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Extensible Markup Language  |  2004-03-25  |  33.5 KB  |  791 lines
  1. <?xml version="1.0"?>
  2.  
  3. <KARMA ka_file_version="1.0">
  4.     <ASSET id="HeavyStandardKRagdoll" graphic="HeavyStandard_Generalissimo.PSK" scale="0.02" mass_scale="1" length_scale="1">
  5.         <GEOMETRY id="ref_head">
  6.             <PRIMITIVE id="ref_head_1" type="sphere">
  7.                 <RADIUS>0.1538652</RADIUS>
  8.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.01416401,0.09363271,0.0003602505,1</TM>
  9.             </PRIMITIVE>
  10.         </GEOMETRY>
  11.         <GEOMETRY id="ref_hip">
  12.             <PRIMITIVE id="ref_hip_1" type="sphere">
  13.                 <RADIUS>0.2440216</RADIUS>
  14.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,0.02050392,-0.004157219,1</TM>
  15.             </PRIMITIVE>
  16.         </GEOMETRY>
  17.         <GEOMETRY id="ref_jaw">
  18.             <PRIMITIVE id="ref_jaw_1" type="sphere">
  19.                 <RADIUS>0.04804039</RADIUS>
  20.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1021327,0.02778887,-0.02243918,1</TM>
  21.             </PRIMITIVE>
  22.         </GEOMETRY>
  23.         <GEOMETRY id="ref_l_ankle">
  24.             <PRIMITIVE id="ref_l_ankle_1" type="sphyl">
  25.                 <RADIUS>0.09199709</RADIUS>
  26.                 <HEIGHT>0.2823919</HEIGHT>
  27.                 <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>
  28.             </PRIMITIVE>
  29.         </GEOMETRY>
  30.         <GEOMETRY id="ref_l_clavicle">
  31.             <PRIMITIVE id="ref_l_clavicle_1" type="sphyl">
  32.                 <RADIUS>0.09968728</RADIUS>
  33.                 <HEIGHT>0.1510757</HEIGHT>
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  35.             </PRIMITIVE>
  36.         </GEOMETRY>
  37.         <GEOMETRY id="ref_l_f2">
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  41.             </PRIMITIVE>
  42.         </GEOMETRY>
  43.         <GEOMETRY id="ref_l_forearm">
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  46.                 <HEIGHT>0.4271887</HEIGHT>
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  48.             </PRIMITIVE>
  49.         </GEOMETRY>
  50.         <GEOMETRY id="ref_l_knee">
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  55.             </PRIMITIVE>
  56.         </GEOMETRY>
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  61.                 <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>
  62.             </PRIMITIVE>
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  69.         </GEOMETRY>
  70.         <GEOMETRY id="ref_l_shoulder">
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  75.             </PRIMITIVE>
  76.         </GEOMETRY>
  77.         <GEOMETRY id="ref_l_t1">
  78.             <PRIMITIVE id="ref_l_t1_1" type="sphyl">
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  82.             </PRIMITIVE>
  83.         </GEOMETRY>
  84.         <GEOMETRY id="ref_l_t2">
  85.             <PRIMITIVE id="ref_l_t2_1" type="sphere">
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  87.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-0.005497946,0.02682538,0.003981954,1</TM>
  88.             </PRIMITIVE>
  89.         </GEOMETRY>
  90.         <GEOMETRY id="ref_l_toe">
  91.             <PRIMITIVE id="ref_l_toe_1" type="sphere">
  92.                 <RADIUS>0.04468472</RADIUS>
  93.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.05849858,0.01391807,0.07626796,1</TM>
  94.             </PRIMITIVE>
  95.         </GEOMETRY>
  96.         <GEOMETRY id="ref_l_wrist">
  97.             <PRIMITIVE id="ref_l_wrist_1" type="sphere">
  98.                 <RADIUS>0.04344503</RADIUS>
  99.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-0.00966484,0.09654366,0.0003620386,1</TM>
  100.             </PRIMITIVE>
  101.         </GEOMETRY>
  102.         <GEOMETRY id="ref_m_r_corner">
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  105.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.001210481,-0.009466606,0.00903016,1</TM>
  106.             </PRIMITIVE>
  107.         </GEOMETRY>
  108.         <GEOMETRY id="ref_neck">
  109.             <PRIMITIVE id="Part0" type="sphere">
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  111.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,-0.2,0,1</TM>
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  115.                 <HEIGHT>0.1087356</HEIGHT>
  116.                 <TM>0.005669125,-0.3023211,0.9531893,0,-0.9999825,-3.589041e-005,0.005936047,0,-0.001760382,-0.9532062,-0.302316,0,-9.570808e-005,-0.0518237,-0.01643625,1</TM>
  117.             </PRIMITIVE>
  118.         </GEOMETRY>
  119.         <GEOMETRY id="ref_r_ankle">
  120.             <PRIMITIVE id="ref_r_ankle_1" type="sphyl">
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  123.                 <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>
  124.             </PRIMITIVE>
  125.         </GEOMETRY>
