home *** CD-ROM | disk | FTP | other *** search
/ PC Player 2004 May / pc player 2004-05.iso / Demos / DeadMansHand / DMH_Setup.exe / RAGDOLLS.KA < prev    next >
Encoding:
Extensible Markup Language  |  2004-03-25  |  37.2 KB  |  898 lines
  1. <?xml version="1.0"?>
  2.  
  3. <KARMA ka_file_version="1.0">
  4.     <ASSET id="soldier2" graphic="warcoggrunt.PSK" scale="0.16">
  5.         <GEOMETRY id="l_elbow">
  6.             <PRIMITIVE id="l_elbow_1" type="sphyl">
  7.                 <RADIUS>0.15</RADIUS>
  8.                 <HEIGHT>0.466362</HEIGHT>
  9.                 <TM>0.05303496,0,-0.9985927,0,-0.007680417,0.9999704,-0.0004079046,0,0.9985631,0.007691241,0.05303339,0,0.2328458,0.001793444,0.01236637,1</TM>
  10.             </PRIMITIVE>
  11.         </GEOMETRY>
  12.         <GEOMETRY id="l_hip">
  13.             <PRIMITIVE id="l_hip_1" type="sphyl">
  14.                 <RADIUS>0.15</RADIUS>
  15.                 <HEIGHT>0.758634</HEIGHT>
  16.                 <TM>0,0.02974127,0.9995576,0,0.9997656,0.02164361,-0.0006439935,0,-0.02165319,0.9993233,-0.0297343,0,-0.008213416,0.3790603,-0.01127873,1</TM>
  17.             </PRIMITIVE>
  18.         </GEOMETRY>
  19.         <GEOMETRY id="l_knee">
  20.             <PRIMITIVE id="l_knee_1" type="sphyl">
  21.                 <RADIUS>0.2</RADIUS>
  22.                 <HEIGHT>0.802296</HEIGHT>
  23.                 <TM>0,0.155008,0.9879132,0,0.9998037,-0.01957674,0.003071678,0,0.01981625,0.9877192,-0.1549776,0,0.007949248,0.3962216,-0.06216894,1</TM>
  24.             </PRIMITIVE>
  25.         </GEOMETRY>
  26.         <GEOMETRY id="l_shoulder">
  27.             <PRIMITIVE id="l_shoulder_1" type="sphyl">
  28.                 <RADIUS>0.11708</RADIUS>
  29.                 <HEIGHT>0.4933096</HEIGHT>
  30.                 <TM>-0.04384141,0,-0.9990385,0,-0.009938198,0.9999505,0.000436124,0,0.998989,0.009947763,-0.04383924,0,0.2464055,0.002453685,-0.01081316,1</TM>
  31.             </PRIMITIVE>
  32.         </GEOMETRY>
  33.         <GEOMETRY id="lower_back">
  34.             <PRIMITIVE id="lower_back_1" type="sphyl">
  35.                 <RADIUS>0.01976112</RADIUS>
  36.                 <HEIGHT>0.2475585</HEIGHT>
  37.                 <TM>0,0.001345866,-0.9999991,0,0.9999921,-0.00397191,-5.345663e-006,0,-0.003971914,-0.9999912,-0.001345855,0,-0.0004916405,-0.1237782,-0.0001665894,1</TM>
  38.             </PRIMITIVE>
  39.         </GEOMETRY>
  40.         <GEOMETRY id="mid_back">
  41.             <PRIMITIVE id="mid_back_1" type="sphere">
  42.                 <RADIUS>0.4</RADIUS>
  43.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.0006222534,-0.2233077,-0.04620621,1</TM>
  44.             </PRIMITIVE>
  45.         </GEOMETRY>
  46.         <GEOMETRY id="neck">
  47.             <PRIMITIVE id="Part0" type="sphere">
  48.                 <RADIUS>0.2</RADIUS>
  49.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,-0.27,0.11,1</TM>
  50.             </PRIMITIVE>
  51.         </GEOMETRY>
  52.         <GEOMETRY id="pelvis">
  53.             <PRIMITIVE id="pelvis_1" type="sphere">
  54.                 <RADIUS>0.2740623</RADIUS>
  55.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-0.0002511215,-0.02352901,0.005124188,1</TM>
  56.             </PRIMITIVE>
  57.         </GEOMETRY>
  58.         <GEOMETRY id="r_elbow">
  59.             <PRIMITIVE id="r_elbow_1" type="sphyl">
  60.                 <RADIUS>0.15</RADIUS>
  61.                 <HEIGHT>0.461876</HEIGHT>
  62.                 <TM>0.04466367,0,0.9990021,0,0.01554303,0.999879,-0.0006949023,0,-0.9988812,0.01555856,0.04465827,0,-0.2306797,0.003593087,0.01031329,1</TM>
  63.             </PRIMITIVE>
  64.         </GEOMETRY>
  65.         <GEOMETRY id="r_shoulder">
  66.             <PRIMITIVE id="r_shoulder_1" type="sphyl">
  67.                 <RADIUS>0.1179445</RADIUS>
  68.                 <HEIGHT>0.4910439</HEIGHT>
  69.                 <TM>-0.05023739,0,0.9987373,0,0.01070487,0.9999425,0.0005384649,0,-0.9986799,0.01071841,-0.0502345,0,-0.2451979,0.002631605,-0.01233368,1</TM>
  70.             </PRIMITIVE>
  71.         </GEOMETRY>
