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Extensible Markup Language  |  2004-01-16  |  32KB  |  686 lines
  1. <?xml version="1.0"?>
  2.  
  3. <KARMA ka_file_version="1.0">
  4.     <ASSET id="Skaarj" graphic="Skaarj3.PSK" scale="0.007799999" mass_scale="1" length_scale="1">
  5.         <GEOMETRY id="bip01 l calf">
  6.             <PRIMITIVE id="bip01 l calf_1" type="sphyl">
  7.                 <RADIUS>0.1138036</RADIUS>
  8.                 <HEIGHT>0.453283</HEIGHT>
  9.                 <TM>5.202811e-008,-0.007558884,0.9999716,0,1.069362e-008,-0.9999716,-0.00755889,0,1,1.302629e-008,-5.508028e-008,0,0.2266415,6.387103e-009,-3.973664e-009,1</TM>
  10.             </PRIMITIVE>
  11.         </GEOMETRY>
  12.         <GEOMETRY id="bip01 l clavicle">
  13.             <PRIMITIVE id="bip01 l clavicle_1" type="sphyl">
  14.                 <RADIUS>0.09647916</RADIUS>
  15.                 <HEIGHT>0.2008927</HEIGHT>
  16.                 <TM>-3.712918e-007,-0.2556067,-0.9667808,0,-1.132938e-007,0.9667809,-0.2556067,0,0.9999999,-3.148809e-008,-3.98787e-007,0,0.1004463,-8.85536e-009,-1.287805e-008,1</TM>
  17.             </PRIMITIVE>
  18.         </GEOMETRY>
  19.         <GEOMETRY id="bip01 l forearm">
  20.             <PRIMITIVE id="bip01 l forearm_1" type="sphyl">
  21.                 <RADIUS>0.08</RADIUS>
  22.                 <HEIGHT>0.369162</HEIGHT>
  23.                 <TM>-2.087447e-007,0.06991784,-0.9975526,0,-3.496629e-008,0.9975527,0.0699179,0,0.9999998,6.072964e-008,-2.024484e-007,0,0.1845809,1.701181e-009,-3.393048e-008,1</TM>
  24.             </PRIMITIVE>
  25.         </GEOMETRY>
  26.         <GEOMETRY id="bip01 l thigh">
  27.             <PRIMITIVE id="bip01 l thigh_1" type="sphyl">
  28.                 <RADIUS>0.1174312</RADIUS>
  29.                 <HEIGHT>0.4151833</HEIGHT>
  30.                 <TM>4.439806e-008,-0.007541063,0.9999717,0,1.754997e-008,-0.9999716,-0.007541066,0,1,3.70688e-008,-5.772114e-008,0,0.2075917,7.633488e-009,-1.004239e-008,1</TM>
  31.             </PRIMITIVE>
  32.         </GEOMETRY>
  33.         <GEOMETRY id="bip01 l upperarm">
  34.             <PRIMITIVE id="bip01 l upperarm_1" type="sphyl">
  35.                 <RADIUS>0.08785927</RADIUS>
  36.                 <HEIGHT>0.2987039</HEIGHT>
  37.                 <TM>4.486911e-008,0.06972717,-0.997566,0,1.931351e-008,0.997566,0.06972722,0,0.9999998,-2.510286e-008,3.107627e-008,0,0.149352,3.41402e-009,-9.153278e-008,1</TM>
  38.             </PRIMITIVE>
  39.         </GEOMETRY>
  40.         <GEOMETRY id="bip01 neck">
  41.             <PRIMITIVE id="Part0" type="sphere">
  42.                 <RADIUS>0.1</RADIUS>
  43.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.2,-0.05,0,1</TM>
  44.             </PRIMITIVE>
  45.         </GEOMETRY>
  46.         <GEOMETRY id="bip01 pelvis">
  47.             <PRIMITIVE id="bip01 pelvis_1" type="sphere">
  48.                 <RADIUS>0.1624459</RADIUS>
  49.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.07394593,0.00586821,0.003067286,1</TM>
  50.             </PRIMITIVE>
  51.         </GEOMETRY>
  52.         <GEOMETRY id="bip01 r calf">
  53.             <PRIMITIVE id="bip01 r calf_1" type="sphyl">
  54.                 <RADIUS>0.1138041</RADIUS>
  55.                 <HEIGHT>0.453283</HEIGHT>
  56.                 <TM>3.862802e-008,0.007561983,0.9999714,0,-1.59176e-009,-0.9999715,0.007561974,0,1,1.116716e-008,-3.967122e-008,0,0.2266415,4.92908e-009,-2.601635e-008,1</TM>
  57.             </PRIMITIVE>
  58.         </GEOMETRY>
  59.         <GEOMETRY id="bip01 r thigh">
  60.             <PRIMITIVE id="bip01 r thigh_1" type="sphyl">
  61.                 <RADIUS>0.1135066</RADIUS>
  62.                 <HEIGHT>0.4151833</HEIGHT>
  63.                 <TM>1.052131e-007,0.00754418,0.9999716,0,7.020402e-009,-0.9999715,0.007544172,0,1,2.152466e-008,-1.14446e-007,0,0.2075917,8.59146e-009,-1.485354e-008,1</TM>
  64.             </PRIMITIVE>
  65.         </GEOMETRY>
  66.         <GEOMETRY id="bip01 spine">
  67.             <PRIMITIVE id="bip01 spine_1" type="sphyl">
  68.                 <RADIUS>0.02523511</RADIUS>
  69.                 <HEIGHT>0.1592297</HEIGHT>
  70.                 <TM>-0.0006467684,0.9999998,-1.303062e-006,0,6.107749e-009,1.30273e-006,1,0,0.9999997,0.0006467589,-9.796328e-009,0,0.07961487,5.14956e-005,-1.462396e-010,1</TM>
  71.             </PRIMITIVE>
  72.         </GEOMETRY>
  73.         <GEOMETRY id="bip01 spine1">
  74.             <PRIMITIVE id="bip01 spine1_1" type="sphyl">
  75.                 <RADIUS>0.04517571</RADIUS>
  76.                 <HEIGHT>0.135398</HEIGHT>
  77.                 <TM>-0.0009349468,0.9999995,-1.298974e-006,0,8.558317e-008,1.299576e-006,1,0,0.9999995,0.0009349468,-8.961617e-008,0,0.06769884,6.330411e-005,-5.677237e-009,1</TM>
  78.             </PRIMITIVE>
  79.         </GEOMETRY>
  80.         <GEOMETRY id="bip01 spine2">
  81.             <PRIMITIVE id="bip01 spine2_1" type="sphyl">
  82.                 <RADIUS>0.1769204</RADIUS>
  83.                 <HEIGHT>0.159319</HEIGHT>
  84.                 <TM>-0.0003930689,0.9999999,-1.313482e-006,0,-6.455922e-008,1.314139e-006,1,0,0.9999999,0.000393066,6.125909e-008,0,0.07965947,3.131251e-005,5.442369e-009,1</TM>
