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  1. <?xml version="1.0"?>
  2.  
  3. <KARMA ka_file_version="1.0">
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  264.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  265.                 <INERTIA>0.4910178,0,0,0.4910178,0,0.4910178</INERTIA>
  266.                 <LIN_DAMP>0</LIN_DAMP>
  267.                 <ANG_DAMP>0</ANG_DAMP>
  268.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  269.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  270.             </DYNAMICS>
  271.         </MODEL>
  272.         <MODEL id="ref_hip" type="dynamics_and_geometry" geometry="ref_hip">
  273.             <DYNAMICS>
  274.                 <MASS>0.03690123</MASS>
  275.                 <DENSITY>1</DENSITY>
  276.                 <MASS_OFFSET>0,0.04584785,-0.0127738</MASS_OFFSET>
  277.                 <INERTIA>0.0005491751,0,0,0.0005491751,0,0.0005491751</INERTIA>
  278.                 <LIN_DAMP>0</LIN_DAMP>
  279.                 <ANG_DAMP>0</ANG_DAMP>
  280.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  281.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  282.             </DYNAMICS>
  283.         </MODEL>
  284.         <MODEL id="ref_l_clavicle" type="dynamics_only" geometry="ref_l_clavicle">
  285.             <DYNAMICS>
  286.                 <MASS>0.01476521</MASS>
  287.                 <DENSITY>1</DENSITY>
  288.                 <MASS_OFFSET>2.852813e-010,-0.05244301,0.01999996</MASS_OFFSET>
  289.                 <INERTIA>0.0001401387,-7.650759e-013,-2.019093e-012,0.0001063095,9.243934e-013,0.0001401387</INERTIA>
  290.                 <LIN_DAMP>0</LIN_DAMP>
  291.                 <ANG_DAMP>0</ANG_DAMP>
  292.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  293.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  294.             </DYNAMICS>
  295.         </MODEL>
  296.         <MODEL id="ref_l_forearm" type="dynamics_and_geometry" geometry="ref_l_forearm">
  297.             <DYNAMICS>
  298.                 <MASS>0.0167433</MASS>
  299.                 <DENSITY>1</DENSITY>
  300.                 <MASS_OFFSET>0.001435835,-0.1569559,-0.001715225</MASS_OFFSET>
  301.                 <INERTIA>0.0003023958,-2.323691e-005,-2.941977e-007,8.622112e-005,-2.768194e-006,0.0003048303</INERTIA>
  302.                 <LIN_DAMP>0</LIN_DAMP>
  303.                 <ANG_DAMP>0</ANG_DAMP>
  304.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  305.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  306.             </DYNAMICS>
  307.         </MODEL>
  308.         <MODEL id="ref_l_knee" type="dynamics_and_geometry" geometry="ref_l_knee">
  309.             <DYNAMICS>
  310.                 <MASS>0.06088373</MASS>
  311.                 <DENSITY>1</DENSITY>
  312.                 <MASS_OFFSET>0.37988,-2.825745e-010,-5.711198e-009</MASS_OFFSET>
  313.                 <INERTIA>0.0005144673,4.996384e-011,-1.487908e-010,0.004684898,-4.812601e-011,0.004684898</INERTIA>
  314.                 <LIN_DAMP>0</LIN_DAMP>
  315.                 <ANG_DAMP>0</ANG_DAMP>
  316.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  317.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  318.             </DYNAMICS>
  319.         </MODEL>
  320.         <MODEL id="ref_l_leg" type="dynamics_and_geometry" geometry="ref_l_leg">
  321.             <DYNAMICS>
  322.                 <MASS>0.09671588</MASS>
  323.                 <DENSITY>1</DENSITY>
  324.                 <MASS_OFFSET>0.3831887,-0.01999565,0.001323636</MASS_OFFSET>
  325.                 <INERTIA>0.001240228,-0.0001240188,-2.719507e-005,0.008351774,-4.741233e-007,0.008353833</INERTIA>
  326.                 <LIN_DAMP>0</LIN_DAMP>
  327.                 <ANG_DAMP>0</ANG_DAMP>
  328.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  329.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  330.             </DYNAMICS>
  331.         </MODEL>
  332.         <MODEL id="ref_l_shoulder" type="dynamics_and_geometry" geometry="ref_l_shoulder">
  333.             <DYNAMICS>
  334.                 <MASS>0.02695163</MASS>
  335.                 <DENSITY>1</DENSITY>
  336.                 <MASS_OFFSET>0.003847845,-0.2344996,-0.002660467</MASS_OFFSET>
  337.                 <INERTIA>0.0008236318,6.871948e-005,8.593177e-007,0.0001703106,-8.258939e-006,0.0008306785</INERTIA>
  338.                 <LIN_DAMP>0</LIN_DAMP>
  339.                 <ANG_DAMP>0</ANG_DAMP>
  340.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  341.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  342.             </DYNAMICS>
  343.         </MODEL>
  344.         <MODEL id="ref_l_wrist" type="dynamics_and_geometry" geometry="ref_l_wrist">
  345.             <DYNAMICS>
  346.                 <MASS>0.002632667</MASS>
  347.                 <DENSITY>1</DENSITY>
  348.                 <MASS_OFFSET>-0.0157939,-0.001843527,0.003234417</MASS_OFFSET>
  349.                 <INERTIA>6.739627e-006,0,0,6.739627e-006,0,6.739627e-006</INERTIA>
  350.                 <LIN_DAMP>0</LIN_DAMP>
  351.                 <ANG_DAMP>0</ANG_DAMP>
  352.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  353.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  354.             </DYNAMICS>
  355.         </MODEL>
  356.         <MODEL id="ref_neck" type="dynamics_and_geometry" geometry="ref_head">
  357.             <DYNAMICS>
  358.                 <MASS>0.017354</MASS>
  359.                 <DENSITY>1</DENSITY>
  360.                 <MASS_OFFSET>2.055168e-005,-0.1971826,0.06145769</MASS_OFFSET>
  361.                 <INERTIA>0.000156186,0,0,0.000156186,0,0.000156186</INERTIA>
