
  1990.         <GEOMETRY id="bip01 r thigh">
  1991.             <PRIMITIVE id="bip01 r thigh_1" type="sphyl">
  1992.                 <RADIUS>0.1169563</RADIUS>
  1993.                 <HEIGHT>0.4710694</HEIGHT>
  1994.                 <TM>9.553675e-009,0.005771475,0.9999835,0,7.125667e-009,-0.9999834,0.005771474,0,1,8.102804e-009,1.234445e-009,0,0.2355347,1.213248e-009,4.266855e-010,1</TM>
  1995.             </PRIMITIVE>
  1996.         </GEOMETRY>
  1997.         <GEOMETRY id="bip01 r toe0">
  1998.             <PRIMITIVE id="bip01 r toe0_1" type="sphyl">
  1999.                 <RADIUS>0.05332333</RADIUS>
  2000.                 <HEIGHT>0.1068063</HEIGHT>
  2001.                 <TM>8.658831e-008,-1,-2.400579e-008,0,-1.111694e-008,2.003774e-009,-1,0,1,7.541247e-008,-1.224389e-008,0,0.05340315,4.037542e-009,3.135328e-009,1</TM>
  2002.             </PRIMITIVE>
  2003.         </GEOMETRY>
  2004.         <GEOMETRY id="bip01 r upperarm">
  2005.             <PRIMITIVE id="bip01 r upperarm_1" type="sphyl">
  2006.                 <RADIUS>0.09307641</RADIUS>
  2007.                 <HEIGHT>0.2987039</HEIGHT>
  2008.                 <TM>1.304405e-007,-0.070498,-0.9975119,0,1.459152e-008,0.9975117,-0.07049794,0,0.9999999,2.947962e-008,1.910949e-007,0,0.149352,7.881265e-010,5.00529e-008,1</TM>
  2009.             </PRIMITIVE>
  2010.         </GEOMETRY>
  2011.         <GEOMETRY id="bip01 spine">
  2012.             <PRIMITIVE id="bip01 spine_1" type="sphere">
  2013.                 <RADIUS>0.04699334</RADIUS>
  2014.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1241649,0.01374148,-0.0007897179,1</TM>
  2015.             </PRIMITIVE>
  2016.         </GEOMETRY>
  2017.         <GEOMETRY id="bip01 spine1">
  2018.             <PRIMITIVE id="Part11" type="sphere">
  2019.                 <RADIUS>0.1360465</RADIUS>
  2020.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,0.01813954,0,1</TM>
  2021.             </PRIMITIVE>
  2022.         </GEOMETRY>
  2023.         <GEOMETRY id="bip01 spine2">
  2024.             <PRIMITIVE id="bip01 spine2_1" type="sphyl">
  2025.                 <RADIUS>0.1489319</RADIUS>
  2026.                 <HEIGHT>0.09976745</HEIGHT>
  2027.                 <TM>-0.0003159357,0.9999998,-1.378676e-006,0,-1.706692e-008,1.378381e-006,0.9999999,0,0.9999998,0.0003159357,1.743774e-008,0,0.04336474,2.517279e-005,1.368491e-009,1</TM>
  2028.             </PRIMITIVE>
  2029.         </GEOMETRY>
  2030.         <MODEL id="bip01 l calf" type="dynamics_and_geometry" geometry="bip01 l calf">
  2031.             <DYNAMICS>
  2032.                 <MASS>0.08595831</MASS>
  2033.                 <DENSITY>1</DENSITY>
  2034.                 <MASS_OFFSET>0.1988473,4.809479e-009,2.041605e-009</MASS_OFFSET>
  2035.                 <INERTIA>0.0003984651,-1.464428e-011,-7.114583e-011,0.002187729,-7.743249e-013,0.002187729</INERTIA>
  2036.                 <LIN_DAMP>0</LIN_DAMP>
  2037.                 <ANG_DAMP>0</ANG_DAMP>
  2038.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  2039.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  2040.             </DYNAMICS>
  2041.         </MODEL>
  2042.         <MODEL id="bip01 l clavicle" type="dynamics_only">
  2043.             <DYNAMICS>
  2044.                 <MASS>0.04179122</MASS>
  2045.                 <DENSITY>1</DENSITY>
  2046.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  2047.                 <INERTIA>0.0002559046,0,0,0.0002559046,0,0.0002559046</INERTIA>
  2048.                 <LIN_DAMP>0</LIN_DAMP>
  2049.                 <ANG_DAMP>0</ANG_DAMP>
  2050.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  2051.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  2052.             </DYNAMICS>
  2053.         </MODEL>
  2054.         <MODEL id="bip01 l forearm" type="dynamics_and_geometry" geometry="bip01 l forearm">
  2055.             <DYNAMICS>
  2056.                 <MASS>0.05226743</MASS>
  2057.                 <DENSITY>1</DENSITY>
  2058.                 <MASS_OFFSET>0.1294384,1.248374e-008,-1.724055e-008</MASS_OFFSET>