  126.         <GEOMETRY id="ref_r_clavicle">
  127.             <PRIMITIVE id="ref_r_clavicle_1" type="sphyl">
  128.                 <RADIUS>0.09989878</RADIUS>
  129.                 <HEIGHT>0.1510748</HEIGHT>
  130.                 <TM>-0.9896235,0.1341506,-0.05146919,0,0.03142802,-0.1474392,-0.9885717,0,-0.1402061,-0.9799314,0.1416932,0,-0.0105908,-0.07402147,0.01070313,1</TM>
  131.             </PRIMITIVE>
  132.         </GEOMETRY>
  133.         <GEOMETRY id="ref_r_eye">
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  136.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-4.909039e-006,0.0005054259,0.01423535,1</TM>
  137.             </PRIMITIVE>
  138.         </GEOMETRY>
  139.         <GEOMETRY id="ref_r_f1">
  140.             <PRIMITIVE id="ref_r_f1_1" type="sphyl">
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  143.                 <TM>-0.9975424,-0.01561822,0.06830084,0,-0.06798363,-0.02001388,-0.9974856,0,0.01694592,-0.9996777,0.01890308,0,0.0004725558,-0.02787703,0.0005271055,1</TM>
  144.             </PRIMITIVE>
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  146.         <GEOMETRY id="ref_r_f2">
  147.             <PRIMITIVE id="ref_r_f2_1" type="sphere">
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  149.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-0.00340008,-0.03624726,-0.000867002,1</TM>
  150.             </PRIMITIVE>
  151.         </GEOMETRY>
  152.         <GEOMETRY id="ref_r_forearm">
  153.             <PRIMITIVE id="ref_r_forearm_1" type="sphyl">
  154.                 <RADIUS>0.0945214</RADIUS>
  155.                 <HEIGHT>0.4271894</HEIGHT>
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  157.             </PRIMITIVE>
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  159.         <GEOMETRY id="ref_r_knee">
  160.             <PRIMITIVE id="ref_r_knee_1" type="sphyl">
  161.                 <RADIUS>0.1777249</RADIUS>
  162.                 <HEIGHT>0.6068075</HEIGHT>
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  164.             </PRIMITIVE>
  165.         </GEOMETRY>
  166.         <GEOMETRY id="ref_r_leg">
  167.             <PRIMITIVE id="ref_r_leg_1" type="sphyl">
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  170.                 <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>
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  178.         </GEOMETRY>
  179.         <GEOMETRY id="ref_r_shoulder">
  180.             <PRIMITIVE id="ref_r_shoulder_1" type="sphyl">
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  186.         <GEOMETRY id="ref_r_t1">
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  199.         <GEOMETRY id="ref_r_toe">
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  231.         <MODEL id="ref_cog" type="dynamics_only">
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  240.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
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  242.         </MODEL>
  243.         <MODEL id="ref_hip" type="dynamics_only" geometry="ref_hip">
  244.             <DYNAMICS>
  245.                 <MASS>0.06086579</MASS>
  246.                 <DENSITY>1</DENSITY>
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  251.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  252.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  253.             </DYNAMICS>
  254.         </MODEL>
  255.         <MODEL id="ref_l_ankle" type="dynamics_and_geometry" geometry="ref_l_ankle">
  256.             <DYNAMICS>
  257.                 <MASS>0.01079022</MASS>
  258.                 <DENSITY>1</DENSITY>
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  263.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  264.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  265.             </DYNAMICS>
  266.         </MODEL>
  267.         <MODEL id="ref_l_clavicle" type="dynamics_only" geometry="ref_l_clavicle">
  268.             <DYNAMICS>
  269.                 <MASS>0.008892013</MASS>
  270.                 <DENSITY>1</DENSITY>
  271.                 <MASS_OFFSET>0.01059084,0.07402205,-0.0107023</MASS_OFFSET>
  272.                 <INERTIA>8.14557e-005,-5.22374e-006,7.552583e-007,4.569305e-005,5.278689e-006,8.14399e-005</INERTIA>
  273.                 <LIN_DAMP>0</LIN_DAMP>
  274.                 <ANG_DAMP>0</ANG_DAMP>
  275.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  276.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  277.             </DYNAMICS>
  278.         </MODEL>
  279.         <MODEL id="ref_l_forearm" type="dynamics_and_geometry" geometry="ref_l_forearm">
  280.             <DYNAMICS>
  281.                 <MASS>0.0155497</MASS>
  282.                 <DENSITY>1</DENSITY>
  283.                 <MASS_OFFSET>-0.02289476,0.2123635,-0.0003663492</MASS_OFFSET>
  284.                 <INERTIA>0.0004282687,3.868249e-005,-6.672544e-008,7.363418e-005,6.189047e-007,0.0004324379</INERTIA>
  285.                 <LIN_DAMP>0</LIN_DAMP>
  286.                 <ANG_DAMP>0</ANG_DAMP>