  362.                 <LIN_DAMP>0</LIN_DAMP>
  363.                 <ANG_DAMP>0</ANG_DAMP>
  364.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  365.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  366.             </DYNAMICS>
  367.         </MODEL>
  368.         <MODEL id="ref_r_clavicle" type="dynamics_only" geometry="ref_r_clavicle">
  369.             <DYNAMICS>
  370.                 <MASS>0.01476521</MASS>
  371.                 <DENSITY>1</DENSITY>
  372.                 <MASS_OFFSET>8.320291e-010,-0.0524428,-0.01999994</MASS_OFFSET>
  373.                 <INERTIA>0.0001401387,1.832092e-013,1.484982e-012,0.0001063095,7.27559e-012,0.0001401387</INERTIA>
  374.                 <LIN_DAMP>0</LIN_DAMP>
  375.                 <ANG_DAMP>0</ANG_DAMP>
  376.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  377.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  378.             </DYNAMICS>
  379.         </MODEL>
  380.         <MODEL id="ref_r_forearm" type="dynamics_and_geometry" geometry="ref_r_forearm">
  381.             <DYNAMICS>
  382.                 <MASS>0.0167433</MASS>
  383.                 <DENSITY>1</DENSITY>
  384.                 <MASS_OFFSET>0.0004539159,-0.1569899,0.001693389</MASS_OFFSET>
  385.                 <INERTIA>0.0003020973,-2.458419e-005,3.220883e-007,8.652199e-005,2.860592e-006,0.000304828</INERTIA>
  386.                 <LIN_DAMP>0</LIN_DAMP>
  387.                 <ANG_DAMP>0</ANG_DAMP>
  388.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  389.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  390.             </DYNAMICS>
  391.         </MODEL>
  392.         <MODEL id="ref_r_knee" type="dynamics_and_geometry" geometry="ref_r_knee">
  393.             <DYNAMICS>
  394.                 <MASS>0.06088347</MASS>
  395.                 <DENSITY>1</DENSITY>
  396.                 <MASS_OFFSET>0.3798777,-6.491805e-010,-1.715697e-009</MASS_OFFSET>
  397.                 <INERTIA>0.0005144652,-5.66103e-011,-3.942163e-011,0.00468484,-6.713484e-012,0.004684842</INERTIA>
  398.                 <LIN_DAMP>0</LIN_DAMP>
  399.                 <ANG_DAMP>0</ANG_DAMP>
  400.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  401.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  402.             </DYNAMICS>
  403.         </MODEL>
  404.         <MODEL id="ref_r_leg" type="dynamics_and_geometry" geometry="ref_r_leg">
  405.             <DYNAMICS>
  406.                 <MASS>0.09671598</MASS>
  407.                 <DENSITY>1</DENSITY>
  408.                 <MASS_OFFSET>0.3831895,-0.01999566,-0.001323643</MASS_OFFSET>
  409.                 <INERTIA>0.00124023,-0.0001240192,2.719728e-005,0.008351803,4.741511e-007,0.008353862</INERTIA>
  410.                 <LIN_DAMP>0</LIN_DAMP>
  411.                 <ANG_DAMP>0</ANG_DAMP>
  412.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  413.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  414.             </DYNAMICS>
  415.         </MODEL>
  416.         <MODEL id="ref_r_shoulder" type="dynamics_and_geometry" geometry="ref_r_shoulder">
  417.             <DYNAMICS>
  418.                 <MASS>0.02695163</MASS>
  419.                 <DENSITY>1</DENSITY>
  420.                 <MASS_OFFSET>0.005139972,-0.2344994,0.002660385</MASS_OFFSET>
  421.                 <INERTIA>0.000822856,7.230956e-005,-9.323999e-007,0.000171093,8.50639e-006,0.000830672</INERTIA>
  422.                 <LIN_DAMP>0</LIN_DAMP>
  423.                 <ANG_DAMP>0</ANG_DAMP>
  424.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  425.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  426.             </DYNAMICS>
  427.         </MODEL>
  428.         <MODEL id="ref_r_wrist" type="dynamics_and_geometry" geometry="ref_r_wrist">
  429.             <DYNAMICS>
  430.                 <MASS>0.002632667</MASS>
  431.                 <DENSITY>1</DENSITY>
  432.                 <MASS_OFFSET>-0.0157939,-0.001844101,-0.003233867</MASS_OFFSET>
  433.                 <INERTIA>6.739627e-006,0,0,6.739627e-006,0,6.739627e-006</INERTIA>
  434.                 <LIN_DAMP>0</LIN_DAMP>
  435.                 <ANG_DAMP>0</ANG_DAMP>
  436.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  437.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  438.             </DYNAMICS>
  439.         </MODEL>
  440.         <MODEL id="ref_sp1" type="dynamics_only" geometry="ref_sp1">
  441.             <DYNAMICS>
  442.                 <MASS>0.003018595</MASS>
  443.                 <DENSITY>1</DENSITY>
  444.                 <MASS_OFFSET>0,-0.09373292,0.0005717562</MASS_OFFSET>
  445.                 <INERTIA>1.939274e-005,0,0,4.527828e-006,9.067362e-008,1.939219e-005</INERTIA>
  446.                 <LIN_DAMP>0</LIN_DAMP>
  447.                 <ANG_DAMP>0</ANG_DAMP>
  448.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  449.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  450.             </DYNAMICS>
  451.         </MODEL>
  452.         <MODEL id="ref_sp2" type="dynamics_only" geometry="ref_sp2">
  453.             <DYNAMICS>
  454.                 <MASS>0.005553985</MASS>
  455.                 <DENSITY>1</DENSITY>
  456.                 <MASS_OFFSET>0,-0.05742244,-0.01416387</MASS_OFFSET>
  457.                 <INERTIA>4.678579e-005,0,0,1.551012e-005,-7.714486e-006,4.488293e-005</INERTIA>
  458.                 <LIN_DAMP>0</LIN_DAMP>
  459.                 <ANG_DAMP>0</ANG_DAMP>
  460.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  461.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  462.             </DYNAMICS>
  463.         </MODEL>