  2059.                 <INERTIA>0.0002054417,-2.649846e-011,9.747446e-011,0.0007245122,-3.100756e-011,0.0007245121</INERTIA>
  2060.                 <LIN_DAMP>0</LIN_DAMP>
  2061.                 <ANG_DAMP>0</ANG_DAMP>
  2062.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  2063.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  2064.             </DYNAMICS>
  2065.         </MODEL>
  2066.         <MODEL id="bip01 l thigh" type="dynamics_and_geometry" geometry="bip01 l thigh">
  2067.             <DYNAMICS>
  2068.                 <MASS>0.08580497</MASS>
  2069.                 <DENSITY>1</DENSITY>
  2070.                 <MASS_OFFSET>0.2355347,-5.265564e-010,1.675642e-008</MASS_OFFSET>
  2071.                 <INERTIA>0.0003529188,-1.63222e-011,-8.365286e-011,0.0026888,-2.956597e-012,0.0026888</INERTIA>
  2072.                 <LIN_DAMP>0</LIN_DAMP>
  2073.                 <ANG_DAMP>0</ANG_DAMP>
  2074.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  2075.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  2076.             </DYNAMICS>
  2077.         </MODEL>
  2078.         <MODEL id="bip01 l upperarm" type="dynamics_and_geometry" geometry="bip01 l upperarm">
  2079.             <DYNAMICS>
  2080.                 <MASS>0.06457382</MASS>
  2081.                 <DENSITY>1</DENSITY>
  2082.                 <MASS_OFFSET>0.1493519,8.467519e-009,-1.621311e-008</MASS_OFFSET>
  2083.                 <INERTIA>0.0002797063,8.2408e-012,9.563099e-011,0.001105333,-3.135457e-011,0.001105332</INERTIA>
  2084.                 <LIN_DAMP>0</LIN_DAMP>
  2085.                 <ANG_DAMP>0</ANG_DAMP>
  2086.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  2087.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  2088.             </DYNAMICS>
  2089.         </MODEL>
  2090.         <MODEL id="bip01 neck" type="dynamics_and_geometry" geometry="bip01 neck">
  2091.             <DYNAMICS>
  2092.                 <MASS>0.01750547</MASS>
  2093.                 <DENSITY>1</DENSITY>
  2094.                 <MASS_OFFSET>0.1691041,-0.03656092,0.0004029299</MASS_OFFSET>
  2095.                 <INERTIA>5.760045e-005,0,0,5.760045e-005,0,5.760045e-005</INERTIA>
  2096.                 <LIN_DAMP>0</LIN_DAMP>
  2097.                 <ANG_DAMP>0</ANG_DAMP>
  2098.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  2099.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  2100.             </DYNAMICS>
  2101.         </MODEL>
  2102.         <MODEL id="bip01 pelvis" type="dynamics_and_geometry" geometry="bip01 pelvis">
  2103.             <DYNAMICS>
  2104.                 <MASS>0.1020919</MASS>
  2105.                 <DENSITY>1</DENSITY>
  2106.                 <MASS_OFFSET>0.03627907,0.01813954,0</MASS_OFFSET>
  2107.                 <INERTIA>0.0010884,0,0,0.0010884,0,0.0010884</INERTIA>
  2108.                 <LIN_DAMP>0</LIN_DAMP>
  2109.                 <ANG_DAMP>0</ANG_DAMP>
  2110.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  2111.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  2112.             </DYNAMICS>
  2113.         </MODEL>
  2114.         <MODEL id="bip01 r calf" type="dynamics_and_geometry" geometry="bip01 l calf">
  2115.             <DYNAMICS>
  2116.                 <MASS>0.08595831</MASS>
  2117.                 <DENSITY>1</DENSITY>
  2118.                 <MASS_OFFSET>0.1988473,4.809479e-009,2.041605e-009</MASS_OFFSET>
  2119.                 <INERTIA>0.0003984651,-1.464428e-011,-7.114583e-011,0.002187729,-7.743249e-013,0.002187729</INERTIA>
  2120.                 <LIN_DAMP>0</LIN_DAMP>
  2121.                 <ANG_DAMP>0</ANG_DAMP>
  2122.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  2123.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  2124.             </DYNAMICS>
  2125.         </MODEL>
  2126.         <MODEL id="bip01 r clavicle" type="dynamics_only">
  2127.             <DYNAMICS>
  2128.                 <MASS>0.04179122</MASS>
  2129.                 <DENSITY>1</DENSITY>
