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Extensible Markup Language  |  2004-03-25  |  58.2 KB  |  1,225 lines
  1. <?xml version="1.0"?>
  2.  
  3. <KARMA ka_file_version="1.0">
  4.     <ASSET id="HeavyDress" graphic="HeavyDress_MaSkagit.PSK" scale="0.02" mass_scale="1" length_scale="1">
  5.         <GEOMETRY id="dressmiddleback">
  6.             <PRIMITIVE id="Part26" type="sphere">
  7.                 <RADIUS>0.05</RADIUS>
  8.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,0.2,0,1</TM>
  9.             </PRIMITIVE>
  10.         </GEOMETRY>
  11.         <GEOMETRY id="leftdressside">
  12.             <PRIMITIVE id="Part24" type="sphere">
  13.                 <RADIUS>0.054</RADIUS>
  14.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,0.2,0,1</TM>
  15.             </PRIMITIVE>
  16.         </GEOMETRY>
  17.         <GEOMETRY id="ref_cog">
  18.             <PRIMITIVE id="ref_cog_1" type="sphere">
  19.                 <RADIUS>0.1055553</RADIUS>
  20.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,0.3151629,0.09113302,1</TM>
  21.             </PRIMITIVE>
  22.         </GEOMETRY>
  23.         <GEOMETRY id="ref_head">
  24.             <PRIMITIVE id="ref_head_1" type="sphere">
  25.                 <RADIUS>0.2072767</RADIUS>
  26.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-0.04730915,0.1323665,0.0006901359,1</TM>
  27.             </PRIMITIVE>
  28.         </GEOMETRY>
  29.         <GEOMETRY id="ref_hip">
  30.             <PRIMITIVE id="ref_hip_1" type="sphere">
  31.                 <RADIUS>0.33</RADIUS>
  32.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,-0.09292251,0.01102982,1</TM>
  33.             </PRIMITIVE>
  34.         </GEOMETRY>
  35.         <GEOMETRY id="ref_jaw">
  36.             <PRIMITIVE id="ref_jaw_1" type="sphere">
  37.                 <RADIUS>0.04329991</RADIUS>
  38.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1112281,0.02964468,4.090309e-005,1</TM>
  39.             </PRIMITIVE>
  40.         </GEOMETRY>
  41.         <GEOMETRY id="ref_l_ankle">
  42.             <PRIMITIVE id="ref_l_ankle_1" type="sphyl">
  43.                 <RADIUS>0.06969585</RADIUS>
  44.                 <HEIGHT>0.2823919</HEIGHT>
  45.                 <TM>0.005789582,0.8588788,-0.5121462,0,0.999228,0.01493207,0.03633722,0,0.03885665,-0.5119612,-0.8581293,0,0.005486409,-0.07228684,-0.1211644,1</TM>
  46.             </PRIMITIVE>
  47.         </GEOMETRY>
  48.         <GEOMETRY id="ref_l_eye">
  49.             <PRIMITIVE id="ref_l_eye_1" type="sphere">
  50.                 <RADIUS>0.01356027</RADIUS>
  51.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-4.734993e-006,-0.0008299589,-0.01423378,1</TM>
  52.             </PRIMITIVE>
  53.         </GEOMETRY>
  54.         <GEOMETRY id="ref_l_f2">
  55.             <PRIMITIVE id="ref_l_f2_1" type="sphere">
  56.                 <RADIUS>0.01860042</RADIUS>
  57.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.001162773,0.02648123,0.003817334,1</TM>
  58.             </PRIMITIVE>
  59.         </GEOMETRY>
  60.         <GEOMETRY id="ref_l_forearm">
  61.             <PRIMITIVE id="ref_l_forearm_1" type="sphyl">
  62.                 <RADIUS>0.0874458</RADIUS>
  63.                 <HEIGHT>0.4271887</HEIGHT>
  64.                 <TM>0.9851652,0.1059772,-0.1349744,0,-0.1340148,-0.01615719,-0.9908474,0,-0.1071881,0.9942372,-0.001715103,0,-0.02289476,0.2123635,-0.0003663492,1</TM>
  65.             </PRIMITIVE>
  66.         </GEOMETRY>
  67.         <GEOMETRY id="ref_l_knee">
  68.             <PRIMITIVE id="ref_l_knee_1" type="sphyl">
  69.                 <RADIUS>0.1394106</RADIUS>
  70.                 <HEIGHT>0.6068117</HEIGHT>
  71.                 <TM>-0.06044561,-0.9975723,-0.03458054,0,0.01660476,-0.03564401,0.9992266,0,-0.9980335,0.05982469,0.01871898,0,-0.3028092,0.01815116,0.005679442,1</TM>
  72.             </PRIMITIVE>
  73.         </GEOMETRY>
  74.         <GEOMETRY id="ref_l_leg">
  75.             <PRIMITIVE id="ref_l_leg_1" type="sphyl">
  76.                 <RADIUS>0.16</RADIUS>
  77.                 <HEIGHT>0.582579</HEIGHT>
  78.                 <TM>-0.09414265,-0.9952292,-0.02561001,0,0.01517181,-0.02715547,0.9995161,0,-0.9954431,0.09370857,0.01765592,0,-0.2899621,0.02729632,0.005142988,1</TM>
  79.             </PRIMITIVE>
  80.         </GEOMETRY>
  81.         <GEOMETRY id="ref_l_r2">
  82.             <PRIMITIVE id="ref_l_r2_1" type="sphere">
  83.                 <RADIUS>0.02444611</RADIUS>
  84.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.002281709,0.03115488,0.004372077,1</TM>
  85.             </PRIMITIVE>
  86.         </GEOMETRY>
  87.         <GEOMETRY id="ref_l_shoulder">
  88.             <PRIMITIVE id="ref_l_shoulder_1" type="sphyl">
  89.                 <RADIUS>0.117481</RADIUS>
  90.                 <HEIGHT>0.4483175</HEIGHT>
  91.                 <TM>0.9941275,-0.0637854,0.08741795,0,0.08727638,-0.005007704,-0.9961715,0,0.06397897,0.997951,0.0005885586,0,0.01434144,0.2236995,0.0001319518,1</TM>
  92.             </PRIMITIVE>
  93.         </GEOMETRY>
  94.         <GEOMETRY id="ref_l_t1">
  95.             <PRIMITIVE id="ref_l_t1_1" type="sphyl">
  96.                 <RADIUS>0.02488894</RADIUS>
  97.                 <HEIGHT>0.1008938</HEIGHT>
  98.                 <TM>0.1476015,0.008372871,-0.9890113,0,-0.9875737,-0.05330802,-0.1478381,0,-0.05396017,0.998543,0.0004003795,0,-0.002722095,0.05037342,2.019182e-005,1</TM>
  99.             </PRIMITIVE>
  100.         </GEOMETRY>
  101.         <GEOMETRY id="ref_l_t2">
  102.             <PRIMITIVE id="ref_l_t2_1" type="sphere">
  103.                 <RADIUS>0.0195385</RADIUS>
  104.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-0.006606696,0.03109139,0.005846892,1</TM>
  105.             </PRIMITIVE>
  106.         </GEOMETRY>
  107.         <GEOMETRY id="ref_l_toe">
  108.             <PRIMITIVE id="ref_l_toe_1" type="sphere">
  109.                 <RADIUS>0.04810884</RADIUS>
  110.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-0.007982063,0.01086668,0.04631584,1</TM>
  111.             </PRIMITIVE>
  112.         </GEOMETRY>
  113.         <GEOMETRY id="ref_l_wrist">
  114.             <PRIMITIVE id="ref_l_wrist_1" type="sphere">
  115.                 <RADIUS>0.06</RADIUS>
  116.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.001405334,0.09686832,0.000480814,1</TM>
  117.             </PRIMITIVE>
  118.         </GEOMETRY>
  119.         <GEOMETRY id="ref_leftdressfront">
  120.             <PRIMITIVE id="Part22" type="sphere">
  121.                 <RADIUS>0.05</RADIUS>
  122.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,0.2,0,1</TM>
  123.             </PRIMITIVE>
  124.         </GEOMETRY>
  125.         <GEOMETRY id="ref_lefthamside">
  126.             <PRIMITIVE id="Part4" type="sphere">
  127.                 <RADIUS>0.05</RADIUS>
  128.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,-0.3,0,1</TM>
  129.             </PRIMITIVE>
  130.         </GEOMETRY>
  131.         <GEOMETRY id="ref_lefthemback">
  132.             <PRIMITIVE id="Part6" type="sphere">
  133.                 <RADIUS>0.05</RADIUS>
  134.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,-0.3,0,1</TM>
  135.             </PRIMITIVE>
  136.         </GEOMETRY>
  137.         <GEOMETRY id="ref_lefthemfront">
  138.             <PRIMITIVE id="Part0" type="sphere">
  139.                 <RADIUS>0.05</RADIUS>
  140.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,-0.3,0,1</TM>
  141.             </PRIMITIVE>
  142.         </GEOMETRY>
  143.         <GEOMETRY id="ref_m_um">
  144.             <PRIMITIVE id="ref_m_um_1" type="sphere">
  145.                 <RADIUS>0.01467787</RADIUS>
  146.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.003957312,0.005116878,-0.03685047,1</TM>
  147.             </PRIMITIVE>
  148.         </GEOMETRY>
  149.         <GEOMETRY id="ref_neck">
  150.             <PRIMITIVE id="Part9" type="sphere">
  151.                 <RADIUS>0.21</RADIUS>
  152.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,-0.2,0,1</TM>
  153.             </PRIMITIVE>
  154.         </GEOMETRY>
  155.         <GEOMETRY id="ref_r_ankle">
  156.             <PRIMITIVE id="ref_r_ankle_1" type="sphyl">
  157.                 <RADIUS>0.06969585</RADIUS>
  158.                 <HEIGHT>0.2824084</HEIGHT>
  159.                 <TM>-0.005789348,-0.01432234,-0.9998807,0,0.9992201,-0.03913725,-0.005224935,0,-0.03905773,-0.9991312,0.01453775,0,-0.005515106,-0.1410815,0.002052698,1</TM>
  160.             </PRIMITIVE>
  161.         </GEOMETRY>
  162.         <GEOMETRY id="ref_r_eye">
  163.             <PRIMITIVE id="ref_r_eye_1" type="sphere">
  164.                 <RADIUS>0.01356027</RADIUS>
  165.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-4.899502e-006,0.0008323431,0.01423378,1</TM>
  166.             </PRIMITIVE>
  167.         </GEOMETRY>
  168.         <GEOMETRY id="ref_r_f2">
  169.             <PRIMITIVE id="ref_r_f2_1" type="sphere">
  170.                 <RADIUS>0.01860042</RADIUS>
  171.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-0.00116308,-0.02648076,-0.003818414,1</TM>
  172.             </PRIMITIVE>
  173.         </GEOMETRY>
  174.         <GEOMETRY id="ref_r_forearm">
  175.             <PRIMITIVE id="ref_r_forearm_1" type="sphyl">
  176.                 <RADIUS>0.08744581</RADIUS>
  177.                 <HEIGHT>0.4271894</HEIGHT>
  178.                 <TM>-0.9851653,-0.1059772,0.1349744,0,-0.1340148,-0.01615765,-0.9908475,0,0.1071882,-0.9942373,0.001715559,0,0.02289481,-0.2123638,0.000366442,1</TM>
  179.             </PRIMITIVE>
  180.         </GEOMETRY>