  72.         <MODEL id="l_elbow" type="dynamics_and_geometry" geometry="l_elbow">
  73.             <DYNAMICS>
  74.                 <MASS>0.04719044</MASS>
  75.                 <DENSITY>1</DENSITY>
  76.                 <MASS_OFFSET>0.2328458,0.001793444,0.01236637</MASS_OFFSET>
  77.                 <INERTIA>0.0005351634,-1.142265e-005,-7.876255e-005,0.002018091,-6.066532e-007,0.002013996</INERTIA>
  78.                 <LIN_DAMP>0</LIN_DAMP>
  79.                 <ANG_DAMP>0</ANG_DAMP>
  80.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  81.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  82.             </DYNAMICS>
  83.         </MODEL>
  84.         <MODEL id="l_hip" type="dynamics_and_geometry" geometry="l_hip">
  85.             <DYNAMICS>
  86.                 <MASS>0.06784993</MASS>
  87.                 <DENSITY>1</DENSITY>
  88.                 <MASS_OFFSET>-0.008213416,0.3790603,-0.01127873</MASS_OFFSET>
  89.                 <INERTIA>0.005588964,0.000104469,-3.108417e-006,0.0007698439,0.0001434575,0.005586959</INERTIA>
  90.                 <LIN_DAMP>0</LIN_DAMP>
  91.                 <ANG_DAMP>0</ANG_DAMP>
  92.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  93.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  94.             </DYNAMICS>
  95.         </MODEL>
  96.         <MODEL id="l_knee" type="dynamics_and_geometry" geometry="l_knee">
  97.             <DYNAMICS>
  98.                 <MASS>0.1345386</MASS>
  99.                 <DENSITY>1</DENSITY>
  100.                 <MASS_OFFSET>0.007949248,0.3962216,-0.06216894</MASS_OFFSET>
  101.                 <INERTIA>0.01419195,-0.0002251998,3.533484e-005,0.002971634,0.001761226,0.01392012</INERTIA>
  102.                 <LIN_DAMP>0</LIN_DAMP>
  103.                 <ANG_DAMP>0</ANG_DAMP>
  104.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  105.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  106.             </DYNAMICS>
  107.         </MODEL>
  108.         <MODEL id="l_shoulder" type="dynamics_and_geometry" geometry="l_shoulder">
  109.             <DYNAMICS>
  110.                 <MASS>0.02800841</MASS>
  111.                 <DENSITY>1</DENSITY>
  112.                 <MASS_OFFSET>0.2464055,0.002453685,-0.01081316</MASS_OFFSET>
  113.                 <INERTIA>0.000193767,-8.857739e-006,3.903557e-005,0.001083204,3.887096e-007,0.001081579</INERTIA>
  114.                 <LIN_DAMP>0</LIN_DAMP>
  115.                 <ANG_DAMP>0</ANG_DAMP>
  116.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  117.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  118.             </DYNAMICS>
  119.         </MODEL>
  120.         <MODEL id="lower_back" type="dynamics_only" geometry="lower_back">
  121.             <DYNAMICS>
  122.                 <MASS>0.0003362295</MASS>
  123.                 <DENSITY>1</DENSITY>
  124.                 <MASS_OFFSET>-0.0004916405,-0.1237782,-0.0001665894</MASS_OFFSET>
  125.                 <INERTIA>2.137444e-006,-8.229047e-009,-1.10752e-011,6.568558e-008,-2.788356e-009,2.137473e-006</INERTIA>
  126.                 <LIN_DAMP>0</LIN_DAMP>
  127.                 <ANG_DAMP>0</ANG_DAMP>
  128.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  129.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  130.             </DYNAMICS>
  131.         </MODEL>
  132.         <MODEL id="mid_back" type="dynamics_and_geometry" geometry="mid_back">
  133.             <DYNAMICS>
  134.                 <MASS>0.2680826</MASS>
  135.                 <DENSITY>1</DENSITY>
  136.                 <MASS_OFFSET>0.0006222534,-0.2233077,-0.04620621</MASS_OFFSET>
  137.                 <INERTIA>0.01715729,0,0,0.01715729,0,0.01715729</INERTIA>
  138.                 <LIN_DAMP>0</LIN_DAMP>
  139.                 <ANG_DAMP>0</ANG_DAMP>
  140.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  141.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  142.             </DYNAMICS>
  143.         </MODEL>
  144.         <MODEL id="neck" type="dynamics_and_geometry" geometry="neck">
  145.             <DYNAMICS>
  146.                 <MASS>0.03351032</MASS>
  147.                 <DENSITY>1</DENSITY>