  2130.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  2131.                 <INERTIA>0.0002559046,0,0,0.0002559046,0,0.0002559046</INERTIA>
  2132.                 <LIN_DAMP>0</LIN_DAMP>
  2133.                 <ANG_DAMP>0</ANG_DAMP>
  2134.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  2135.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  2136.             </DYNAMICS>
  2137.         </MODEL>
  2138.         <MODEL id="bip01 r forearm" type="dynamics_and_geometry" geometry="bip01 l forearm">
  2139.             <DYNAMICS>
  2140.                 <MASS>0.05226743</MASS>
  2141.                 <DENSITY>1</DENSITY>
  2142.                 <MASS_OFFSET>0.1294384,1.248374e-008,-1.724055e-008</MASS_OFFSET>
  2143.                 <INERTIA>0.0002054417,-2.649846e-011,9.747446e-011,0.0007245122,-3.100756e-011,0.0007245121</INERTIA>
  2144.                 <LIN_DAMP>0</LIN_DAMP>
  2145.                 <ANG_DAMP>0</ANG_DAMP>
  2146.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  2147.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  2148.             </DYNAMICS>
  2149.         </MODEL>
  2150.         <MODEL id="bip01 r thigh" type="dynamics_and_geometry" geometry="bip01 l thigh">
  2151.             <DYNAMICS>
  2152.                 <MASS>0.08580497</MASS>
  2153.                 <DENSITY>1</DENSITY>
  2154.                 <MASS_OFFSET>0.2355347,-5.265564e-010,1.675642e-008</MASS_OFFSET>
  2155.                 <INERTIA>0.0003529188,-1.63222e-011,-8.365286e-011,0.0026888,-2.956597e-012,0.0026888</INERTIA>
  2156.                 <LIN_DAMP>0</LIN_DAMP>
  2157.                 <ANG_DAMP>0</ANG_DAMP>
  2158.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  2159.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  2160.             </DYNAMICS>
  2161.         </MODEL>
  2162.         <MODEL id="bip01 r upperarm" type="dynamics_and_geometry" geometry="bip01 l upperarm">
  2163.             <DYNAMICS>
  2164.                 <MASS>0.06457382</MASS>
  2165.                 <DENSITY>1</DENSITY>
  2166.                 <MASS_OFFSET>0.1493519,8.467519e-009,-1.621311e-008</MASS_OFFSET>
  2167.                 <INERTIA>0.0002797063,8.2408e-012,9.563099e-011,0.001105333,-3.135457e-011,0.001105332</INERTIA>
  2168.                 <LIN_DAMP>0</LIN_DAMP>
  2169.                 <ANG_DAMP>0</ANG_DAMP>
  2170.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  2171.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  2172.             </DYNAMICS>
  2173.         </MODEL>
  2174.         <MODEL id="bip01 spine" type="dynamics_only" geometry="bip01 spine">
  2175.             <DYNAMICS>
  2176.                 <MASS>0.04179122</MASS>
  2177.                 <DENSITY>1</DENSITY>
  2178.                 <MASS_OFFSET>0.1241649,0.01374148,-0.0007897179</MASS_OFFSET>
  2179.                 <INERTIA>0.0001652176,0,0,0.0001652176,0,0.0001478158</INERTIA>
  2180.                 <LIN_DAMP>0</LIN_DAMP>
  2181.                 <ANG_DAMP>0</ANG_DAMP>
  2182.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  2183.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  2184.             </DYNAMICS>
  2185.         </MODEL>
  2186.         <MODEL id="bip01 spine1" type="dynamics_and_geometry" geometry="bip01 spine1">
  2187.             <DYNAMICS>
  2188.                 <MASS>0.06088729</MASS>
  2189.                 <DENSITY>1</DENSITY>
  2190.                 <MASS_OFFSET>-0.01107847,0.009132132,-1.194136e-009</MASS_OFFSET>
  2191.                 <INERTIA>0.0004232292,-8.041792e-008,1.992124e-012,0.0005259169,-7.119011e-014,0.0005259169</INERTIA>
  2192.                 <LIN_DAMP>0</LIN_DAMP>
  2193.                 <ANG_DAMP>0</ANG_DAMP>
  2194.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  2195.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  2196.             </DYNAMICS>
  2197.         </MODEL>
  2198.         <MODEL id="bip01 spine2" type="dynamics_and_geometry" geometry="bip01 spine2">
  2199.             <DYNAMICS>
  2200.                 <MASS>0.1169326</MASS>
  2201.                 <DENSITY>1</DENSITY>