  287.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  288.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  289.             </DYNAMICS>
  290.         </MODEL>
  291.         <MODEL id="ref_l_knee" type="dynamics_and_geometry" geometry="ref_l_knee">
  292.             <DYNAMICS>
  293.                 <MASS>0.08387532</MASS>
  294.                 <DENSITY>1</DENSITY>
  295.                 <MASS_OFFSET>-0.3028092,0.01815116,0.005679442</MASS_OFFSET>
  296.                 <INERTIA>0.00134167,0.0002586172,8.092065e-005,0.005640586,-4.850547e-006,0.005654572</INERTIA>
  297.                 <LIN_DAMP>0</LIN_DAMP>
  298.                 <ANG_DAMP>0</ANG_DAMP>
  299.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  300.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  301.             </DYNAMICS>
  302.         </MODEL>
  303.         <MODEL id="ref_l_leg" type="dynamics_and_geometry" geometry="ref_l_leg">
  304.             <DYNAMICS>
  305.                 <MASS>0.09644689</MASS>
  306.                 <DENSITY>1</DENSITY>
  307.                 <MASS_OFFSET>-0.2899621,0.02729632,0.005142988</MASS_OFFSET>
  308.                 <INERTIA>0.0018076,0.0004457053,8.39767e-005,0.006500262,-7.905284e-006,0.006540731</INERTIA>
  309.                 <LIN_DAMP>0</LIN_DAMP>
  310.                 <ANG_DAMP>0</ANG_DAMP>
  311.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  312.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  313.             </DYNAMICS>
  314.         </MODEL>
  315.         <MODEL id="ref_l_shoulder" type="dynamics_and_geometry" geometry="ref_l_shoulder">
  316.             <DYNAMICS>
  317.                 <MASS>0.03052817</MASS>
  318.                 <DENSITY>1</DENSITY>
  319.                 <MASS_OFFSET>0.01434144,0.2236995,0.0001319518</MASS_OFFSET>
  320.                 <INERTIA>0.001084405,-5.410249e-005,-3.191045e-008,0.0002439765,-4.978158e-007,0.001087873</INERTIA>
  321.                 <LIN_DAMP>0</LIN_DAMP>
  322.                 <ANG_DAMP>0</ANG_DAMP>
  323.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  324.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  325.             </DYNAMICS>
  326.         </MODEL>
  327.         <MODEL id="ref_neck" type="dynamics_and_geometry" geometry="ref_neck">
  328.             <DYNAMICS>
  329.                 <MASS>0.0004966902</MASS>
  330.                 <DENSITY>1</DENSITY>
  331.                 <MASS_OFFSET>-9.570808e-005,-0.0518237,-0.01643625</MASS_OFFSET>
  332.                 <INERTIA>1.085501e-006,-1.388043e-009,-4.402294e-010,3.339105e-007,-2.383731e-007,1.009902e-006</INERTIA>
  333.                 <LIN_DAMP>0</LIN_DAMP>
  334.                 <ANG_DAMP>0</ANG_DAMP>
  335.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  336.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  337.             </DYNAMICS>
  338.         </MODEL>
  339.         <MODEL id="ref_r_ankle" type="dynamics_and_geometry" geometry="ref_r_ankle">
  340.             <DYNAMICS>
  341.                 <MASS>0.0316153</MASS>
  342.                 <DENSITY>1</DENSITY>
  343.                 <MASS_OFFSET>-0.005515106,-0.1410815,0.002052698</MASS_OFFSET>
  344.                 <INERTIA>0.000766044,-1.691166e-005,2.460604e-007,0.0003340901,6.294716e-006,0.0007666136</INERTIA>
  345.                 <LIN_DAMP>0</LIN_DAMP>
  346.                 <ANG_DAMP>0</ANG_DAMP>
  347.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  348.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  349.             </DYNAMICS>
  350.         </MODEL>
  351.         <MODEL id="ref_r_clavicle" type="dynamics_only" geometry="ref_r_clavicle">
  352.             <DYNAMICS>
  353.                 <MASS>0.008938652</MASS>
  354.                 <DENSITY>1</DENSITY>
  355.                 <MASS_OFFSET>-0.0105908,-0.07402147,0.01070313</MASS_OFFSET>
  356.                 <INERTIA>8.209686e-005,-5.254682e-006,7.598024e-007,4.612252e-005,5.310416e-006,8.208081e-005</INERTIA>
  357.                 <LIN_DAMP>0</LIN_DAMP>
  358.                 <ANG_DAMP>0</ANG_DAMP>
  359.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  360.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  361.             </DYNAMICS>
  362.         </MODEL>
  363.         <MODEL id="ref_r_forearm" type="dynamics_and_geometry" geometry="ref_r_forearm">
  364.             <DYNAMICS>
  365.                 <MASS>0.01554971</MASS>
  366.                 <DENSITY>1</DENSITY>
  367.                 <MASS_OFFSET>0.02289481,-0.2123638,0.000366442</MASS_OFFSET>
  368.                 <INERTIA>0.0004282701,3.868267e-005,-6.672528e-008,7.363431e-005,6.190722e-007,0.0004324394</INERTIA>
  369.                 <LIN_DAMP>0</LIN_DAMP>
  370.                 <ANG_DAMP>0</ANG_DAMP>
  371.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  372.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  373.             </DYNAMICS>
  374.         </MODEL>
  375.         <MODEL id="ref_r_knee" type="dynamics_and_geometry" geometry="ref_r_knee">
  376.             <DYNAMICS>
  377.                 <MASS>0.0838749</MASS>