  148.                 <MASS_OFFSET>0,-0.27,0.11</MASS_OFFSET>
  149.                 <INERTIA>0.0005361652,0,0,0.0005361652,0,0.0005361652</INERTIA>
  150.                 <LIN_DAMP>0</LIN_DAMP>
  151.                 <ANG_DAMP>0</ANG_DAMP>
  152.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  153.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  154.             </DYNAMICS>
  155.         </MODEL>
  156.         <MODEL id="pelvis" type="dynamics_and_geometry" geometry="pelvis">
  157.             <DYNAMICS>
  158.                 <MASS>0.08622567</MASS>
  159.                 <DENSITY>1</DENSITY>
  160.                 <MASS_OFFSET>-0.0002511215,-0.02352901,0.005124188</MASS_OFFSET>
  161.                 <INERTIA>0.002590569,0,0,0.002590569,0,0.002590569</INERTIA>
  162.                 <LIN_DAMP>0</LIN_DAMP>
  163.                 <ANG_DAMP>0</ANG_DAMP>
  164.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  165.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  166.             </DYNAMICS>
  167.         </MODEL>
  168.         <MODEL id="r_elbow" type="dynamics_and_geometry" geometry="r_elbow">
  169.             <DYNAMICS>
  170.                 <MASS>0.04687334</MASS>
  171.                 <DENSITY>1</DENSITY>
  172.                 <MASS_OFFSET>-0.2306797,0.003593087,0.01031329</MASS_OFFSET>
  173.                 <INERTIA>0.0005305769,2.259644e-005,6.485935e-005,0.001980948,-1.010248e-006,0.0019784</INERTIA>
  174.                 <LIN_DAMP>0</LIN_DAMP>
  175.                 <ANG_DAMP>0</ANG_DAMP>
  176.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  177.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  178.             </DYNAMICS>
  179.         </MODEL>
  180.         <MODEL id="r_hip" type="dynamics_and_geometry" geometry="l_hip">
  181.             <DYNAMICS>
  182.                 <MASS>0.06784993</MASS>
  183.                 <DENSITY>1</DENSITY>
  184.                 <MASS_OFFSET>-0.008213416,0.3790603,-0.01127873</MASS_OFFSET>
  185.                 <INERTIA>0.005588964,0.000104469,-3.108417e-006,0.0007698439,0.0001434575,0.005586959</INERTIA>
  186.                 <LIN_DAMP>0</LIN_DAMP>
  187.                 <ANG_DAMP>0</ANG_DAMP>
  188.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  189.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  190.             </DYNAMICS>
  191.         </MODEL>
  192.         <MODEL id="r_knee" type="dynamics_and_geometry" geometry="l_knee">
  193.             <DYNAMICS>
  194.                 <MASS>0.1345386</MASS>
  195.                 <DENSITY>1</DENSITY>
  196.                 <MASS_OFFSET>0.007949248,0.3962216,-0.06216894</MASS_OFFSET>
  197.                 <INERTIA>0.01419195,-0.0002251998,3.533484e-005,0.002971634,0.001761226,0.01392012</INERTIA>
  198.                 <LIN_DAMP>0</LIN_DAMP>
  199.                 <ANG_DAMP>0</ANG_DAMP>
  200.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  201.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  202.             </DYNAMICS>
  203.         </MODEL>
  204.         <MODEL id="r_shoulder" type="dynamics_and_geometry" geometry="r_shoulder">
  205.             <DYNAMICS>
  206.                 <MASS>0.02837522</MASS>
  207.                 <DENSITY>1</DENSITY>
  208.                 <MASS_OFFSET>-0.2451979,0.002631605,-0.01233368</MASS_OFFSET>
  209.                 <INERTIA>0.0001997322,9.614132e-006,-4.505906e-005,0.001095419,4.835999e-007,0.001093256</INERTIA>
  210.                 <LIN_DAMP>0</LIN_DAMP>
  211.                 <ANG_DAMP>0</ANG_DAMP>
  212.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  213.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  214.             </DYNAMICS>
  215.         </MODEL>
  216.         <PART id="l_elbow" model="l_elbow" parent="l_shoulder">
  217.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,-0.8912061,2.948586,-0.09551384,1</TM>
  218.         </PART>
  219.         <PART id="l_hip" model="l_hip" parent="pelvis">
  220.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,-0.2285054,2.025323,0.005620833,1</TM>
  221.         </PART>
  222.         <PART id="l_knee" model="l_knee" parent="l_hip">