  2202.                 <MASS_OFFSET>0.04336474,2.517279e-005,1.368491e-009</MASS_OFFSET>
  2203.                 <INERTIA>0.001296825,-7.144288e-008,-2.71512e-012,0.001522955,-4.417728e-013,0.001522955</INERTIA>
  2204.                 <LIN_DAMP>0</LIN_DAMP>
  2205.                 <ANG_DAMP>0</ANG_DAMP>
  2206.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  2207.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  2208.             </DYNAMICS>
  2209.         </MODEL>
  2210.         <PART id="bip01 l calf" model="bip01 l calf" parent="bip01 l thigh">
  2211.             <TM>0.08623859,-0.9838701,0.1567242,0,-0.007866857,0.1566329,0.9876255,0,-0.9962434,-0.08640436,0.005767832,0,0.1365369,0.5411545,0.02764966,1</TM>
  2212.         </PART>
  2213.         <PART id="bip01 l clavicle" model="bip01 l clavicle" parent="bip01 neck">
  2214.             <TM>0.974687,-0.2217584,0.02843445,0,0.1046338,0.3400611,-0.9345642,0,0.197578,0.9138827,0.3546566,0,0.04400757,1.574216,0.07951067,1</TM>
  2215.         </PART>
  2216.         <PART id="bip01 l forearm" model="bip01 l forearm" parent="bip01 l upperarm">
  2217.             <TM>0.7952951,-0.6018938,-0.07231535,0,-0.09983127,-0.01237226,-0.9949275,0,0.597946,0.7984802,-0.06992742,0,0.4271246,1.3659,0.121594,1</TM>
  2218.         </PART>
  2219.         <PART id="bip01 l thigh" model="bip01 l thigh" parent="bip01 spine">
  2220.             <TM>0.08647548,-0.9961626,0.01349482,0,0.004579678,0.0139429,0.9998923,0,-0.9962435,-0.08640436,0.005767823,0,0.09580097,1.01042,0.02129269,1</TM>
  2221.         </PART>
  2222.         <PART id="bip01 l upperarm" model="bip01 l upperarm" parent="bip01 l clavicle">
  2223.             <TM>0.7992755,-0.587438,0.126788,0,0.06015972,-0.1317037,-0.989462,0,0.597946,0.7984803,-0.06992744,0,0.1883788,1.541369,0.08372219,1</TM>
  2224.         </PART>
  2225.         <PART id="bip01 neck" model="bip01 neck" parent="bip01 spine2">
  2226.             <TM>2.634468e-007,0.9917386,-0.1282751,0,1.30477e-006,0.1282751,0.9917386,0,1,-4.286398e-007,-1.260197e-006,0,-0.0003897004,1.574223,0.07956661,1</TM>
  2227.         </PART>
  2228.         <PART id="bip01 pelvis" model="bip01 pelvis" parent="bip01">
  2229.             <TM>-1.302998e-006,0.9961871,-0.08724272,0,-2.866887e-006,0.08724272,0.9961871,0,1,1.548145e-006,2.742279e-006,0,-0.0003896165,1.01042,0.02129263,1</TM>
  2230.         </PART>
  2231.         <PART id="bip01 r calf" model="bip01 r calf" parent="bip01 r thigh">
  2232.             <TM>-0.08623933,-0.9838701,0.1567241,0,0.007863803,0.156633,0.9876255,0,-0.9962434,0.08640461,-0.005770966,0,-0.1373169,0.5411555,0.02764933,1</TM>
  2233.         </PART>
  2234.         <PART id="bip01 r clavicle" model="bip01 r clavicle" parent="bip01 neck">
  2235.             <TM>-0.9746869,-0.2217589,0.02843164,0,-0.1046313,0.3400611,-0.9345645,0,0.1975795,-0.9138826,-0.354656,0,-0.04478685,1.574217,0.07951024,1</TM>
  2236.         </PART>
  2237.         <PART id="bip01 r forearm" model="bip01 r forearm" parent="bip01 r upperarm">
  2238.             <TM>-0.7952946,-0.6018942,-0.07231768,0,0.09983335,-0.0123711,-0.9949273,0,0.5979463,-0.79848,0.06992779,0,-0.4279013,1.365903,0.1215926,1</TM>
  2239.         </PART>
  2240.         <PART id="bip01 r thigh" model="bip01 r thigh" parent="bip01 spine">
  2241.             <TM>-0.0864755,-0.9961626,0.01349454,0,-0.004582821,0.0139429,0.9998923,0,-0.9962435,0.08640434,-0.005770954,0,-0.09658015,1.01042,0.0212924,1</TM>
  2242.         </PART>
  2243.         <PART id="bip01 r upperarm" model="bip01 r upperarm" parent="bip01 r clavicle">
  2244.             <TM>-0.7992756,-0.5874382,0.1267868,0,-0.06015855,-0.1317031,-0.9894621,0,0.597946,-0.7984802,0.06992765,0,-0.1891571,1.541371,0.08372127,1</TM>
  2245.         </PART>
  2246.         <PART id="bip01 spine" model="bip01 spine" parent="bip01 pelvis">
  2247.             <TM>1.069747e-007,0.9961173,-0.08803597,0,1.294404e-006,0.08803597,0.9961173,0,1,-2.205135e-007,-1.279961e-006,0,-0.0003896031,1.108832,0.01280141,1</TM>
  2248.         </PART>