  464.         <MODEL id="ref_sp3" type="dynamics_and_geometry" geometry="ref_sp3">
  465.             <DYNAMICS>
  466.                 <MASS>0.07224326</MASS>
  467.                 <DENSITY>1</DENSITY>
  468.                 <MASS_OFFSET>0,0.07117955,0.07634513</MASS_OFFSET>
  469.                 <INERTIA>0.002042864,0,0,0.001470715,-0.0001216142,0.002017014</INERTIA>
  470.                 <LIN_DAMP>0</LIN_DAMP>
  471.                 <ANG_DAMP>0</ANG_DAMP>
  472.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  473.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  474.             </DYNAMICS>
  475.         </MODEL>
  476.         <PART id="ref_cog" model="ref_cog">
  477.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,1.661033e-007,1.9,-0.1,1</TM>
  478.         </PART>
  479.         <PART id="ref_hip" model="ref_hip" parent="ref_cog">
  480.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,1.661033e-007,1.9,-0.1,1</TM>
  481.         </PART>
  482.         <PART id="ref_l_clavicle" model="ref_l_clavicle" parent="ref_sp3">
  483.             <TM>-6.760459e-010,5.910181e-017,-1,0,0.9168862,0.3991488,-6.198571e-010,0,0.3991488,-0.9168862,-2.698429e-010,0,-0.1157065,2.577447,-0.1703181,1</TM>
  484.         </PART>
  485.         <PART id="ref_l_forearm" model="ref_l_forearm" parent="ref_l_shoulder">
  486.             <TM>-1.331441e-008,2.592576e-008,-1,0,0.6188923,0.7854759,1.212387e-008,0,0.7854759,-0.6188923,-2.65034e-008,0,-0.5063158,2.170488,-0.1780138,1</TM>
  487.         </PART>
  488.         <PART id="ref_l_knee" model="ref_l_knee" parent="ref_l_leg">
  489.             <TM>-0.0996519,-0.9806655,-0.168418,0,-0.01702643,-0.1675551,0.9857157,0,-0.9948767,0.101096,-4.359944e-008,0,-0.2465876,1.038777,-0.1019557,1</TM>
  490.         </PART>
  491.         <PART id="ref_l_leg" model="ref_l_leg" parent="ref_hip">
  492.             <TM>-0.1010961,-0.9948767,2.328307e-010,0,-0.9948606,0.1010945,0.005675199,0,-0.005646123,0.0005737402,-0.9999839,0,-0.169251,1.799839,-0.09910184,1</TM>
  493.         </PART>
  494.         <PART id="ref_l_shoulder" model="ref_l_shoulder" parent="ref_l_clavicle">
  495.             <TM>-6.995265e-009,1.296295e-008,-1,0,0.6188923,0.7854759,5.852766e-009,0,0.7854759,-0.6188923,-1.351728e-008,0,-0.2118784,2.535582,-0.1703181,1</TM>
  496.         </PART>
  497.         <PART id="ref_l_wrist" model="ref_l_wrist" parent="ref_l_forearm">
  498.             <TM>-3.22714e-008,6.481335e-008,-1,0,0.6188923,0.7854759,3.09368e-008,0,0.7854759,-0.6188923,-6.546089e-008,0,-0.7658068,1.848726,-0.1703181,1</TM>
  499.         </PART>
  500.         <PART id="ref_neck" model="ref_neck" parent="ref_sp3">
  501.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,2.349538e-007,2.687559,-0.1405384,1</TM>
  502.         </PART>
  503.         <PART id="ref_r_clavicle" model="ref_r_clavicle" parent="ref_sp3">
  504.             <TM>6.725596e-009,-5.879703e-016,-1,0,-0.9168878,0.3991452,-6.166617e-009,0,0.3991452,0.9168878,2.684489e-009,0,0.1157072,2.577446,-0.1703181,1</TM>
  505.         </PART>
  506.         <PART id="ref_r_forearm" model="ref_r_forearm" parent="ref_r_shoulder">
  507.             <TM>2.649291e-008,1.450891e-008,-1,0,-0.6188926,0.7854756,-4.99987e-009,0,0.7854756,0.6188926,2.978899e-008,0,0.506319,2.170488,-0.1805981,1</TM>
  508.         </PART>
  509.         <PART id="ref_r_knee" model="ref_r_knee" parent="ref_r_leg">
  510.             <TM>0.09965234,-0.9806653,-0.168419,0,0.01702509,-0.1675563,0.9857155,0,-0.9948767,-0.1010962,-1.462036e-006,0,0.2465878,1.038775,-0.1019557,1</TM>
  511.         </PART>
  512.         <PART id="ref_r_leg" model="ref_r_leg" parent="ref_hip">
  513.             <TM>0.1010961,-0.9948767,-2.328307e-010,0,0.9948606,0.1010945,0.005675205,0,-0.00564613,-0.0005737414,0.9999839,0,0.1692511,1.799839,-0.09910184,1</TM>
  514.         </PART>
  515.         <PART id="ref_r_shoulder" model="ref_r_shoulder" parent="ref_r_clavicle">
  516.             <TM>1.660924e-008,7.254446e-009,-1,0,-0.6188926,0.7854756,-4.581147e-009,0,0.7854756,0.6188926,1.753588e-008,0,0.2118796,2.535582,-0.1703181,1</TM>
  517.         </PART>
  518.         <PART id="ref_r_wrist" model="ref_r_wrist" parent="ref_r_forearm">
  519.             <TM>5.614395e-008,3.627232e-008,-1,0,-0.6188926,0.7854756,-6.256057e-009,0,0.7854756,0.6188926,6.654837e-008,0,0.7658129,1.848717,-0.1703181,1</TM>
  520.         </PART>
  521.         <PART id="ref_sp1" model="ref_sp1" parent="ref_cog">
  522.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,1.699256e-007,1.943722,-0.09360307,1</TM>
  523.         </PART>
  524.         <PART id="ref_sp2" model="ref_sp2" parent="ref_sp1">
  525.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,1.863144e-007,2.131188,-0.09245955,1</TM>
  526.         </PART>
  527.         <PART id="ref_sp3" model="ref_sp3" parent="ref_sp2">
  528.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,2.133302e-007,2.440213,-0.1686839,1</TM>
  529.         </PART>
  530.         <NO_COLLISION part1="ref_cog" part2="ref_hip"></NO_COLLISION>
  531.         <NO_COLLISION part1="ref_cog" part2="ref_l_clavicle"></NO_COLLISION>
  532.         <NO_COLLISION part1="ref_cog" part2="ref_l_forearm"></NO_COLLISION>
  533.         <NO_COLLISION part1="ref_cog" part2="ref_l_knee"></NO_COLLISION>
  534.         <NO_COLLISION part1="ref_cog" part2="ref_l_leg"></NO_COLLISION>
  535.         <NO_COLLISION part1="ref_cog" part2="ref_l_shoulder"></NO_COLLISION>
  536.         <NO_COLLISION part1="ref_cog" part2="ref_l_wrist"></NO_COLLISION>
  537.         <NO_COLLISION part1="ref_cog" part2="ref_neck"></NO_COLLISION>