  181.         <GEOMETRY id="ref_r_knee">
  182.             <PRIMITIVE id="ref_r_knee_1" type="sphyl">
  183.                 <RADIUS>0.1394106</RADIUS>
  184.                 <HEIGHT>0.6068075</HEIGHT>
  185.                 <TM>0.06044671,0.9975723,0.03458066,0,0.01660567,-0.03564419,0.9992266,0,0.9980333,-0.05982574,-0.01871993,0,0.3028071,-0.01815135,-0.005679692,1</TM>
  186.             </PRIMITIVE>
  187.         </GEOMETRY>
  188.         <GEOMETRY id="ref_r_leg">
  189.             <PRIMITIVE id="ref_r_leg_1" type="sphyl">
  190.                 <RADIUS>0.16</RADIUS>
  191.                 <HEIGHT>0.582581</HEIGHT>
  192.                 <TM>0.09414248,0.9952292,0.02560999,0,0.01517159,-0.02715543,0.9995161,0,0.9954432,-0.09370842,-0.0176557,0,0.2899629,-0.02729635,-0.005142928,1</TM>
  193.             </PRIMITIVE>
  194.         </GEOMETRY>
  195.         <GEOMETRY id="ref_r_r2">
  196.             <PRIMITIVE id="ref_r_r2_1" type="sphere">
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  198.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-0.002246776,-0.03115514,-0.004371479,1</TM>
  199.             </PRIMITIVE>
  200.         </GEOMETRY>
  201.         <GEOMETRY id="ref_r_shoulder">
  202.             <PRIMITIVE id="ref_r_shoulder_1" type="sphyl">
  203.                 <RADIUS>0.117481</RADIUS>
  204.                 <HEIGHT>0.4483198</HEIGHT>
  205.                 <TM>-0.9941275,0.06378545,-0.08741792,0,0.08727636,-0.005007194,-0.9961716,0,-0.06397897,-0.9979511,-0.0005890689,0,-0.01434151,-0.2237006,-0.0001320274,1</TM>
  206.             </PRIMITIVE>
  207.         </GEOMETRY>
  208.         <GEOMETRY id="ref_r_t1">
  209.             <PRIMITIVE id="ref_r_t1_1" type="sphyl">
  210.                 <RADIUS>0.02488895</RADIUS>
  211.                 <HEIGHT>0.1008943</HEIGHT>
  212.                 <TM>-0.1476015,-0.008372715,0.9890114,0,-0.9875731,-0.05332281,-0.1478381,0,0.05397478,-0.9985422,-0.0003980763,0,0.002722893,-0.0503736,-2.008551e-005,1</TM>
  213.             </PRIMITIVE>
  214.         </GEOMETRY>
  215.         <GEOMETRY id="ref_r_t2">
  216.             <PRIMITIVE id="ref_r_t2_1" type="sphere">
  217.                 <RADIUS>0.0195385</RADIUS>
  218.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.006607729,-0.03109163,-0.00584664,1</TM>
  219.             </PRIMITIVE>
  220.         </GEOMETRY>
  221.         <GEOMETRY id="ref_r_toe">
  222.             <PRIMITIVE id="ref_r_toe_1" type="sphere">
  223.                 <RADIUS>0.04810885</RADIUS>
  224.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.00803914,-0.01080512,-0.04633556,1</TM>
  225.             </PRIMITIVE>
  226.         </GEOMETRY>
  227.         <GEOMETRY id="ref_r_wrist">
  228.             <PRIMITIVE id="ref_r_wrist_1" type="sphere">
  229.                 <RADIUS>0.06</RADIUS>
  230.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-0.001405535,-0.09686705,-0.0004821205,1</TM>
  231.             </PRIMITIVE>
  232.         </GEOMETRY>
  233.         <GEOMETRY id="ref_rightdressfront">
  234.             <PRIMITIVE id="Part30" type="box">
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  236.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1</TM>
  237.             </PRIMITIVE>
  238.         </GEOMETRY>
  239.         <GEOMETRY id="ref_rightdressside">
  240.             <PRIMITIVE id="Part28" type="sphere">
  241.                 <RADIUS>0.05</RADIUS>
  242.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,0.2,0,1</TM>
  243.             </PRIMITIVE>
  244.         </GEOMETRY>
  245.         <GEOMETRY id="ref_righthemside">
  246.             <PRIMITIVE id="Part10" type="sphere">
  247.                 <RADIUS>0.05</RADIUS>
  248.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,-0.3,0,1</TM>
  249.             </PRIMITIVE>
  250.         </GEOMETRY>
  251.         <GEOMETRY id="ref_sp1">
  252.             <PRIMITIVE id="ref_sp1_1" type="sphyl">
  253.                 <RADIUS>0.2304889</RADIUS>
  254.                 <HEIGHT>0.3217596</HEIGHT>
  255.                 <TM>0.01024482,0.04586138,-0.9988953,0,0.9999474,-2.988573e-005,0.01025424,0,0.0004404206,-0.9989478,-0.04585927,0,7.085477e-005,-0.1607105,-0.007377829,1</TM>
  256.             </PRIMITIVE>
  257.         </GEOMETRY>
  258.         <GEOMETRY id="ref_sp2">
  259.             <PRIMITIVE id="ref_sp2_1" type="sphyl">
  260.                 <RADIUS>0.25</RADIUS>
  261.                 <HEIGHT>0.2</HEIGHT>
  262.                 <TM>-0.01467074,0.1112944,-0.9936793,0,0.9998912,6.358325e-005,-0.01475532,0,-0.001578938,-0.9937876,-0.1112832,0,-0.0008632201,-0.3190503,-0.05987244,1</TM>
  263.             </PRIMITIVE>
  264.         </GEOMETRY>
  265.         <GEOMETRY id="ref_sp3">
  266.             <PRIMITIVE id="ref_sp3_1" type="sphere">
  267.                 <RADIUS>0.1383816</RADIUS>
  268.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-0.000262413,-0.1771672,-0.05107446,1</TM>
  269.             </PRIMITIVE>
  270.         </GEOMETRY>
  271.         <GEOMETRY id="rightdressfront">
  272.             <PRIMITIVE id="Part20" type="sphere">
  273.                 <RADIUS>0.05</RADIUS>
  274.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,0.2,0,1</TM>
  275.             </PRIMITIVE>
  276.         </GEOMETRY>
  277.         <GEOMETRY id="righthemback">
  278.             <PRIMITIVE id="Part8" type="sphere">
  279.                 <RADIUS>0.05</RADIUS>
  280.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,-0.3,0,1</TM>
  281.             </PRIMITIVE>
  282.         </GEOMETRY>
  283.         <GEOMETRY id="righthemfront">
  284.             <PRIMITIVE id="Part2" type="sphere">
  285.                 <RADIUS>0.05</RADIUS>
  286.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,-0.3,0,1</TM>
  287.             </PRIMITIVE>
  288.         </GEOMETRY>
  289.         <MODEL id="ref_cog" type="dynamics_only" geometry="ref_cog">
  290.             <DYNAMICS>
  291.                 <MASS>0.004926392</MASS>
  292.                 <DENSITY>1</DENSITY>
  293.                 <MASS_OFFSET>0,0.3151629,0.09113302</MASS_OFFSET>
  294.                 <INERTIA>2.195579e-005,0,0,2.195579e-005,0,2.195579e-005</INERTIA>
  295.                 <LIN_DAMP>0</LIN_DAMP>
  296.                 <ANG_DAMP>0</ANG_DAMP>
  297.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  298.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  299.             </DYNAMICS>
  300.         </MODEL>
  301.         <MODEL id="ref_dressmiddleback" type="dynamics_only" geometry="dressmiddleback">
  302.             <DYNAMICS>
  303.                 <MASS>0.02281494</MASS>
  304.                 <DENSITY>1</DENSITY>
  305.                 <MASS_OFFSET>0,0.2,0</MASS_OFFSET>
  306.                 <INERTIA>2.281494e-005,0,0,2.281494e-005,0,2.281494e-005</INERTIA>
  307.                 <LIN_DAMP>0</LIN_DAMP>
  308.                 <ANG_DAMP>0</ANG_DAMP>
  309.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  310.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  311.             </DYNAMICS>
  312.         </MODEL>
  313.         <MODEL id="ref_hip" type="dynamics_and_geometry" geometry="ref_hip">
  314.             <DYNAMICS>
  315.                 <MASS>0.1505326</MASS>
  316.                 <DENSITY>1</DENSITY>
  317.                 <MASS_OFFSET>0,-0.09292251,0.01102982</MASS_OFFSET>
  318.                 <INERTIA>0.006557203,0,0,0.006557203,0,0.006557203</INERTIA>
  319.                 <LIN_DAMP>0</LIN_DAMP>
  320.                 <ANG_DAMP>0</ANG_DAMP>
  321.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  322.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  323.             </DYNAMICS>
  324.         </MODEL>
  325.         <MODEL id="ref_l_clavicle" type="dynamics_only">
  326.             <DYNAMICS>
  327.                 <MASS>1</MASS>
  328.                 <DENSITY>1</DENSITY>
  329.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  330.                 <INERTIA>0.4000002,0,0,0.4000002,0,0.4000002</INERTIA>
  331.                 <LIN_DAMP>0</LIN_DAMP>
  332.                 <ANG_DAMP>0</ANG_DAMP>
  333.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  334.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  335.             </DYNAMICS>
  336.         </MODEL>
  337.         <MODEL id="ref_l_forearm" type="dynamics_and_geometry" geometry="ref_l_forearm">
  338.             <DYNAMICS>
  339.                 <MASS>0.01308078</MASS>
  340.                 <DENSITY>1</DENSITY>
  341.                 <MASS_OFFSET>-0.02289476,0.2123635,-0.0003663492</MASS_OFFSET>
  342.                 <INERTIA>0.0003447742,3.177794e-005,-5.482807e-008,5.343965e-005,5.084333e-007,0.0003481993</INERTIA>
  343.                 <LIN_DAMP>0</LIN_DAMP>
  344.                 <ANG_DAMP>0</ANG_DAMP>
  345.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  346.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  347.             </DYNAMICS>
  348.         </MODEL>
  349.         <MODEL id="ref_l_knee" type="dynamics_and_geometry" geometry="ref_l_knee">
  350.             <DYNAMICS>
  351.                 <MASS>0.04847082</MASS>
  352.                 <DENSITY>1</DENSITY>
  353.                 <MASS_OFFSET>-0.3028092,0.01815116,0.005679442</MASS_OFFSET>
  354.                 <INERTIA>0.0004801,0.0001379237,4.315596e-005,0.002772765,-2.586871e-006,0.002780223</INERTIA>
  355.                 <LIN_DAMP>0</LIN_DAMP>
  356.                 <ANG_DAMP>0</ANG_DAMP>
  357.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  358.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  359.             </DYNAMICS>
  360.         </MODEL>