  85.             </PRIMITIVE>
  86.         </GEOMETRY>
  87.         <GEOMETRY id="bip01 tail">
  88.             <PRIMITIVE id="Part7" type="sphyl">
  89.                 <RADIUS>0.07</RADIUS>
  90.                 <HEIGHT>0.1</HEIGHT>
  91.                 <TM>-4.371139e-008,0,-1,0,0,1,0,0,1,0,-4.371139e-008,0,0.05000001,0,-2.185569e-009,1</TM>
  92.             </PRIMITIVE>
  93.         </GEOMETRY>
  94.         <GEOMETRY id="bip01 tail1">
  95.             <PRIMITIVE id="bip01 tail1_1" type="sphyl">
  96.                 <RADIUS>0.07</RADIUS>
  97.                 <HEIGHT>0.1</HEIGHT>
  98.                 <TM>-0.0008175347,0.9999996,-4.099155e-006,0,1.933443e-008,4.100244e-006,0.9999999,0,0.9999996,0.0008175371,-2.002888e-008,0,0.09784537,7.999178e-005,-1.754547e-009,1</TM>
  99.             </PRIMITIVE>
  100.         </GEOMETRY>
  101.         <GEOMETRY id="bip01 tail2">
  102.             <PRIMITIVE id="Part11" type="sphyl">
  103.                 <RADIUS>0.07</RADIUS>
  104.                 <HEIGHT>0.2</HEIGHT>
  105.                 <TM>0,0,-0.9999999,0,0,0.9999999,0,0,0.9999999,0,0,0,0.15,0,0,1</TM>
  106.             </PRIMITIVE>
  107.         </GEOMETRY>
  108.         <MODEL id="bip01 l calf" type="dynamics_and_geometry" geometry="bip01 l calf">
  109.             <DYNAMICS>
  110.                 <MASS>0.07434945</MASS>
  111.                 <DENSITY>1</DENSITY>
  112.                 <MASS_OFFSET>0.2266415,6.387103e-009,-3.973664e-009</MASS_OFFSET>
  113.                 <INERTIA>0.0005411865,0,0,0.00132128,0,0.00132128</INERTIA>
  114.                 <LIN_DAMP>0</LIN_DAMP>
  115.                 <ANG_DAMP>0</ANG_DAMP>
  116.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  117.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  118.             </DYNAMICS>
  119.         </MODEL>
  120.         <MODEL id="bip01 l clavicle" type="dynamics_and_geometry" geometry="bip01 l clavicle">
  121.             <DYNAMICS>
  122.                 <MASS>0.03717472</MASS>
  123.                 <DENSITY>1</DENSITY>
  124.                 <MASS_OFFSET>0.1004463,-8.85536e-009,-1.287805e-008</MASS_OFFSET>
  125.                 <INERTIA>0.0002122771,0,0,0.0003100001,0,0.0003100001</INERTIA>
  126.                 <LIN_DAMP>0</LIN_DAMP>
  127.                 <ANG_DAMP>0</ANG_DAMP>
  128.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  129.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  130.             </DYNAMICS>
  131.         </MODEL>
  132.         <MODEL id="bip01 l forearm" type="dynamics_and_geometry" geometry="bip01 l forearm">
  133.             <DYNAMICS>
  134.                 <MASS>0.05204461</MASS>
  135.                 <DENSITY>1</DENSITY>
  136.                 <MASS_OFFSET>0.1345809,-1.335301e-009,-2.380806e-008</MASS_OFFSET>
  137.                 <INERTIA>0.0001941201,0,0,0.0003818074,0,0.0003818074</INERTIA>
  138.                 <LIN_DAMP>0</LIN_DAMP>
  139.                 <ANG_DAMP>0</ANG_DAMP>
  140.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  141.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  142.             </DYNAMICS>
  143.         </MODEL>
  144.         <MODEL id="bip01 l thigh" type="dynamics_and_geometry" geometry="bip01 l thigh">
  145.             <DYNAMICS>
  146.                 <MASS>0.07434945</MASS>
  147.                 <DENSITY>1</DENSITY>
  148.                 <MASS_OFFSET>0.2075917,7.633488e-009,-1.004239e-008</MASS_OFFSET>
  149.                 <INERTIA>0.0004856746,0,0,0.001147069,0,0.001147069</INERTIA>
  150.                 <LIN_DAMP>0</LIN_DAMP>
  151.                 <ANG_DAMP>0</ANG_DAMP>
  152.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  153.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  154.             </DYNAMICS>
  155.         </MODEL>
  156.         <MODEL id="bip01 l upperarm" type="dynamics_and_geometry" geometry="bip01 l upperarm">
  157.             <DYNAMICS>
  158.                 <MASS>0.05204461</MASS>
  159.                 <DENSITY>1</DENSITY>
  160.                 <MASS_OFFSET>0.149352,3.41402e-009,-9.153278e-008</MASS_OFFSET>
  161.                 <INERTIA>0.0002375564,0,0,0.0004259902,0,0.0004259902</INERTIA>
  162.                 <LIN_DAMP>0</LIN_DAMP>
  163.                 <ANG_DAMP>0</ANG_DAMP>
  164.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  165.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  166.             </DYNAMICS>
  167.         </MODEL>
  168.         <MODEL id="bip01 neck" type="dynamics_and_geometry" geometry="bip01 neck">
  169.             <DYNAMICS>
  170.                 <MASS>0.037175</MASS>
  171.                 <DENSITY>1</DENSITY>
  172.                 <MASS_OFFSET>0.2,-0.05,0</MASS_OFFSET>
  173.                 <INERTIA>0.0002368332,0,0,0.0002368332,0,0.0002455703</INERTIA>
  174.                 <LIN_DAMP>0</LIN_DAMP>
  175.                 <ANG_DAMP>0</ANG_DAMP>
  176.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  177.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  178.             </DYNAMICS>
  179.         </MODEL>
  180.         <MODEL id="bip01 pelvis" type="dynamics_and_geometry" geometry="bip01 pelvis">
  181.             <DYNAMICS>
  182.                 <MASS>0.05576209</MASS>