  538.         <NO_COLLISION part1="ref_cog" part2="ref_r_clavicle"></NO_COLLISION>
  539.         <NO_COLLISION part1="ref_cog" part2="ref_r_forearm"></NO_COLLISION>
  540.         <NO_COLLISION part1="ref_cog" part2="ref_r_knee"></NO_COLLISION>
  541.         <NO_COLLISION part1="ref_cog" part2="ref_r_leg"></NO_COLLISION>
  542.         <NO_COLLISION part1="ref_cog" part2="ref_r_shoulder"></NO_COLLISION>
  543.         <NO_COLLISION part1="ref_cog" part2="ref_r_wrist"></NO_COLLISION>
  544.         <NO_COLLISION part1="ref_cog" part2="ref_sp1"></NO_COLLISION>
  545.         <NO_COLLISION part1="ref_cog" part2="ref_sp2"></NO_COLLISION>
  546.         <NO_COLLISION part1="ref_cog" part2="ref_sp3"></NO_COLLISION>
  547.         <NO_COLLISION part1="ref_hip" part2="ref_l_clavicle"></NO_COLLISION>
  548.         <NO_COLLISION part1="ref_hip" part2="ref_l_forearm"></NO_COLLISION>
  549.         <NO_COLLISION part1="ref_hip" part2="ref_l_knee"></NO_COLLISION>
  550.         <NO_COLLISION part1="ref_hip" part2="ref_l_leg"></NO_COLLISION>
  551.         <NO_COLLISION part1="ref_hip" part2="ref_l_shoulder"></NO_COLLISION>
  552.         <NO_COLLISION part1="ref_hip" part2="ref_l_wrist"></NO_COLLISION>
  553.         <NO_COLLISION part1="ref_hip" part2="ref_neck"></NO_COLLISION>
  554.         <NO_COLLISION part1="ref_hip" part2="ref_r_clavicle"></NO_COLLISION>
  555.         <NO_COLLISION part1="ref_hip" part2="ref_r_forearm"></NO_COLLISION>
  556.         <NO_COLLISION part1="ref_hip" part2="ref_r_knee"></NO_COLLISION>
  557.         <NO_COLLISION part1="ref_hip" part2="ref_r_leg"></NO_COLLISION>
  558.         <NO_COLLISION part1="ref_hip" part2="ref_r_shoulder"></NO_COLLISION>
  559.         <NO_COLLISION part1="ref_hip" part2="ref_r_wrist"></NO_COLLISION>
  560.         <NO_COLLISION part1="ref_hip" part2="ref_sp1"></NO_COLLISION>
  561.         <NO_COLLISION part1="ref_hip" part2="ref_sp2"></NO_COLLISION>
  562.         <NO_COLLISION part1="ref_hip" part2="ref_sp3"></NO_COLLISION>
  563.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_l_forearm"></NO_COLLISION>
  564.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_l_knee"></NO_COLLISION>
  565.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_l_leg"></NO_COLLISION>
  566.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_l_shoulder"></NO_COLLISION>
  567.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_l_wrist"></NO_COLLISION>
  568.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_neck"></NO_COLLISION>
  569.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_clavicle"></NO_COLLISION>
  570.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_forearm"></NO_COLLISION>
  571.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_knee"></NO_COLLISION>
  572.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_leg"></NO_COLLISION>
  573.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_shoulder"></NO_COLLISION>
  574.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_wrist"></NO_COLLISION>
  575.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_sp1"></NO_COLLISION>
  576.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_sp2"></NO_COLLISION>
  577.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_sp3"></NO_COLLISION>
  578.         <NO_COLLISION part1="ref_l_forearm" part2="ref_l_knee"></NO_COLLISION>
  579.         <NO_COLLISION part1="ref_l_forearm" part2="ref_l_leg"></NO_COLLISION>
  580.         <NO_COLLISION part1="ref_l_forearm" part2="ref_l_shoulder"></NO_COLLISION>
  581.         <NO_COLLISION part1="ref_l_forearm" part2="ref_l_wrist"></NO_COLLISION>
  582.         <NO_COLLISION part1="ref_l_forearm" part2="ref_neck"></NO_COLLISION>
  583.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_clavicle"></NO_COLLISION>
  584.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_forearm"></NO_COLLISION>
  585.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_knee"></NO_COLLISION>
  586.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_leg"></NO_COLLISION>
  587.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_shoulder"></NO_COLLISION>
  588.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_wrist"></NO_COLLISION>
  589.         <NO_COLLISION part1="ref_l_forearm" part2="ref_sp1"></NO_COLLISION>
  590.         <NO_COLLISION part1="ref_l_forearm" part2="ref_sp2"></NO_COLLISION>
  591.         <NO_COLLISION part1="ref_l_forearm" part2="ref_sp3"></NO_COLLISION>
  592.         <NO_COLLISION part1="ref_l_knee" part2="ref_l_leg"></NO_COLLISION>
  593.         <NO_COLLISION part1="ref_l_knee" part2="ref_l_shoulder"></NO_COLLISION>
  594.         <NO_COLLISION part1="ref_l_knee" part2="ref_l_wrist"></NO_COLLISION>
  595.         <NO_COLLISION part1="ref_l_knee" part2="ref_neck"></NO_COLLISION>
  596.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_clavicle"></NO_COLLISION>
  597.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_forearm"></NO_COLLISION>
  598.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_knee"></NO_COLLISION>
  599.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_leg"></NO_COLLISION>
  600.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_shoulder"></NO_COLLISION>
  601.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_wrist"></NO_COLLISION>
  602.         <NO_COLLISION part1="ref_l_knee" part2="ref_sp1"></NO_COLLISION>
  603.         <NO_COLLISION part1="ref_l_knee" part2="ref_sp2"></NO_COLLISION>
  604.         <NO_COLLISION part1="ref_l_knee" part2="ref_sp3"></NO_COLLISION>
  605.         <NO_COLLISION part1="ref_l_leg" part2="ref_l_shoulder"></NO_COLLISION>
  606.         <NO_COLLISION part1="ref_l_leg" part2="ref_l_wrist"></NO_COLLISION>