  378.                 <DENSITY>1</DENSITY>
  379.                 <MASS_OFFSET>0.3028071,-0.01815135,-0.005679692</MASS_OFFSET>
  380.                 <INERTIA>0.001341663,0.0002586176,8.092346e-005,0.00564051,-4.850764e-006,0.005654493</INERTIA>
  381.                 <LIN_DAMP>0</LIN_DAMP>
  382.                 <ANG_DAMP>0</ANG_DAMP>
  383.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  384.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  385.             </DYNAMICS>
  386.         </MODEL>
  387.         <MODEL id="ref_r_leg" type="dynamics_and_geometry" geometry="ref_r_leg">
  388.             <DYNAMICS>
  389.                 <MASS>0.09644707</MASS>
  390.                 <DENSITY>1</DENSITY>
  391.                 <MASS_OFFSET>0.2899629,-0.02729635,-0.005142928</MASS_OFFSET>
  392.                 <INERTIA>0.001807604,0.0004457073,8.39762e-005,0.006500296,-7.905266e-006,0.006540765</INERTIA>
  393.                 <LIN_DAMP>0</LIN_DAMP>
  394.                 <ANG_DAMP>0</ANG_DAMP>
  395.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  396.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  397.             </DYNAMICS>
  398.         </MODEL>
  399.         <MODEL id="ref_r_shoulder" type="dynamics_and_geometry" geometry="ref_r_shoulder">
  400.             <DYNAMICS>
  401.                 <MASS>0.03052834</MASS>
  402.                 <DENSITY>1</DENSITY>
  403.                 <MASS_OFFSET>-0.01434151,-0.2237006,-0.0001320274</MASS_OFFSET>
  404.                 <INERTIA>0.001084419,-5.410328e-005,-3.192477e-008,0.0002439785,-4.982554e-007,0.001087887</INERTIA>
  405.                 <LIN_DAMP>0</LIN_DAMP>
  406.                 <ANG_DAMP>0</ANG_DAMP>
  407.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  408.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  409.             </DYNAMICS>
  410.         </MODEL>
  411.         <MODEL id="ref_sp1" type="dynamics_only" geometry="ref_sp1">
  412.             <DYNAMICS>
  413.                 <MASS>0.09108939</MASS>
  414.                 <DENSITY>1</DENSITY>
  415.                 <MASS_OFFSET>7.085477e-005,-0.1607105,-0.007377829</MASS_OFFSET>
  416.                 <INERTIA>0.003932834,7.831839e-007,3.595247e-008,0.002156442,-8.154986e-005,0.00392909</INERTIA>
  417.                 <LIN_DAMP>0</LIN_DAMP>
  418.                 <ANG_DAMP>0</ANG_DAMP>
  419.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  420.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  421.             </DYNAMICS>
  422.         </MODEL>
  423.         <MODEL id="ref_sp2" type="dynamics_and_geometry" geometry="ref_sp2">
  424.             <DYNAMICS>
  425.                 <MASS>0.02989458</MASS>
  426.                 <DENSITY>1</DENSITY>
  427.                 <MASS_OFFSET>-0.001128127,-0.1973664,-0.07729886</MASS_OFFSET>
  428.                 <INERTIA>0.0009980772,-3.759097e-006,-1.472259e-006,0.0003404424,-0.000257572,0.00089722</INERTIA>
  429.                 <LIN_DAMP>0</LIN_DAMP>
  430.                 <ANG_DAMP>0</ANG_DAMP>
  431.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  432.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  433.             </DYNAMICS>
  434.         </MODEL>
  435.         <MODEL id="ref_sp3" type="dynamics_and_geometry" geometry="ref_sp3">
  436.             <DYNAMICS>
  437.                 <MASS>0.04700179</MASS>
  438.                 <DENSITY>1</DENSITY>
  439.                 <MASS_OFFSET>0.02343256,-0.09538725,-0.08296703</MASS_OFFSET>
  440.                 <INERTIA>0.0009423051,0,0,0.0009423051,0,0.0009423051</INERTIA>
  441.                 <LIN_DAMP>0</LIN_DAMP>
  442.                 <ANG_DAMP>0</ANG_DAMP>
  443.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  444.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  445.             </DYNAMICS>
  446.         </MODEL>
  447.         <PART id="ref_cog" model="ref_cog">
  448.             <TM>1,0,0,0,0,-1,5.601004e-008,0,0,-5.601004e-008,-1,0,0,1.7,0.5999999,1</TM>
  449.         </PART>
  450.         <PART id="ref_hip" model="ref_hip" parent="ref_cog">
  451.             <TM>1,0,0,0,0,-1,5.601004e-008,0,0,-5.601004e-008,-1,0,0,1.7,0.5999999,1</TM>
  452.         </PART>
  453.         <PART id="ref_l_ankle" model="ref_l_ankle" parent="ref_l_knee">
  454.             <TM>0.9999825,0.005621226,-0.001826812,0,-0.005582129,0.9997692,0.02074475,0,0.001943001,-0.02073419,0.9997832,0,0.3658679,0.4244851,0.7169049,1</TM>
  455.         </PART>
  456.         <PART id="ref_l_clavicle" model="ref_l_clavicle" parent="ref_sp3">
  457.             <TM>0.1436853,-2.207853e-007,-0.9896234,0,0.923954,-0.3582074,0.1341508,0,-0.3544905,-0.933642,-0.05146895,0,0.1576898,2.597813,0.7619671,1</TM>
  458.         </PART>
  459.         <PART id="ref_l_forearm" model="ref_l_forearm" parent="ref_l_shoulder">
  460.             <TM>-0.1710411,-2.680941e-007,-0.9852639,0,0.670266,-0.7329423,-0.1163575,0,-0.7221415,-0.6802908,0.1253634,0,0.6129356,2.238866,0.7663645,1</TM>
  461.         </PART>
