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  1. <?xml version="1.0"?>
  2.  
  3. <KARMA ka_file_version="1.0">
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  263.                 <DENSITY>1</DENSITY>
  264.                 <MASS_OFFSET>-7.376619e-009,0.1121244,-3.231813e-007</MASS_OFFSET>
  265.                 <INERTIA>0.0003253637,1.54954e-011,4.389316e-013,0.0001467083,5.539366e-010,0.0003253637</INERTIA>
  266.                 <LIN_DAMP>0</LIN_DAMP>
  267.                 <ANG_DAMP>0</ANG_DAMP>
  268.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  269.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  270.             </DYNAMICS>
  271.         </MODEL>
  272.         <MODEL id="ref_l_forearm" type="dynamics_and_geometry" geometry="ref_l_forearm">
  273.             <DYNAMICS>
  274.                 <MASS>0.01888529</MASS>
  275.                 <DENSITY>1</DENSITY>
  276.                 <MASS_OFFSET>-0.0005357155,0.2384966,0.0002418197</MASS_OFFSET>
  277.                 <INERTIA>0.0004632614,8.284878e-007,8.630012e-010,9.442867e-005,-3.739763e-007,0.000463263</INERTIA>
  278.                 <LIN_DAMP>0</LIN_DAMP>
  279.                 <ANG_DAMP>0</ANG_DAMP>
  280.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  281.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  282.             </DYNAMICS>
  283.         </MODEL>
  284.         <MODEL id="ref_l_knee" type="dynamics_and_geometry" geometry="ref_l_knee">
  285.             <DYNAMICS>
  286.                 <MASS>0.07972445</MASS>
  287.                 <DENSITY>1</DENSITY>
  288.                 <MASS_OFFSET>-0.3562289,0.04419844,0.001777541</MASS_OFFSET>
  289.                 <INERTIA>0.001015744,0.0006352566,2.554852e-005,0.006056943,-3.169789e-006,0.006135634</INERTIA>
  290.                 <LIN_DAMP>0</LIN_DAMP>
  291.                 <ANG_DAMP>0</ANG_DAMP>
  292.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  293.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  294.             </DYNAMICS>
  295.         </MODEL>
  296.         <MODEL id="ref_l_leg" type="dynamics_and_geometry" geometry="ref_l_leg">
  297.             <DYNAMICS>
  298.                 <MASS>0.1208433</MASS>
  299.                 <DENSITY>1</DENSITY>
  300.                 <MASS_OFFSET>-0.3863143,0.02258299,-8.289653e-006</MASS_OFFSET>
  301.                 <INERTIA>0.001989691,0.0005479136,-2.012558e-007,0.01133052,1.196363e-008,0.01136255</INERTIA>
  302.                 <LIN_DAMP>0</LIN_DAMP>
  303.                 <ANG_DAMP>0</ANG_DAMP>
  304.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  305.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  306.             </DYNAMICS>
  307.         </MODEL>
  308.         <MODEL id="ref_l_shoulder" type="dynamics_and_geometry" geometry="ref_l_shoulder">
  309.             <DYNAMICS>
  310.                 <MASS>0.04456519</MASS>
  311.                 <DENSITY>1</DENSITY>
  312.                 <MASS_OFFSET>-0.005787521,0.2422398,-0.0008148088</MASS_OFFSET>
  313.                 <INERTIA>0.001848215,3.44542e-005,-1.15871e-007,0.0004069398,4.850566e-006,0.001849023</INERTIA>
  314.                 <LIN_DAMP>0</LIN_DAMP>
  315.                 <ANG_DAMP>0</ANG_DAMP>
  316.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  317.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  318.             </DYNAMICS>
  319.         </MODEL>
  320.         <MODEL id="ref_l_wrist" type="dynamics_and_geometry" geometry="ref_l_wrist">
  321.             <DYNAMICS>
  322.                 <MASS>0.002069555</MASS>
  323.                 <DENSITY>1</DENSITY>
  324.                 <MASS_OFFSET>-0.001913414,0.1270991,0.01434027</MASS_OFFSET>
  325.                 <INERTIA>4.66174e-006,0,0,4.66174e-006,0,4.66174e-006</INERTIA>
  326.                 <LIN_DAMP>0</LIN_DAMP>
  327.                 <ANG_DAMP>0</ANG_DAMP>
  328.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  329.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  330.             </DYNAMICS>
  331.         </MODEL>
  332.         <MODEL id="ref_neck" type="dynamics_and_geometry" geometry="ref_neck">
  333.             <DYNAMICS>
  334.                 <MASS>0.02856132</MASS>
  335.                 <DENSITY>1</DENSITY>
  336.                 <MASS_OFFSET>0,-0.2,-0.05</MASS_OFFSET>
  337.                 <INERTIA>0.0003701547,0,0,0.0003701547,0,0.0003701547</INERTIA>
  338.                 <LIN_DAMP>0</LIN_DAMP>
  339.                 <ANG_DAMP>0</ANG_DAMP>
  340.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  341.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  342.             </DYNAMICS>
  343.         </MODEL>
  344.         <MODEL id="ref_r_clavicle" type="dynamics_and_geometry" geometry="ref_r_clavicle">
  345.             <DYNAMICS>
  346.                 <MASS>0.02037616</MASS>
  347.                 <DENSITY>1</DENSITY>
  348.                 <MASS_OFFSET>-6.56053e-010,-0.1121243,-2.367962e-008</MASS_OFFSET>
  349.                 <INERTIA>0.0003253637,1.010953e-011,4.148864e-012,0.0001467083,-2.111179e-011,0.0003253637</INERTIA>
  350.                 <LIN_DAMP>0</LIN_DAMP>
  351.                 <ANG_DAMP>0</ANG_DAMP>
  352.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  353.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  354.             </DYNAMICS>
  355.         </MODEL>
  356.         <MODEL id="ref_r_forearm" type="dynamics_and_geometry" geometry="ref_r_forearm">
  357.             <DYNAMICS>
  358.                 <MASS>0.01888529</MASS>