  223.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,-0.2120786,1.267202,-0.01693662,1</TM>
  224.         </PART>
  225.         <PART id="l_shoulder" model="l_shoulder" parent="mid_back">
  226.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,-0.3983952,2.953494,-0.07388752,1</TM>
  227.         </PART>
  228.         <PART id="lower_back" model="lower_back" parent="pelvis">
  229.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,-8.523749e-005,2.2593,-0.03045337,1</TM>
  230.         </PART>
  231.         <PART id="mid_back" model="mid_back" parent="lower_back">
  232.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,0.0008980652,2.506856,-0.03078655,1</TM>
  233.         </PART>
  234.         <PART id="neck" model="neck" parent="mid_back">
  235.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,-3.906971e-006,3.024695,-0.132947,1</TM>
  236.         </PART>
  237.         <PART id="pelvis" model="pelvis">
  238.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,-1.486187e-007,2.1,0,1</TM>
  239.         </PART>
  240.         <PART id="r_elbow" model="r_elbow" parent="r_shoulder">
  241.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,0.8780087,2.948348,-0.09355427,1</TM>
  242.         </PART>
  243.         <PART id="r_hip" model="r_hip" parent="pelvis">
  244.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,0.2309237,2.026115,0.006142716,1</TM>
  245.         </PART>
  246.         <PART id="r_knee" model="r_knee" parent="r_hip">
  247.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,0.2179876,1.267248,-0.01745858,1</TM>
  248.         </PART>
  249.         <PART id="r_shoulder" model="r_shoulder" parent="mid_back">
  250.             <TM>-1,8.742278e-008,0,0,-8.742278e-008,-1,0,0,0,0,1,0,0.387613,2.953611,-0.06888693,1</TM>
  251.         </PART>
  252.         <NO_COLLISION part1="l_elbow" part2="l_shoulder"></NO_COLLISION>
  253.         <NO_COLLISION part1="l_hip" part2="l_knee"></NO_COLLISION>
  254.         <NO_COLLISION part1="l_hip" part2="pelvis"></NO_COLLISION>
  255.         <NO_COLLISION part1="l_shoulder" part2="mid_back"></NO_COLLISION>
  256.         <NO_COLLISION part1="lower_back" part2="mid_back"></NO_COLLISION>
  257.         <NO_COLLISION part1="lower_back" part2="pelvis"></NO_COLLISION>
  258.         <NO_COLLISION part1="mid_back" part2="neck"></NO_COLLISION>
  259.         <NO_COLLISION part1="mid_back" part2="pelvis"></NO_COLLISION>
  260.         <NO_COLLISION part1="mid_back" part2="r_shoulder"></NO_COLLISION>
  261.         <NO_COLLISION part1="pelvis" part2="r_hip"></NO_COLLISION>
  262.         <NO_COLLISION part1="r_elbow" part2="r_shoulder"></NO_COLLISION>
  263.         <NO_COLLISION part1="r_hip" part2="r_knee"></NO_COLLISION>
  264.         <JOINT id="l_elbow" part1="l_elbow" part2="l_shoulder" type="hinge">
  265.             <HIGH_LIMIT>1.272712</HIGH_LIMIT>
  266.             <LOW_LIMIT>-0.146864</LOW_LIMIT>
  267.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  268.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  269.             <LIMITED>1</LIMITED>
  270.             <MOTORIZED>0</MOTORIZED>
  271.             <DES_VEL>1</DES_VEL>
  272.             <MAX_FORCE>1000</MAX_FORCE>
  273.             <POS1>0,0,0</POS1>
  274.             <POS2>0.4928109,0.004908163,-0.02162632</POS2>
  275.             <PRIMARY_AXIS1>2.086163e-007,-0.9999997,2.317438e-009</PRIMARY_AXIS1>
  276.             <PRIMARY_AXIS2>2.086163e-007,-0.9999997,2.317438e-009</PRIMARY_AXIS2>
  277.             <ORTHOGONAL_AXIS1>0.9999997,2.086163e-007,-4.842938e-007</ORTHOGONAL_AXIS1>
  278.             <ORTHOGONAL_AXIS2>0.9999997,2.086163e-007,-4.842938e-007</ORTHOGONAL_AXIS2>
  279.         </JOINT>
  280.         <JOINT id="l_hip" part1="l_hip" part2="pelvis" type="skeletal">
  281.             <CONE_TYPE>2</CONE_TYPE>
  282.             <CONE_HALF_ANGLE_X>0.368946</CONE_HALF_ANGLE_X>
  283.             <CONE_HALF_ANGLE_Y>0.686106</CONE_HALF_ANGLE_Y>
  284.             <CONE_STIFFNESS>100</CONE_STIFFNESS>
  285.             <CONE_DAMPING>1</CONE_DAMPING>
  286.             <TWIST_TYPE>2</TWIST_TYPE>