  361.         <MODEL id="ref_l_leg" type="dynamics_and_geometry" geometry="ref_l_leg">
  362.             <DYNAMICS>
  363.                 <MASS>0.06411799</MASS>
  364.                 <DENSITY>1</DENSITY>
  365.                 <MASS_OFFSET>-0.2899621,0.02729632,0.005142988</MASS_OFFSET>
  366.                 <INERTIA>0.0008478595,0.0002785132,5.247556e-005,0.003780219,-4.939884e-006,0.003805508</INERTIA>
  367.                 <LIN_DAMP>0</LIN_DAMP>
  368.                 <ANG_DAMP>0</ANG_DAMP>
  369.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  370.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  371.             </DYNAMICS>
  372.         </MODEL>
  373.         <MODEL id="ref_l_shoulder" type="dynamics_and_geometry" geometry="ref_l_shoulder">
  374.             <DYNAMICS>
  375.                 <MASS>0.02627309</MASS>
  376.                 <DENSITY>1</DENSITY>
  377.                 <MASS_OFFSET>0.01434144,0.2236995,0.0001319518</MASS_OFFSET>
  378.                 <INERTIA>0.0008915966,-4.553683e-005,-2.684694e-008,0.0001842274,-4.18998e-007,0.0008945157</INERTIA>
  379.                 <LIN_DAMP>0</LIN_DAMP>
  380.                 <ANG_DAMP>0</ANG_DAMP>
  381.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  382.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  383.             </DYNAMICS>
  384.         </MODEL>
  385.         <MODEL id="ref_l_wrist" type="dynamics_and_geometry" geometry="ref_l_wrist">
  386.             <DYNAMICS>
  387.                 <MASS>0.0009047791</MASS>
  388.                 <DENSITY>1</DENSITY>
  389.                 <MASS_OFFSET>0.001405334,0.09686832,0.000480814</MASS_OFFSET>
  390.                 <INERTIA>1.302882e-006,0,0,1.302882e-006,0,1.302882e-006</INERTIA>
  391.                 <LIN_DAMP>0</LIN_DAMP>
  392.                 <ANG_DAMP>0</ANG_DAMP>
  393.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  394.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  395.             </DYNAMICS>
  396.         </MODEL>
  397.         <MODEL id="ref_leftdressfront" type="dynamics_only" geometry="ref_leftdressfront">
  398.             <DYNAMICS>
  399.                 <MASS>0.02281494</MASS>
  400.                 <DENSITY>1</DENSITY>
  401.                 <MASS_OFFSET>0,0.2,0</MASS_OFFSET>
  402.                 <INERTIA>2.281494e-005,0,0,2.281494e-005,0,2.281494e-005</INERTIA>
  403.                 <LIN_DAMP>0</LIN_DAMP>
  404.                 <ANG_DAMP>0</ANG_DAMP>
  405.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  406.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  407.             </DYNAMICS>
  408.         </MODEL>
  409.         <MODEL id="ref_leftdressside" type="dynamics_only" geometry="leftdressside">
  410.             <DYNAMICS>
  411.                 <MASS>0.02874025</MASS>
  412.                 <DENSITY>1</DENSITY>
  413.                 <MASS_OFFSET>0,0.2,0</MASS_OFFSET>
  414.                 <INERTIA>3.352263e-005,0,0,3.352263e-005,0,3.352263e-005</INERTIA>
  415.                 <LIN_DAMP>0</LIN_DAMP>
  416.                 <ANG_DAMP>0</ANG_DAMP>
  417.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  418.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  419.             </DYNAMICS>
  420.         </MODEL>
  421.         <MODEL id="ref_neck" type="dynamics_and_geometry" geometry="ref_neck">
  422.             <DYNAMICS>
  423.                 <MASS>0.0387924</MASS>
  424.                 <DENSITY>1</DENSITY>
  425.                 <MASS_OFFSET>0,-0.2,0</MASS_OFFSET>
  426.                 <INERTIA>0.0006842979,0,0,0.0006842979,0,0.0006842979</INERTIA>
  427.                 <LIN_DAMP>0</LIN_DAMP>
  428.                 <ANG_DAMP>0</ANG_DAMP>
  429.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  430.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  431.             </DYNAMICS>
  432.         </MODEL>
  433.         <MODEL id="ref_r_clavicle" type="dynamics_only">
  434.             <DYNAMICS>
  435.                 <MASS>1</MASS>
  436.                 <DENSITY>1</DENSITY>
  437.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  438.                 <INERTIA>0.4000002,0,0,0.4000002,0,0.4000002</INERTIA>
  439.                 <LIN_DAMP>0</LIN_DAMP>
  440.                 <ANG_DAMP>0</ANG_DAMP>
  441.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  442.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  443.             </DYNAMICS>
  444.         </MODEL>
  445.         <MODEL id="ref_r_forearm" type="dynamics_and_geometry" geometry="ref_r_forearm">
  446.             <DYNAMICS>
  447.                 <MASS>0.0130808</MASS>
  448.                 <DENSITY>1</DENSITY>
  449.                 <MASS_OFFSET>0.02289481,-0.2123638,0.000366442</MASS_OFFSET>
  450.                 <INERTIA>0.0003447757,3.17781e-005,-5.48259e-008,5.343977e-005,5.085724e-007,0.0003482008</INERTIA>
  451.                 <LIN_DAMP>0</LIN_DAMP>
  452.                 <ANG_DAMP>0</ANG_DAMP>
  453.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  454.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  455.             </DYNAMICS>
  456.         </MODEL>
  457.         <MODEL id="ref_r_knee" type="dynamics_and_geometry" geometry="ref_r_knee">
  458.             <DYNAMICS>
  459.                 <MASS>0.04847057</MASS>
  460.                 <DENSITY>1</DENSITY>
  461.                 <MASS_OFFSET>0.3028071,-0.01815135,-0.005679692</MASS_OFFSET>
  462.                 <INERTIA>0.0004800976,0.0001379238,4.315743e-005,0.002772723,-2.586966e-006,0.002780181</INERTIA>
  463.                 <LIN_DAMP>0</LIN_DAMP>
  464.                 <ANG_DAMP>0</ANG_DAMP>
  465.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  466.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  467.             </DYNAMICS>
  468.         </MODEL>
  469.         <MODEL id="ref_r_leg" type="dynamics_and_geometry" geometry="ref_r_leg">
  470.             <DYNAMICS>
  471.                 <MASS>0.06411815</MASS>
  472.                 <DENSITY>1</DENSITY>
  473.                 <MASS_OFFSET>0.2899629,-0.02729635,-0.005142928</MASS_OFFSET>
  474.                 <INERTIA>0.0008478619,0.000278515,5.24753e-005,0.003780245,-4.939856e-006,0.003805534</INERTIA>
  475.                 <LIN_DAMP>0</LIN_DAMP>
  476.                 <ANG_DAMP>0</ANG_DAMP>
  477.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  478.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  479.             </DYNAMICS>
  480.         </MODEL>
  481.         <MODEL id="ref_r_shoulder" type="dynamics_and_geometry" geometry="ref_r_shoulder">
  482.             <DYNAMICS>
  483.                 <MASS>0.02627319</MASS>
  484.                 <DENSITY>1</DENSITY>
  485.                 <MASS_OFFSET>-0.01434151,-0.2237006,-0.0001320274</MASS_OFFSET>
  486.                 <INERTIA>0.0008916061,-4.55374e-005,-2.686388e-008,0.0001842281,-4.193673e-007,0.0008945253</INERTIA>
  487.                 <LIN_DAMP>0</LIN_DAMP>
  488.                 <ANG_DAMP>0</ANG_DAMP>
  489.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  490.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  491.             </DYNAMICS>
  492.         </MODEL>
  493.         <MODEL id="ref_r_wrist" type="dynamics_and_geometry" geometry="ref_r_wrist">
  494.             <DYNAMICS>
  495.                 <MASS>0.0009047791</MASS>
  496.                 <DENSITY>1</DENSITY>
  497.                 <MASS_OFFSET>-0.001405535,-0.09686705,-0.0004821205</MASS_OFFSET>
  498.                 <INERTIA>1.302882e-006,0,0,1.302882e-006,0,1.302882e-006</INERTIA>
  499.                 <LIN_DAMP>0</LIN_DAMP>
  500.                 <ANG_DAMP>0</ANG_DAMP>
  501.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  502.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  503.             </DYNAMICS>
  504.         </MODEL>
  505.         <MODEL id="ref_rightdressfront" type="dynamics_only" geometry="rightdressfront">
  506.             <DYNAMICS>
  507.                 <MASS>0.02281494</MASS>
  508.                 <DENSITY>1</DENSITY>
  509.                 <MASS_OFFSET>0,0.2,0</MASS_OFFSET>
  510.                 <INERTIA>2.281494e-005,0,0,2.281494e-005,0,2.281494e-005</INERTIA>
  511.                 <LIN_DAMP>0</LIN_DAMP>
  512.                 <ANG_DAMP>0</ANG_DAMP>
  513.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  514.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  515.             </DYNAMICS>
  516.         </MODEL>
  517.         <MODEL id="ref_rightdressside" type="dynamics_only" geometry="ref_rightdressside">
  518.             <DYNAMICS>
  519.                 <MASS>0.02281494</MASS>
  520.                 <DENSITY>1</DENSITY>
  521.                 <MASS_OFFSET>0,0.2,0</MASS_OFFSET>
  522.                 <INERTIA>2.281494e-005,0,0,2.281494e-005,0,2.281494e-005</INERTIA>
  523.                 <LIN_DAMP>0</LIN_DAMP>
  524.                 <ANG_DAMP>0</ANG_DAMP>
  525.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  526.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  527.             </DYNAMICS>
  528.         </MODEL>
  529.         <MODEL id="ref_sp1" type="dynamics_only" geometry="ref_sp1">
  530.             <DYNAMICS>
  531.                 <MASS>0.1053112</MASS>
  532.                 <DENSITY>1</DENSITY>
  533.                 <MASS_OFFSET>7.085477e-005,-0.1607105,-0.007377829</MASS_OFFSET>
  534.                 <INERTIA>0.00489282,9.219251e-007,4.232589e-008,0.002801742,-9.599634e-005,0.004888414</INERTIA>
  535.                 <LIN_DAMP>0</LIN_DAMP>
  536.                 <ANG_DAMP>0</ANG_DAMP>
  537.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  538.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  539.             </DYNAMICS>