  359.                 <DENSITY>1</DENSITY>
  360.                 <MASS_OFFSET>0.0005358722,-0.2384976,-0.000240936</MASS_OFFSET>
  361.                 <INERTIA>0.0004632614,8.287059e-007,8.637108e-010,9.442869e-005,-3.726372e-007,0.000463263</INERTIA>
  362.                 <LIN_DAMP>0</LIN_DAMP>
  363.                 <ANG_DAMP>0</ANG_DAMP>
  364.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  365.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  366.             </DYNAMICS>
  367.         </MODEL>
  368.         <MODEL id="ref_r_knee" type="dynamics_and_geometry" geometry="ref_r_knee">
  369.             <DYNAMICS>
  370.                 <MASS>0.0797246</MASS>
  371.                 <DENSITY>1</DENSITY>
  372.                 <MASS_OFFSET>0.3562298,-0.04419842,-0.001777632</MASS_OFFSET>
  373.                 <INERTIA>0.001015745,0.0006352582,2.554972e-005,0.006056976,-3.169964e-006,0.006135665</INERTIA>
  374.                 <LIN_DAMP>0</LIN_DAMP>
  375.                 <ANG_DAMP>0</ANG_DAMP>
  376.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  377.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  378.             </DYNAMICS>
  379.         </MODEL>
  380.         <MODEL id="ref_r_leg" type="dynamics_and_geometry" geometry="ref_r_leg">
  381.             <DYNAMICS>
  382.                 <MASS>0.1208432</MASS>
  383.                 <DENSITY>1</DENSITY>
  384.                 <MASS_OFFSET>0.386314,-0.02258298,8.377317e-006</MASS_OFFSET>
  385.                 <INERTIA>0.001989689,0.0005479122,-2.033997e-007,0.01133048,1.208692e-008,0.01136251</INERTIA>
  386.                 <LIN_DAMP>0</LIN_DAMP>
  387.                 <ANG_DAMP>0</ANG_DAMP>
  388.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  389.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  390.             </DYNAMICS>
  391.         </MODEL>
  392.         <MODEL id="ref_r_shoulder" type="dynamics_and_geometry" geometry="ref_r_shoulder">
  393.             <DYNAMICS>
  394.                 <MASS>0.04456498</MASS>
  395.                 <DENSITY>1</DENSITY>
  396.                 <MASS_OFFSET>0.005787612,-0.2422387,0.000814561</MASS_OFFSET>
  397.                 <INERTIA>0.001848192,3.445442e-005,-1.158791e-007,0.000406938,4.848987e-006,0.001849</INERTIA>
  398.                 <LIN_DAMP>0</LIN_DAMP>
  399.                 <ANG_DAMP>0</ANG_DAMP>
  400.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  401.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  402.             </DYNAMICS>
  403.         </MODEL>
  404.         <MODEL id="ref_r_wrist" type="dynamics_and_geometry" geometry="ref_r_wrist">
  405.             <DYNAMICS>
  406.                 <MASS>0.00250744</MASS>
  407.                 <DENSITY>1</DENSITY>
  408.                 <MASS_OFFSET>0.001925707,-0.1271731,-0.01425759</MASS_OFFSET>
  409.                 <INERTIA>6.419048e-006,0,0,6.419048e-006,0,6.419048e-006</INERTIA>
  410.                 <LIN_DAMP>0</LIN_DAMP>
  411.                 <ANG_DAMP>0</ANG_DAMP>
  412.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  413.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  414.             </DYNAMICS>
  415.         </MODEL>
  416.         <MODEL id="ref_sp1" type="dynamics_only" geometry="ref_sp1">
  417.             <DYNAMICS>
  418.                 <MASS>0.02552344</MASS>
  419.                 <DENSITY>1</DENSITY>
  420.                 <MASS_OFFSET>0.0002591418,-0.1165814,-0.05965116</MASS_OFFSET>
  421.                 <INERTIA>0.0004996732,5.18666e-007,2.653859e-007,0.0002663396,-0.0001193903,0.000438586</INERTIA>
  422.                 <LIN_DAMP>0</LIN_DAMP>
  423.                 <ANG_DAMP>0</ANG_DAMP>
  424.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  425.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  426.             </DYNAMICS>
  427.         </MODEL>
  428.         <MODEL id="ref_sp2" type="dynamics_only" geometry="ref_sp2">
  429.             <DYNAMICS>
  430.                 <MASS>0.007065983</MASS>
  431.                 <DENSITY>1</DENSITY>
  432.                 <MASS_OFFSET>0.0001157244,-0.1737671,0.006207062</MASS_OFFSET>
  433.                 <INERTIA>0.0001201224,6.954686e-008,-2.48551e-009,1.569357e-005,3.730259e-006,0.0001199892</INERTIA>
  434.                 <LIN_DAMP>0</LIN_DAMP>
  435.                 <ANG_DAMP>0</ANG_DAMP>
  436.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  437.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  438.             </DYNAMICS>
  439.         </MODEL>
  440.         <MODEL id="ref_sp3" type="dynamics_and_geometry" geometry="ref_sp3">
  441.             <DYNAMICS>
  442.                 <MASS>0.1451922</MASS>
  443.                 <DENSITY>1</DENSITY>
  444.                 <MASS_OFFSET>0,0.1848062,-0.1036662</MASS_OFFSET>
  445.                 <INERTIA>0.006203667,0,0,0.005319739,0.0001558604,0.006176185</INERTIA>
  446.                 <LIN_DAMP>0</LIN_DAMP>
  447.                 <ANG_DAMP>0</ANG_DAMP>
  448.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  449.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  450.             </DYNAMICS>
  451.         </MODEL>
  452.         <PART id="ref_cog" model="ref_cog">
  453.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,1.748456e-007,1.999936,9.604726e-007,1</TM>
  454.         </PART>
  455.         <PART id="ref_hip" model="ref_hip" parent="ref_cog">
  456.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,1.748456e-007,1.999936,9.604726e-007,1</TM>