  183.                 <DENSITY>1</DENSITY>
  184.                 <MASS_OFFSET>0.07394593,0.00586821,0.003067286</MASS_OFFSET>
  185.                 <INERTIA>0.0001901341,0,0,0.0001901341,0,0.0001901341</INERTIA>
  186.                 <LIN_DAMP>0</LIN_DAMP>
  187.                 <ANG_DAMP>0</ANG_DAMP>
  188.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  189.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  190.             </DYNAMICS>
  191.         </MODEL>
  192.         <MODEL id="bip01 r calf" type="dynamics_and_geometry" geometry="bip01 r calf">
  193.             <DYNAMICS>
  194.                 <MASS>0.07434945</MASS>
  195.                 <DENSITY>1</DENSITY>
  196.                 <MASS_OFFSET>0.2266415,4.92908e-009,-2.601635e-008</MASS_OFFSET>
  197.                 <INERTIA>0.0005411865,0,0,0.00132128,0,0.00132128</INERTIA>
  198.                 <LIN_DAMP>0</LIN_DAMP>
  199.                 <ANG_DAMP>0</ANG_DAMP>
  200.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  201.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  202.             </DYNAMICS>
  203.         </MODEL>
  204.         <MODEL id="bip01 r clavicle" type="dynamics_and_geometry" geometry="bip01 l clavicle">
  205.             <DYNAMICS>
  206.                 <MASS>0.03717472</MASS>
  207.                 <DENSITY>1</DENSITY>
  208.                 <MASS_OFFSET>0.1004463,-2.739249e-008,2.315821e-008</MASS_OFFSET>
  209.                 <INERTIA>0.0002122771,0,0,0.0003100001,0,0.0003100001</INERTIA>
  210.                 <LIN_DAMP>0</LIN_DAMP>
  211.                 <ANG_DAMP>0</ANG_DAMP>
  212.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  213.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  214.             </DYNAMICS>
  215.         </MODEL>
  216.         <MODEL id="bip01 r forearm" type="dynamics_and_geometry" geometry="bip01 l forearm">
  217.             <DYNAMICS>
  218.                 <MASS>0.05204461</MASS>
  219.                 <DENSITY>1</DENSITY>
  220.                 <MASS_OFFSET>0.1345807,1.269991e-008,-1.047097e-007</MASS_OFFSET>
  221.                 <INERTIA>0.0001941201,0,0,0.0003818074,0,0.0003818074</INERTIA>
  222.                 <LIN_DAMP>0</LIN_DAMP>
  223.                 <ANG_DAMP>0</ANG_DAMP>
  224.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  225.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  226.             </DYNAMICS>
  227.         </MODEL>
  228.         <MODEL id="bip01 r thigh" type="dynamics_and_geometry" geometry="bip01 r thigh">
  229.             <DYNAMICS>
  230.                 <MASS>0.07434945</MASS>
  231.                 <DENSITY>1</DENSITY>
  232.                 <MASS_OFFSET>0.2075917,8.59146e-009,-1.485354e-008</MASS_OFFSET>
  233.                 <INERTIA>0.0004856746,0,0,0.001147069,0,0.001147069</INERTIA>
  234.                 <LIN_DAMP>0</LIN_DAMP>
  235.                 <ANG_DAMP>0</ANG_DAMP>
  236.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  237.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  238.             </DYNAMICS>
  239.         </MODEL>
  240.         <MODEL id="bip01 r upperarm" type="dynamics_and_geometry" geometry="bip01 l upperarm">
  241.             <DYNAMICS>
  242.                 <MASS>0.05204461</MASS>
  243.                 <DENSITY>1</DENSITY>
  244.                 <MASS_OFFSET>0.1493519,-2.996648e-009,-1.558969e-008</MASS_OFFSET>
  245.                 <INERTIA>0.0002375564,0,0,0.0004259902,0,0.0004259902</INERTIA>
  246.                 <LIN_DAMP>0</LIN_DAMP>
  247.                 <ANG_DAMP>0</ANG_DAMP>
  248.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  249.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  250.             </DYNAMICS>
  251.         </MODEL>
  252.         <MODEL id="bip01 spine" type="dynamics_only" geometry="bip01 spine">
  253.             <DYNAMICS>
  254.                 <MASS>0.037175</MASS>
  255.                 <DENSITY>1</DENSITY>
  256.                 <MASS_OFFSET>0.07961487,5.14956e-005,-1.462396e-010</MASS_OFFSET>
  257.                 <INERTIA>0.0001912465,0,0,0.0001912465,0,0.0001912465</INERTIA>
  258.                 <LIN_DAMP>0</LIN_DAMP>
  259.                 <ANG_DAMP>0</ANG_DAMP>
  260.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  261.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  262.             </DYNAMICS>
  263.         </MODEL>
  264.         <MODEL id="bip01 spine1" type="dynamics_only" geometry="bip01 spine1">
  265.             <DYNAMICS>
  266.                 <MASS>0.037175</MASS>
  267.                 <DENSITY>1</DENSITY>
  268.                 <MASS_OFFSET>0.06769884,6.330411e-005,-5.677237e-009</MASS_OFFSET>
  269.                 <INERTIA>0.0003464636,0,0,0.0003464636,0,0.0003464636</INERTIA>
  270.                 <LIN_DAMP>0</LIN_DAMP>
  271.                 <ANG_DAMP>0</ANG_DAMP>
  272.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  273.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  274.             </DYNAMICS>
  275.         </MODEL>
  276.         <MODEL id="bip01 spine2" type="dynamics_and_geometry" geometry="bip01 spine2">
  277.             <DYNAMICS>
  278.                 <MASS>0.1486989</MASS>
  279.                 <DENSITY>1</DENSITY>