  607.         <NO_COLLISION part1="ref_l_leg" part2="ref_neck"></NO_COLLISION>
  608.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_clavicle"></NO_COLLISION>
  609.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_forearm"></NO_COLLISION>
  610.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_knee"></NO_COLLISION>
  611.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_leg"></NO_COLLISION>
  612.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_shoulder"></NO_COLLISION>
  613.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_wrist"></NO_COLLISION>
  614.         <NO_COLLISION part1="ref_l_leg" part2="ref_sp1"></NO_COLLISION>
  615.         <NO_COLLISION part1="ref_l_leg" part2="ref_sp2"></NO_COLLISION>
  616.         <NO_COLLISION part1="ref_l_leg" part2="ref_sp3"></NO_COLLISION>
  617.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_l_wrist"></NO_COLLISION>
  618.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_neck"></NO_COLLISION>
  619.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_clavicle"></NO_COLLISION>
  620.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_forearm"></NO_COLLISION>
  621.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_knee"></NO_COLLISION>
  622.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_leg"></NO_COLLISION>
  623.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_shoulder"></NO_COLLISION>
  624.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_wrist"></NO_COLLISION>
  625.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_sp1"></NO_COLLISION>
  626.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_sp2"></NO_COLLISION>
  627.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_sp3"></NO_COLLISION>
  628.         <NO_COLLISION part1="ref_l_wrist" part2="ref_neck"></NO_COLLISION>
  629.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_clavicle"></NO_COLLISION>
  630.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_forearm"></NO_COLLISION>
  631.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_knee"></NO_COLLISION>
  632.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_leg"></NO_COLLISION>
  633.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_shoulder"></NO_COLLISION>
  634.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_wrist"></NO_COLLISION>
  635.         <NO_COLLISION part1="ref_l_wrist" part2="ref_sp1"></NO_COLLISION>
  636.         <NO_COLLISION part1="ref_l_wrist" part2="ref_sp2"></NO_COLLISION>
  637.         <NO_COLLISION part1="ref_l_wrist" part2="ref_sp3"></NO_COLLISION>
  638.         <NO_COLLISION part1="ref_neck" part2="ref_r_clavicle"></NO_COLLISION>
  639.         <NO_COLLISION part1="ref_neck" part2="ref_r_forearm"></NO_COLLISION>
  640.         <NO_COLLISION part1="ref_neck" part2="ref_r_knee"></NO_COLLISION>
  641.         <NO_COLLISION part1="ref_neck" part2="ref_r_leg"></NO_COLLISION>
  642.         <NO_COLLISION part1="ref_neck" part2="ref_r_shoulder"></NO_COLLISION>
  643.         <NO_COLLISION part1="ref_neck" part2="ref_r_wrist"></NO_COLLISION>
  644.         <NO_COLLISION part1="ref_neck" part2="ref_sp1"></NO_COLLISION>
  645.         <NO_COLLISION part1="ref_neck" part2="ref_sp2"></NO_COLLISION>
  646.         <NO_COLLISION part1="ref_neck" part2="ref_sp3"></NO_COLLISION>
  647.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_r_forearm"></NO_COLLISION>
  648.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_r_knee"></NO_COLLISION>
  649.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_r_leg"></NO_COLLISION>
  650.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_r_shoulder"></NO_COLLISION>
  651.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_r_wrist"></NO_COLLISION>
  652.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_sp1"></NO_COLLISION>
  653.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_sp2"></NO_COLLISION>
  654.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_sp3"></NO_COLLISION>
  655.         <NO_COLLISION part1="ref_r_forearm" part2="ref_r_knee"></NO_COLLISION>
  656.         <NO_COLLISION part1="ref_r_forearm" part2="ref_r_leg"></NO_COLLISION>
  657.         <NO_COLLISION part1="ref_r_forearm" part2="ref_r_shoulder"></NO_COLLISION>
  658.         <NO_COLLISION part1="ref_r_forearm" part2="ref_r_wrist"></NO_COLLISION>
  659.         <NO_COLLISION part1="ref_r_forearm" part2="ref_sp1"></NO_COLLISION>
  660.         <NO_COLLISION part1="ref_r_forearm" part2="ref_sp2"></NO_COLLISION>
  661.         <NO_COLLISION part1="ref_r_forearm" part2="ref_sp3"></NO_COLLISION>
  662.         <NO_COLLISION part1="ref_r_knee" part2="ref_r_leg"></NO_COLLISION>
  663.         <NO_COLLISION part1="ref_r_knee" part2="ref_r_shoulder"></NO_COLLISION>
  664.         <NO_COLLISION part1="ref_r_knee" part2="ref_r_wrist"></NO_COLLISION>
  665.         <NO_COLLISION part1="ref_r_knee" part2="ref_sp1"></NO_COLLISION>
  666.         <NO_COLLISION part1="ref_r_knee" part2="ref_sp2"></NO_COLLISION>
  667.         <NO_COLLISION part1="ref_r_knee" part2="ref_sp3"></NO_COLLISION>
  668.         <NO_COLLISION part1="ref_r_leg" part2="ref_r_shoulder"></NO_COLLISION>
  669.         <NO_COLLISION part1="ref_r_leg" part2="ref_r_wrist"></NO_COLLISION>
  670.         <NO_COLLISION part1="ref_r_leg" part2="ref_sp1"></NO_COLLISION>
  671.         <NO_COLLISION part1="ref_r_leg" part2="ref_sp2"></NO_COLLISION>
  672.         <NO_COLLISION part1="ref_r_leg" part2="ref_sp3"></NO_COLLISION>
  673.         <NO_COLLISION part1="ref_r_shoulder" part2="ref_r_wrist"></NO_COLLISION>
  674.         <NO_COLLISION part1="ref_r_shoulder" part2="ref_sp1"></NO_COLLISION>
  675.         <NO_COLLISION part1="ref_r_shoulder" part2="ref_sp2"></NO_COLLISION>