  457.         </PART>
  458.         <PART id="ref_l_clavicle" model="ref_l_clavicle" parent="ref_sp3">
  459.             <TM>-0.1436863,2.609473e-008,0.9896233,0,-0.9239541,-0.3582068,-0.1341516,0,0.3544898,-0.9336423,0.05146944,0,-0.1330892,2.773309,-0.06882908,1</TM>
  460.         </PART>
  461.         <PART id="ref_l_forearm" model="ref_l_forearm" parent="ref_l_shoulder">
  462.             <TM>0.171041,-9.75849e-007,0.9852639,0,-0.6702648,-0.7329435,0.1163567,0,0.7221427,-0.6802895,-0.1253641,0,-0.6704395,2.341382,-0.146212,1</TM>
  463.         </PART>
  464.         <PART id="ref_l_knee" model="ref_l_knee" parent="ref_l_leg">
  465.             <TM>0.1010517,0.9914757,0.08224673,0,0.02835026,0.0797666,-0.9964103,0,-0.9944772,0.1030206,-0.02004805,0,-0.2430693,1.043301,-0.01327584,1</TM>
  466.         </PART>
  467.         <PART id="ref_l_leg" model="ref_l_leg" parent="ref_hip">
  468.             <TM>0.1032006,0.9938538,-0.04005244,0,0.01582998,-0.04190345,-0.9989963,0,-0.9945346,0.102463,-0.02005715,0,-0.1640651,1.813075,0.0008991112,1</TM>
  469.         </PART>
  470.         <PART id="ref_l_shoulder" model="ref_l_shoulder" parent="ref_l_clavicle">
  471.             <TM>-0.1073813,9.74234e-008,0.9942179,0,-0.6815811,-0.7280303,-0.07361463,0,0.7238207,-0.685545,0.07817689,0,-0.3402877,2.692982,-0.09891197,1</TM>
  472.         </PART>
  473.         <PART id="ref_l_wrist" model="ref_l_wrist" parent="ref_l_forearm">
  474.             <TM>0.1076889,-0.003266514,0.9941792,0,-0.6625254,-0.7458255,0.06931387,0,0.7412578,-0.6661333,-0.08248131,0,-0.9701168,2.013814,-0.09390693,1</TM>
  475.         </PART>
  476.         <PART id="ref_neck" model="ref_neck" parent="ref_sp3">
  477.             <TM>0.9999824,-8.831391e-008,-0.005928683,0,3.335701e-005,-0.9999841,0.005641175,0,-0.005928589,-0.005641274,-0.9999665,0,0.0003282925,2.861979,-0.05390622,1</TM>
  478.         </PART>
  479.         <PART id="ref_r_clavicle" model="ref_r_clavicle" parent="ref_sp3">
  480.             <TM>-0.1436856,7.168687e-010,-0.9896234,0,-0.923954,0.3582074,0.1341509,0,0.3544905,0.933642,-0.05146925,0,0.1329776,2.773309,-0.06882919,1</TM>
  481.         </PART>
  482.         <PART id="ref_r_forearm" model="ref_r_forearm" parent="ref_r_shoulder">
  483.             <TM>0.1710423,-2.353762e-008,-0.9852637,0,-0.6702663,0.7329419,-0.1163586,0,0.722141,0.6802913,0.1253641,0,0.6703262,2.341381,-0.1462127,1</TM>
  484.         </PART>
  485.         <PART id="ref_r_knee" model="ref_r_knee" parent="ref_r_leg">
  486.             <TM>0.1010515,-0.9914758,-0.08224578,0,0.02835012,-0.07976567,0.9964104,0,-0.9944772,-0.1030204,0.02004802,0,0.2430694,1.043302,-0.01327562,1</TM>
  487.         </PART>
  488.         <PART id="ref_r_leg" model="ref_r_leg" parent="ref_hip">
  489.             <TM>0.1032004,-0.9938539,0.04005244,0,0.01582999,0.04190344,0.9989963,0,-0.9945346,-0.1024628,0.02005715,0,0.1640656,1.813075,0.0008991135,1</TM>
  490.         </PART>
  491.         <PART id="ref_r_shoulder" model="ref_r_shoulder" parent="ref_r_clavicle">
  492.             <TM>-0.1073802,-1.338588e-007,-0.9942181,0,-0.6815837,0.7280279,0.07361412,0,0.7238185,0.6855475,-0.07817587,0,0.3401759,2.692981,-0.09891226,1</TM>
  493.         </PART>
  494.         <PART id="ref_r_wrist" model="ref_r_wrist" parent="ref_r_forearm">
  495.             <TM>0.1076917,0.003264946,-0.994179,0,-0.6625274,0.7458234,-0.06931715,0,0.7412556,0.6661357,0.08248214,0,0.9700058,2.013816,-0.09390873,1</TM>
  496.         </PART>
  497.         <PART id="ref_sp1" model="ref_sp1" parent="ref_cog">
  498.             <TM>-0.9999474,8.741818e-008,-0.01025428,0,2.979832e-005,-0.9999958,-0.002914312,0,-0.01025424,-0.002914464,0.9999432,0,-0.0007279546,2.071737,-0.01904132,1</TM>
  499.         </PART>
  500.         <PART id="ref_sp2" model="ref_sp2" parent="ref_sp1">
  501.             <TM>-0.9998912,8.74523e-008,0.01475543,0,-6.373994e-005,-0.9999907,-0.004313365,0,0.01475529,-0.004313836,0.9998819,0,-2.979174e-005,2.305246,-0.1376627,1</TM>
  502.         </PART>
  503.         <PART id="ref_sp3" model="ref_sp3" parent="ref_sp2">
  504.             <TM>0.9999946,-8.821432e-008,-0.003271114,0,-7.972048e-006,-0.9999971,-0.002410125,0,-0.003271104,0.002410138,-0.9999917,0,-5.589777e-005,2.652724,-0.1237468,1</TM>
  505.         </PART>
  506.         <NO_COLLISION part1="ref_cog" part2="ref_hip"></NO_COLLISION>
  507.         <NO_COLLISION part1="ref_cog" part2="ref_l_clavicle"></NO_COLLISION>
  508.         <NO_COLLISION part1="ref_cog" part2="ref_l_forearm"></NO_COLLISION>
  509.         <NO_COLLISION part1="ref_cog" part2="ref_l_knee"></NO_COLLISION>
  510.         <NO_COLLISION part1="ref_cog" part2="ref_l_leg"></NO_COLLISION>
  511.         <NO_COLLISION part1="ref_cog" part2="ref_l_shoulder"></NO_COLLISION>
  512.         <NO_COLLISION part1="ref_cog" part2="ref_l_wrist"></NO_COLLISION>
  513.         <NO_COLLISION part1="ref_cog" part2="ref_neck"></NO_COLLISION>
  514.         <NO_COLLISION part1="ref_cog" part2="ref_r_clavicle"></NO_COLLISION>
  515.         <NO_COLLISION part1="ref_cog" part2="ref_r_forearm"></NO_COLLISION>
  516.         <NO_COLLISION part1="ref_cog" part2="ref_r_knee"></NO_COLLISION>
  517.         <NO_COLLISION part1="ref_cog" part2="ref_r_leg"></NO_COLLISION>
  518.         <NO_COLLISION part1="ref_cog" part2="ref_r_shoulder"></NO_COLLISION>
  519.         <NO_COLLISION part1="ref_cog" part2="ref_r_wrist"></NO_COLLISION>
  520.         <NO_COLLISION part1="ref_cog" part2="ref_sp1"></NO_COLLISION>