  280.                 <MASS_OFFSET>0.07965947,3.131251e-005,5.442369e-009</MASS_OFFSET>
  281.                 <INERTIA>0.00189918,0,0,0.002193382,0,0.002193382</INERTIA>
  282.                 <LIN_DAMP>0</LIN_DAMP>
  283.                 <ANG_DAMP>0</ANG_DAMP>
  284.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  285.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  286.             </DYNAMICS>
  287.         </MODEL>
  288.         <MODEL id="bip01 tail" type="dynamics_and_geometry" geometry="bip01 tail">
  289.             <DYNAMICS>
  290.                 <MASS>0.02230483</MASS>
  291.                 <DENSITY>1</DENSITY>
  292.                 <MASS_OFFSET>0.05,0,0</MASS_OFFSET>
  293.                 <INERTIA>6.617101e-005,0,0,0.0001189591,0,0.0001174721</INERTIA>
  294.                 <LIN_DAMP>0</LIN_DAMP>
  295.                 <ANG_DAMP>0</ANG_DAMP>
  296.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  297.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  298.             </DYNAMICS>
  299.         </MODEL>
  300.         <MODEL id="bip01 tail1" type="dynamics_and_geometry" geometry="bip01 tail1">
  301.             <DYNAMICS>
  302.                 <MASS>0.02230483</MASS>
  303.                 <DENSITY>1</DENSITY>
  304.                 <MASS_OFFSET>0.09784537,7.999178e-005,-1.754547e-009</MASS_OFFSET>
  305.                 <INERTIA>6.617101e-005,0,0,0.0001189591,0,0.0001174721</INERTIA>
  306.                 <LIN_DAMP>0</LIN_DAMP>
  307.                 <ANG_DAMP>0</ANG_DAMP>
  308.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  309.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  310.             </DYNAMICS>
  311.         </MODEL>
  312.         <MODEL id="bip01 tail2" type="dynamics_and_geometry" geometry="bip01 tail2">
  313.             <DYNAMICS>
  314.                 <MASS>0.02230483</MASS>
  315.                 <DENSITY>1</DENSITY>
  316.                 <MASS_OFFSET>0.15,0,0</MASS_OFFSET>
  317.                 <INERTIA>6.617101e-005,0,0,0.0001732342,0,0.0001717472</INERTIA>
  318.                 <LIN_DAMP>0</LIN_DAMP>
  319.                 <ANG_DAMP>0</ANG_DAMP>
  320.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  321.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  322.             </DYNAMICS>
  323.         </MODEL>
  324.         <PART id="bip01 l calf" model="bip01 l calf" parent="bip01 l thigh">
  325.             <TM>0.2136197,-0.9650162,0.1520209,0,-0.02547539,0.1500573,0.988349,0,-0.9765847,-0.2150036,0.007471027,0,0.253545,0.608624,-0.0331,1</TM>
  326.         </PART>
  327.         <PART id="bip01 l clavicle" model="bip01 l clavicle" parent="bip01 neck">
  328.             <TM>0.9397646,-0.2496243,0.2335173,0,0.2838133,0.189081,-0.9400523,0,0.1905062,0.9497032,0.2485383,0,0.07494093,1.556269,0.03985794,1</TM>
  329.         </PART>
  330.         <PART id="bip01 l forearm" model="bip01 l forearm" parent="bip01 l upperarm">
  331.             <TM>0.8094725,-0.5824339,-0.07433028,0,-0.1010229,-0.01344706,-0.9947932,0,0.5784018,0.8127668,-0.06972421,0,0.5069702,1.332792,0.08412861,1</TM>
  332.         </PART>
  333.         <PART id="bip01 l thigh" model="bip01 l thigh" parent="bip01 pelvis">
  334.             <TM>0.2120214,-0.9677588,-0.1359774,0,0.03646595,-0.1312094,0.9906838,0,-0.9765844,-0.2150047,0.007471039,0,0.1655188,1.01042,0.02335513,1</TM>
  335.         </PART>
  336.         <PART id="bip01 l upperarm" model="bip01 l upperarm" parent="bip01 l clavicle">
  337.             <TM>0.8143593,-0.5802937,-0.008838148,0,-0.04764405,-0.05166881,-0.9975271,0,0.578402,0.8127666,-0.06972452,0,0.263726,1.506123,0.08676853,1</TM>
  338.         </PART>
  339.         <PART id="bip01 neck" model="bip01 neck" parent="bip01 spine2">
  340.             <TM>6.425899e-007,0.8559268,-0.5170971,0,1.460893e-006,0.5170971,0.8559268,0,0.9999999,-1.305433e-006,-9.181362e-007,0,0.01080654,1.556313,0.03993071,1</TM>
  341.         </PART>
  342.         <PART id="bip01 pelvis" model="bip01 pelvis" parent="bip01">
  343.             <TM>-1.307672e-006,0.9961871,-0.08724266,0,-2.85836e-006,0.08724266,0.9961871,0,1,1.552057e-006,2.733376e-006,0,0.01080658,1.01042,0.02335471,1</TM>
  344.         </PART>
  345.         <PART id="bip01 r calf" model="bip01 r calf" parent="bip01 r thigh">
  346.             <TM>-0.2136215,-0.9650164,0.152017,0,0.02547174,0.1500541,0.9883496,0,-0.9765844,0.2150048,-0.007474123,0,-0.2319326,0.6086236,-0.03310115,1</TM>
  347.         </PART>
  348.         <PART id="bip01 r clavicle" model="bip01 r clavicle" parent="bip01 neck">
  349.             <TM>-0.9397641,-0.2496271,0.2335159,0,-0.2838129,0.189082,-0.9400523,0,0.1905089,-0.9497022,-0.2485399,0,-0.05332784,1.556267,0.03985736,1</TM>
  350.         </PART>
  351.         <PART id="bip01 r forearm" model="bip01 r forearm" parent="bip01 r upperarm">
  352.             <TM>-0.8469114,-0.5258372,-0.07896975,0,0.06554483,0.04414316,-0.9968727,0,0.5276788,-0.849439,-0.002919437,0,-0.4958215,1.348527,0.0827869,1</TM>
  353.         </PART>
  354.         <PART id="bip01 r thigh" model="bip01 r thigh" parent="bip01 pelvis">
  355.             <TM>-0.212021,-0.9677588,-0.1359781,0,-0.03646904,-0.1312094,0.9906837,0,-0.9765844,0.2150047,-0.007474082,0,-0.1439056,1.01042,0.0233548,1</TM>