  287.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  288.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  289.             <TWIST_DAMPING>0</TWIST_DAMPING>
  290.             <POS1>0,0,0</POS1>
  291.             <POS2>0.2285053,0.07467701,0.005620833</POS2>
  292.             <PRIMARY_AXIS1>0,0.9999999,0</PRIMARY_AXIS1>
  293.             <PRIMARY_AXIS2>3.31618e-015,0.9999999,0</PRIMARY_AXIS2>
  294.             <ORTHOGONAL_AXIS1>-0.9999999,0,0</ORTHOGONAL_AXIS1>
  295.             <ORTHOGONAL_AXIS2>-0.9999999,0,0</ORTHOGONAL_AXIS2>
  296.         </JOINT>
  297.         <JOINT id="l_knee" part1="l_knee" part2="l_hip" type="hinge">
  298.             <HIGH_LIMIT>0.086377</HIGH_LIMIT>
  299.             <LOW_LIMIT>-1.146265</LOW_LIMIT>
  300.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  301.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  302.             <LIMITED>1</LIMITED>
  303.             <MOTORIZED>0</MOTORIZED>
  304.             <DES_VEL>1</DES_VEL>
  305.             <MAX_FORCE>1000</MAX_FORCE>
  306.             <POS1>0,0,0</POS1>
  307.             <POS2>-0.01642687,0.7581209,-0.02255745</POS2>
  308.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  309.             <PRIMARY_AXIS2>1,0,0</PRIMARY_AXIS2>
  310.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  311.             <ORTHOGONAL_AXIS2>0,1,0</ORTHOGONAL_AXIS2>
  312.         </JOINT>
  313.         <JOINT id="l_shoulder" part1="l_shoulder" part2="mid_back" type="skeletal">
  314.             <CONE_TYPE>2</CONE_TYPE>
  315.             <CONE_HALF_ANGLE_X>0.670062</CONE_HALF_ANGLE_X>
  316.             <CONE_HALF_ANGLE_Y>0.426254</CONE_HALF_ANGLE_Y>
  317.             <CONE_STIFFNESS>100</CONE_STIFFNESS>
  318.             <CONE_DAMPING>1</CONE_DAMPING>
  319.             <TWIST_TYPE>2</TWIST_TYPE>
  320.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  321.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  322.             <TWIST_DAMPING>1</TWIST_DAMPING>
  323.             <POS1>0,0,0</POS1>
  324.             <POS2>0.3992933,-0.4466381,-0.04310097</POS2>
  325.             <PRIMARY_AXIS1>0.9999999,9.678204e-008,1.295123e-007</PRIMARY_AXIS1>
  326.             <PRIMARY_AXIS2>0.9999999,9.678204e-008,1.295123e-007</PRIMARY_AXIS2>
  327.             <ORTHOGONAL_AXIS1>9.6782e-008,-0.9999999,2.950428e-007</ORTHOGONAL_AXIS1>
  328.             <ORTHOGONAL_AXIS2>9.6782e-008,-0.9999999,2.950428e-007</ORTHOGONAL_AXIS2>
  329.         </JOINT>
  330.         <JOINT id="lower_back" part1="lower_back" part2="pelvis" type="skeletal">
  331.             <CONE_TYPE>2</CONE_TYPE>
  332.             <CONE_HALF_ANGLE_X>0.785398</CONE_HALF_ANGLE_X>
  333.             <CONE_HALF_ANGLE_Y>0.785398</CONE_HALF_ANGLE_Y>
  334.             <CONE_STIFFNESS>100</CONE_STIFFNESS>
  335.             <CONE_DAMPING>1</CONE_DAMPING>
  336.             <TWIST_TYPE>2</TWIST_TYPE>
  337.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  338.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  339.             <TWIST_DAMPING>1</TWIST_DAMPING>
  340.             <POS1>0,0,0</POS1>
  341.             <POS2>8.510279e-005,-0.1593001,-0.03045337</POS2>
  342.             <PRIMARY_AXIS1>1.192093e-007,0.9999998,0</PRIMARY_AXIS1>
  343.             <PRIMARY_AXIS2>1.192093e-007,0.9999998,0</PRIMARY_AXIS2>
  344.             <ORTHOGONAL_AXIS1>-0.9999998,1.192093e-007,0</ORTHOGONAL_AXIS1>
  345.             <ORTHOGONAL_AXIS2>-0.9999998,1.192093e-007,0</ORTHOGONAL_AXIS2>
  346.         </JOINT>
  347.         <JOINT id="mid_back" part1="mid_back" part2="lower_back" type="skeletal">
  348.             <CONE_TYPE>2</CONE_TYPE>
  349.             <CONE_HALF_ANGLE_X>0.216859</CONE_HALF_ANGLE_X>
  350.             <CONE_HALF_ANGLE_Y>0.218447</CONE_HALF_ANGLE_Y>
  351.             <CONE_STIFFNESS>100</CONE_STIFFNESS>
  352.             <CONE_DAMPING>1</CONE_DAMPING>
  353.             <TWIST_TYPE>2</TWIST_TYPE>
  354.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  355.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  356.             <TWIST_DAMPING>1</TWIST_DAMPING>
  357.             <POS1>0,0,0</POS1>
  358.             <POS2>-0.0009832811,-0.247556,-0.0003331788</POS2>