  521.         <NO_COLLISION part1="ref_cog" part2="ref_sp2"></NO_COLLISION>
  522.         <NO_COLLISION part1="ref_cog" part2="ref_sp3"></NO_COLLISION>
  523.         <NO_COLLISION part1="ref_hip" part2="ref_l_clavicle"></NO_COLLISION>
  524.         <NO_COLLISION part1="ref_hip" part2="ref_l_forearm"></NO_COLLISION>
  525.         <NO_COLLISION part1="ref_hip" part2="ref_l_knee"></NO_COLLISION>
  526.         <NO_COLLISION part1="ref_hip" part2="ref_l_leg"></NO_COLLISION>
  527.         <NO_COLLISION part1="ref_hip" part2="ref_l_shoulder"></NO_COLLISION>
  528.         <NO_COLLISION part1="ref_hip" part2="ref_l_wrist"></NO_COLLISION>
  529.         <NO_COLLISION part1="ref_hip" part2="ref_neck"></NO_COLLISION>
  530.         <NO_COLLISION part1="ref_hip" part2="ref_r_clavicle"></NO_COLLISION>
  531.         <NO_COLLISION part1="ref_hip" part2="ref_r_forearm"></NO_COLLISION>
  532.         <NO_COLLISION part1="ref_hip" part2="ref_r_knee"></NO_COLLISION>
  533.         <NO_COLLISION part1="ref_hip" part2="ref_r_leg"></NO_COLLISION>
  534.         <NO_COLLISION part1="ref_hip" part2="ref_r_shoulder"></NO_COLLISION>
  535.         <NO_COLLISION part1="ref_hip" part2="ref_r_wrist"></NO_COLLISION>
  536.         <NO_COLLISION part1="ref_hip" part2="ref_sp1"></NO_COLLISION>
  537.         <NO_COLLISION part1="ref_hip" part2="ref_sp2"></NO_COLLISION>
  538.         <NO_COLLISION part1="ref_hip" part2="ref_sp3"></NO_COLLISION>
  539.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_l_forearm"></NO_COLLISION>
  540.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_l_knee"></NO_COLLISION>
  541.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_l_leg"></NO_COLLISION>
  542.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_l_shoulder"></NO_COLLISION>
  543.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_l_wrist"></NO_COLLISION>
  544.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_neck"></NO_COLLISION>
  545.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_clavicle"></NO_COLLISION>
  546.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_forearm"></NO_COLLISION>
  547.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_knee"></NO_COLLISION>
  548.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_leg"></NO_COLLISION>
  549.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_shoulder"></NO_COLLISION>
  550.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_r_wrist"></NO_COLLISION>
  551.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_sp1"></NO_COLLISION>
  552.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_sp2"></NO_COLLISION>
  553.         <NO_COLLISION part1="ref_l_clavicle" part2="ref_sp3"></NO_COLLISION>
  554.         <NO_COLLISION part1="ref_l_forearm" part2="ref_l_knee"></NO_COLLISION>
  555.         <NO_COLLISION part1="ref_l_forearm" part2="ref_l_leg"></NO_COLLISION>
  556.         <NO_COLLISION part1="ref_l_forearm" part2="ref_l_shoulder"></NO_COLLISION>
  557.         <NO_COLLISION part1="ref_l_forearm" part2="ref_l_wrist"></NO_COLLISION>
  558.         <NO_COLLISION part1="ref_l_forearm" part2="ref_neck"></NO_COLLISION>
  559.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_clavicle"></NO_COLLISION>
  560.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_forearm"></NO_COLLISION>
  561.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_knee"></NO_COLLISION>
  562.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_leg"></NO_COLLISION>
  563.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_shoulder"></NO_COLLISION>
  564.         <NO_COLLISION part1="ref_l_forearm" part2="ref_r_wrist"></NO_COLLISION>
  565.         <NO_COLLISION part1="ref_l_forearm" part2="ref_sp1"></NO_COLLISION>
  566.         <NO_COLLISION part1="ref_l_forearm" part2="ref_sp2"></NO_COLLISION>
  567.         <NO_COLLISION part1="ref_l_forearm" part2="ref_sp3"></NO_COLLISION>
  568.         <NO_COLLISION part1="ref_l_knee" part2="ref_l_leg"></NO_COLLISION>
  569.         <NO_COLLISION part1="ref_l_knee" part2="ref_l_shoulder"></NO_COLLISION>
  570.         <NO_COLLISION part1="ref_l_knee" part2="ref_l_wrist"></NO_COLLISION>
  571.         <NO_COLLISION part1="ref_l_knee" part2="ref_neck"></NO_COLLISION>
  572.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_clavicle"></NO_COLLISION>
  573.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_forearm"></NO_COLLISION>
  574.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_knee"></NO_COLLISION>
  575.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_leg"></NO_COLLISION>
  576.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_shoulder"></NO_COLLISION>
  577.         <NO_COLLISION part1="ref_l_knee" part2="ref_r_wrist"></NO_COLLISION>
  578.         <NO_COLLISION part1="ref_l_knee" part2="ref_sp1"></NO_COLLISION>
  579.         <NO_COLLISION part1="ref_l_knee" part2="ref_sp2"></NO_COLLISION>
  580.         <NO_COLLISION part1="ref_l_knee" part2="ref_sp3"></NO_COLLISION>
  581.         <NO_COLLISION part1="ref_l_leg" part2="ref_l_shoulder"></NO_COLLISION>
  582.         <NO_COLLISION part1="ref_l_leg" part2="ref_l_wrist"></NO_COLLISION>
  583.         <NO_COLLISION part1="ref_l_leg" part2="ref_neck"></NO_COLLISION>
  584.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_clavicle"></NO_COLLISION>
  585.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_forearm"></NO_COLLISION>
  586.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_knee"></NO_COLLISION>
  587.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_leg"></NO_COLLISION>