  356.         </PART>
  357.         <PART id="bip01 r upperarm" model="bip01 r upperarm" parent="bip01 r clavicle">
  358.             <TM>-0.8493882,-0.5276003,-0.01332956,0,0.009782374,0.00951343,-0.9999069,0,0.527678,-0.8494395,-0.002919412,0,-0.2421126,1.506119,0.08676842,1</TM>
  359.         </PART>
  360.         <PART id="bip01 spine" model="bip01 spine" parent="bip01 pelvis">
  361.             <TM>1.889985e-007,0.9872047,-0.1594584,0,1.310426e-006,0.1594584,0.9872047,0,1,-3.955386e-007,-1.263521e-006,0,0.01080659,1.108841,0.0148627,1</TM>
  362.         </PART>
  363.         <PART id="bip01 spine1" model="bip01 spine1" parent="bip01 spine">
  364.             <TM>-1.326063e-007,0.9902332,0.1394206,0,1.311686e-006,-0.1394206,0.9902332,0,0.9999999,3.141872e-007,-1.280387e-006,0,0.01080662,1.26605,-0.01042644,1</TM>
  365.         </PART>
  366.         <PART id="bip01 spine2" model="bip01 spine2" parent="bip01 spine1">
  367.             <TM>-3.561682e-007,0.9805211,0.196414,0,1.332822e-006,-0.196414,0.9805211,0,1,6.110153e-007,-1.236903e-006,0,0.01080659,1.400108,0.008575984,1</TM>
  368.         </PART>
  369.         <PART id="bip01 tail" model="bip01 tail" parent="bip01 pelvis">
  370.             <TM>-5.518072e-007,-0.927274,0.3743833,0,4.159145e-006,-0.3743833,-0.927274,0,1,1.045438e-006,4.063255e-006,0,0.01080647,0.9498137,0.1533754,1</TM>
  371.         </PART>
  372.         <PART id="bip01 tail1" model="bip01 tail1" parent="bip01 tail">
  373.             <TM>-5.86477e-007,-0.9105303,0.4134424,0,4.099389e-006,-0.4134424,-0.9105303,0,0.9999999,1.160856e-006,3.975092e-006,0,0.01080641,0.8389928,0.197952,1</TM>
  374.         </PART>
  375.         <PART id="bip01 tail2" model="bip01 tail2" parent="bip01 tail1">
  376.             <TM>-4.655091e-007,-0.9252146,0.3794443,0,4.14812e-006,-0.3794443,-0.9252146,0,1,1.143285e-006,4.014536e-006,0,0.01080629,0.6607425,0.2787145,1</TM>
  377.         </PART>
  378.         <NO_COLLISION part1="bip01 l calf" part2="bip01 l thigh"></NO_COLLISION>
  379.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 l upperarm"></NO_COLLISION>
  380.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 neck"></NO_COLLISION>
  381.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 r clavicle"></NO_COLLISION>
  382.         <NO_COLLISION part1="bip01 l clavicle" part2="bip01 spine2"></NO_COLLISION>
  383.         <NO_COLLISION part1="bip01 l forearm" part2="bip01 l upperarm"></NO_COLLISION>
  384.         <NO_COLLISION part1="bip01 l thigh" part2="bip01 pelvis"></NO_COLLISION>
  385.         <NO_COLLISION part1="bip01 l upperarm" part2="bip01 spine2"></NO_COLLISION>
  386.         <NO_COLLISION part1="bip01 neck" part2="bip01 r clavicle"></NO_COLLISION>
  387.         <NO_COLLISION part1="bip01 neck" part2="bip01 spine2"></NO_COLLISION>
  388.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 r thigh"></NO_COLLISION>
  389.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine"></NO_COLLISION>
  390.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine1"></NO_COLLISION>
  391.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 spine2"></NO_COLLISION>
  392.         <NO_COLLISION part1="bip01 pelvis" part2="bip01 tail"></NO_COLLISION>
  393.         <NO_COLLISION part1="bip01 r calf" part2="bip01 r thigh"></NO_COLLISION>
  394.         <NO_COLLISION part1="bip01 r clavicle" part2="bip01 r upperarm"></NO_COLLISION>
  395.         <NO_COLLISION part1="bip01 r clavicle" part2="bip01 spine2"></NO_COLLISION>
  396.         <NO_COLLISION part1="bip01 r forearm" part2="bip01 r upperarm"></NO_COLLISION>
  397.         <NO_COLLISION part1="bip01 r upperarm" part2="bip01 spine2"></NO_COLLISION>
  398.         <NO_COLLISION part1="bip01 spine" part2="bip01 spine1"></NO_COLLISION>
  399.         <NO_COLLISION part1="bip01 spine" part2="bip01 spine2"></NO_COLLISION>
  400.         <NO_COLLISION part1="bip01 spine1" part2="bip01 spine2"></NO_COLLISION>
  401.         <NO_COLLISION part1="bip01 tail" part2="bip01 tail1"></NO_COLLISION>
  402.         <NO_COLLISION part1="bip01 tail1" part2="bip01 tail2"></NO_COLLISION>
  403.         <JOINT id="bip01 l calf" part1="bip01 l calf" part2="bip01 l thigh" type="hinge">
  404.             <HIGH_LIMIT>1.849867</HIGH_LIMIT>
  405.             <LOW_LIMIT>-0.180234</LOW_LIMIT>
  406.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  407.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  408.             <LIMITED>1</LIMITED>
  409.             <MOTORIZED>0</MOTORIZED>
  410.             <DES_VEL>1</DES_VEL>
  411.             <MAX_FORCE>1000</MAX_FORCE>
  412.             <POS1>0,0,0</POS1>
  413.             <POS2>0.4151816,1.791761e-007,1.251368e-006</POS2>
  414.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  415.             <PRIMARY_AXIS2>0.9585234,0.2850137,1.084578e-006</PRIMARY_AXIS2>
  416.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  417.             <ORTHOGONAL_AXIS2>-0.2850137,0.9585235,-1.535214e-007</ORTHOGONAL_AXIS2>
  418.         </JOINT>
  419.         <JOINT id="bip01 l clavicle" part1="bip01 l clavicle" part2="bip01 neck" type="hinge">
  420.             <HIGH_LIMIT>0.329245</HIGH_LIMIT>