  2249.         <PART id="bip01 spine1" model="bip01 spine1" parent="bip01 spine">
  2250.             <TM>-2.424348e-007,0.9864311,0.164176,0,1.311617e-006,-0.164176,0.9864311,0,1,4.544813e-007,-1.254018e-006,0,-0.0003895829,1.267455,-0.001094585,1</TM>
  2251.         </PART>
  2252.         <PART id="bip01 spine2" model="bip01 spine2" parent="bip01 spine1">
  2253.             <TM>-4.993055e-007,0.9399945,0.3411897,0,1.373894e-006,-0.3411897,0.9399945,0,1,9.381029e-007,-1.121095e-006,0,-0.0003896238,1.424512,0.02517174,1</TM>
  2254.         </PART>
  2255.         <NO_COLLISION part1="bip01 l calf" part2="bip01 l thigh"></NO_COLLISION>
  2256.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 l upperarm"></NO_COLLISION>
  2257.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 neck"></NO_COLLISION>
  2258.         <NO_COLLISION part1="bip01 l forearm" part2="bip01 l upperarm"></NO_COLLISION>
  2259.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 pelvis"></NO_COLLISION>
  2260.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 spine"></NO_COLLISION>
  2261.         <NO_COLLISION part1="bip01 l upperarm" part2="bip01 spine2"></NO_COLLISION>
  2262.         <NO_COLLISION part1="bip01 neck" part2="bip01 r clavicle"></NO_COLLISION>
  2263.         <NO_COLLISION part1="bip01 neck" part2="bip01 spine2"></NO_COLLISION>
  2264.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 r thigh"></NO_COLLISION>
  2265.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine"></NO_COLLISION>
  2266.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine1"></NO_COLLISION>
  2267.         <NO_COLLISION part1="bip01 r calf" part2="bip01 r thigh"></NO_COLLISION>
  2268.         <NO_COLLISION part1="bip01 r clavicle" part2="bip01 r upperarm"></NO_COLLISION>
  2269.         <NO_COLLISION part1="bip01 r forearm" part2="bip01 r upperarm"></NO_COLLISION>
  2270.         <NO_COLLISION part1="bip01 r thigh" part2="bip01 spine"></NO_COLLISION>
  2271.         <NO_COLLISION part1="bip01 r upperarm" part2="bip01 spine2"></NO_COLLISION>
  2272.         <NO_COLLISION part1="bip01 spine" part2="bip01 spine1"></NO_COLLISION>
  2273.         <NO_COLLISION part1="bip01 spine1" part2="bip01 spine2"></NO_COLLISION>
  2274.         <JOINT id="bip01 l calf" part1="bip01 l calf" part2="bip01 l thigh" type="hinge">
  2275.             <HIGH_LIMIT>1.287455</HIGH_LIMIT>
  2276.             <LOW_LIMIT>-0.259183</LOW_LIMIT>
  2277.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  2278.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  2279.             <LIMITED>1</LIMITED>
  2280.             <MOTORIZED>0</MOTORIZED>
  2281.             <DES_VEL>1</DES_VEL>
  2282.             <MAX_FORCE>1000</MAX_FORCE>
  2283.             <POS1>0,0,0</POS1>
  2284.             <POS2>0.4710734,-8.361225e-008,3.527185e-007</POS2>
  2285.             <PRIMARY_AXIS1>6.273142e-008,-2.682209e-007,1</PRIMARY_AXIS1>
  2286.             <PRIMARY_AXIS2>9.898495e-008,-2.477563e-007,1</PRIMARY_AXIS2>
  2287.             <ORTHOGONAL_AXIS1>1,1.254628e-007,-2.086163e-007</ORTHOGONAL_AXIS1>
  2288.             <ORTHOGONAL_AXIS2>0.9896671,0.1433844,-2.154008e-007</ORTHOGONAL_AXIS2>
  2289.         </JOINT>
  2290.         <JOINT id="bip01 l clavicle" part1="bip01 l clavicle" part2="bip01 neck" type="hinge">
  2291.             <HIGH_LIMIT>0.235015</HIGH_LIMIT>
  2292.             <LOW_LIMIT>-0.2416828</LOW_LIMIT>
  2293.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  2294.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  2295.             <LIMITED>1</LIMITED>
  2296.             <MOTORIZED>0</MOTORIZED>
  2297.             <DES_VEL>1</DES_VEL>
  2298.             <MAX_FORCE>1000</MAX_FORCE>
  2299.             <POS1>0,0,0</POS1>
  2300.             <POS2>-2.41073e-008,-5.635794e-005,0.04439728</POS2>
  2301.             <PRIMARY_AXIS1>-2.384186e-007,1,6.27314e-008</PRIMARY_AXIS1>
  2302.             <PRIMARY_AXIS2>0.4571332,-0.8832219,0.1046347</PRIMARY_AXIS2>
  2303.             <ORTHOGONAL_AXIS1>6.273139e-008,-1.788139e-007,1</ORTHOGONAL_AXIS1>