  359.             <PRIMARY_AXIS1>0,0.9999996,-1.776357e-014</PRIMARY_AXIS1>
  360.             <PRIMARY_AXIS2>9.48488e-016,0.9999996,-1.776357e-014</PRIMARY_AXIS2>
  361.             <ORTHOGONAL_AXIS1>-1.788139e-007,0,0.9999996</ORTHOGONAL_AXIS1>
  362.             <ORTHOGONAL_AXIS2>-1.788139e-007,0,0.9999996</ORTHOGONAL_AXIS2>
  363.         </JOINT>
  364.         <JOINT id="neck" part1="neck" part2="mid_back" type="hinge">
  365.             <HIGH_LIMIT>0.420577</HIGH_LIMIT>
  366.             <LOW_LIMIT>-0.344353</LOW_LIMIT>
  367.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  368.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  369.             <LIMITED>1</LIMITED>
  370.             <MOTORIZED>0</MOTORIZED>
  371.             <DES_VEL>1</DES_VEL>
  372.             <MAX_FORCE>1000</MAX_FORCE>
  373.             <POS1>0,0,0</POS1>
  374.             <POS2>0.0009020175,-0.517839,-0.1021604</POS2>
  375.             <PRIMARY_AXIS1>-0.9999999,2.302946e-007,0</PRIMARY_AXIS1>
  376.             <PRIMARY_AXIS2>-0.9999999,2.302946e-007,0</PRIMARY_AXIS2>
  377.             <ORTHOGONAL_AXIS1>-2.302946e-007,-0.9999999,0</ORTHOGONAL_AXIS1>
  378.             <ORTHOGONAL_AXIS2>-2.302946e-007,-0.9999999,0</ORTHOGONAL_AXIS2>
  379.         </JOINT>
  380.         <JOINT id="r_elbow" part1="r_elbow" part2="r_shoulder" type="hinge">
  381.             <HIGH_LIMIT>0.149832</HIGH_LIMIT>
  382.             <LOW_LIMIT>-1.122749</LOW_LIMIT>
  383.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  384.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  385.             <LIMITED>1</LIMITED>
  386.             <MOTORIZED>0</MOTORIZED>
  387.             <DES_VEL>1</DES_VEL>
  388.             <MAX_FORCE>1000</MAX_FORCE>
  389.             <POS1>0,0,0</POS1>
  390.             <POS2>-0.4903957,0.005262775,-0.02466734</POS2>
  391.             <PRIMARY_AXIS1>2.980232e-008,-0.9999999,-2.105337e-008</PRIMARY_AXIS1>
  392.             <PRIMARY_AXIS2>2.980232e-008,-0.9999999,-2.105337e-008</PRIMARY_AXIS2>
  393.             <ORTHOGONAL_AXIS1>-0.9999999,-2.980233e-008,2.278464e-007</ORTHOGONAL_AXIS1>
  394.             <ORTHOGONAL_AXIS2>-0.9999999,-2.980233e-008,2.278464e-007</ORTHOGONAL_AXIS2>
  395.         </JOINT>
  396.         <JOINT id="r_hip" part1="r_hip" part2="pelvis" type="skeletal">
  397.             <CONE_TYPE>2</CONE_TYPE>
  398.             <CONE_HALF_ANGLE_X>0.368946</CONE_HALF_ANGLE_X>
  399.             <CONE_HALF_ANGLE_Y>0.686106</CONE_HALF_ANGLE_Y>
  400.             <CONE_STIFFNESS>100</CONE_STIFFNESS>
  401.             <CONE_DAMPING>1</CONE_DAMPING>
  402.             <TWIST_TYPE>2</TWIST_TYPE>
  403.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  404.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  405.             <TWIST_DAMPING>0</TWIST_DAMPING>
  406.             <POS1>0,0,0</POS1>
  407.             <POS2>-0.2309238,0.07388494,0.006142716</POS2>
  408.             <PRIMARY_AXIS1>0,0.9999999,0</PRIMARY_AXIS1>
  409.             <PRIMARY_AXIS2>3.31618e-015,0.9999999,0</PRIMARY_AXIS2>
  410.             <ORTHOGONAL_AXIS1>-0.9999999,0,0</ORTHOGONAL_AXIS1>
  411.             <ORTHOGONAL_AXIS2>-0.9999999,0,0</ORTHOGONAL_AXIS2>
  412.         </JOINT>
  413.         <JOINT id="r_knee" part1="r_knee" part2="r_hip" type="hinge">
  414.             <HIGH_LIMIT>0.086377</HIGH_LIMIT>
  415.             <LOW_LIMIT>-1.146265</LOW_LIMIT>
  416.             <HIGH_STIFFNESS>100</HIGH_STIFFNESS>
  417.             <LOW_STIFFNESS>100</LOW_STIFFNESS>
  418.             <LIMITED>1</LIMITED>
  419.             <MOTORIZED>0</MOTORIZED>
  420.             <DES_VEL>1</DES_VEL>
  421.             <MAX_FORCE>1000</MAX_FORCE>
  422.             <POS1>0,0,0</POS1>
  423.             <POS2>0.01293603,0.7588669,-0.0236013</POS2>
  424.             <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1>
  425.             <PRIMARY_AXIS2>1,0,0</PRIMARY_AXIS2>
  426.             <ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
  427.             <ORTHOGONAL_AXIS2>0,1,0</ORTHOGONAL_AXIS2>
  428.         </JOINT>
  429.         <JOINT id="r_shoulder" part1="r_shoulder" part2="mid_back" type="skeletal">