  421.             <LOW_LIMIT>-0.109694</LOW_LIMIT>
  422.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  423.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  424.             <LIMITED>1</LIMITED>
  425.             <MOTORIZED>0</MOTORIZED>
  426.             <DES_VEL>1</DES_VEL>
  427.             <MAX_FORCE>1000</MAX_FORCE>
  428.             <POS1>0,0,0</POS1>
  429.             <POS2>-9.278599e-008,-8.500007e-005,0.06413438</POS2>
  430.             <PRIMARY_AXIS1>-8.940697e-008,1,0</PRIMARY_AXIS1>
  431.             <PRIMARY_AXIS2>0.6479381,-0.7068424,0.2838136</PRIMARY_AXIS2>
  432.             <ORTHOGONAL_AXIS1>0,-2.980232e-008,1</ORTHOGONAL_AXIS1>
  433.             <ORTHOGONAL_AXIS2>0.6843581,0.7038197,0.1905046</ORTHOGONAL_AXIS2>
  434.         </JOINT>
  435.         <JOINT id="bip01 l forearm" part1="bip01 l forearm" part2="bip01 l upperarm" type="hinge">
  436.             <HIGH_LIMIT>2.070837</HIGH_LIMIT>
  437.             <LOW_LIMIT>-0.2097828</LOW_LIMIT>
  438.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  439.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  440.             <LIMITED>1</LIMITED>
  441.             <MOTORIZED>0</MOTORIZED>
  442.             <DES_VEL>1</DES_VEL>
  443.             <MAX_FORCE>1000</MAX_FORCE>
  444.             <POS1>0,0,0</POS1>
  445.             <POS2>0.2986943,5.185082e-008,-6.282436e-007</POS2>
  446.             <PRIMARY_AXIS1>6.273142e-008,-2.682209e-007,1</PRIMARY_AXIS1>
  447.             <PRIMARY_AXIS2>-7.38118e-007,-4.710936e-007,0.9999996</PRIMARY_AXIS2>
  448.             <ORTHOGONAL_AXIS1>1,1.254628e-007,-2.086163e-007</ORTHOGONAL_AXIS1>
  449.             <ORTHOGONAL_AXIS2>0.9978404,0.06567366,-1.406205e-007</ORTHOGONAL_AXIS2>
  450.         </JOINT>
  451.         <JOINT id="bip01 l thigh" part1="bip01 l thigh" part2="bip01 pelvis" type="skeletal">
  452.             <CONE_TYPE>2</CONE_TYPE>
  453.             <CONE_HALF_ANGLE_X>1.208825</CONE_HALF_ANGLE_X>
  454.             <CONE_HALF_ANGLE_Y>0.4966324</CONE_HALF_ANGLE_Y>
  455.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  456.             <CONE_DAMPING>1</CONE_DAMPING>
  457.             <TWIST_TYPE>2</TWIST_TYPE>
  458.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  459.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  460.             <TWIST_DAMPING>1</TWIST_DAMPING>
  461.             <POS1>0,0,0</POS1>
  462.             <POS2>-5.043958e-008,-2.008893e-009,0.1547122</POS2>
  463.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  464.             <PRIMARY_AXIS2>-0.952206,-0.2198894,0.2120195</PRIMARY_AXIS2>
  465.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  466.             <ORTHOGONAL_AXIS2>-0.2171391,0.9754592,0.03646845</ORTHOGONAL_AXIS2>
  467.         </JOINT>
  468.         <JOINT id="bip01 l upperarm" part1="bip01 l upperarm" part2="bip01 l clavicle" type="skeletal">
  469.             <CONE_TYPE>2</CONE_TYPE>
  470.             <CONE_HALF_ANGLE_X>1.634115</CONE_HALF_ANGLE_X>
  471.             <CONE_HALF_ANGLE_Y>1.016037</CONE_HALF_ANGLE_Y>
  472.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  473.             <CONE_DAMPING>1</CONE_DAMPING>
  474.             <TWIST_TYPE>2</TWIST_TYPE>
  475.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  476.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  477.             <TWIST_DAMPING>1</TWIST_DAMPING>
  478.             <POS1>0,0,0</POS1>
  479.             <POS2>0.2008855,-3.829249e-007,1.441527e-007</POS2>
  480.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  481.             <PRIMARY_AXIS2>0.908097,0.1297116,-0.3981628</PRIMARY_AXIS2>
  482.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  483.             <ORTHOGONAL_AXIS2>-0.2648162,0.9144362,-0.3060702</ORTHOGONAL_AXIS2>
  484.         </JOINT>
  485.         <JOINT id="bip01 neck" part1="bip01 neck" part2="bip01 spine2" type="hinge">
  486.             <HIGH_LIMIT>0.235901</HIGH_LIMIT>
  487.             <LOW_LIMIT>-0.2267322</LOW_LIMIT>
  488.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  489.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  490.             <LIMITED>1</LIMITED>
  491.             <MOTORIZED>0</MOTORIZED>
  492.             <DES_VEL>1</DES_VEL>
  493.             <MAX_FORCE>1000</MAX_FORCE>
  494.             <POS1>0,0,0</POS1>
  495.             <POS2>0.1593213,6.300764e-005,9.907773e-009</POS2>
  496.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  497.             <PRIMARY_AXIS2>-1.896992e-006,6.010357e-007,0.9999997</PRIMARY_AXIS2>
  498.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  499.             <ORTHOGONAL_AXIS2>0.7376892,-0.6751406,1.745569e-006</ORTHOGONAL_AXIS2>
  500.         </JOINT>
  501.         <JOINT id="bip01 r calf" part1="bip01 r calf" part2="bip01 r thigh" type="hinge">
  502.             <HIGH_LIMIT>1.849867</HIGH_LIMIT>
  503.             <LOW_LIMIT>-0.180234</LOW_LIMIT>
  504.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  505.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  506.             <LIMITED>1</LIMITED>
  507.             <MOTORIZED>0</MOTORIZED>
  508.             <DES_VEL>1</DES_VEL>
  509.             <MAX_FORCE>1000</MAX_FORCE>
  510.             <POS1>0,0,0</POS1>