  588.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_shoulder"></NO_COLLISION>
  589.         <NO_COLLISION part1="ref_l_leg" part2="ref_r_wrist"></NO_COLLISION>
  590.         <NO_COLLISION part1="ref_l_leg" part2="ref_sp1"></NO_COLLISION>
  591.         <NO_COLLISION part1="ref_l_leg" part2="ref_sp2"></NO_COLLISION>
  592.         <NO_COLLISION part1="ref_l_leg" part2="ref_sp3"></NO_COLLISION>
  593.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_l_wrist"></NO_COLLISION>
  594.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_neck"></NO_COLLISION>
  595.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_clavicle"></NO_COLLISION>
  596.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_forearm"></NO_COLLISION>
  597.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_knee"></NO_COLLISION>
  598.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_leg"></NO_COLLISION>
  599.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_shoulder"></NO_COLLISION>
  600.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_r_wrist"></NO_COLLISION>
  601.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_sp1"></NO_COLLISION>
  602.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_sp2"></NO_COLLISION>
  603.         <NO_COLLISION part1="ref_l_shoulder" part2="ref_sp3"></NO_COLLISION>
  604.         <NO_COLLISION part1="ref_l_wrist" part2="ref_neck"></NO_COLLISION>
  605.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_clavicle"></NO_COLLISION>
  606.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_forearm"></NO_COLLISION>
  607.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_knee"></NO_COLLISION>
  608.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_leg"></NO_COLLISION>
  609.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_shoulder"></NO_COLLISION>
  610.         <NO_COLLISION part1="ref_l_wrist" part2="ref_r_wrist"></NO_COLLISION>
  611.         <NO_COLLISION part1="ref_l_wrist" part2="ref_sp1"></NO_COLLISION>
  612.         <NO_COLLISION part1="ref_l_wrist" part2="ref_sp2"></NO_COLLISION>
  613.         <NO_COLLISION part1="ref_l_wrist" part2="ref_sp3"></NO_COLLISION>
  614.         <NO_COLLISION part1="ref_neck" part2="ref_r_clavicle"></NO_COLLISION>
  615.         <NO_COLLISION part1="ref_neck" part2="ref_r_forearm"></NO_COLLISION>
  616.         <NO_COLLISION part1="ref_neck" part2="ref_r_knee"></NO_COLLISION>
  617.         <NO_COLLISION part1="ref_neck" part2="ref_r_leg"></NO_COLLISION>
  618.         <NO_COLLISION part1="ref_neck" part2="ref_r_shoulder"></NO_COLLISION>
  619.         <NO_COLLISION part1="ref_neck" part2="ref_r_wrist"></NO_COLLISION>
  620.         <NO_COLLISION part1="ref_neck" part2="ref_sp1"></NO_COLLISION>
  621.         <NO_COLLISION part1="ref_neck" part2="ref_sp2"></NO_COLLISION>
  622.         <NO_COLLISION part1="ref_neck" part2="ref_sp3"></NO_COLLISION>
  623.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_r_forearm"></NO_COLLISION>
  624.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_r_knee"></NO_COLLISION>
  625.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_r_leg"></NO_COLLISION>
  626.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_r_shoulder"></NO_COLLISION>
  627.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_r_wrist"></NO_COLLISION>
  628.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_sp1"></NO_COLLISION>
  629.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_sp2"></NO_COLLISION>
  630.         <NO_COLLISION part1="ref_r_clavicle" part2="ref_sp3"></NO_COLLISION>
  631.         <NO_COLLISION part1="ref_r_forearm" part2="ref_r_knee"></NO_COLLISION>
  632.         <NO_COLLISION part1="ref_r_forearm" part2="ref_r_leg"></NO_COLLISION>
  633.         <NO_COLLISION part1="ref_r_forearm" part2="ref_r_shoulder"></NO_COLLISION>
  634.         <NO_COLLISION part1="ref_r_forearm" part2="ref_r_wrist"></NO_COLLISION>
  635.         <NO_COLLISION part1="ref_r_forearm" part2="ref_sp1"></NO_COLLISION>
  636.         <NO_COLLISION part1="ref_r_forearm" part2="ref_sp2"></NO_COLLISION>
  637.         <NO_COLLISION part1="ref_r_forearm" part2="ref_sp3"></NO_COLLISION>
  638.         <NO_COLLISION part1="ref_r_knee" part2="ref_r_leg"></NO_COLLISION>
  639.         <NO_COLLISION part1="ref_r_knee" part2="ref_r_shoulder"></NO_COLLISION>
  640.         <NO_COLLISION part1="ref_r_knee" part2="ref_r_wrist"></NO_COLLISION>
  641.         <NO_COLLISION part1="ref_r_knee" part2="ref_sp1"></NO_COLLISION>
  642.         <NO_COLLISION part1="ref_r_knee" part2="ref_sp2"></NO_COLLISION>
  643.         <NO_COLLISION part1="ref_r_knee" part2="ref_sp3"></NO_COLLISION>
  644.         <NO_COLLISION part1="ref_r_leg" part2="ref_r_shoulder"></NO_COLLISION>
  645.         <NO_COLLISION part1="ref_r_leg" part2="ref_r_wrist"></NO_COLLISION>
  646.         <NO_COLLISION part1="ref_r_leg" part2="ref_sp1"></NO_COLLISION>
  647.         <NO_COLLISION part1="ref_r_leg" part2="ref_sp2"></NO_COLLISION>
  648.         <NO_COLLISION part1="ref_r_leg" part2="ref_sp3"></NO_COLLISION>
  649.         <NO_COLLISION part1="ref_r_shoulder" part2="ref_r_wrist"></NO_COLLISION>
  650.         <NO_COLLISION part1="ref_r_shoulder" part2="ref_sp1"></NO_COLLISION>
  651.         <NO_COLLISION part1="ref_r_shoulder" part2="ref_sp2"></NO_COLLISION>
  652.         <NO_COLLISION part1="ref_r_shoulder" part2="ref_sp3"></NO_COLLISION>
  653.         <NO_COLLISION part1="ref_r_wrist" part2="ref_sp1"></NO_COLLISION>
  654.         <NO_COLLISION part1="ref_r_wrist" part2="ref_sp2"></NO_COLLISION>