  430.             <CONE_TYPE>2</CONE_TYPE>
  431.             <CONE_HALF_ANGLE_X>0.670062</CONE_HALF_ANGLE_X>
  432.             <CONE_HALF_ANGLE_Y>0.426254</CONE_HALF_ANGLE_Y>
  433.             <CONE_STIFFNESS>100</CONE_STIFFNESS>
  434.             <CONE_DAMPING>1</CONE_DAMPING>
  435.             <TWIST_TYPE>2</TWIST_TYPE>
  436.             <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
  437.             <TWIST_STIFFNESS>1000</TWIST_STIFFNESS>
  438.             <TWIST_DAMPING>1</TWIST_DAMPING>
  439.             <POS1>0,0,0</POS1>
  440.             <POS2>-0.3867149,-0.446755,-0.03810038</POS2>
  441.             <PRIMARY_AXIS1>-0.9993206,0.00145759,0.03683366</PRIMARY_AXIS1>
  442.             <PRIMARY_AXIS2>-0.9993206,0.00145759,0.03683366</PRIMARY_AXIS2>
  443.             <ORTHOGONAL_AXIS1>0.001457445,-0.9968746,0.07898997</ORTHOGONAL_AXIS1>
  444.             <ORTHOGONAL_AXIS2>0.001457445,-0.9968746,0.07898997</ORTHOGONAL_AXIS2>
  445.         </JOINT>
  446.     </ASSET>
  447.     <ASSET id="testSoldier" graphic="testsoldier.PSK" scale="0.16">
  448.         <GEOMETRY id="l_elbow">
  449.             <PRIMITIVE id="l_elbow_0" type="sphere">
  450.                 <RADIUS>0.18</RADIUS>
  451.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1,0,0,1</TM>
  452.             </PRIMITIVE>
  453.             <PRIMITIVE id="l_elbow_1" type="sphere">
  454.                 <RADIUS>0.1</RADIUS>
  455.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.55,0,0,1</TM>
  456.             </PRIMITIVE>
  457.         </GEOMETRY>
  458.         <GEOMETRY id="l_hip">
  459.             <PRIMITIVE id="l_hip_0" type="sphere">
  460.                 <RADIUS>0.24</RADIUS>
  461.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.05,0.35,0,1</TM>
  462.             </PRIMITIVE>
  463.         </GEOMETRY>
  464.         <GEOMETRY id="l_knee">
  465.             <PRIMITIVE id="l_knee_0" type="sphere">
  466.                 <RADIUS>0.18</RADIUS>
  467.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,0.1,0,1</TM>
  468.             </PRIMITIVE>
  469.             <PRIMITIVE id="l_knee_1" type="sphere">
  470.                 <RADIUS>0.2</RADIUS>
  471.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,0.8,-0.1,1</TM>
  472.             </PRIMITIVE>
  473.         </GEOMETRY>
  474.         <GEOMETRY id="l_shoulder">
  475.             <PRIMITIVE id="l_shoulder_0" type="sphere">
  476.                 <RADIUS>0.16</RADIUS>
  477.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1,0,0,1</TM>
  478.             </PRIMITIVE>
  479.         </GEOMETRY>
  480.         <GEOMETRY id="mid_back">
  481.             <PRIMITIVE id="mid_back_0" type="sphere">
  482.                 <RADIUS>0.25</RADIUS>
  483.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,-0.2,0,1</TM>
  484.             </PRIMITIVE>
  485.         </GEOMETRY>
  486.         <GEOMETRY id="neck">
  487.             <PRIMITIVE id="neck_0" type="sphere">
  488.                 <RADIUS>0.2</RADIUS>
  489.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,-0.3,0.1,1</TM>
  490.             </PRIMITIVE>
  491.         </GEOMETRY>
  492.         <GEOMETRY id="pelvis">
  493.             <PRIMITIVE id="pelvis_0" type="sphere">
  494.                 <RADIUS>0.25</RADIUS>
  495.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1</TM>
  496.             </PRIMITIVE>
  497.         </GEOMETRY>
  498.         <GEOMETRY id="r_elbow">
  499.             <PRIMITIVE id="r_elbow_0" type="sphere">
  500.                 <RADIUS>0.18</RADIUS>
  501.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-0.1,0,0,1</TM>
  502.             </PRIMITIVE>
  503.             <PRIMITIVE id="r_elbow_1" type="sphere">
  504.                 <RADIUS>0.1</RADIUS>
  505.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-0.55,0,0,1</TM>
  506.             </PRIMITIVE>
  507.         </GEOMETRY>
  508.         <GEOMETRY id="r_hip">
  509.             <PRIMITIVE id="r_hip_0" type="sphere">
  510.                 <RADIUS>0.24</RADIUS>
  511.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-0.05,0.35,0,1</TM>
  512.             </PRIMITIVE>
  513.         </GEOMETRY>