  511.             <POS2>0.4151823,-2.610684e-007,-3.554176e-007</POS2>
  512.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  513.             <PRIMARY_AXIS2>-1.04865e-007,-1.747884e-007,1</PRIMARY_AXIS2>
  514.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  515.             <ORTHOGONAL_AXIS2>0.9585243,0.2850107,8.821448e-008</ORTHOGONAL_AXIS2>
  516.         </JOINT>
  517.         <JOINT id="bip01 r clavicle" part1="bip01 r clavicle" part2="bip01 neck" type="hinge">
  518.             <HIGH_LIMIT>0.329245</HIGH_LIMIT>
  519.             <LOW_LIMIT>-0.109694</LOW_LIMIT>
  520.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  521.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  522.             <LIMITED>1</LIMITED>
  523.             <MOTORIZED>0</MOTORIZED>
  524.             <DES_VEL>1</DES_VEL>
  525.             <MAX_FORCE>1000</MAX_FORCE>
  526.             <POS1>0,0,0</POS1>
  527.             <POS2>-1.811429e-006,-8.685928e-005,-0.06413437</POS2>
  528.             <PRIMARY_AXIS1>-8.940697e-008,1,0</PRIMARY_AXIS1>
  529.             <PRIMARY_AXIS2>0.6479387,-0.7068427,-0.283812</PRIMARY_AXIS2>
  530.             <ORTHOGONAL_AXIS1>0,-2.980232e-008,1</ORTHOGONAL_AXIS1>
  531.             <ORTHOGONAL_AXIS2>-0.6843563,-0.70382,0.1905102</ORTHOGONAL_AXIS2>
  532.         </JOINT>
  533.         <JOINT id="bip01 r forearm" part1="bip01 r forearm" part2="bip01 r upperarm" type="hinge">
  534.             <HIGH_LIMIT>2.070837</HIGH_LIMIT>
  535.             <LOW_LIMIT>-0.2097828</LOW_LIMIT>
  536.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  537.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  538.             <LIMITED>1</LIMITED>
  539.             <MOTORIZED>0</MOTORIZED>
  540.             <DES_VEL>1</DES_VEL>
  541.             <MAX_FORCE>1000</MAX_FORCE>
  542.             <POS1>0,0,0</POS1>
  543.             <POS2>0.2986961,4.14725e-008,2.580639e-007</POS2>
  544.             <PRIMARY_AXIS1>7.993606e-015,-1.192093e-007,1</PRIMARY_AXIS1>
  545.             <PRIMARY_AXIS2>-3.195761e-007,-3.830804e-008,1</PRIMARY_AXIS2>
  546.             <ORTHOGONAL_AXIS1>1,6.273137e-008,-5.960464e-008</ORTHOGONAL_AXIS1>
  547.             <ORTHOGONAL_AXIS2>0.9978409,0.06567517,1.459133e-006</ORTHOGONAL_AXIS2>
  548.         </JOINT>
  549.         <JOINT id="bip01 r thigh" part1="bip01 r thigh" part2="bip01 pelvis" type="skeletal">
  550.             <CONE_TYPE>2</CONE_TYPE>
  551.             <CONE_HALF_ANGLE_X>1.208825</CONE_HALF_ANGLE_X>
  552.             <CONE_HALF_ANGLE_Y>0.4966324</CONE_HALF_ANGLE_Y>
  553.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  554.             <CONE_DAMPING>1</CONE_DAMPING>
  555.             <TWIST_TYPE>2</TWIST_TYPE>
  556.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  557.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  558.             <TWIST_DAMPING>1</TWIST_DAMPING>
  559.             <POS1>0,0,0</POS1>
  560.             <POS2>3.829489e-007,5.540062e-007,-0.1547122</POS2>
  561.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  562.             <PRIMARY_AXIS2>-0.9522054,-0.2198889,-0.2120228</PRIMARY_AXIS2>
  563.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  564.             <ORTHOGONAL_AXIS2>-0.217139,0.9754593,-0.03646654</ORTHOGONAL_AXIS2>
  565.         </JOINT>
  566.         <JOINT id="bip01 r upperarm" part1="bip01 r upperarm" part2="bip01 r clavicle" type="skeletal">
  567.             <CONE_TYPE>2</CONE_TYPE>
  568.             <CONE_HALF_ANGLE_X>1.160556</CONE_HALF_ANGLE_X>
  569.             <CONE_HALF_ANGLE_Y>1.016037</CONE_HALF_ANGLE_Y>
  570.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  571.             <CONE_DAMPING>1</CONE_DAMPING>
  572.             <TWIST_TYPE>2</TWIST_TYPE>
  573.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  574.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  575.             <TWIST_DAMPING>1</TWIST_DAMPING>
  576.             <POS1>0,0,0</POS1>
  577.             <POS2>0.2008858,-1.323479e-006,6.52597e-007</POS2>
  578.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  579.             <PRIMARY_AXIS2>0.9268149,0.1538378,0.3425602</PRIMARY_AXIS2>
  580.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  581.             <ORTHOGONAL_AXIS2>-0.2450621,0.9389876,0.2413456</ORTHOGONAL_AXIS2>
  582.         </JOINT>
  583.         <JOINT id="bip01 spine" part1="bip01 spine" part2="bip01 pelvis" type="skeletal">
  584.             <CONE_TYPE>2</CONE_TYPE>
  585.             <CONE_HALF_ANGLE_X>0.1627321</CONE_HALF_ANGLE_X>
  586.             <CONE_HALF_ANGLE_Y>0.1627321</CONE_HALF_ANGLE_Y>
  587.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  588.             <CONE_DAMPING>1</CONE_DAMPING>
  589.             <TWIST_TYPE>2</TWIST_TYPE>
  590.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  591.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  592.             <TWIST_DAMPING>1</TWIST_DAMPING>
  593.             <POS1>0,0,0</POS1>
  594.             <POS2>0.09878688,0.0001269053,1.429709e-007</POS2>
  595.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  596.             <PRIMARY_AXIS2>0.9973521,-0.07272402,1.285336e-006</PRIMARY_AXIS2>