  655.         <NO_COLLISION part1="ref_r_wrist" part2="ref_sp3"></NO_COLLISION>
  656.         <NO_COLLISION part1="ref_sp1" part2="ref_sp2"></NO_COLLISION>
  657.         <NO_COLLISION part1="ref_sp1" part2="ref_sp3"></NO_COLLISION>
  658.         <NO_COLLISION part1="ref_sp2" part2="ref_sp3"></NO_COLLISION>
  659.         <JOINT id="ref_hip" part1="ref_hip" part2="ref_cog" type="hinge">
  660.             <HIGH_LIMIT>0</HIGH_LIMIT>
  661.             <LOW_LIMIT>0</LOW_LIMIT>
  662.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  663.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  664.             <LIMITED>1</LIMITED>
  665.             <MOTORIZED>0</MOTORIZED>
  666.             <DES_VEL>1</DES_VEL>
  667.             <MAX_FORCE>1000</MAX_FORCE>
  668.             <POS1>0,0,0</POS1>
  669.             <POS2>1.101143e-019,-1.528549e-014,0</POS2>
  670.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  671.             <PRIMARY_AXIS2>1,0,0</PRIMARY_AXIS2>
  672.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  673.             <ORTHOGONAL_AXIS2>0,1,0</ORTHOGONAL_AXIS2>
  674.         </JOINT>
  675.         <JOINT id="ref_l_clavicle" part1="ref_l_clavicle" part2="ref_sp3" type="hinge">
  676.             <HIGH_LIMIT>0.2900093</HIGH_LIMIT>
  677.             <LOW_LIMIT>-0.2082821</LOW_LIMIT>
  678.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  679.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  680.             <LIMITED>1</LIMITED>
  681.             <MOTORIZED>0</MOTORIZED>
  682.             <DES_VEL>1</DES_VEL>
  683.             <MAX_FORCE>1000</MAX_FORCE>
  684.             <POS1>0,0,0</POS1>
  685.             <POS2>-0.1332122,-0.1207159,-0.05419145</POS2>
  686.             <PRIMARY_AXIS1>0,0,-0.9999999</PRIMARY_AXIS1>
  687.             <PRIMARY_AXIS2>-0.3543197,-0.9335128,0.05487879</PRIMARY_AXIS2>
  688.             <ORTHOGONAL_AXIS1>0,0.9999999,0</ORTHOGONAL_AXIS1>
  689.             <ORTHOGONAL_AXIS2>-0.9235105,0.3585365,0.1363095</ORTHOGONAL_AXIS2>
  690.         </JOINT>
  691.         <JOINT id="ref_l_forearm" part1="ref_l_forearm" part2="ref_l_shoulder" type="hinge">
  692.             <HIGH_LIMIT>-0.075745</HIGH_LIMIT>
  693.             <LOW_LIMIT>-1.242213</LOW_LIMIT>
  694.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  695.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  696.             <LIMITED>1</LIMITED>
  697.             <MOTORIZED>0</MOTORIZED>
  698.             <DES_VEL>1</DES_VEL>
  699.             <MAX_FORCE>1000</MAX_FORCE>
  700.             <POS1>0,0,0</POS1>
  701.             <POS2>-0.01157448,0.4844826,-0.001630988</POS2>
  702.             <PRIMARY_AXIS1>-4.470348e-007,0,0.9999996</PRIMARY_AXIS1>
  703.             <PRIMARY_AXIS2>-0.2021843,0.01230116,0.9792702</PRIMARY_AXIS2>
  704.             <ORTHOGONAL_AXIS1>0,0.9999996,0</ORTHOGONAL_AXIS1>
  705.             <ORTHOGONAL_AXIS2>0.1876577,0.9818792,0.02641056</ORTHOGONAL_AXIS2>
  706.         </JOINT>
  707.         <JOINT id="ref_l_knee" part1="ref_l_knee" part2="ref_l_leg" type="hinge">
  708.             <HIGH_LIMIT>1.313703</HIGH_LIMIT>
  709.             <LOW_LIMIT>0</LOW_LIMIT>
  710.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  711.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  712.             <LIMITED>1</LIMITED>
  713.             <MOTORIZED>0</MOTORIZED>
  714.             <DES_VEL>1</DES_VEL>
  715.             <MAX_FORCE>1000</MAX_FORCE>
  716.             <POS1>0,0,0</POS1>
  717.             <POS2>-0.7726284,0.04516628,-1.661289e-005</POS2>
  718.             <PRIMARY_AXIS1>1.490116e-008,-2.375113e-007,-1</PRIMARY_AXIS1>
  719.             <PRIMARY_AXIS2>-0.000559819,3.130622e-005,-0.9999998</PRIMARY_AXIS2>
  720.             <ORTHOGONAL_AXIS1>-0.9848077,0.1736482,-1.008766e-008</ORTHOGONAL_AXIS1>
  721.             <ORTHOGONAL_AXIS2>-0.9562334,0.2926043,0.0005445058</ORTHOGONAL_AXIS2>
  722.         </JOINT>
  723.         <JOINT id="ref_l_leg" part1="ref_l_leg" part2="ref_hip" type="skeletal">
  724.             <CONE_TYPE>2</CONE_TYPE>
  725.             <CONE_HALF_ANGLE_X>0.7853982</CONE_HALF_ANGLE_X>
  726.             <CONE_HALF_ANGLE_Y>0.3389082</CONE_HALF_ANGLE_Y>
  727.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  728.             <CONE_DAMPING>1</CONE_DAMPING>
  729.             <TWIST_TYPE>2</TWIST_TYPE>
  730.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  731.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  732.             <TWIST_DAMPING>1</TWIST_DAMPING>
  733.             <POS1>0,0,0</POS1>
  734.             <POS2>0.1640653,0.1868611,0.0008981507</POS2>
  735.             <PRIMARY_AXIS1>-0.9961947,0.08715574,2.13646e-007</PRIMARY_AXIS1>
  736.             <PRIMARY_AXIS2>0.1014283,0.993724,-0.04716823</PRIMARY_AXIS2>
  737.             <ORTHOGONAL_AXIS1>0.08715574,0.9961947,-1.86916e-008</ORTHOGONAL_AXIS1>
  738.             <ORTHOGONAL_AXIS2>-0.02476428,-0.04487607,-0.9986856</ORTHOGONAL_AXIS2>
  739.         </JOINT>
  740.         <JOINT id="ref_l_shoulder" part1="ref_l_shoulder" part2="ref_l_clavicle" type="skeletal">
  741.             <CONE_TYPE>2</CONE_TYPE>
  742.             <CONE_HALF_ANGLE_X>0.3989694</CONE_HALF_ANGLE_X>
  743.             <CONE_HALF_ANGLE_Y>0.8208577</CONE_HALF_ANGLE_Y>
  744.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  745.             <CONE_DAMPING>1</CONE_DAMPING>
  746.             <TWIST_TYPE>2</TWIST_TYPE>
  747.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  748.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  749.             <TWIST_DAMPING>1</TWIST_DAMPING>