  2304.             <ORTHOGONAL_AXIS2>0.8608391,0.4689554,0.1975773</ORTHOGONAL_AXIS2>
  2305.         </JOINT>
  2306.         <JOINT id="bip01 l forearm" part1="bip01 l forearm" part2="bip01 l upperarm" type="hinge">
  2307.             <HIGH_LIMIT>1.865012</HIGH_LIMIT>
  2308.             <LOW_LIMIT>-0.3324313</LOW_LIMIT>
  2309.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  2310.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  2311.             <LIMITED>1</LIMITED>
  2312.             <MOTORIZED>0</MOTORIZED>
  2313.             <DES_VEL>1</DES_VEL>
  2314.             <MAX_FORCE>1000</MAX_FORCE>
  2315.             <POS1>0,0,0</POS1>
  2316.             <POS2>0.2987025,2.975753e-008,2.932863e-007</POS2>
  2317.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  2318.             <PRIMARY_AXIS2>1.291956e-008,-1.528149e-007,1</PRIMARY_AXIS2>
  2319.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  2320.             <ORTHOGONAL_AXIS2>0.9800664,0.1986697,-9.004435e-008</ORTHOGONAL_AXIS2>
  2321.         </JOINT>
  2322.         <JOINT id="bip01 l thigh" part1="bip01 l thigh" part2="bip01 pelvis" type="skeletal">
  2323.             <CONE_TYPE>2</CONE_TYPE>
  2324.             <CONE_HALF_ANGLE_X>0.7853982</CONE_HALF_ANGLE_X>
  2325.             <CONE_HALF_ANGLE_Y>0.3809904</CONE_HALF_ANGLE_Y>
  2326.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  2327.             <CONE_DAMPING>1</CONE_DAMPING>
  2328.             <TWIST_TYPE>2</TWIST_TYPE>
  2329.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  2330.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  2331.             <TWIST_DAMPING>1</TWIST_DAMPING>
  2332.             <POS1>0,0,0</POS1>
  2333.             <POS2>-1.450472e-007,-2.145125e-007,0.0961906</POS2>
  2334.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  2335.             <PRIMARY_AXIS2>-0.9935418,-0.07346482,0.08647397</PRIMARY_AXIS2>
  2336.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  2337.             <ORTHOGONAL_AXIS2>-0.0733436,0.9972962,0.004582442</ORTHOGONAL_AXIS2>
  2338.         </JOINT>
  2339.         <JOINT id="bip01 l upperarm" part1="bip01 l upperarm" part2="bip01 l clavicle" type="skeletal">
  2340.             <CONE_TYPE>2</CONE_TYPE>
  2341.             <CONE_HALF_ANGLE_X>0.8373926</CONE_HALF_ANGLE_X>
  2342.             <CONE_HALF_ANGLE_Y>0.7853982</CONE_HALF_ANGLE_Y>
  2343.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  2344.             <CONE_DAMPING>1</CONE_DAMPING>
  2345.             <TWIST_TYPE>2</TWIST_TYPE>
  2346.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  2347.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  2348.             <TWIST_DAMPING>1</TWIST_DAMPING>
  2349.             <POS1>0,0,0</POS1>
  2350.             <POS2>0.1481206,1.555075e-007,-1.514684e-007</POS2>
  2351.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  2352.             <PRIMARY_AXIS2>0.9129179,-0.2346251,-0.3339639</PRIMARY_AXIS2>
  2353.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  2354.             <ORTHOGONAL_AXIS2>0.0597085,0.8862231,-0.4593947</ORTHOGONAL_AXIS2>
  2355.         </JOINT>
  2356.         <JOINT id="bip01 neck" part1="bip01 neck" part2="bip01 spine2" type="hinge">
  2357.             <HIGH_LIMIT>0.2408883</HIGH_LIMIT>
  2358.             <LOW_LIMIT>-0.2408883</LOW_LIMIT>
  2359.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  2360.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  2361.             <LIMITED>1</LIMITED>
  2362.             <MOTORIZED>0</MOTORIZED>
  2363.             <DES_VEL>1</DES_VEL>
  2364.             <MAX_FORCE>1000</MAX_FORCE>
  2365.             <POS1>0,0,0</POS1>
  2366.             <POS2>0.1592865,5.101974e-005,2.820898e-009</POS2>
  2367.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  2368.             <PRIMARY_AXIS2>-1.386902e-006,2.296507e-007,1</PRIMARY_AXIS2>
  2369.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  2370.             <ORTHOGONAL_AXIS2>0.8884627,-0.4589488,1.278003e-006</ORTHOGONAL_AXIS2>
  2371.         </JOINT>