  676.         <NO_COLLISION part1="ref_r_shoulder" part2="ref_sp3"></NO_COLLISION>
  677.         <NO_COLLISION part1="ref_r_wrist" part2="ref_sp1"></NO_COLLISION>
  678.         <NO_COLLISION part1="ref_r_wrist" part2="ref_sp2"></NO_COLLISION>
  679.         <NO_COLLISION part1="ref_r_wrist" part2="ref_sp3"></NO_COLLISION>
  680.         <NO_COLLISION part1="ref_sp1" part2="ref_sp2"></NO_COLLISION>
  681.         <NO_COLLISION part1="ref_sp1" part2="ref_sp3"></NO_COLLISION>
  682.         <NO_COLLISION part1="ref_sp2" part2="ref_sp3"></NO_COLLISION>
  683.         <JOINT id="ref_hip" part1="ref_hip" part2="ref_cog" type="hinge">
  684.             <HIGH_LIMIT>0</HIGH_LIMIT>
  685.             <LOW_LIMIT>0</LOW_LIMIT>
  686.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  687.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  688.             <LIMITED>1</LIMITED>
  689.             <MOTORIZED>0</MOTORIZED>
  690.             <DES_VEL>1</DES_VEL>
  691.             <MAX_FORCE>1000</MAX_FORCE>
  692.             <POS1>0,0,0</POS1>
  693.             <POS2>1.694066e-021,-1.452121e-014,0</POS2>
  694.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  695.             <PRIMARY_AXIS2>1,0,0</PRIMARY_AXIS2>
  696.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  697.             <ORTHOGONAL_AXIS2>0,1,0</ORTHOGONAL_AXIS2>
  698.         </JOINT>
  699.         <JOINT id="ref_l_clavicle" part1="ref_l_clavicle" part2="ref_sp3" type="hinge">
  700.             <HIGH_LIMIT>0.1745976</HIGH_LIMIT>
  701.             <LOW_LIMIT>-0.1525762</LOW_LIMIT>
  702.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  703.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  704.             <LIMITED>1</LIMITED>
  705.             <MOTORIZED>0</MOTORIZED>
  706.             <DES_VEL>1</DES_VEL>
  707.             <MAX_FORCE>1000</MAX_FORCE>
  708.             <POS1>0,0,0</POS1>
  709.             <POS2>0.1157067,-0.137234,-0.001634195</POS2>
  710.             <PRIMARY_AXIS1>-5.960464e-008,8.429368e-008,-0.9999998</PRIMARY_AXIS1>
  711.             <PRIMARY_AXIS2>0.3991487,-0.916886,5.987449e-008</PRIMARY_AXIS2>
  712.             <ORTHOGONAL_AXIS1>0,-0.9999998,-8.429368e-008</ORTHOGONAL_AXIS1>
  713.             <ORTHOGONAL_AXIS2>0.916886,0.3991487,6.19857e-010</ORTHOGONAL_AXIS2>
  714.         </JOINT>
  715.         <JOINT id="ref_l_forearm" part1="ref_l_forearm" part2="ref_l_shoulder" type="hinge">
  716.             <HIGH_LIMIT>1.719175</HIGH_LIMIT>
  717.             <LOW_LIMIT>-0.2537318</LOW_LIMIT>
  718.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  719.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  720.             <LIMITED>1</LIMITED>
  721.             <MOTORIZED>0</MOTORIZED>
  722.             <DES_VEL>1</DES_VEL>
  723.             <MAX_FORCE>1000</MAX_FORCE>
  724.             <POS1>0,0,0</POS1>
  725.             <POS2>0.007695707,-0.4689975,-0.005319576</POS2>
  726.             <PRIMARY_AXIS1>8.940697e-008,8.429367e-008,-0.9999997</PRIMARY_AXIS1>
  727.             <PRIMARY_AXIS2>7.642084e-008,7.101395e-009,-0.9999995</PRIMARY_AXIS2>
  728.             <ORTHOGONAL_AXIS1>6.064861e-015,-0.9999997,-8.429367e-008</ORTHOGONAL_AXIS1>
  729.             <ORTHOGONAL_AXIS2>6.271109e-009,-0.9999995,-5.868208e-010</ORTHOGONAL_AXIS2>
  730.         </JOINT>
  731.         <JOINT id="ref_l_knee" part1="ref_l_knee" part2="ref_l_leg" type="hinge">
  732.             <HIGH_LIMIT>1.570796</HIGH_LIMIT>
  733.             <LOW_LIMIT>-0.006677158</LOW_LIMIT>
  734.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  735.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  736.             <LIMITED>1</LIMITED>
  737.             <MOTORIZED>0</MOTORIZED>
  738.             <DES_VEL>1</DES_VEL>
  739.             <MAX_FORCE>1000</MAX_FORCE>
  740.             <POS1>0,0,0</POS1>
  741.             <POS2>0.7649813,-1.626311e-005,0.002853806</POS2>
  742.             <PRIMARY_AXIS1>0,0,-0.9999999</PRIMARY_AXIS1>
  743.             <PRIMARY_AXIS2>-1.065469e-007,-0.9999838,-0.005675242</PRIMARY_AXIS2>
  744.             <ORTHOGONAL_AXIS1>0.9999999,-2.980232e-008,8.603931e-009</ORTHOGONAL_AXIS1>
  745.             <ORTHOGONAL_AXIS2>0.9857156,-0.0009559052,0.1684153</ORTHOGONAL_AXIS2>
  746.         </JOINT>
  747.         <JOINT id="ref_l_leg" part1="ref_l_leg" part2="ref_hip" type="skeletal">
  748.             <CONE_TYPE>2</CONE_TYPE>
  749.             <CONE_HALF_ANGLE_X>0.289402</CONE_HALF_ANGLE_X>
  750.             <CONE_HALF_ANGLE_Y>0.667065</CONE_HALF_ANGLE_Y>
  751.             <CONE_STIFFNESS>800</CONE_STIFFNESS>
  752.             <CONE_DAMPING>1</CONE_DAMPING>
  753.             <TWIST_TYPE>2</TWIST_TYPE>
  754.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  755.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  756.             <TWIST_DAMPING>1</TWIST_DAMPING>
  757.             <POS1>0,0,0</POS1>
  758.             <POS2>0.1692512,0.100161,0.00089816</POS2>
  759.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  760.             <PRIMARY_AXIS2>0.101096,0.9948767,2.328307e-010</PRIMARY_AXIS2>
  761.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  762.             <ORTHOGONAL_AXIS2>0.9948606,-0.1010944,0.005675199</ORTHOGONAL_AXIS2>
  763.         </JOINT>
  764.         <JOINT id="ref_l_shoulder" part1="ref_l_shoulder" part2="ref_l_clavicle" type="skeletal">
  765.             <CONE_TYPE>2</CONE_TYPE>
  766.             <CONE_HALF_ANGLE_X>0.4385026</CONE_HALF_ANGLE_X>
  767.             <CONE_HALF_ANGLE_Y>0.4872682</CONE_HALF_ANGLE_Y>
  768.             <CONE_STIFFNESS>100</CONE_STIFFNESS>