  462.         <PART id="ref_l_knee" model="ref_l_knee" parent="ref_l_leg">
  463.             <TM>-0.1010519,0.9914757,-0.08224611,0,-0.02835023,0.07976598,0.9964104,0,0.9944771,0.1030208,0.02004806,0,0.294402,1.020875,0.6306954,1</TM>
  464.         </PART>
  465.         <PART id="ref_l_leg" model="ref_l_leg" parent="ref_hip">
  466.             <TM>-0.1032005,0.9938539,0.04005245,0,-0.01582998,-0.04190345,0.9989963,0,0.9945346,0.1024629,0.02005714,0,0.225188,1.598469,0.5991786,1</TM>
  467.         </PART>
  468.         <PART id="ref_l_shoulder" model="ref_l_shoulder" parent="ref_l_clavicle">
  469.             <TM>0.1073805,-2.728565e-007,-0.994218,0,0.6815822,-0.7280293,0.07361448,0,-0.7238199,-0.685546,-0.07817598,0,0.3051071,2.564767,0.7619671,1</TM>
  470.         </PART>
  471.         <PART id="ref_neck" model="ref_neck" parent="ref_sp3">
  472.             <TM>-0.9999824,1.949833e-009,0.005928429,0,-6.089222e-005,-0.9999472,-0.01027071,0,0.005928116,-0.01027089,0.9999297,0,-1.631536e-009,2.743301,0.7209649,1</TM>
  473.         </PART>
  474.         <PART id="ref_r_ankle" model="ref_r_ankle" parent="ref_r_knee">
  475.             <TM>0.9999825,-0.005621254,0.001826842,0,0.001108364,0.4819284,0.8762099,0,-0.005805805,-0.8761926,0.4819262,0,-0.3658678,0.4244877,0.7169049,1</TM>
  476.         </PART>
  477.         <PART id="ref_r_clavicle" model="ref_r_clavicle" parent="ref_sp3">
  478.             <TM>0.1436853,2.659943e-007,0.9896234,0,0.923954,0.3582074,-0.1341508,0,-0.3544905,0.933642,0.0514689,0,-0.1576901,2.597813,0.7619672,1</TM>
  479.         </PART>
  480.         <PART id="ref_r_forearm" model="ref_r_forearm" parent="ref_r_shoulder">
  481.             <TM>-0.1710411,1.925321e-007,0.9852639,0,0.670266,0.7329423,0.1163576,0,-0.7221416,0.6802908,-0.1253634,0,-0.6129366,2.238867,0.7663645,1</TM>
  482.         </PART>
  483.         <PART id="ref_r_knee" model="ref_r_knee" parent="ref_r_leg">
  484.             <TM>-0.1010519,-0.9914757,0.08224611,0,-0.02835023,-0.07976598,-0.9964104,0,0.9944771,-0.1030208,-0.02004806,0,-0.2944019,1.020873,0.6306954,1</TM>
  485.         </PART>
  486.         <PART id="ref_r_leg" model="ref_r_leg" parent="ref_hip">
  487.             <TM>-0.1032005,-0.9938539,-0.04005245,0,-0.01582998,0.04190345,-0.9989963,0,0.9945346,-0.1024629,-0.02005714,0,-0.2251878,1.598469,0.5991786,1</TM>
  488.         </PART>
  489.         <PART id="ref_r_shoulder" model="ref_r_shoulder" parent="ref_r_clavicle">
  490.             <TM>0.1073805,2.482602e-007,0.994218,0,0.6815822,0.7280293,-0.07361444,0,-0.7238199,0.685546,0.07817597,0,-0.305107,2.564769,0.7619672,1</TM>
  491.         </PART>
  492.         <PART id="ref_sp1" model="ref_sp1" parent="ref_cog">
  493.             <TM>0.9999474,9.946797e-010,0.01025428,0,-2.988545e-005,-0.9999958,0.002914381,0,0.01025424,-0.002914534,-0.9999432,0,0,1.743722,0.593603,1</TM>
  494.         </PART>
  495.         <PART id="ref_sp2" model="ref_sp2" parent="ref_sp1">
  496.             <TM>0.9998912,-1.90255e-009,-0.01475542,0,6.365092e-005,-0.9999907,0.004313391,0,-0.01475528,-0.004313861,-0.9998819,0,-1.805692e-010,2.065185,0.6074225,1</TM>
  497.         </PART>
  498.         <PART id="ref_sp3" model="ref_sp3" parent="ref_sp2">
  499.             <TM>-0.9999946,1.002559e-009,0.003270863,0,7.882211e-006,-0.9999971,0.00241012,0,0.003270854,0.002410133,0.9999917,0,-1.388138e-009,2.460582,0.7603328,1</TM>
  500.         </PART>
  501.         <NO_COLLISION part1="ref_cog" part2="ref_hip"></NO_COLLISION>
  502.         <NO_COLLISION part1="ref_cog" part2="ref_sp1"></NO_COLLISION>
  503.         <NO_COLLISION part1="ref_hip" part2="ref_l_leg"></NO_COLLISION>
  504.         <NO_COLLISION part1="ref_hip" part2="ref_r_leg"></NO_COLLISION>
  505.         <NO_COLLISION part1="ref_l_ankle" part2="ref_l_knee"></NO_COLLISION>
  506.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_l_shoulder"></NO_COLLISION>
  507.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_sp3"></NO_COLLISION>
  508.         <NO_COLLISION part1="ref_l_forearm" part2="ref_l_shoulder"></NO_COLLISION>
  509.         <NO_COLLISION part1="ref_l_knee" part2="ref_l_leg"></NO_COLLISION>
  510.         <NO_COLLISION part1="ref_neck" part2="ref_sp3"></NO_COLLISION>
  511.         <NO_COLLISION part1="ref_r_ankle" part2="ref_r_knee"></NO_COLLISION>
  512.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_r_shoulder"></NO_COLLISION>
  513.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_sp3"></NO_COLLISION>
  514.         <NO_COLLISION part1="ref_r_forearm" part2="ref_r_shoulder"></NO_COLLISION>
  515.         <NO_COLLISION part1="ref_r_knee" part2="ref_r_leg"></NO_COLLISION>
  516.         <NO_COLLISION part1="ref_sp1" part2="ref_sp2"></NO_COLLISION>
  517.         <NO_COLLISION part1="ref_sp2" part2="ref_sp3"></NO_COLLISION>
  518.         <JOINT id="ref_hip" part1="ref_hip" part2="ref_cog" type="hinge">
  519.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  520.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  521.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  522.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  523.             <LIMITED>1</LIMITED>