  540.         </MODEL>
  541.         <MODEL id="ref_sp2" type="dynamics_and_geometry" geometry="ref_sp2">
  542.             <DYNAMICS>
  543.                 <MASS>0.1051276</MASS>
  544.                 <DENSITY>1</DENSITY>
  545.                 <MASS_OFFSET>-0.0008632201,-0.3190503,-0.05987244</MASS_OFFSET>
  546.                 <INERTIA>0.004153972,-1.363438e-006,-1.525943e-007,0.003295998,-9.607524e-005,0.004143217</INERTIA>
  547.                 <LIN_DAMP>0</LIN_DAMP>
  548.                 <ANG_DAMP>0</ANG_DAMP>
  549.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  550.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  551.             </DYNAMICS>
  552.         </MODEL>
  553.         <MODEL id="ref_sp3" type="dynamics_only" geometry="ref_sp3">
  554.             <DYNAMICS>
  555.                 <MASS>0.01110002</MASS>
  556.                 <DENSITY>1</DENSITY>
  557.                 <MASS_OFFSET>-0.000262413,-0.1771672,-0.05107446</MASS_OFFSET>
  558.                 <INERTIA>8.502381e-005,0,0,8.502381e-005,0,8.502381e-005</INERTIA>
  559.                 <LIN_DAMP>0</LIN_DAMP>
  560.                 <ANG_DAMP>0</ANG_DAMP>
  561.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  562.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  563.             </DYNAMICS>
  564.         </MODEL>
  565.         <PART id="ref_cog" model="ref_cog">
  566.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,-6.993822e-008,1.6,0,1</TM>
  567.         </PART>
  568.         <PART id="ref_dressmiddleback" model="ref_dressmiddleback" parent="ref_cog">
  569.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,-1.224483e-007,0.9993547,-0.4545009,1</TM>
  570.         </PART>
  571.         <PART id="ref_hip" model="ref_hip" parent="ref_cog">
  572.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,-6.993758e-008,1.6,0,1</TM>
  573.         </PART>
  574.         <PART id="ref_l_clavicle" model="ref_l_clavicle" parent="ref_sp3">
  575.             <TM>-0.1436868,3.370019e-008,0.9896232,0,-0.9239544,-0.358206,-0.1341521,0,0.354489,-0.9336426,0.05146951,0,-0.1576933,2.497813,-0.1619717,1</TM>
  576.         </PART>
  577.         <PART id="ref_l_forearm" model="ref_l_forearm" parent="ref_l_shoulder">
  578.             <TM>0.1710425,-1.14383e-006,0.9852636,0,-0.6702659,-0.7329424,0.1163578,0,0.7221414,-0.6802907,-0.1253651,0,-0.6129475,2.138865,-0.1663691,1</TM>
  579.         </PART>
  580.         <PART id="ref_l_knee" model="ref_l_knee" parent="ref_l_leg">
  581.             <TM>0.1010518,0.9914757,0.08224665,0,0.0283503,0.07976651,-0.9964103,0,-0.9944772,0.1030208,-0.02004808,0,-0.2944022,0.9208754,-0.03069554,1</TM>
  582.         </PART>
  583.         <PART id="ref_l_leg" model="ref_l_leg" parent="ref_hip">
  584.             <TM>0.1032006,0.9938538,-0.04005244,0,0.01582998,-0.04190345,-0.9989963,0,-0.9945346,0.102463,-0.02005715,0,-0.2251881,1.498469,0.0008212714,1</TM>
  585.         </PART>
  586.         <PART id="ref_l_shoulder" model="ref_l_shoulder" parent="ref_l_clavicle">
  587.             <TM>-0.1073817,2.068782e-007,0.9942179,0,-0.681582,-0.7280294,-0.07361496,0,0.7238198,-0.6855459,0.0781772,0,-0.3051144,2.464767,-0.1619719,1</TM>
  588.         </PART>
  589.         <PART id="ref_l_wrist" model="ref_l_wrist" parent="ref_l_forearm">
  590.             <TM>0.1076921,-0.003266358,0.994179,0,-0.6625249,-0.7458258,0.06931609,0,0.7412578,-0.6661331,-0.08248362,0,-0.9059966,1.828056,-0.1619717,1</TM>
  591.         </PART>
  592.         <PART id="ref_leftdressfront" model="ref_leftdressfront" parent="ref_cog">
  593.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,-0.2943557,0.9214498,0.3140456,1</TM>
  594.         </PART>
  595.         <PART id="ref_leftdressside" model="ref_leftdressside" parent="ref_cog">
  596.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,-0.5299665,0.9993547,-0.09879141,1</TM>
  597.         </PART>
  598.         <PART id="ref_neck" model="ref_neck" parent="ref_sp3">
  599.             <TM>0.9999824,-8.825282e-008,-0.005928735,0,6.08052e-005,-0.9999472,0.01027072,0,-0.005928423,-0.0102709,-0.9999297,0,4.844615e-008,2.643301,-0.120969,1</TM>
  600.         </PART>
  601.         <PART id="ref_r_clavicle" model="ref_r_clavicle" parent="ref_sp3">
  602.             <TM>-0.1436859,-7.31592e-009,-0.9896234,0,-0.9239544,0.3582062,0.1341512,0,0.3544892,0.9336425,-0.05146918,0,0.1576937,2.497813,-0.1619719,1</TM>
  603.         </PART>
  604.         <PART id="ref_r_forearm" model="ref_r_forearm" parent="ref_r_shoulder">
  605.             <TM>0.1710437,-1.920322e-007,-0.9852635,0,-0.6702694,0.7329388,-0.1163603,0,0.7221378,0.6802947,0.1253644,0,0.6129503,2.138865,-0.1663697,1</TM>
  606.         </PART>
  607.         <PART id="ref_r_knee" model="ref_r_knee" parent="ref_r_leg">
  608.             <TM>0.1010518,-0.9914757,-0.08224606,0,0.02835021,-0.07976593,0.9964104,0,-0.9944771,-0.1030207,0.02004806,0,0.2944018,0.9208731,-0.03069576,1</TM>
  609.         </PART>
  610.         <PART id="ref_r_leg" model="ref_r_leg" parent="ref_hip">
  611.             <TM>0.1032004,-0.9938539,0.04005244,0,0.01582999,0.04190344,0.9989963,0,-0.9945346,-0.1024628,0.02005715,0,0.2251877,1.498469,0.0008212685,1</TM>
  612.         </PART>
  613.         <PART id="ref_r_shoulder" model="ref_r_shoulder" parent="ref_r_clavicle">
  614.             <TM>-0.1073806,-1.880534e-007,-0.994218,0,-0.6815849,0.7280267,0.07361454,0,0.7238172,0.6855487,-0.0781761,0,0.3051138,2.464769,-0.161972,1</TM>
  615.         </PART>
  616.         <PART id="ref_r_wrist" model="ref_r_wrist" parent="ref_r_forearm">
  617.             <TM>0.1076936,0.003264834,-0.9941788,0,-0.6625331,0.7458181,-0.06931914,0,0.7412502,0.6661416,0.08248292,0,0.9059997,1.828062,-0.1619731,1</TM>
  618.         </PART>
  619.         <PART id="ref_rightdressfront" model="ref_rightdressfront" parent="ref_cog">
  620.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,0.2953193,0.9240044,0.3140456,1</TM>
  621.         </PART>
  622.         <PART id="ref_rightdressside" model="ref_rightdressside" parent="ref_cog">
  623.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,0.5299663,0.9993547,-0.09879141,1</TM>
  624.         </PART>
  625.         <PART id="ref_sp1" model="ref_sp1" parent="ref_cog">
  626.             <TM>-0.9999474,8.741818e-008,-0.01025428,0,2.979832e-005,-0.9999958,-0.002914312,0,-0.01025424,-0.002914464,0.9999432,0,-6.611526e-008,1.643722,0.006396933,1</TM>
  627.         </PART>
  628.         <PART id="ref_sp2" model="ref_sp2" parent="ref_sp1">
  629.             <TM>-0.9998912,8.74232e-008,0.01475543,0,-6.373989e-005,-0.9999907,-0.004313363,0,0.01475529,-0.004313834,0.9998819,0,-3.792264e-008,1.965185,-0.007422624,1</TM>
  630.         </PART>
  631.         <PART id="ref_sp3" model="ref_sp3" parent="ref_sp2">
  632.             <TM>0.9999946,-8.812362e-008,-0.003271168,0,-7.972122e-006,-0.9999971,-0.002410135,0,-0.003271158,0.002410148,-0.9999917,0,3.997494e-008,2.360581,-0.1603375,1</TM>
  633.         </PART>
  634.         <NO_COLLISION part1="ref_cog" part2="ref_dressmiddleback"></NO_COLLISION>
  635.         <NO_COLLISION part1="ref_cog" part2="ref_hip"></NO_COLLISION>
  636.         <NO_COLLISION part1="ref_cog" part2="ref_l_clavicle"></NO_COLLISION>
  637.         <NO_COLLISION part1="ref_cog" part2="ref_l_forearm"></NO_COLLISION>
  638.         <NO_COLLISION part1="ref_cog" part2="ref_l_knee"></NO_COLLISION>
  639.         <NO_COLLISION part1="ref_cog" part2="ref_l_leg"></NO_COLLISION>
  640.         <NO_COLLISION part1="ref_cog" part2="ref_l_shoulder"></NO_COLLISION>
  641.         <NO_COLLISION part1="ref_cog" part2="ref_l_wrist"></NO_COLLISION>
  642.         <NO_COLLISION part1="ref_cog" part2="ref_leftdressfront"></NO_COLLISION>
  643.         <NO_COLLISION part1="ref_cog" part2="ref_leftdressside"></NO_COLLISION>
  644.         <NO_COLLISION part1="ref_cog" part2="ref_neck"></NO_COLLISION>
  645.         <NO_COLLISION part1="ref_cog" part2="ref_r_clavicle"></NO_COLLISION>
  646.         <NO_COLLISION part1="ref_cog" part2="ref_r_forearm"></NO_COLLISION>
  647.         <NO_COLLISION part1="ref_cog" part2="ref_r_knee"></NO_COLLISION>
  648.         <NO_COLLISION part1="ref_cog" part2="ref_r_leg"></NO_COLLISION>
  649.         <NO_COLLISION part1="ref_cog" part2="ref_r_shoulder"></NO_COLLISION>
  650.         <NO_COLLISION part1="ref_cog" part2="ref_r_wrist"></NO_COLLISION>
  651.         <NO_COLLISION part1="ref_cog" part2="ref_rightdressfront"></NO_COLLISION>
  652.         <NO_COLLISION part1="ref_cog" part2="ref_rightdressside"></NO_COLLISION>
  653.         <NO_COLLISION part1="ref_cog" part2="ref_sp1"></NO_COLLISION>
  654.         <NO_COLLISION part1="ref_cog" part2="ref_sp2"></NO_COLLISION>
  655.         <NO_COLLISION part1="ref_cog" part2="ref_sp3"></NO_COLLISION>
  656.         <NO_COLLISION part1="ref_dressmiddleback" part2="ref_hip"></NO_COLLISION>
  657.         <NO_COLLISION part1="ref_dressmiddleback" part2="ref_l_clavicle"></NO_COLLISION>
  658.         <NO_COLLISION part1="ref_dressmiddleback" part2="ref_l_forearm"></NO_COLLISION>
  659.         <NO_COLLISION part1="ref_dressmiddleback" part2="ref_l_leg"></NO_COLLISION>
  660.         <NO_COLLISION part1="ref_dressmiddleback" part2="ref_l_shoulder"></NO_COLLISION>
  661.         <NO_COLLISION part1="ref_dressmiddleback" part2="ref_l_wrist"></NO_COLLISION>
  662.         <NO_COLLISION part1="ref_dressmiddleback" part2="ref_neck"></NO_COLLISION>
  663.         <NO_COLLISION part1="ref_dressmiddleback" part2="ref_r_clavicle"></NO_COLLISION>
  664.         <NO_COLLISION part1="ref_dressmiddleback" part2="ref_r_forearm"></NO_COLLISION>