  750.             <POS1>0,0,0</POS1>
  751.             <POS2>8.609726e-007,0.2242513,-1.45244e-006</POS2>
  752.             <PRIMARY_AXIS1>0.0871557,0.9961947,0</PRIMARY_AXIS1>
  753.             <PRIMARY_AXIS2>0.112085,0.8940072,0.433807</PRIMARY_AXIS2>
  754.             <ORTHOGONAL_AXIS1>-0.9961947,0.0871557,0</ORTHOGONAL_AXIS1>
  755.             <ORTHOGONAL_AXIS2>-0.9933419,0.1125065,0.02479694</ORTHOGONAL_AXIS2>
  756.         </JOINT>
  757.         <JOINT id="ref_l_wrist" part1="ref_l_wrist" part2="ref_l_forearm" type="hinge">
  758.             <HIGH_LIMIT>0.6050524</HIGH_LIMIT>
  759.             <LOW_LIMIT>-0.5347202</LOW_LIMIT>
  760.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  761.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  762.             <LIMITED>1</LIMITED>
  763.             <MOTORIZED>0</MOTORIZED>
  764.             <DES_VEL>1</DES_VEL>
  765.             <MAX_FORCE>1000</MAX_FORCE>
  766.             <POS1>0,0,0</POS1>
  767.             <POS2>0.0002775466,0.4470384,-0.0001256956</POS2>
  768.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  769.             <PRIMARY_AXIS2>0.9979485,0.04589351,-0.0446454</PRIMARY_AXIS2>
  770.             <ORTHOGONAL_AXIS1>0,0.9848078,0.1736482</ORTHOGONAL_AXIS1>
  771.             <ORTHOGONAL_AXIS2>-0.03643731,0.9804473,0.1933818</ORTHOGONAL_AXIS2>
  772.         </JOINT>
  773.         <JOINT id="ref_neck" part1="ref_neck" part2="ref_sp3" type="hinge">
  774.             <HIGH_LIMIT>0.2028117</HIGH_LIMIT>
  775.             <LOW_LIMIT>-0.3251913</LOW_LIMIT>
  776.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  777.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  778.             <LIMITED>1</LIMITED>
  779.             <MOTORIZED>0</MOTORIZED>
  780.             <DES_VEL>1</DES_VEL>
  781.             <MAX_FORCE>1000</MAX_FORCE>
  782.             <POS1>0,0,0</POS1>
  783.             <POS2>0.0001557134,-0.2094227,-0.06933691</POS2>
  784.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  785.             <PRIMARY_AXIS2>0.9999967,6.405301e-006,0.002657592</PRIMARY_AXIS2>
  786.             <ORTHOGONAL_AXIS1>0,-0.9396927,-0.3420202</ORTHOGONAL_AXIS1>
  787.             <ORTHOGONAL_AXIS2>0.0008948476,-0.9424161,-0.3344422</ORTHOGONAL_AXIS2>
  788.         </JOINT>
  789.         <JOINT id="ref_r_clavicle" part1="ref_r_clavicle" part2="ref_sp3" type="hinge">
  790.             <HIGH_LIMIT>0.2756659</HIGH_LIMIT>
  791.             <LOW_LIMIT>-0.3146455</LOW_LIMIT>
  792.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  793.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  794.             <LIMITED>1</LIMITED>
  795.             <MOTORIZED>0</MOTORIZED>
  796.             <DES_VEL>1</DES_VEL>
  797.             <MAX_FORCE>1000</MAX_FORCE>
  798.             <POS1>0,0,0</POS1>
  799.             <POS2>0.1328531,-0.120718,-0.05506168</POS2>
  800.             <PRIMARY_AXIS1>-0.1736484,1.562002e-007,0.9848075</PRIMARY_AXIS1>
  801.             <PRIMARY_AXIS2>0.3736573,-0.9197502,-0.1201658</PRIMARY_AXIS2>
  802.             <ORTHOGONAL_AXIS1>-7.806533e-015,-0.9999998,1.586099e-007</ORTHOGONAL_AXIS1>
  803.             <ORTHOGONAL_AXIS2>0.9243881,0.3585222,0.1302641</ORTHOGONAL_AXIS2>
  804.         </JOINT>
  805.         <JOINT id="ref_r_forearm" part1="ref_r_forearm" part2="ref_r_shoulder" type="hinge">
  806.             <HIGH_LIMIT>1.245218</HIGH_LIMIT>
  807.             <LOW_LIMIT>0</LOW_LIMIT>
  808.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  809.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  810.             <LIMITED>1</LIMITED>
  811.             <MOTORIZED>0</MOTORIZED>
  812.             <DES_VEL>1</DES_VEL>
  813.             <MAX_FORCE>1000</MAX_FORCE>
  814.             <POS1>0,0,0</POS1>
  815.             <POS2>0.01157541,-0.4844817,0.001628243</POS2>
  816.             <PRIMARY_AXIS1>0,1.674482e-007,-0.9999999</PRIMARY_AXIS1>
  817.             <PRIMARY_AXIS2>0.2021829,-0.01229978,-0.9792706</PRIMARY_AXIS2>
  818.             <ORTHOGONAL_AXIS1>0,-0.9999999,-1.674482e-007</ORTHOGONAL_AXIS1>
  819.             <ORTHOGONAL_AXIS2>-0.187659,-0.9818792,-0.02641176</ORTHOGONAL_AXIS2>
  820.         </JOINT>
  821.         <JOINT id="ref_r_knee" part1="ref_r_knee" part2="ref_r_leg" type="hinge">
  822.             <HIGH_LIMIT>1.281571</HIGH_LIMIT>
  823.             <LOW_LIMIT>0</LOW_LIMIT>
  824.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  825.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  826.             <LIMITED>1</LIMITED>
  827.             <MOTORIZED>0</MOTORIZED>
  828.             <DES_VEL>1</DES_VEL>
  829.             <MAX_FORCE>1000</MAX_FORCE>
  830.             <POS1>0,0,0</POS1>
  831.             <POS2>0.7726272,-0.045166,1.675583e-005</POS2>
  832.             <PRIMARY_AXIS1>0.03015374,0.1710102,-0.9848078</PRIMARY_AXIS1>
  833.             <PRIMARY_AXIS2>0.05025883,0.1660795,-0.9848308</PRIMARY_AXIS2>
  834.             <ORTHOGONAL_AXIS1>0.9848079,-0.1736483,1.519966e-008</ORTHOGONAL_AXIS1>
  835.             <ORTHOGONAL_AXIS2>0.9562339,-0.2926036,-0.000544502</ORTHOGONAL_AXIS2>
  836.         </JOINT>
  837.         <JOINT id="ref_r_leg" part1="ref_r_leg" part2="ref_hip" type="skeletal">
  838.             <CONE_TYPE>2</CONE_TYPE>
  839.             <CONE_HALF_ANGLE_X>0.7853982</CONE_HALF_ANGLE_X>
  840.             <CONE_HALF_ANGLE_Y>0.3329137</CONE_HALF_ANGLE_Y>