  524.             <MOTORIZED>0</MOTORIZED>
  525.             <DES_VEL>1</DES_VEL>
  526.             <MAX_FORCE>1000</MAX_FORCE>
  527.             <POS1>0,0,0</POS1>
  528.             <POS2>0,3.360602e-008,2.399221e-008</POS2>
  529.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  530.             <PRIMARY_AXIS2>1,0,0</PRIMARY_AXIS2>
  531.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  532.             <ORTHOGONAL_AXIS2>0,1,0</ORTHOGONAL_AXIS2>
  533.         </JOINT>
  534.         <JOINT id="ref_l_ankle" part1="ref_l_ankle" part2="ref_l_knee" type="hinge">
  535.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  536.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  537.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  538.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  539.             <LIMITED>1</LIMITED>
  540.             <MOTORIZED>0</MOTORIZED>
  541.             <DES_VEL>1</DES_VEL>
  542.             <MAX_FORCE>1000</MAX_FORCE>
  543.             <POS1>0,0,0</POS1>
  544.             <POS2>-0.6056184,0.03630228,0.01135889</POS2>
  545.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  546.             <PRIMARY_AXIS2>-0.09532655,-0.0297216,0.9950022</PRIMARY_AXIS2>
  547.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  548.             <ORTHOGONAL_AXIS2>0.9901049,0.1005761,0.09786166</ORTHOGONAL_AXIS2>
  549.         </JOINT>
  550.         <JOINT id="ref_l_clavicle" part1="ref_l_clavicle" part2="ref_sp3" type="hinge">
  551.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  552.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  553.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  554.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  555.             <LIMITED>1</LIMITED>
  556.             <MOTORIZED>0</MOTORIZED>
  557.             <DES_VEL>1</DES_VEL>
  558.             <MAX_FORCE>1000</MAX_FORCE>
  559.             <POS1>0,0,0</POS1>
  560.             <POS2>-0.1576836,-0.137226,0.002480874</POS2>
  561.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  562.             <PRIMARY_AXIS2>-0.1469215,-0.002383758,-0.9891456</PRIMARY_AXIS2>
  563.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  564.             <ORTHOGONAL_AXIS2>-0.9235106,0.358537,0.1363085</ORTHOGONAL_AXIS2>
  565.         </JOINT>
  566.         <JOINT id="ref_l_forearm" part1="ref_l_forearm" part2="ref_l_shoulder" type="hinge">
  567.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  568.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  569.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  570.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  571.             <LIMITED>1</LIMITED>
  572.             <MOTORIZED>0</MOTORIZED>
  573.             <DES_VEL>1</DES_VEL>
  574.             <MAX_FORCE>1000</MAX_FORCE>
  575.             <POS1>0,0,0</POS1>
  576.             <POS2>0.02868299,0.4473995,0.0002638013</POS2>
  577.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  578.             <PRIMARY_AXIS2>0.9612007,-0.1891081,0.2008271</PRIMARY_AXIS2>
  579.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  580.             <ORTHOGONAL_AXIS2>0.1876584,0.9818794,0.02641013</ORTHOGONAL_AXIS2>
  581.         </JOINT>
  582.         <JOINT id="ref_l_knee" part1="ref_l_knee" part2="ref_l_leg" type="hinge">
  583.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  584.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  585.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  586.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  587.             <LIMITED>1</LIMITED>
  588.             <MOTORIZED>0</MOTORIZED>
  589.             <DES_VEL>1</DES_VEL>
  590.             <MAX_FORCE>1000</MAX_FORCE>
  591.             <POS1>0,0,0</POS1>
  592.             <POS2>-0.5799243,0.05459267,0.01028594</POS2>
  593.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  594.             <PRIMARY_AXIS2>0.9925165,-0.1221102,-0.0005597538</PRIMARY_AXIS2>
  595.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  596.             <ORTHOGONAL_AXIS2>0.1221102,0.9925165,-3.708499e-005</ORTHOGONAL_AXIS2>
  597.         </JOINT>
  598.         <JOINT id="ref_l_leg" part1="ref_l_leg" part2="ref_hip" type="hinge">
  599.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  600.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  601.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  602.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  603.             <LIMITED>1</LIMITED>
  604.             <MOTORIZED>0</MOTORIZED>
  605.             <DES_VEL>1</DES_VEL>
  606.             <MAX_FORCE>1000</MAX_FORCE>
  607.             <POS1>0,0,0</POS1>
  608.             <POS2>0.225188,0.1015313,0.0008213221</POS2>
  609.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  610.             <PRIMARY_AXIS2>-0.1032005,-0.9938539,-0.04005251</PRIMARY_AXIS2>
  611.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  612.             <ORTHOGONAL_AXIS2>-0.01582998,0.04190351,-0.9989963</ORTHOGONAL_AXIS2>