  665.         <NO_COLLISION part1="ref_dressmiddleback" part2="ref_r_leg"></NO_COLLISION>
  666.         <NO_COLLISION part1="ref_dressmiddleback" part2="ref_r_shoulder"></NO_COLLISION>
  667.         <NO_COLLISION part1="ref_dressmiddleback" part2="ref_r_wrist"></NO_COLLISION>
  668.         <NO_COLLISION part1="ref_dressmiddleback" part2="ref_sp1"></NO_COLLISION>
  669.         <NO_COLLISION part1="ref_dressmiddleback" part2="ref_sp2"></NO_COLLISION>
  670.         <NO_COLLISION part1="ref_dressmiddleback" part2="ref_sp3"></NO_COLLISION>
  671.         <NO_COLLISION part1="ref_hip" part2="ref_l_clavicle"></NO_COLLISION>
  672.         <NO_COLLISION part1="ref_hip" part2="ref_l_forearm"></NO_COLLISION>
  673.         <NO_COLLISION part1="ref_hip" part2="ref_l_knee"></NO_COLLISION>
  674.         <NO_COLLISION part1="ref_hip" part2="ref_l_leg"></NO_COLLISION>
  675.         <NO_COLLISION part1="ref_hip" part2="ref_l_shoulder"></NO_COLLISION>
  676.         <NO_COLLISION part1="ref_hip" part2="ref_l_wrist"></NO_COLLISION>
  677.         <NO_COLLISION part1="ref_hip" part2="ref_leftdressfront"></NO_COLLISION>
  678.         <NO_COLLISION part1="ref_hip" part2="ref_leftdressside"></NO_COLLISION>
  679.         <NO_COLLISION part1="ref_hip" part2="ref_neck"></NO_COLLISION>
  680.         <NO_COLLISION part1="ref_hip" part2="ref_r_clavicle"></NO_COLLISION>
  681.         <NO_COLLISION part1="ref_hip" part2="ref_r_forearm"></NO_COLLISION>
  682.         <NO_COLLISION part1="ref_hip" part2="ref_r_knee"></NO_COLLISION>
  683.         <NO_COLLISION part1="ref_hip" part2="ref_r_leg"></NO_COLLISION>
  684.         <NO_COLLISION part1="ref_hip" part2="ref_r_shoulder"></NO_COLLISION>
  685.         <NO_COLLISION part1="ref_hip" part2="ref_r_wrist"></NO_COLLISION>
  686.         <NO_COLLISION part1="ref_hip" part2="ref_rightdressfront"></NO_COLLISION>
  687.         <NO_COLLISION part1="ref_hip" part2="ref_rightdressside"></NO_COLLISION>
  688.         <NO_COLLISION part1="ref_hip" part2="ref_sp1"></NO_COLLISION>
  689.         <NO_COLLISION part1="ref_hip" part2="ref_sp2"></NO_COLLISION>
  690.         <NO_COLLISION part1="ref_hip" part2="ref_sp3"></NO_COLLISION>
  691.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_l_forearm"></NO_COLLISION>
  692.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_l_knee"></NO_COLLISION>
  693.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_l_leg"></NO_COLLISION>
  694.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_l_shoulder"></NO_COLLISION>
  695.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_l_wrist"></NO_COLLISION>
  696.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_leftdressfront"></NO_COLLISION>
  697.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_leftdressside"></NO_COLLISION>
  698.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_neck"></NO_COLLISION>
  699.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_clavicle"></NO_COLLISION>
  700.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_forearm"></NO_COLLISION>
  701.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_knee"></NO_COLLISION>
  702.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_leg"></NO_COLLISION>
  703.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_shoulder"></NO_COLLISION>
  704.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_wrist"></NO_COLLISION>
  705.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_rightdressfront"></NO_COLLISION>
  706.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_rightdressside"></NO_COLLISION>
  707.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_sp1"></NO_COLLISION>
  708.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_sp2"></NO_COLLISION>
  709.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_sp3"></NO_COLLISION>
  710.         <NO_COLLISION part1="ref_l_forearm" part2="ref_l_knee"></NO_COLLISION>
  711.         <NO_COLLISION part1="ref_l_forearm" part2="ref_l_leg"></NO_COLLISION>
  712.         <NO_COLLISION part1="ref_l_forearm" part2="ref_l_shoulder"></NO_COLLISION>
  713.         <NO_COLLISION part1="ref_l_forearm" part2="ref_l_wrist"></NO_COLLISION>
  714.         <NO_COLLISION part1="ref_l_forearm" part2="ref_leftdressfront"></NO_COLLISION>
  715.         <NO_COLLISION part1="ref_l_forearm" part2="ref_leftdressside"></NO_COLLISION>
  716.         <NO_COLLISION part1="ref_l_forearm" part2="ref_neck"></NO_COLLISION>
  717.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_clavicle"></NO_COLLISION>
  718.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_forearm"></NO_COLLISION>
  719.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_knee"></NO_COLLISION>
  720.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_leg"></NO_COLLISION>
  721.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_shoulder"></NO_COLLISION>
  722.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_wrist"></NO_COLLISION>
  723.         <NO_COLLISION part1="ref_l_forearm" part2="ref_rightdressfront"></NO_COLLISION>
  724.         <NO_COLLISION part1="ref_l_forearm" part2="ref_rightdressside"></NO_COLLISION>
  725.         <NO_COLLISION part1="ref_l_forearm" part2="ref_sp1"></NO_COLLISION>
  726.         <NO_COLLISION part1="ref_l_forearm" part2="ref_sp2"></NO_COLLISION>
  727.         <NO_COLLISION part1="ref_l_forearm" part2="ref_sp3"></NO_COLLISION>
  728.         <NO_COLLISION part1="ref_l_knee" part2="ref_l_leg"></NO_COLLISION>
  729.         <NO_COLLISION part1="ref_l_knee" part2="ref_l_shoulder"></NO_COLLISION>
  730.         <NO_COLLISION part1="ref_l_knee" part2="ref_l_wrist"></NO_COLLISION>
  731.         <NO_COLLISION part1="ref_l_knee" part2="ref_neck"></NO_COLLISION>
  732.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_clavicle"></NO_COLLISION>
  733.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_forearm"></NO_COLLISION>
  734.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_leg"></NO_COLLISION>
  735.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_shoulder"></NO_COLLISION>
  736.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_wrist"></NO_COLLISION>
  737.         <NO_COLLISION part1="ref_l_knee" part2="ref_sp1"></NO_COLLISION>
  738.         <NO_COLLISION part1="ref_l_knee" part2="ref_sp2"></NO_COLLISION>
  739.         <NO_COLLISION part1="ref_l_knee" part2="ref_sp3"></NO_COLLISION>
  740.         <NO_COLLISION part1="ref_l_leg" part2="ref_l_shoulder"></NO_COLLISION>
  741.         <NO_COLLISION part1="ref_l_leg" part2="ref_l_wrist"></NO_COLLISION>
  742.         <NO_COLLISION part1="ref_l_leg" part2="ref_leftdressfront"></NO_COLLISION>
  743.         <NO_COLLISION part1="ref_l_leg" part2="ref_leftdressside"></NO_COLLISION>
  744.         <NO_COLLISION part1="ref_l_leg" part2="ref_neck"></NO_COLLISION>
  745.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_clavicle"></NO_COLLISION>
  746.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_forearm"></NO_COLLISION>
  747.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_knee"></NO_COLLISION>
  748.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_leg"></NO_COLLISION>
  749.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_shoulder"></NO_COLLISION>
  750.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_wrist"></NO_COLLISION>
  751.         <NO_COLLISION part1="ref_l_leg" part2="ref_rightdressfront"></NO_COLLISION>
  752.         <NO_COLLISION part1="ref_l_leg" part2="ref_rightdressside"></NO_COLLISION>
  753.         <NO_COLLISION part1="ref_l_leg" part2="ref_sp1"></NO_COLLISION>
  754.         <NO_COLLISION part1="ref_l_leg" part2="ref_sp2"></NO_COLLISION>
  755.         <NO_COLLISION part1="ref_l_leg" part2="ref_sp3"></NO_COLLISION>
  756.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_l_wrist"></NO_COLLISION>
  757.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_leftdressfront"></NO_COLLISION>
  758.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_leftdressside"></NO_COLLISION>
  759.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_neck"></NO_COLLISION>
  760.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_clavicle"></NO_COLLISION>
  761.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_forearm"></NO_COLLISION>
  762.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_knee"></NO_COLLISION>
  763.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_leg"></NO_COLLISION>
  764.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_shoulder"></NO_COLLISION>
  765.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_wrist"></NO_COLLISION>
  766.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_rightdressfront"></NO_COLLISION>
  767.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_rightdressside"></NO_COLLISION>
  768.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_sp1"></NO_COLLISION>
  769.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_sp2"></NO_COLLISION>
  770.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_sp3"></NO_COLLISION>
  771.         <NO_COLLISION part1="ref_l_wrist" part2="ref_leftdressfront"></NO_COLLISION>
  772.         <NO_COLLISION part1="ref_l_wrist" part2="ref_leftdressside"></NO_COLLISION>
  773.         <NO_COLLISION part1="ref_l_wrist" part2="ref_neck"></NO_COLLISION>
  774.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_clavicle"></NO_COLLISION>
  775.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_forearm"></NO_COLLISION>
  776.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_knee"></NO_COLLISION>
  777.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_leg"></NO_COLLISION>
  778.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_shoulder"></NO_COLLISION>