  2372.         <JOINT id="bip01 r calf" part1="bip01 r calf" part2="bip01 r thigh" type="hinge">
  2373.             <HIGH_LIMIT>1.287455</HIGH_LIMIT>
  2374.             <LOW_LIMIT>-0.259183</LOW_LIMIT>
  2375.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  2376.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  2377.             <LIMITED>1</LIMITED>
  2378.             <MOTORIZED>0</MOTORIZED>
  2379.             <DES_VEL>1</DES_VEL>
  2380.             <MAX_FORCE>1000</MAX_FORCE>
  2381.             <POS1>0,0,0</POS1>
  2382.             <POS2>0.4710724,2.729984e-008,5.474549e-007</POS2>
  2383.             <PRIMARY_AXIS1>6.273142e-008,-2.682209e-007,1</PRIMARY_AXIS1>
  2384.             <PRIMARY_AXIS2>-1.688494e-007,-2.655011e-007,1</PRIMARY_AXIS2>
  2385.             <ORTHOGONAL_AXIS1>1,1.254628e-007,-2.086163e-007</ORTHOGONAL_AXIS1>
  2386.             <ORTHOGONAL_AXIS2>0.9896671,0.1433846,7.22274e-008</ORTHOGONAL_AXIS2>
  2387.         </JOINT>
  2388.         <JOINT id="bip01 r clavicle" part1="bip01 r clavicle" part2="bip01 neck" type="hinge">
  2389.             <HIGH_LIMIT>0.235015</HIGH_LIMIT>
  2390.             <LOW_LIMIT>-0.2416828</LOW_LIMIT>
  2391.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  2392.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  2393.             <LIMITED>1</LIMITED>
  2394.             <MOTORIZED>0</MOTORIZED>
  2395.             <DES_VEL>1</DES_VEL>
  2396.             <MAX_FORCE>1000</MAX_FORCE>
  2397.             <POS1>0,0,0</POS1>
  2398.             <POS2>8.649244e-007,-5.678505e-005,-0.04439715</POS2>
  2399.             <PRIMARY_AXIS1>-6.854534e-007,1,2.509257e-007</PRIMARY_AXIS1>
  2400.             <PRIMARY_AXIS2>0.4571329,-0.8832226,-0.1046296</PRIMARY_AXIS2>
  2401.             <ORTHOGONAL_AXIS1>2.509257e-007,-6.258488e-007,1</ORTHOGONAL_AXIS1>
  2402.             <ORTHOGONAL_AXIS2>-0.8608394,-0.4689536,0.1975802</ORTHOGONAL_AXIS2>
  2403.         </JOINT>
  2404.         <JOINT id="bip01 r forearm" part1="bip01 r forearm" part2="bip01 r upperarm" type="hinge">
  2405.             <HIGH_LIMIT>1.865012</HIGH_LIMIT>
  2406.             <LOW_LIMIT>-0.3324313</LOW_LIMIT>
  2407.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  2408.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  2409.             <LIMITED>1</LIMITED>
  2410.             <MOTORIZED>0</MOTORIZED>
  2411.             <DES_VEL>1</DES_VEL>
  2412.             <MAX_FORCE>1000</MAX_FORCE>
  2413.             <POS1>0,0,0</POS1>
  2414.             <POS2>0.2987007,-4.185089e-008,1.699164e-008</POS2>
  2415.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  2416.             <PRIMARY_AXIS2>-2.997554e-007,-3.609763e-007,0.9999998</PRIMARY_AXIS2>
  2417.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  2418.             <ORTHOGONAL_AXIS2>0.9800661,0.1986707,2.04651e-007</ORTHOGONAL_AXIS2>
  2419.         </JOINT>
  2420.         <JOINT id="bip01 r thigh" part1="bip01 r thigh" part2="bip01 pelvis" type="skeletal">
  2421.             <CONE_TYPE>2</CONE_TYPE>
  2422.             <CONE_HALF_ANGLE_X>0.7853982</CONE_HALF_ANGLE_X>
  2423.             <CONE_HALF_ANGLE_Y>0.3809904</CONE_HALF_ANGLE_Y>
  2424.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  2425.             <CONE_DAMPING>1</CONE_DAMPING>
  2426.             <TWIST_TYPE>2</TWIST_TYPE>
  2427.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  2428.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  2429.             <TWIST_DAMPING>1</TWIST_DAMPING>
  2430.             <POS1>0,0,0</POS1>
  2431.             <POS2>1.309753e-007,4.755767e-008,-0.0961905</POS2>
  2432.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  2433.             <PRIMARY_AXIS2>-0.9935415,-0.0734646,-0.086477</PRIMARY_AXIS2>
  2434.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  2435.             <ORTHOGONAL_AXIS2>-0.07334359,0.9972962,-0.004580058</ORTHOGONAL_AXIS2>
  2436.         </JOINT>
  2437.         <JOINT id="bip01 r upperarm" part1="bip01 r upperarm" part2="bip01 r clavicle" type="skeletal">
  2438.             <CONE_TYPE>2</CONE_TYPE>