  769.             <CONE_DAMPING>1</CONE_DAMPING>
  770.             <TWIST_TYPE>2</TWIST_TYPE>
  771.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  772.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  773.             <TWIST_DAMPING>1</TWIST_DAMPING>
  774.             <POS1>0,0,0</POS1>
  775.             <POS2>1.432397e-010,-0.1048889,-1.547999e-006</POS2>
  776.             <PRIMARY_AXIS1>-2.980232e-008,-0.9961947,-0.08715574</PRIMARY_AXIS1>
  777.             <PRIMARY_AXIS2>-2.468684e-008,-0.9188618,0.3945792</PRIMARY_AXIS2>
  778.             <ORTHOGONAL_AXIS1>1,-2.980232e-008,1.500449e-009</ORTHOGONAL_AXIS1>
  779.             <ORTHOGONAL_AXIS2>1,-2.616502e-008,1.015323e-009</ORTHOGONAL_AXIS2>
  780.         </JOINT>
  781.         <JOINT id="ref_l_wrist" part1="ref_l_wrist" part2="ref_l_forearm" type="hinge">
  782.             <HIGH_LIMIT>0.6191713</HIGH_LIMIT>
  783.             <LOW_LIMIT>-0.9821455</LOW_LIMIT>
  784.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  785.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  786.             <LIMITED>1</LIMITED>
  787.             <MOTORIZED>0</MOTORIZED>
  788.             <DES_VEL>1</DES_VEL>
  789.             <MAX_FORCE>1000</MAX_FORCE>
  790.             <POS1>0,0,0</POS1>
  791.             <POS2>-0.007695706,-0.4133332,-0.004687964</POS2>
  792.             <PRIMARY_AXIS1>0.9999998,0,0</PRIMARY_AXIS1>
  793.             <PRIMARY_AXIS2>0.9999998,1.881292e-008,-3.895747e-008</PRIMARY_AXIS2>
  794.             <ORTHOGONAL_AXIS1>0,-0.9999998,-8.429369e-008</ORTHOGONAL_AXIS1>
  795.             <ORTHOGONAL_AXIS2>1.881293e-008,-0.9999996,-1.211825e-007</ORTHOGONAL_AXIS2>
  796.         </JOINT>
  797.         <JOINT id="ref_neck" part1="ref_neck" part2="ref_sp3" type="hinge">
  798.             <HIGH_LIMIT>0.7112017</HIGH_LIMIT>
  799.             <LOW_LIMIT>-0.3249737</LOW_LIMIT>
  800.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  801.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  802.             <LIMITED>1</LIMITED>
  803.             <MOTORIZED>0</MOTORIZED>
  804.             <DES_VEL>1</DES_VEL>
  805.             <MAX_FORCE>1000</MAX_FORCE>
  806.             <POS1>0,0,0</POS1>
  807.             <POS2>6.146633e-014,-0.2473459,0.02814551</POS2>
  808.             <PRIMARY_AXIS1>0.9999998,0,0</PRIMARY_AXIS1>
  809.             <PRIMARY_AXIS2>0.9999998,-1.421556e-015,0</PRIMARY_AXIS2>
  810.             <ORTHOGONAL_AXIS1>0,-0.8660253,0.4999999</ORTHOGONAL_AXIS1>
  811.             <ORTHOGONAL_AXIS2>0,-0.8660253,0.4999999</ORTHOGONAL_AXIS2>
  812.         </JOINT>
  813.         <JOINT id="ref_r_clavicle" part1="ref_r_clavicle" part2="ref_sp3" type="hinge">
  814.             <HIGH_LIMIT>0.1168867</HIGH_LIMIT>
  815.             <LOW_LIMIT>-0.1635625</LOW_LIMIT>
  816.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  817.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  818.             <LIMITED>1</LIMITED>
  819.             <MOTORIZED>0</MOTORIZED>
  820.             <DES_VEL>1</DES_VEL>
  821.             <MAX_FORCE>1000</MAX_FORCE>
  822.             <POS1>0,0,0</POS1>
  823.             <POS2>-0.115707,-0.137233,-0.001634195</POS2>
  824.             <PRIMARY_AXIS1>-1.788139e-007,2.144621e-007,-0.9999999</PRIMARY_AXIS1>
  825.             <PRIMARY_AXIS2>0.3991452,0.9168876,1.761294e-007</PRIMARY_AXIS2>
  826.             <ORTHOGONAL_AXIS1>-4.822358e-014,-0.9999999,-2.144621e-007</ORTHOGONAL_AXIS1>
  827.             <ORTHOGONAL_AXIS2>-0.9168876,0.3991452,6.166664e-009</ORTHOGONAL_AXIS2>
  828.         </JOINT>
  829.         <JOINT id="ref_r_forearm" part1="ref_r_forearm" part2="ref_r_shoulder" type="hinge">
  830.             <HIGH_LIMIT>0.2141445</HIGH_LIMIT>
  831.             <LOW_LIMIT>-1.799649</LOW_LIMIT>
  832.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  833.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  834.             <LIMITED>1</LIMITED>
  835.             <MOTORIZED>0</MOTORIZED>
  836.             <DES_VEL>1</DES_VEL>
  837.             <MAX_FORCE>1000</MAX_FORCE>
  838.             <POS1>0,0,0</POS1>
  839.             <POS2>0.01028001,-0.4689987,0.005321001</POS2>
  840.             <PRIMARY_AXIS1>-2.086163e-007,8.429366e-008,0.9999998</PRIMARY_AXIS1>
  841.             <PRIMARY_AXIS2>-2.208694e-007,6.384862e-008,0.9999998</PRIMARY_AXIS2>
  842.             <ORTHOGONAL_AXIS1>2.943165e-015,-0.9999997,8.429366e-008</ORTHOGONAL_AXIS1>
  843.             <ORTHOGONAL_AXIS2>-4.187214e-010,-0.9999997,8.429366e-008</ORTHOGONAL_AXIS2>
  844.         </JOINT>
  845.         <JOINT id="ref_r_knee" part1="ref_r_knee" part2="ref_r_leg" type="hinge">
  846.             <HIGH_LIMIT>0.002071602</HIGH_LIMIT>
  847.             <LOW_LIMIT>-1.570796</LOW_LIMIT>
  848.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  849.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  850.             <LIMITED>1</LIMITED>
  851.             <MOTORIZED>0</MOTORIZED>
  852.             <DES_VEL>1</DES_VEL>
  853.             <MAX_FORCE>1000</MAX_FORCE>
  854.             <POS1>0,0,0</POS1>
  855.             <POS2>0.7649833,-1.636538e-005,-0.002853809</POS2>
  856.             <PRIMARY_AXIS1>1.013279e-006,-8.940698e-008,0.9999992</PRIMARY_AXIS1>
  857.             <PRIMARY_AXIS2>1.085036e-006,-0.9999832,0.005673481</PRIMARY_AXIS2>
  858.             <ORTHOGONAL_AXIS1>0.9999992,-5.960464e-008,-9.772739e-007</ORTHOGONAL_AXIS1>
  859.             <ORTHOGONAL_AXIS2>0.9857147,-0.0009544815,-0.1684162</ORTHOGONAL_AXIS2>
  860.         </JOINT>
  861.         <JOINT id="ref_r_leg" part1="ref_r_leg" part2="ref_hip" type="skeletal">
  862.             <CONE_TYPE>2</CONE_TYPE>