  597.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  598.             <ORTHOGONAL_AXIS2>0.07272402,0.9973521,4.256316e-006</ORTHOGONAL_AXIS2>
  599.         </JOINT>
  600.         <JOINT id="bip01 spine1" part1="bip01 spine1" part2="bip01 spine" type="skeletal">
  601.             <CONE_TYPE>2</CONE_TYPE>
  602.             <CONE_HALF_ANGLE_X>0.2104256</CONE_HALF_ANGLE_X>
  603.             <CONE_HALF_ANGLE_Y>0.2104256</CONE_HALF_ANGLE_Y>
  604.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  605.             <CONE_DAMPING>1</CONE_DAMPING>
  606.             <TWIST_TYPE>2</TWIST_TYPE>
  607.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  608.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  609.             <TWIST_DAMPING>1</TWIST_DAMPING>
  610.             <POS1>0,0,0</POS1>
  611.             <POS2>0.1592297,0.0001026875,-2.378438e-009</POS2>
  612.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  613.             <PRIMARY_AXIS2>0.9553311,0.2955376,-7.004426e-007</PRIMARY_AXIS2>
  614.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  615.             <ORTHOGONAL_AXIS2>-0.2955376,0.9553311,1.156516e-007</ORTHOGONAL_AXIS2>
  616.         </JOINT>
  617.         <JOINT id="bip01 spine2" part1="bip01 spine2" part2="bip01 spine1" type="skeletal">
  618.             <CONE_TYPE>2</CONE_TYPE>
  619.             <CONE_HALF_ANGLE_X>0.1719299</CONE_HALF_ANGLE_X>
  620.             <CONE_HALF_ANGLE_Y>0.1719299</CONE_HALF_ANGLE_Y>
  621.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  622.             <CONE_DAMPING>1</CONE_DAMPING>
  623.             <TWIST_TYPE>2</TWIST_TYPE>
  624.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  625.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  626.             <TWIST_DAMPING>1</TWIST_DAMPING>
  627.             <POS1>0,0,0</POS1>
  628.             <POS2>0.1353978,0.0001264255,-1.224448e-008</POS2>
  629.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  630.             <PRIMARY_AXIS2>0.9983287,0.05779085,-2.99587e-007</PRIMARY_AXIS2>
  631.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  632.             <ORTHOGONAL_AXIS2>-0.05779085,0.9983287,1.566437e-008</ORTHOGONAL_AXIS2>
  633.         </JOINT>
  634.         <JOINT id="bip01 tail" part1="bip01 tail" part2="bip01 pelvis" type="skeletal">
  635.             <CONE_TYPE>2</CONE_TYPE>
  636.             <CONE_HALF_ANGLE_X>0.5966907</CONE_HALF_ANGLE_X>
  637.             <CONE_HALF_ANGLE_Y>0.5966907</CONE_HALF_ANGLE_Y>
  638.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  639.             <CONE_DAMPING>1</CONE_DAMPING>
  640.             <TWIST_TYPE>2</TWIST_TYPE>
  641.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  642.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  643.             <TWIST_DAMPING>1</TWIST_DAMPING>
  644.             <POS1>0,0,0</POS1>
  645.             <POS2>-0.07171832,0.1242375,1.564808e-007</POS2>
  646.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  647.             <PRIMARY_AXIS2>-0.9564006,0.292058,-9.676586e-007</PRIMARY_AXIS2>
  648.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  649.             <ORTHOGONAL_AXIS2>-0.292058,-0.9564006,1.043492e-006</ORTHOGONAL_AXIS2>
  650.         </JOINT>
  651.         <JOINT id="bip01 tail1" part1="bip01 tail1" part2="bip01 tail" type="skeletal">
  652.             <CONE_TYPE>2</CONE_TYPE>
  653.             <CONE_HALF_ANGLE_X>0.5360707</CONE_HALF_ANGLE_X>
  654.             <CONE_HALF_ANGLE_Y>0.5360707</CONE_HALF_ANGLE_Y>
  655.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  656.             <CONE_DAMPING>1</CONE_DAMPING>
  657.             <TWIST_TYPE>2</TWIST_TYPE>
  658.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  659.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  660.             <TWIST_DAMPING>1</TWIST_DAMPING>
  661.             <POS1>0,0,0</POS1>
  662.             <POS2>0.1194501,0.0001547955,4.132457e-009</POS2>
  663.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  664.             <PRIMARY_AXIS2>0.9990971,-0.04248703,1.415417e-007</PRIMARY_AXIS2>
  665.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  666.             <ORTHOGONAL_AXIS2>0.04248703,0.9990971,-3.25566e-008</ORTHOGONAL_AXIS2>
  667.         </JOINT>
  668.         <JOINT id="bip01 tail2" part1="bip01 tail2" part2="bip01 tail1" type="skeletal">
  669.             <CONE_TYPE>2</CONE_TYPE>
  670.             <CONE_HALF_ANGLE_X>0.5706542</CONE_HALF_ANGLE_X>
  671.             <CONE_HALF_ANGLE_Y>0.5706542</CONE_HALF_ANGLE_Y>
  672.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  673.             <CONE_DAMPING>1</CONE_DAMPING>
  674.             <TWIST_TYPE>2</TWIST_TYPE>
  675.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  676.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  677.             <TWIST_DAMPING>1</TWIST_DAMPING>
  678.             <POS1>0,0,0</POS1>
  679.             <POS2>0.1956929,0.0001594468,-2.316315e-009</POS2>
  680.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  681.             <PRIMARY_AXIS2>0.9993144,0.03702745,-3.1224e-008</PRIMARY_AXIS2>
  682.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  683.             <ORTHOGONAL_AXIS2>-0.03702745,0.9993144,2.982623e-008</ORTHOGONAL_AXIS2>
  684.         </JOINT>
  685.     </ASSET>
  686. </KARMA>