  779.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_wrist"></NO_COLLISION>
  780.         <NO_COLLISION part1="ref_l_wrist" part2="ref_rightdressfront"></NO_COLLISION>
  781.         <NO_COLLISION part1="ref_l_wrist" part2="ref_rightdressside"></NO_COLLISION>
  782.         <NO_COLLISION part1="ref_l_wrist" part2="ref_sp1"></NO_COLLISION>
  783.         <NO_COLLISION part1="ref_l_wrist" part2="ref_sp2"></NO_COLLISION>
  784.         <NO_COLLISION part1="ref_l_wrist" part2="ref_sp3"></NO_COLLISION>
  785.         <NO_COLLISION part1="ref_leftdressfront" part2="ref_neck"></NO_COLLISION>
  786.         <NO_COLLISION part1="ref_leftdressfront" part2="ref_r_clavicle"></NO_COLLISION>
  787.         <NO_COLLISION part1="ref_leftdressfront" part2="ref_r_forearm"></NO_COLLISION>
  788.         <NO_COLLISION part1="ref_leftdressfront" part2="ref_r_leg"></NO_COLLISION>
  789.         <NO_COLLISION part1="ref_leftdressfront" part2="ref_r_shoulder"></NO_COLLISION>
  790.         <NO_COLLISION part1="ref_leftdressfront" part2="ref_r_wrist"></NO_COLLISION>
  791.         <NO_COLLISION part1="ref_leftdressfront" part2="ref_sp1"></NO_COLLISION>
  792.         <NO_COLLISION part1="ref_leftdressfront" part2="ref_sp2"></NO_COLLISION>
  793.         <NO_COLLISION part1="ref_leftdressfront" part2="ref_sp3"></NO_COLLISION>
  794.         <NO_COLLISION part1="ref_leftdressside" part2="ref_neck"></NO_COLLISION>
  795.         <NO_COLLISION part1="ref_leftdressside" part2="ref_r_clavicle"></NO_COLLISION>
  796.         <NO_COLLISION part1="ref_leftdressside" part2="ref_r_forearm"></NO_COLLISION>
  797.         <NO_COLLISION part1="ref_leftdressside" part2="ref_r_leg"></NO_COLLISION>
  798.         <NO_COLLISION part1="ref_leftdressside" part2="ref_r_shoulder"></NO_COLLISION>
  799.         <NO_COLLISION part1="ref_leftdressside" part2="ref_r_wrist"></NO_COLLISION>
  800.         <NO_COLLISION part1="ref_leftdressside" part2="ref_sp1"></NO_COLLISION>
  801.         <NO_COLLISION part1="ref_leftdressside" part2="ref_sp2"></NO_COLLISION>
  802.         <NO_COLLISION part1="ref_leftdressside" part2="ref_sp3"></NO_COLLISION>
  803.         <NO_COLLISION part1="ref_neck" part2="ref_r_clavicle"></NO_COLLISION>
  804.         <NO_COLLISION part1="ref_neck" part2="ref_r_forearm"></NO_COLLISION>
  805.         <NO_COLLISION part1="ref_neck" part2="ref_r_knee"></NO_COLLISION>
  806.         <NO_COLLISION part1="ref_neck" part2="ref_r_leg"></NO_COLLISION>
  807.         <NO_COLLISION part1="ref_neck" part2="ref_r_shoulder"></NO_COLLISION>
  808.         <NO_COLLISION part1="ref_neck" part2="ref_r_wrist"></NO_COLLISION>
  809.         <NO_COLLISION part1="ref_neck" part2="ref_rightdressfront"></NO_COLLISION>
  810.         <NO_COLLISION part1="ref_neck" part2="ref_rightdressside"></NO_COLLISION>
  811.         <NO_COLLISION part1="ref_neck" part2="ref_sp1"></NO_COLLISION>
  812.         <NO_COLLISION part1="ref_neck" part2="ref_sp2"></NO_COLLISION>
  813.         <NO_COLLISION part1="ref_neck" part2="ref_sp3"></NO_COLLISION>
  814.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_r_forearm"></NO_COLLISION>
  815.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_r_knee"></NO_COLLISION>
  816.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_r_leg"></NO_COLLISION>
  817.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_r_shoulder"></NO_COLLISION>
  818.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_r_wrist"></NO_COLLISION>
  819.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_rightdressfront"></NO_COLLISION>
  820.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_rightdressside"></NO_COLLISION>
  821.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_sp1"></NO_COLLISION>
  822.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_sp2"></NO_COLLISION>
  823.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_sp3"></NO_COLLISION>
  824.         <NO_COLLISION part1="ref_r_forearm" part2="ref_r_knee"></NO_COLLISION>
  825.         <NO_COLLISION part1="ref_r_forearm" part2="ref_r_leg"></NO_COLLISION>
  826.         <NO_COLLISION part1="ref_r_forearm" part2="ref_r_shoulder"></NO_COLLISION>
  827.         <NO_COLLISION part1="ref_r_forearm" part2="ref_r_wrist"></NO_COLLISION>
  828.         <NO_COLLISION part1="ref_r_forearm" part2="ref_rightdressfront"></NO_COLLISION>
  829.         <NO_COLLISION part1="ref_r_forearm" part2="ref_rightdressside"></NO_COLLISION>
  830.         <NO_COLLISION part1="ref_r_forearm" part2="ref_sp1"></NO_COLLISION>
  831.         <NO_COLLISION part1="ref_r_forearm" part2="ref_sp2"></NO_COLLISION>
  832.         <NO_COLLISION part1="ref_r_forearm" part2="ref_sp3"></NO_COLLISION>
  833.         <NO_COLLISION part1="ref_r_knee" part2="ref_r_leg"></NO_COLLISION>
  834.         <NO_COLLISION part1="ref_r_knee" part2="ref_r_shoulder"></NO_COLLISION>
  835.         <NO_COLLISION part1="ref_r_knee" part2="ref_r_wrist"></NO_COLLISION>
  836.         <NO_COLLISION part1="ref_r_knee" part2="ref_sp1"></NO_COLLISION>
  837.         <NO_COLLISION part1="ref_r_knee" part2="ref_sp2"></NO_COLLISION>
  838.         <NO_COLLISION part1="ref_r_knee" part2="ref_sp3"></NO_COLLISION>
  839.         <NO_COLLISION part1="ref_r_leg" part2="ref_r_shoulder"></NO_COLLISION>
  840.         <NO_COLLISION part1="ref_r_leg" part2="ref_r_wrist"></NO_COLLISION>
  841.         <NO_COLLISION part1="ref_r_leg" part2="ref_rightdressfront"></NO_COLLISION>
  842.         <NO_COLLISION part1="ref_r_leg" part2="ref_rightdressside"></NO_COLLISION>
  843.         <NO_COLLISION part1="ref_r_leg" part2="ref_sp1"></NO_COLLISION>
  844.         <NO_COLLISION part1="ref_r_leg" part2="ref_sp2"></NO_COLLISION>
  845.         <NO_COLLISION part1="ref_r_leg" part2="ref_sp3"></NO_COLLISION>
  846.         <NO_COLLISION part1="ref_r_shoulder" part2="ref_r_wrist"></NO_COLLISION>
  847.         <NO_COLLISION part1="ref_r_shoulder" part2="ref_rightdressfront"></NO_COLLISION>
  848.         <NO_COLLISION part1="ref_r_shoulder" part2="ref_rightdressside"></NO_COLLISION>
  849.         <NO_COLLISION part1="ref_r_shoulder" part2="ref_sp1"></NO_COLLISION>
  850.         <NO_COLLISION part1="ref_r_shoulder" part2="ref_sp2"></NO_COLLISION>
  851.         <NO_COLLISION part1="ref_r_shoulder" part2="ref_sp3"></NO_COLLISION>
  852.         <NO_COLLISION part1="ref_r_wrist" part2="ref_rightdressfront"></NO_COLLISION>
  853.         <NO_COLLISION part1="ref_r_wrist" part2="ref_rightdressside"></NO_COLLISION>
  854.         <NO_COLLISION part1="ref_r_wrist" part2="ref_sp1"></NO_COLLISION>
  855.         <NO_COLLISION part1="ref_r_wrist" part2="ref_sp2"></NO_COLLISION>
  856.         <NO_COLLISION part1="ref_r_wrist" part2="ref_sp3"></NO_COLLISION>
  857.         <NO_COLLISION part1="ref_rightdressfront" part2="ref_sp1"></NO_COLLISION>
  858.         <NO_COLLISION part1="ref_rightdressfront" part2="ref_sp2"></NO_COLLISION>
  859.         <NO_COLLISION part1="ref_rightdressfront" part2="ref_sp3"></NO_COLLISION>
  860.         <NO_COLLISION part1="ref_rightdressside" part2="ref_sp1"></NO_COLLISION>
  861.         <NO_COLLISION part1="ref_rightdressside" part2="ref_sp2"></NO_COLLISION>
  862.         <NO_COLLISION part1="ref_rightdressside" part2="ref_sp3"></NO_COLLISION>
  863.         <NO_COLLISION part1="ref_sp1" part2="ref_sp2"></NO_COLLISION>
  864.         <NO_COLLISION part1="ref_sp1" part2="ref_sp3"></NO_COLLISION>
  865.         <NO_COLLISION part1="ref_sp2" part2="ref_sp3"></NO_COLLISION>
  866.         <JOINT id="ref_dressmiddleback" part1="ref_dressmiddleback" part2="ref_cog" type="hinge">
  867.             <HIGH_LIMIT>0.09902555</HIGH_LIMIT>
  868.             <LOW_LIMIT>-1.34251</LOW_LIMIT>
  869.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  870.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  871.             <LIMITED>1</LIMITED>
  872.             <MOTORIZED>0</MOTORIZED>
  873.             <DES_VEL>1</DES_VEL>
  874.             <MAX_FORCE>1000</MAX_FORCE>
  875.             <POS1>0,0,0</POS1>
  876.             <POS2>4.934063e-015,0.6006453,-0.4545009</POS2>
  877.             <PRIMARY_AXIS1>0.9999998,-1.685874e-007,0</PRIMARY_AXIS1>
  878.             <PRIMARY_AXIS2>0.9999998,-1.685874e-007,0</PRIMARY_AXIS2>
  879.             <ORTHOGONAL_AXIS1>1.685874e-007,0.9999998,0</ORTHOGONAL_AXIS1>
  880.             <ORTHOGONAL_AXIS2>1.685874e-007,0.9999998,0</ORTHOGONAL_AXIS2>
  881.         </JOINT>
  882.         <JOINT id="ref_hip" part1="ref_hip" part2="ref_cog" type="hinge">
  883.             <HIGH_LIMIT>0</HIGH_LIMIT>
  884.             <LOW_LIMIT>0</LOW_LIMIT>
  885.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  886.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  887.             <LIMITED>1</LIMITED>
  888.             <MOTORIZED>0</MOTORIZED>
  889.             <DES_VEL>1</DES_VEL>
  890.             <MAX_FORCE>1000</MAX_FORCE>
  891.             <POS1>0,0,0</POS1>
  892.             <POS2>-6.359831e-013,6.114137e-015,0</POS2>
  893.             <PRIMARY_AXIS1>-5.960464e-008,-0.9999998,0</PRIMARY_AXIS1>
  894.             <PRIMARY_AXIS2>-5.960464e-008,-0.9999998,0</PRIMARY_AXIS2>
  895.             <ORTHOGONAL_AXIS1>0.9999998,-5.960464e-008,0</ORTHOGONAL_AXIS1>
  896.             <ORTHOGONAL_AXIS2>0.9999998,-5.960464e-008,0</ORTHOGONAL_AXIS2>
  897.         </JOINT>
  898.         <JOINT id="ref_l_clavicle" part1="ref_l_clavicle" part2="ref_sp3" type="hinge">
  899.             <HIGH_LIMIT>0.5026855</HIGH_LIMIT>
  900.             <LOW_LIMIT>-0.358625</LOW_LIMIT>
  901.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  902.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  903.             <LIMITED>1</LIMITED>
  904.             <MOTORIZED>0</MOTORIZED>