  613.         </JOINT>
  614.         <JOINT id="ref_l_shoulder" part1="ref_l_shoulder" part2="ref_l_clavicle" type="hinge">
  615.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  616.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  617.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  618.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  619.             <LIMITED>1</LIMITED>
  620.             <MOTORIZED>0</MOTORIZED>
  621.             <DES_VEL>1</DES_VEL>
  622.             <MAX_FORCE>1000</MAX_FORCE>
  623.             <POS1>0,0,0</POS1>
  624.             <POS2>0.02118172,0.1480443,-0.02140455</POS2>
  625.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  626.             <PRIMARY_AXIS2>0.9993306,-0.03416034,0.01310625</PRIMARY_AXIS2>
  627.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  628.             <ORTHOGONAL_AXIS2>0.0250829,0.9004117,0.4343156</ORTHOGONAL_AXIS2>
  629.         </JOINT>
  630.         <JOINT id="ref_neck" part1="ref_neck" part2="ref_sp3" type="hinge">
  631.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  632.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  633.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  634.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  635.             <LIMITED>1</LIMITED>
  636.             <MOTORIZED>0</MOTORIZED>
  637.             <DES_VEL>1</DES_VEL>
  638.             <MAX_FORCE>1000</MAX_FORCE>
  639.             <POS1>0,0,0</POS1>
  640.             <POS2>-0.0001287664,-0.282814,-0.03868614</POS2>
  641.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  642.             <PRIMARY_AXIS2>0.9999967,6.404226e-006,0.002657586</PRIMARY_AXIS2>
  643.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  644.             <ORTHOGONAL_AXIS2>2.72968e-005,0.9999198,-0.01268084</ORTHOGONAL_AXIS2>
  645.         </JOINT>
  646.         <JOINT id="ref_r_ankle" part1="ref_r_ankle" part2="ref_r_knee" type="hinge">
  647.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  648.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  649.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  650.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  651.             <LIMITED>1</LIMITED>
  652.             <MOTORIZED>0</MOTORIZED>
  653.             <DES_VEL>1</DES_VEL>
  654.             <MAX_FORCE>1000</MAX_FORCE>
  655.             <POS1>0,0,0</POS1>
  656.             <POS2>0.6056141,-0.03630273,-0.0113594</POS2>
  657.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  658.             <PRIMARY_AXIS2>-0.09532652,-0.02972163,0.9950022</PRIMARY_AXIS2>
  659.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  660.             <ORTHOGONAL_AXIS2>-0.4058674,-0.9115375,-0.06611273</ORTHOGONAL_AXIS2>
  661.         </JOINT>
  662.         <JOINT id="ref_r_clavicle" part1="ref_r_clavicle" part2="ref_sp3" type="hinge">
  663.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  664.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  665.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  666.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  667.             <LIMITED>1</LIMITED>
  668.             <MOTORIZED>0</MOTORIZED>
  669.             <DES_VEL>1</DES_VEL>
  670.             <MAX_FORCE>1000</MAX_FORCE>
  671.             <POS1>0,0,0</POS1>
  672.             <POS2>0.1576946,-0.1372288,0.001449373</POS2>
  673.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  674.             <PRIMARY_AXIS2>-0.1404477,0.002385978,0.9900855</PRIMARY_AXIS2>
  675.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  676.             <ORTHOGONAL_AXIS2>-0.9243881,-0.3585225,-0.1302642</ORTHOGONAL_AXIS2>
  677.         </JOINT>
  678.         <JOINT id="ref_r_forearm" part1="ref_r_forearm" part2="ref_r_shoulder" type="hinge">
  679.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  680.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  681.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  682.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  683.             <LIMITED>1</LIMITED>
  684.             <MOTORIZED>0</MOTORIZED>
  685.             <DES_VEL>1</DES_VEL>
  686.             <MAX_FORCE>1000</MAX_FORCE>
  687.             <POS1>0,0,0</POS1>
  688.             <POS2>-0.02868313,-0.4474013,-0.0002639001</POS2>
  689.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  690.             <PRIMARY_AXIS2>0.9612007,-0.1891081,0.2008271</PRIMARY_AXIS2>
  691.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  692.             <ORTHOGONAL_AXIS2>0.1876584,0.9818792,0.02641014</ORTHOGONAL_AXIS2>
  693.         </JOINT>
  694.         <JOINT id="ref_r_knee" part1="ref_r_knee" part2="ref_r_leg" type="hinge">
  695.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  696.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  697.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  698.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  699.             <LIMITED>1</LIMITED>
  700.             <MOTORIZED>0</MOTORIZED>