  841.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  842.             <CONE_DAMPING>1</CONE_DAMPING>
  843.             <TWIST_TYPE>2</TWIST_TYPE>
  844.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  845.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  846.             <TWIST_DAMPING>1</TWIST_DAMPING>
  847.             <POS1>0,0,0</POS1>
  848.             <POS2>-0.1640654,0.186861,0.000898153</POS2>
  849.             <PRIMARY_AXIS1>0.9961947,-0.08715574,0</PRIMARY_AXIS1>
  850.             <PRIMARY_AXIS2>-0.1014281,0.9937241,-0.04716823</PRIMARY_AXIS2>
  851.             <ORTHOGONAL_AXIS1>0.08715574,0.9961947,0</ORTHOGONAL_AXIS1>
  852.             <ORTHOGONAL_AXIS2>-0.02476426,0.04487608,0.9986856</ORTHOGONAL_AXIS2>
  853.         </JOINT>
  854.         <JOINT id="ref_r_shoulder" part1="ref_r_shoulder" part2="ref_r_clavicle" type="skeletal">
  855.             <CONE_TYPE>2</CONE_TYPE>
  856.             <CONE_HALF_ANGLE_X>0.4396916</CONE_HALF_ANGLE_X>
  857.             <CONE_HALF_ANGLE_Y>0.7788653</CONE_HALF_ANGLE_Y>
  858.             <CONE_STIFFNESS>1000</CONE_STIFFNESS>
  859.             <CONE_DAMPING>1</CONE_DAMPING>
  860.             <TWIST_TYPE>2</TWIST_TYPE>
  861.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  862.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  863.             <TWIST_DAMPING>1</TWIST_DAMPING>
  864.             <POS1>0,0,0</POS1>
  865.             <POS2>-5.055063e-007,-0.2242515,5.145914e-007</POS2>
  866.             <PRIMARY_AXIS1>-0.08715573,-0.9961947,0</PRIMARY_AXIS1>
  867.             <PRIMARY_AXIS2>-0.1120854,-0.894009,-0.4338033</PRIMARY_AXIS2>
  868.             <ORTHOGONAL_AXIS1>0.9961947,-0.08715573,0</ORTHOGONAL_AXIS1>
  869.             <ORTHOGONAL_AXIS2>0.9933416,-0.1125071,-0.02479652</ORTHOGONAL_AXIS2>
  870.         </JOINT>
  871.         <JOINT id="ref_r_wrist" part1="ref_r_wrist" part2="ref_r_forearm" type="hinge">
  872.             <HIGH_LIMIT>0.7666973</HIGH_LIMIT>
  873.             <LOW_LIMIT>-0.5681385</LOW_LIMIT>
  874.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  875.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  876.             <LIMITED>1</LIMITED>
  877.             <MOTORIZED>0</MOTORIZED>
  878.             <DES_VEL>1</DES_VEL>
  879.             <MAX_FORCE>1000</MAX_FORCE>
  880.             <POS1>0,0,0</POS1>
  881.             <POS2>-0.0002753322,-0.4470372,0.0001283996</POS2>
  882.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  883.             <PRIMARY_AXIS2>0.9979483,0.04589209,-0.04464453</PRIMARY_AXIS2>
  884.             <ORTHOGONAL_AXIS1>0,-0.9848078,-0.1736483</ORTHOGONAL_AXIS1>
  885.             <ORTHOGONAL_AXIS2>0.03643627,-0.9804472,-0.1933808</ORTHOGONAL_AXIS2>
  886.         </JOINT>
  887.         <JOINT id="ref_sp1" part1="ref_sp1" part2="ref_cog" type="hinge">
  888.             <HIGH_LIMIT>0</HIGH_LIMIT>
  889.             <LOW_LIMIT>0</LOW_LIMIT>
  890.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  891.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  892.             <LIMITED>1</LIMITED>
  893.             <MOTORIZED>0</MOTORIZED>
  894.             <DES_VEL>1</DES_VEL>
  895.             <MAX_FORCE>1000</MAX_FORCE>
  896.             <POS1>0,0,0</POS1>
  897.             <POS2>0.0007281358,-0.07180107,-0.01904228</POS2>
  898.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  899.             <PRIMARY_AXIS2>0.9999474,1.282775e-015,-0.01025428</PRIMARY_AXIS2>
  900.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  901.             <ORTHOGONAL_AXIS2>-2.988574e-005,0.9999958,-0.002914312</ORTHOGONAL_AXIS2>
  902.         </JOINT>
  903.         <JOINT id="ref_sp2" part1="ref_sp2" part2="ref_sp1" type="skeletal">
  904.             <CONE_TYPE>2</CONE_TYPE>
  905.             <CONE_HALF_ANGLE_X>0.197713</CONE_HALF_ANGLE_X>
  906.             <CONE_HALF_ANGLE_Y>0.230031</CONE_HALF_ANGLE_Y>
  907.             <CONE_STIFFNESS>800</CONE_STIFFNESS>
  908.             <CONE_DAMPING>1</CONE_DAMPING>
  909.             <TWIST_TYPE>2</TWIST_TYPE>
  910.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  911.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  912.             <TWIST_DAMPING>1</TWIST_DAMPING>
  913.             <POS1>0,0,0</POS1>
  914.             <POS2>0.0005182709,-0.2331623,-0.1193023</POS2>
  915.             <PRIMARY_AXIS1>0,-0.9999999,0</PRIMARY_AXIS1>
  916.             <PRIMARY_AXIS2>-0.0001078796,-0.999999,0.001398029</PRIMARY_AXIS2>
  917.             <ORTHOGONAL_AXIS1>0.9999999,0,0</ORTHOGONAL_AXIS1>
  918.             <ORTHOGONAL_AXIS2>0.9996873,-7.288445e-005,0.02500771</ORTHOGONAL_AXIS2>
  919.         </JOINT>
  920.         <JOINT id="ref_sp3" part1="ref_sp3" part2="ref_sp2" type="hinge">
  921.             <HIGH_LIMIT>0</HIGH_LIMIT>
  922.             <LOW_LIMIT>0</LOW_LIMIT>
  923.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  924.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  925.             <LIMITED>1</LIMITED>
  926.             <MOTORIZED>0</MOTORIZED>
  927.             <DES_VEL>1</DES_VEL>
  928.             <MAX_FORCE>1000</MAX_FORCE>
  929.             <POS1>0,0,0</POS1>
  930.             <POS2>0.000231469,-0.347535,0.01241493</POS2>
  931.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  932.             <PRIMARY_AXIS2>-0.9999343,-4.954188e-005,0.01148449</PRIMARY_AXIS2>
  933.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  934.             <ORTHOGONAL_AXIS2>-2.767874e-005,0.9999983,0.001903866</ORTHOGONAL_AXIS2>
  935.         </JOINT>
  936.     </ASSET>
  937. </KARMA>