  905.             <DES_VEL>1</DES_VEL>
  906.             <MAX_FORCE>1000</MAX_FORCE>
  907.             <POS1>0,0,0</POS1>
  908.             <POS2>-0.1576871,-0.1372266,0.002480765</POS2>
  909.             <PRIMARY_AXIS1>8.952338e-008,-1.045168e-009,-0.9999999</PRIMARY_AXIS1>
  910.             <PRIMARY_AXIS2>-0.3543189,-0.9335131,0.05487881</PRIMARY_AXIS2>
  911.             <ORTHOGONAL_AXIS1>0.08715573,0.9961946,5.399915e-009</ORTHOGONAL_AXIS1>
  912.             <ORTHOGONAL_AXIS2>-0.9328017,0.3569636,0.0495817</ORTHOGONAL_AXIS2>
  913.         </JOINT>
  914.         <JOINT id="ref_l_forearm" part1="ref_l_forearm" part2="ref_l_shoulder" type="hinge">
  915.             <HIGH_LIMIT>1.570796</HIGH_LIMIT>
  916.             <LOW_LIMIT>0.05459392</LOW_LIMIT>
  917.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  918.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  919.             <LIMITED>1</LIMITED>
  920.             <MOTORIZED>0</MOTORIZED>
  921.             <DES_VEL>1</DES_VEL>
  922.             <MAX_FORCE>1000</MAX_FORCE>
  923.             <POS1>0,0,0</POS1>
  924.             <POS2>0.0286838,0.4474037,0.0002614341</POS2>
  925.             <PRIMARY_AXIS1>2.980232e-008,0,-0.9999998</PRIMARY_AXIS1>
  926.             <PRIMARY_AXIS2>0.2021851,-0.01230171,-0.9792702</PRIMARY_AXIS2>
  927.             <ORTHOGONAL_AXIS1>-0.08715573,0.9961945,1.998669e-009</ORTHOGONAL_AXIS1>
  928.             <ORTHOGONAL_AXIS2>0.103171,0.9946248,0.008806531</ORTHOGONAL_AXIS2>
  929.         </JOINT>
  930.         <JOINT id="ref_l_knee" part1="ref_l_knee" part2="ref_l_leg" type="hinge">
  931.             <HIGH_LIMIT>-0.08253356</HIGH_LIMIT>
  932.             <LOW_LIMIT>-1.570796</LOW_LIMIT>
  933.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  934.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  935.             <LIMITED>1</LIMITED>
  936.             <MOTORIZED>0</MOTORIZED>
  937.             <DES_VEL>1</DES_VEL>
  938.             <MAX_FORCE>1000</MAX_FORCE>
  939.             <POS1>0,0,0</POS1>
  940.             <POS2>-0.5799243,0.05459268,0.01028599</POS2>
  941.             <PRIMARY_AXIS1>8.940697e-008,0,0.9999998</PRIMARY_AXIS1>
  942.             <PRIMARY_AXIS2>0.0005600064,-3.152859e-005,0.9999996</PRIMARY_AXIS2>
  943.             <ORTHOGONAL_AXIS1>-0.9999998,0,7.22927e-008</ORTHOGONAL_AXIS1>
  944.             <ORTHOGONAL_AXIS2>-0.9925161,0.1221107,0.0005596435</ORTHOGONAL_AXIS2>
  945.         </JOINT>
  946.         <JOINT id="ref_l_leg" part1="ref_l_leg" part2="ref_hip" type="skeletal">
  947.             <CONE_TYPE>2</CONE_TYPE>
  948.             <CONE_HALF_ANGLE_X>0.484253</CONE_HALF_ANGLE_X>
  949.             <CONE_HALF_ANGLE_Y>0.424002</CONE_HALF_ANGLE_Y>
  950.             <CONE_STIFFNESS>500</CONE_STIFFNESS>
  951.             <CONE_DAMPING>1</CONE_DAMPING>
  952.             <TWIST_TYPE>2</TWIST_TYPE>
  953.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  954.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  955.             <TWIST_DAMPING>1</TWIST_DAMPING>
  956.             <POS1>0,0,0</POS1>
  957.             <POS2>0.225188,0.1015311,0.0008212714</POS2>
  958.             <PRIMARY_AXIS1>-1,-8.187838e-008,0</PRIMARY_AXIS1>
  959.             <PRIMARY_AXIS2>0.1032005,0.9938538,0.04005252</PRIMARY_AXIS2>
  960.             <ORTHOGONAL_AXIS1>8.187838e-008,-1,0</ORTHOGONAL_AXIS1>
  961.             <ORTHOGONAL_AXIS2>0.01582997,-0.04190353,0.9989963</ORTHOGONAL_AXIS2>
  962.         </JOINT>
  963.         <JOINT id="ref_l_shoulder" part1="ref_l_shoulder" part2="ref_l_clavicle" type="skeletal">
  964.             <CONE_TYPE>2</CONE_TYPE>
  965.             <CONE_HALF_ANGLE_X>0.5825022</CONE_HALF_ANGLE_X>
  966.             <CONE_HALF_ANGLE_Y>0.5857698</CONE_HALF_ANGLE_Y>
  967.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  968.             <CONE_DAMPING>1</CONE_DAMPING>
  969.             <TWIST_TYPE>2</TWIST_TYPE>
  970.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  971.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  972.             <TWIST_DAMPING>1</TWIST_DAMPING>
  973.             <POS1>0,0,0</POS1>
  974.             <POS2>0.02118228,0.1480477,-0.02140598</POS2>
  975.             <PRIMARY_AXIS1>0.0871557,0.9961947,0</PRIMARY_AXIS1>
  976.             <PRIMARY_AXIS2>0.1120852,0.8940074,0.4338067</PRIMARY_AXIS2>
  977.             <ORTHOGONAL_AXIS1>-0.9961947,0.0871557,0</ORTHOGONAL_AXIS1>
  978.             <ORTHOGONAL_AXIS2>-0.9933416,0.1125066,0.02479701</ORTHOGONAL_AXIS2>
  979.         </JOINT>
  980.         <JOINT id="ref_l_wrist" part1="ref_l_wrist" part2="ref_l_forearm" type="hinge">
  981.             <HIGH_LIMIT>0.5123106</HIGH_LIMIT>
  982.             <LOW_LIMIT>-0.6509417</LOW_LIMIT>
  983.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  984.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  985.             <LIMITED>1</LIMITED>
  986.             <MOTORIZED>0</MOTORIZED>
  987.             <DES_VEL>1</DES_VEL>
  988.             <MAX_FORCE>1000</MAX_FORCE>
  989.             <POS1>0,0,0</POS1>
  990.             <POS2>-0.04579096,0.4247379,-0.0007335172</POS2>
  991.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  992.             <PRIMARY_AXIS2>0.9979481,0.04589213,-0.04464426</PRIMARY_AXIS2>
  993.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  994.             <ORTHOGONAL_AXIS2>-0.04502451,0.998781,0.02025184</ORTHOGONAL_AXIS2>
  995.         </JOINT>
  996.         <JOINT id="ref_leftdressfront" part1="ref_leftdressfront" part2="ref_cog" type="hinge">
  997.             <HIGH_LIMIT>1.319116</HIGH_LIMIT>
  998.             <LOW_LIMIT>-0.4436775</LOW_LIMIT>
  999.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1000.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1001.             <LIMITED>1</LIMITED>
  1002.             <MOTORIZED>0</MOTORIZED>
  1003.             <DES_VEL>1</DES_VEL>
  1004.             <MAX_FORCE>1000</MAX_FORCE>
  1005.             <POS1>0,0,0</POS1>
  1006.             <POS2>0.2943556,0.6785502,0.3140456</POS2>
  1007.             <PRIMARY_AXIS1>0.9999998,-1.685874e-007,0</PRIMARY_AXIS1>
  1008.             <PRIMARY_AXIS2>0.9999998,-1.685874e-007,0</PRIMARY_AXIS2>
  1009.             <ORTHOGONAL_AXIS1>1.685874e-007,0.9999998,0</ORTHOGONAL_AXIS1>
  1010.             <ORTHOGONAL_AXIS2>1.685874e-007,0.9999998,0</ORTHOGONAL_AXIS2>
  1011.         </JOINT>
  1012.         <JOINT id="ref_leftdressside" part1="ref_leftdressside" part2="ref_cog" type="hinge">
  1013.             <HIGH_LIMIT>0.8127051</HIGH_LIMIT>
  1014.             <LOW_LIMIT>-0.2624945</LOW_LIMIT>
  1015.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1016.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1017.             <LIMITED>1</LIMITED>
  1018.             <MOTORIZED>0</MOTORIZED>
  1019.             <DES_VEL>1</DES_VEL>
  1020.             <MAX_FORCE>1000</MAX_FORCE>
  1021.             <POS1>0,0,0</POS1>
  1022.             <POS2>0.5299664,0.6006454,-0.09879141</POS2>
  1023.             <PRIMARY_AXIS1>-5.960464e-008,0,-0.9999998</PRIMARY_AXIS1>
  1024.             <PRIMARY_AXIS2>-5.960464e-008,-1.129284e-022,-0.9999998</PRIMARY_AXIS2>
  1025.             <ORTHOGONAL_AXIS1>1.685874e-007,0.9999998,4.220177e-015</ORTHOGONAL_AXIS1>
  1026.             <ORTHOGONAL_AXIS2>1.685874e-007,0.9999998,4.220177e-015</ORTHOGONAL_AXIS2>
  1027.         </JOINT>
  1028.         <JOINT id="ref_neck" part1="ref_neck" part2="ref_sp3" type="hinge">
  1029.             <HIGH_LIMIT>0.3917018</HIGH_LIMIT>
  1030.             <LOW_LIMIT>-0.2365796</LOW_LIMIT>
  1031.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1032.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1033.             <LIMITED>1</LIMITED>
  1034.             <MOTORIZED>0</MOTORIZED>
  1035.             <DES_VEL>1</DES_VEL>
  1036.             <MAX_FORCE>1000</MAX_FORCE>
  1037.             <POS1>0,0,0</POS1>
  1038.             <POS2>-0.0001287975,-0.2828145,-0.03868681</POS2>
  1039.             <PRIMARY_AXIS1>0.9999998,0,0</PRIMARY_AXIS1>
  1040.             <PRIMARY_AXIS2>0.9999965,6.40534e-006,0.00265759</PRIMARY_AXIS2>
  1041.             <ORTHOGONAL_AXIS1>0,-0.9999998,8.429369e-008</ORTHOGONAL_AXIS1>
  1042.             <ORTHOGONAL_AXIS2>-2.729593e-005,-0.9999197,0.01268094</ORTHOGONAL_AXIS2>
  1043.         </JOINT>
  1044.         <JOINT id="ref_r_clavicle" part1="ref_r_clavicle" part2="ref_sp3" type="hinge">
  1045.             <HIGH_LIMIT>0.403836</HIGH_LIMIT>
  1046.             <LOW_LIMIT>-0.4560597</LOW_LIMIT>
  1047.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1048.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1049.             <LIMITED>1</LIMITED>
  1050.             <MOTORIZED>0</MOTORIZED>
  1051.             <DES_VEL>1</DES_VEL>
  1052.             <MAX_FORCE>1000</MAX_FORCE>
  1053.             <POS1>0,0,0</POS1>
  1054.             <POS2>0.1576981,-0.1372291,0.00144928</POS2>
  1055.             <PRIMARY_AXIS1>5.308539e-008,-8.60713e-008,-0.9999999</PRIMARY_AXIS1>
  1056.             <PRIMARY_AXIS2>-0.3546557,0.9335186,-0.05255933</PRIMARY_AXIS2>
  1057.             <ORTHOGONAL_AXIS1>-0.1736482,-0.9848077,7.442198e-008</ORTHOGONAL_AXIS1>
  1058.             <ORTHOGONAL_AXIS2>0.9347336,0.35266,-0.04364112</ORTHOGONAL_AXIS2>
  1059.         </JOINT>
  1060.         <JOINT id="ref_r_forearm" part1="ref_r_forearm" part2="ref_r_shoulder" type="hinge">
  1061.             <HIGH_LIMIT>-0.1243085</HIGH_LIMIT>
  1062.             <LOW_LIMIT>-1.570796</LOW_LIMIT>
  1063.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1064.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1065.             <LIMITED>1</LIMITED>
  1066.             <MOTORIZED>0</MOTORIZED>