  2439.             <CONE_HALF_ANGLE_X>0.8373926</CONE_HALF_ANGLE_X>
  2440.             <CONE_HALF_ANGLE_Y>0.7853982</CONE_HALF_ANGLE_Y>
  2441.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  2442.             <CONE_DAMPING>1</CONE_DAMPING>
  2443.             <TWIST_TYPE>2</TWIST_TYPE>
  2444.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  2445.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  2446.             <TWIST_DAMPING>1</TWIST_DAMPING>
  2447.             <POS1>0,0,0</POS1>
  2448.             <POS2>0.1481194,4.711286e-007,-5.356906e-007</POS2>
  2449.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  2450.             <PRIMARY_AXIS2>0.9129178,-0.234626,0.3339633</PRIMARY_AXIS2>
  2451.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  2452.             <ORTHOGONAL_AXIS2>0.05971002,0.8862235,0.4593937</ORTHOGONAL_AXIS2>
  2453.         </JOINT>
  2454.         <JOINT id="bip01 spine" part1="bip01 spine" part2="bip01 pelvis" type="skeletal">
  2455.             <CONE_TYPE>2</CONE_TYPE>
  2456.             <CONE_HALF_ANGLE_X>0.3204355</CONE_HALF_ANGLE_X>
  2457.             <CONE_HALF_ANGLE_Y>0.3204355</CONE_HALF_ANGLE_Y>
  2458.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  2459.             <CONE_DAMPING>1</CONE_DAMPING>
  2460.             <TWIST_TYPE>2</TWIST_TYPE>
  2461.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  2462.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  2463.             <TWIST_DAMPING>1</TWIST_DAMPING>
  2464.             <POS1>0,0,0</POS1>
  2465.             <POS2>0.09877703,0.0001268499,1.424746e-007</POS2>
  2466.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  2467.             <PRIMARY_AXIS2>0.9999997,-0.0007963131,1.407689e-006</PRIMARY_AXIS2>
  2468.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  2469.             <ORTHOGONAL_AXIS2>0.0007963131,0.9999997,4.162328e-006</ORTHOGONAL_AXIS2>
  2470.         </JOINT>
  2471.         <JOINT id="bip01 spine1" part1="bip01 spine1" part2="bip01 spine" type="skeletal">
  2472.             <CONE_TYPE>2</CONE_TYPE>
  2473.             <CONE_HALF_ANGLE_X>0.1671732</CONE_HALF_ANGLE_X>
  2474.             <CONE_HALF_ANGLE_Y>0.1671732</CONE_HALF_ANGLE_Y>
  2475.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  2476.             <CONE_DAMPING>1</CONE_DAMPING>
  2477.             <TWIST_TYPE>2</TWIST_TYPE>
  2478.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  2479.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  2480.             <TWIST_DAMPING>1</TWIST_DAMPING>
  2481.             <POS1>0,0,0</POS1>
  2482.             <POS2>0.1592304,0.0001224746,3.059212e-009</POS2>
  2483.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  2484.             <PRIMARY_AXIS2>0.9681476,0.2503799,-6.700951e-007</PRIMARY_AXIS2>
  2485.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  2486.             <ORTHOGONAL_AXIS2>-0.2503799,0.9681476,8.522718e-008</ORTHOGONAL_AXIS2>
  2487.         </JOINT>
  2488.         <JOINT id="bip01 spine2" part1="bip01 spine2" part2="bip01 spine1" type="skeletal">
  2489.             <CONE_TYPE>2</CONE_TYPE>
  2490.             <CONE_HALF_ANGLE_X>0.215947</CONE_HALF_ANGLE_X>
  2491.             <CONE_HALF_ANGLE_Y>0.215947</CONE_HALF_ANGLE_Y>
  2492.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  2493.             <CONE_DAMPING>1</CONE_DAMPING>
  2494.             <TWIST_TYPE>2</TWIST_TYPE>
  2495.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  2496.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  2497.             <TWIST_DAMPING>1</TWIST_DAMPING>
  2498.             <POS1>0,0,0</POS1>
  2499.             <POS2>0.1592387,0.000124841,-2.463428e-009</POS2>
  2500.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  2501.             <PRIMARY_AXIS2>0.9832549,0.1822356,-4.999538e-007</PRIMARY_AXIS2>
  2502.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  2503.             <ORTHOGONAL_AXIS2>-0.1822356,0.9832549,4.005958e-008</ORTHOGONAL_AXIS2>
  2504.         </JOINT>
  2505.     </ASSET>
  2506. </KARMA>