  701.             <DES_VEL>1</DES_VEL>
  702.             <MAX_FORCE>1000</MAX_FORCE>
  703.             <POS1>0,0,0</POS1>
  704.             <POS2>0.579926,-0.05459274,-0.01028586</POS2>
  705.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  706.             <PRIMARY_AXIS2>0.9925165,-0.1221102,-0.0005597538</PRIMARY_AXIS2>
  707.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  708.             <ORTHOGONAL_AXIS2>0.1221102,0.9925165,-3.708499e-005</ORTHOGONAL_AXIS2>
  709.         </JOINT>
  710.         <JOINT id="ref_r_leg" part1="ref_r_leg" part2="ref_hip" type="hinge">
  711.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  712.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  713.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  714.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  715.             <LIMITED>1</LIMITED>
  716.             <MOTORIZED>0</MOTORIZED>
  717.             <DES_VEL>1</DES_VEL>
  718.             <MAX_FORCE>1000</MAX_FORCE>
  719.             <POS1>0,0,0</POS1>
  720.             <POS2>-0.2251878,0.1015313,0.0008213221</POS2>
  721.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  722.             <PRIMARY_AXIS2>-0.1032005,0.9938539,0.04005251</PRIMARY_AXIS2>
  723.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  724.             <ORTHOGONAL_AXIS2>-0.01582998,-0.04190351,0.9989963</ORTHOGONAL_AXIS2>
  725.         </JOINT>
  726.         <JOINT id="ref_r_shoulder" part1="ref_r_shoulder" part2="ref_r_clavicle" type="hinge">
  727.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  728.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  729.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  730.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  731.             <LIMITED>1</LIMITED>
  732.             <MOTORIZED>0</MOTORIZED>
  733.             <DES_VEL>1</DES_VEL>
  734.             <MAX_FORCE>1000</MAX_FORCE>
  735.             <POS1>0,0,0</POS1>
  736.             <POS2>-0.02118164,-0.1480431,0.02140645</POS2>
  737.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  738.             <PRIMARY_AXIS2>0.9993306,-0.03416039,0.01310618</PRIMARY_AXIS2>
  739.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  740.             <ORTHOGONAL_AXIS2>0.02508296,0.9004116,0.4343155</ORTHOGONAL_AXIS2>
  741.         </JOINT>
  742.         <JOINT id="ref_sp1" part1="ref_sp1" part2="ref_cog" type="hinge">
  743.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  744.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  745.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  746.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  747.             <LIMITED>1</LIMITED>
  748.             <MOTORIZED>0</MOTORIZED>
  749.             <DES_VEL>1</DES_VEL>
  750.             <MAX_FORCE>1000</MAX_FORCE>
  751.             <POS1>0,0,0</POS1>
  752.             <POS2>0,-0.04372224,0.006396971</POS2>
  753.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  754.             <PRIMARY_AXIS2>0.9999474,-4.203371e-010,-0.01025428</PRIMARY_AXIS2>
  755.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  756.             <ORTHOGONAL_AXIS2>-2.988545e-005,0.9999958,-0.002914325</ORTHOGONAL_AXIS2>
  757.         </JOINT>
  758.         <JOINT id="ref_sp2" part1="ref_sp2" part2="ref_sp1" type="hinge">
  759.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  760.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  761.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  762.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  763.             <LIMITED>1</LIMITED>
  764.             <MOTORIZED>0</MOTORIZED>
  765.             <DES_VEL>1</DES_VEL>
  766.             <MAX_FORCE>1000</MAX_FORCE>
  767.             <POS1>0,0,0</POS1>
  768.             <POS2>0.0001417098,-0.3214211,-0.01475573</POS2>
  769.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  770.             <PRIMARY_AXIS2>0.9996874,-7.288322e-005,0.0250077</PRIMARY_AXIS2>
  771.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  772.             <ORTHOGONAL_AXIS2>0.0001078773,0.9999991,-0.001397986</ORTHOGONAL_AXIS2>
  773.         </JOINT>
  774.         <JOINT id="ref_sp3" part1="ref_sp3" part2="ref_sp2" type="hinge">
  775.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  776.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  777.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  778.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  779.             <LIMITED>1</LIMITED>
  780.             <MOTORIZED>0</MOTORIZED>
  781.             <DES_VEL>1</DES_VEL>
  782.             <MAX_FORCE>1000</MAX_FORCE>
  783.             <POS1>0,0,0</POS1>
  784.             <POS2>-0.002256257,-0.3947332,-0.1545978</POS2>
  785.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  786.             <PRIMARY_AXIS2>-0.9999343,-4.954308e-005,0.01148473</PRIMARY_AXIS2>
  787.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  788.             <ORTHOGONAL_AXIS2>-2.767911e-005,0.9999983,0.001903897</ORTHOGONAL_AXIS2>
  789.         </JOINT>
  790.     </ASSET>
  791. </KARMA>