  863.             <CONE_HALF_ANGLE_X>0.247937</CONE_HALF_ANGLE_X>
  864.             <CONE_HALF_ANGLE_Y>0.715547</CONE_HALF_ANGLE_Y>
  865.             <CONE_STIFFNESS>800</CONE_STIFFNESS>
  866.             <CONE_DAMPING>1</CONE_DAMPING>
  867.             <TWIST_TYPE>2</TWIST_TYPE>
  868.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  869.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  870.             <TWIST_DAMPING>1</TWIST_DAMPING>
  871.             <POS1>0,0,0</POS1>
  872.             <POS2>-0.1692509,0.1001609,0.00089816</POS2>
  873.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  874.             <PRIMARY_AXIS2>-0.1010962,0.9948767,-2.328307e-010</PRIMARY_AXIS2>
  875.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  876.             <ORTHOGONAL_AXIS2>-0.9948606,-0.1010946,0.005675205</ORTHOGONAL_AXIS2>
  877.         </JOINT>
  878.         <JOINT id="ref_r_shoulder" part1="ref_r_shoulder" part2="ref_r_clavicle" type="skeletal">
  879.             <CONE_TYPE>2</CONE_TYPE>
  880.             <CONE_HALF_ANGLE_X>0.4162609</CONE_HALF_ANGLE_X>
  881.             <CONE_HALF_ANGLE_Y>0.4943735</CONE_HALF_ANGLE_Y>
  882.             <CONE_STIFFNESS>100</CONE_STIFFNESS>
  883.             <CONE_DAMPING>1</CONE_DAMPING>
  884.             <TWIST_TYPE>2</TWIST_TYPE>
  885.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  886.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  887.             <TWIST_DAMPING>1</TWIST_DAMPING>
  888.             <POS1>0,0,0</POS1>
  889.             <POS2>1.425015e-009,-0.104889,2.234542e-006</POS2>
  890.             <PRIMARY_AXIS1>-3.073364e-008,-0.9961947,0.08715576</PRIMARY_AXIS1>
  891.             <PRIMARY_AXIS2>-3.22187e-008,-0.9188606,-0.3945825</PRIMARY_AXIS2>
  892.             <ORTHOGONAL_AXIS1>1,-2.8871e-008,2.085129e-008</ORTHOGONAL_AXIS1>
  893.             <ORTHOGONAL_AXIS2>1,-4.146731e-008,1.530522e-008</ORTHOGONAL_AXIS2>
  894.         </JOINT>
  895.         <JOINT id="ref_r_wrist" part1="ref_r_wrist" part2="ref_r_forearm" type="hinge">
  896.             <HIGH_LIMIT>0.906401</HIGH_LIMIT>
  897.             <LOW_LIMIT>-0.5957681</LOW_LIMIT>
  898.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  899.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  900.             <LIMITED>1</LIMITED>
  901.             <MOTORIZED>0</MOTORIZED>
  902.             <DES_VEL>1</DES_VEL>
  903.             <MAX_FORCE>1000</MAX_FORCE>
  904.             <POS1>0,0,0</POS1>
  905.             <POS2>-0.01028,-0.4133425,0.004684162</POS2>
  906.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  907.             <PRIMARY_AXIS2>1,-1.256186e-009,3.675939e-008</PRIMARY_AXIS2>
  908.             <ORTHOGONAL_AXIS1>0,-1,-2.144621e-007</ORTHOGONAL_AXIS1>
  909.             <ORTHOGONAL_AXIS2>-1.256179e-009,-1,-2.144621e-007</ORTHOGONAL_AXIS2>
  910.         </JOINT>
  911.         <JOINT id="ref_sp1" part1="ref_sp1" part2="ref_cog" type="hinge">
  912.             <HIGH_LIMIT>0</HIGH_LIMIT>
  913.             <LOW_LIMIT>0</LOW_LIMIT>
  914.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  915.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  916.             <LIMITED>1</LIMITED>
  917.             <MOTORIZED>0</MOTORIZED>
  918.             <DES_VEL>1</DES_VEL>
  919.             <MAX_FORCE>1000</MAX_FORCE>
  920.             <POS1>0,0,0</POS1>
  921.             <POS2>7.973321e-015,-0.04372203,0.006396934</POS2>
  922.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  923.             <PRIMARY_AXIS2>1,0,0</PRIMARY_AXIS2>
  924.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  925.             <ORTHOGONAL_AXIS2>0,1,0</ORTHOGONAL_AXIS2>
  926.         </JOINT>
  927.         <JOINT id="ref_sp2" part1="ref_sp2" part2="ref_sp1" type="skeletal">
  928.             <CONE_TYPE>2</CONE_TYPE>
  929.             <CONE_HALF_ANGLE_X>0.174877</CONE_HALF_ANGLE_X>
  930.             <CONE_HALF_ANGLE_Y>0.1273557</CONE_HALF_ANGLE_Y>
  931.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  932.             <CONE_DAMPING>1</CONE_DAMPING>
  933.             <TWIST_TYPE>2</TWIST_TYPE>
  934.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  935.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  936.             <TWIST_DAMPING>1</TWIST_DAMPING>
  937.             <POS1>0,0,0</POS1>
  938.             <POS2>-6.070099e-015,-0.1874659,0.001143515</POS2>
  939.             <PRIMARY_AXIS1>-3.003515e-008,-0.9848078,-0.1736482</PRIMARY_AXIS1>
  940.             <PRIMARY_AXIS2>-3.003515e-008,-0.9848078,-0.1736482</PRIMARY_AXIS2>
  941.             <ORTHOGONAL_AXIS1>1,-2.956949e-008,9.673998e-010</ORTHOGONAL_AXIS1>
  942.             <ORTHOGONAL_AXIS2>1,-2.956949e-008,9.673998e-010</ORTHOGONAL_AXIS2>
  943.         </JOINT>
  944.         <JOINT id="ref_sp3" part1="ref_sp3" part2="ref_sp2" type="hinge">
  945.             <HIGH_LIMIT>0.2171255</HIGH_LIMIT>
  946.             <LOW_LIMIT>-0.06513439</LOW_LIMIT>
  947.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  948.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  949.             <LIMITED>1</LIMITED>
  950.             <MOTORIZED>0</MOTORIZED>
  951.             <DES_VEL>1</DES_VEL>
  952.             <MAX_FORCE>1000</MAX_FORCE>
  953.             <POS1>0,0,0</POS1>
  954.             <POS2>2.668094e-014,-0.309025,-0.07622435</POS2>
  955.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  956.             <PRIMARY_AXIS2>1,0,0</PRIMARY_AXIS2>
  957.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  958.             <ORTHOGONAL_AXIS2>0,1,0</ORTHOGONAL_AXIS2>
  959.         </JOINT>
  960.     </ASSET>
  961. </KARMA>