  1067.             <DES_VEL>1</DES_VEL>
  1068.             <MAX_FORCE>1000</MAX_FORCE>
  1069.             <POS1>0,0,0</POS1>
  1070.             <POS2>-0.0286833,-0.4474075,-0.000261861</POS2>
  1071.             <PRIMARY_AXIS1>5.587935e-008,8.78903e-008,0.9999998</PRIMARY_AXIS1>
  1072.             <PRIMARY_AXIS2>-0.2021833,0.01230294,0.9792703</PRIMARY_AXIS2>
  1073.             <ORTHOGONAL_AXIS1>0.08715572,-0.9961944,8.24724e-008</ORTHOGONAL_AXIS1>
  1074.             <ORTHOGONAL_AXIS2>-0.103173,-0.9946243,-0.008805132</ORTHOGONAL_AXIS2>
  1075.         </JOINT>
  1076.         <JOINT id="ref_r_knee" part1="ref_r_knee" part2="ref_r_leg" type="hinge">
  1077.             <HIGH_LIMIT>-0.03151909</HIGH_LIMIT>
  1078.             <LOW_LIMIT>-1.570796</LOW_LIMIT>
  1079.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1080.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1081.             <LIMITED>1</LIMITED>
  1082.             <MOTORIZED>0</MOTORIZED>
  1083.             <DES_VEL>1</DES_VEL>
  1084.             <MAX_FORCE>1000</MAX_FORCE>
  1085.             <POS1>0,0,0</POS1>
  1086.             <POS2>0.5799265,-0.05459299,-0.01028586</POS2>
  1087.             <PRIMARY_AXIS1>1.490116e-007,0,0.9999998</PRIMARY_AXIS1>
  1088.             <PRIMARY_AXIS2>0.0005602483,-3.156958e-005,0.9999996</PRIMARY_AXIS2>
  1089.             <ORTHOGONAL_AXIS1>0.9999998,0,-1.318973e-007</ORTHOGONAL_AXIS1>
  1090.             <ORTHOGONAL_AXIS2>0.9925163,-0.1221101,-0.0005598845</ORTHOGONAL_AXIS2>
  1091.         </JOINT>
  1092.         <JOINT id="ref_r_leg" part1="ref_r_leg" part2="ref_hip" type="skeletal">
  1093.             <CONE_TYPE>2</CONE_TYPE>
  1094.             <CONE_HALF_ANGLE_X>0.447049</CONE_HALF_ANGLE_X>
  1095.             <CONE_HALF_ANGLE_Y>0.45817</CONE_HALF_ANGLE_Y>
  1096.             <CONE_STIFFNESS>500</CONE_STIFFNESS>
  1097.             <CONE_DAMPING>1</CONE_DAMPING>
  1098.             <TWIST_TYPE>2</TWIST_TYPE>
  1099.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1100.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1101.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1102.             <POS1>0,0,0</POS1>
  1103.             <POS2>-0.2251878,0.101531,0.0008212685</POS2>
  1104.             <PRIMARY_AXIS1>0.9961948,0.08715577,0</PRIMARY_AXIS1>
  1105.             <PRIMARY_AXIS2>-0.1041875,0.9864199,0.1269683</PRIMARY_AXIS2>
  1106.             <ORTHOGONAL_AXIS1>-0.08715577,0.9961948,0</ORTHOGONAL_AXIS1>
  1107.             <ORTHOGONAL_AXIS2>-0.006775231,-0.1283641,0.991704</ORTHOGONAL_AXIS2>
  1108.         </JOINT>
  1109.         <JOINT id="ref_r_shoulder" part1="ref_r_shoulder" part2="ref_r_clavicle" type="skeletal">
  1110.             <CONE_TYPE>2</CONE_TYPE>
  1111.             <CONE_HALF_ANGLE_X>0.5118384</CONE_HALF_ANGLE_X>
  1112.             <CONE_HALF_ANGLE_Y>0.617401</CONE_HALF_ANGLE_Y>
  1113.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1114.             <CONE_DAMPING>1</CONE_DAMPING>
  1115.             <TWIST_TYPE>2</TWIST_TYPE>
  1116.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1117.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1118.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1119.             <POS1>0,0,0</POS1>
  1120.             <POS2>-0.02118208,-0.1480461,0.02140738</POS2>
  1121.             <PRIMARY_AXIS1>-0.08715573,-0.9961947,0</PRIMARY_AXIS1>
  1122.             <PRIMARY_AXIS2>-0.1120854,-0.8940091,-0.4338028</PRIMARY_AXIS2>
  1123.             <ORTHOGONAL_AXIS1>0.9961947,-0.08715573,0</ORTHOGONAL_AXIS1>
  1124.             <ORTHOGONAL_AXIS2>0.9933418,-0.112507,-0.02479663</ORTHOGONAL_AXIS2>
  1125.         </JOINT>
  1126.         <JOINT id="ref_r_wrist" part1="ref_r_wrist" part2="ref_r_forearm" type="hinge">
  1127.             <HIGH_LIMIT>0.6700851</HIGH_LIMIT>
  1128.             <LOW_LIMIT>-0.581377</LOW_LIMIT>
  1129.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1130.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1131.             <LIMITED>1</LIMITED>
  1132.             <MOTORIZED>0</MOTORIZED>
  1133.             <DES_VEL>1</DES_VEL>
  1134.             <MAX_FORCE>1000</MAX_FORCE>
  1135.             <POS1>0,0,0</POS1>
  1136.             <POS2>0.04579245,-0.4247333,0.0007356728</POS2>
  1137.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  1138.             <PRIMARY_AXIS2>0.9979486,0.04589204,-0.04464397</PRIMARY_AXIS2>
  1139.             <ORTHOGONAL_AXIS1>0,-1,-8.742278e-008</ORTHOGONAL_AXIS1>
  1140.             <ORTHOGONAL_AXIS2>0.04502472,-0.9987806,-0.02024561</ORTHOGONAL_AXIS2>
  1141.         </JOINT>
  1142.         <JOINT id="ref_rightdressfront" part1="ref_rightdressfront" part2="ref_cog" type="hinge">
  1143.             <HIGH_LIMIT>1.426936</HIGH_LIMIT>
  1144.             <LOW_LIMIT>-0.4625331</LOW_LIMIT>
  1145.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1146.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1147.             <LIMITED>1</LIMITED>
  1148.             <MOTORIZED>0</MOTORIZED>
  1149.             <DES_VEL>1</DES_VEL>
  1150.             <MAX_FORCE>1000</MAX_FORCE>
  1151.             <POS1>0,0,0</POS1>
  1152.             <POS2>-0.2953194,0.6759956,0.3140456</POS2>
  1153.             <PRIMARY_AXIS1>0.9999998,-1.685874e-007,0</PRIMARY_AXIS1>
  1154.             <PRIMARY_AXIS2>0.9999998,-1.685874e-007,0</PRIMARY_AXIS2>
  1155.             <ORTHOGONAL_AXIS1>1.685874e-007,0.9999998,0</ORTHOGONAL_AXIS1>
  1156.             <ORTHOGONAL_AXIS2>1.685874e-007,0.9999998,0</ORTHOGONAL_AXIS2>
  1157.         </JOINT>
  1158.         <JOINT id="ref_rightdressside" part1="ref_rightdressside" part2="ref_cog" type="hinge">
  1159.             <HIGH_LIMIT>0.276149</HIGH_LIMIT>
  1160.             <LOW_LIMIT>-0.8720953</LOW_LIMIT>
  1161.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  1162.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  1163.             <LIMITED>1</LIMITED>
  1164.             <MOTORIZED>0</MOTORIZED>
  1165.             <DES_VEL>1</DES_VEL>
  1166.             <MAX_FORCE>1000</MAX_FORCE>
  1167.             <POS1>0,0,0</POS1>
  1168.             <POS2>-0.5299664,0.6006452,-0.09879141</POS2>
  1169.             <PRIMARY_AXIS1>-2.980221e-008,1.348698e-006,-0.9999989</PRIMARY_AXIS1>
  1170.             <PRIMARY_AXIS2>-2.980221e-008,1.348698e-006,-0.9999989</PRIMARY_AXIS2>
  1171.             <ORTHOGONAL_AXIS1>1.685871e-007,0.9999989,1.348698e-006</ORTHOGONAL_AXIS1>
  1172.             <ORTHOGONAL_AXIS2>1.685871e-007,0.9999989,1.348698e-006</ORTHOGONAL_AXIS2>
  1173.         </JOINT>
  1174.         <JOINT id="ref_sp1" part1="ref_sp1" part2="ref_cog" type="hinge">
  1175.             <HIGH_LIMIT>0</HIGH_LIMIT>
  1176.             <LOW_LIMIT>0</LOW_LIMIT>
  1177.             <HIGH_STIFFNESS>200</HIGH_STIFFNESS>
  1178.             <LOW_STIFFNESS>200</LOW_STIFFNESS>
  1179.             <LIMITED>1</LIMITED>
  1180.             <MOTORIZED>0</MOTORIZED>
  1181.             <DES_VEL>1</DES_VEL>
  1182.             <MAX_FORCE>1000</MAX_FORCE>
  1183.             <POS1>0,0,0</POS1>
  1184.             <POS2>-6.49326e-013,-0.04372203,0.006396933</POS2>
  1185.             <PRIMARY_AXIS1>0.9999997,-2.493423e-007,4.345416e-008</PRIMARY_AXIS1>
  1186.             <PRIMARY_AXIS2>0.9999471,-2.492146e-007,-0.01025423</PRIMARY_AXIS2>
  1187.             <ORTHOGONAL_AXIS1>2.520929e-007,0.9659255,-0.2588189</ORTHOGONAL_AXIS1>
  1188.             <ORTHOGONAL_AXIS2>-0.002682606,0.9651671,-0.2616192</ORTHOGONAL_AXIS2>
  1189.         </JOINT>
  1190.         <JOINT id="ref_sp2" part1="ref_sp2" part2="ref_sp1" type="skeletal">
  1191.             <CONE_TYPE>2</CONE_TYPE>
  1192.             <CONE_HALF_ANGLE_X>0.1149334</CONE_HALF_ANGLE_X>
  1193.             <CONE_HALF_ANGLE_Y>0.1019072</CONE_HALF_ANGLE_Y>
  1194.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1195.             <CONE_DAMPING>1</CONE_DAMPING>
  1196.             <TWIST_TYPE>2</TWIST_TYPE>
  1197.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1198.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1199.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1200.             <POS1>0,0,0</POS1>
  1201.             <POS2>0.0001417095,-0.3214214,-0.01475566</POS2>
  1202.             <PRIMARY_AXIS1>2.910383e-008,-0.9848074,-0.1736481</PRIMARY_AXIS1>
  1203.             <PRIMARY_AXIS2>0.004236308,-0.9850497,-0.1722169</PRIMARY_AXIS2>
  1204.             <ORTHOGONAL_AXIS1>0.9999997,3.050081e-008,-8.814474e-009</ORTHOGONAL_AXIS1>
  1205.             <ORTHOGONAL_AXIS2>0.9996871,-7.285392e-005,0.0250077</ORTHOGONAL_AXIS2>
  1206.         </JOINT>
  1207.         <JOINT id="ref_sp3" part1="ref_sp3" part2="ref_sp2" type="skeletal">
  1208.             <CONE_TYPE>2</CONE_TYPE>
  1209.             <CONE_HALF_ANGLE_X>0.1121041</CONE_HALF_ANGLE_X>
  1210.             <CONE_HALF_ANGLE_Y>0.1305405</CONE_HALF_ANGLE_Y>
  1211.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  1212.             <CONE_DAMPING>1</CONE_DAMPING>
  1213.             <TWIST_TYPE>2</TWIST_TYPE>
  1214.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  1215.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  1216.             <TWIST_DAMPING>1</TWIST_DAMPING>
  1217.             <POS1>0,0,0</POS1>
  1218.             <POS2>-0.002256368,-0.3947329,-0.1546025</POS2>
  1219.             <PRIMARY_AXIS1>-5.960464e-008,-1,0</PRIMARY_AXIS1>
  1220.             <PRIMARY_AXIS2>2.773838e-005,-0.9999983,-0.001903854</PRIMARY_AXIS2>
  1221.             <ORTHOGONAL_AXIS1>1,-5.960464e-008,0</ORTHOGONAL_AXIS1>
  1222.             <ORTHOGONAL_AXIS2>-0.9999343,-4.96013e-005,0.01148443</ORTHOGONAL_AXIS2>
  1223.         </JOINT>
  1224.     </ASSET>
  1225. </KARMA>