  514.         <GEOMETRY id="r_knee">
  515.             <PRIMITIVE id="r_knee_0" type="sphere">
  516.                 <RADIUS>0.18</RADIUS>
  517.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,0.1,0,1</TM>
  518.             </PRIMITIVE>
  519.             <PRIMITIVE id="r_knee_1" type="sphere">
  520.                 <RADIUS>0.2</RADIUS>
  521.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,0.8,-0.1,1</TM>
  522.             </PRIMITIVE>
  523.         </GEOMETRY>
  524.         <GEOMETRY id="r_shoulder">
  525.             <PRIMITIVE id="r_shoulder_0" type="sphere">
  526.                 <RADIUS>0.16</RADIUS>
  527.                 <TM>1,0,0,0,0,1,0,0,0,0,1,0,-0.1,0,0,1</TM>
  528.             </PRIMITIVE>
  529.         </GEOMETRY>
  530.         <MODEL id="l_elbow" type="dynamics_and_geometry" geometry="l_elbow">
  531.             <DYNAMICS>
  532.                 <MASS>0.02861782</MASS>
  533.                 <DENSITY>1</DENSITY>
  534.                 <MASS_OFFSET>0.2,-3.678309e-008,8.140834e-008</MASS_OFFSET>
  535.                 <INERTIA>0.01696,0,0,0.04226153,0,0.04226153</INERTIA>
  536.                 <LIN_DAMP>0</LIN_DAMP>
  537.                 <ANG_DAMP>0</ANG_DAMP>
  538.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  539.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  540.             </DYNAMICS>
  541.         </MODEL>
  542.         <MODEL id="l_hip" type="dynamics_and_geometry" geometry="l_hip">
  543.             <DYNAMICS>
  544.                 <MASS>0.05790583</MASS>
  545.                 <DENSITY>1</DENSITY>
  546.                 <MASS_OFFSET>0.1,0.4,-1.661598e-008</MASS_OFFSET>
  547.                 <INERTIA>0.02304,0,0,0.02304,0,0.02304</INERTIA>
  548.                 <LIN_DAMP>0</LIN_DAMP>
  549.                 <ANG_DAMP>0</ANG_DAMP>
  550.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  551.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  552.             </DYNAMICS>
  553.         </MODEL>
  554.         <MODEL id="l_knee" type="dynamics_and_geometry" geometry="l_knee">
  555.             <DYNAMICS>
  556.                 <MASS>0.05793935</MASS>
  557.                 <DENSITY>1</DENSITY>
  558.                 <MASS_OFFSET>-2.570303e-009,0.4,-2.755359e-007</MASS_OFFSET>
  559.                 <INERTIA>0.1508892,0,0,0.03139858,0.01707008,0.1484506</INERTIA>
  560.                 <LIN_DAMP>0</LIN_DAMP>
  561.                 <ANG_DAMP>0</ANG_DAMP>
  562.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  563.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  564.             </DYNAMICS>
  565.         </MODEL>
  566.         <MODEL id="l_shoulder" type="dynamics_and_geometry" geometry="l_shoulder">
  567.             <DYNAMICS>
  568.                 <MASS>0.01715728</MASS>
  569.                 <DENSITY>1</DENSITY>
  570.                 <MASS_OFFSET>0.1,-1.191464e-008,1.338219e-008</MASS_OFFSET>
  571.                 <INERTIA>0.01024,0,0,0.01024,0,0.01024</INERTIA>
  572.                 <LIN_DAMP>0</LIN_DAMP>
  573.                 <ANG_DAMP>0</ANG_DAMP>
  574.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  575.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  576.             </DYNAMICS>
  577.         </MODEL>
  578.         <MODEL id="lower_back" type="dynamics_only">
  579.             <DYNAMICS>
  580.                 <MASS>0.3</MASS>
  581.                 <DENSITY>1</DENSITY>
  582.                 <MASS_OFFSET>0,0,0</MASS_OFFSET>
  583.                 <INERTIA>0.0048,0,0,0.0048,0,0.0048</INERTIA>
  584.                 <LIN_DAMP>0</LIN_DAMP>
  585.                 <ANG_DAMP>0</ANG_DAMP>
  586.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  587.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  588.             </DYNAMICS>
  589.         </MODEL>
  590.         <MODEL id="mid_back" type="dynamics_and_geometry" geometry="mid_back">
  591.             <DYNAMICS>
  592.                 <MASS>0.06544985</MASS>
  593.                 <DENSITY>1</DENSITY>
  594.                 <MASS_OFFSET>-1.722019e-008,-0.2,1.940393e-009</MASS_OFFSET>
  595.                 <INERTIA>0.025,0,0,0.025,0,0.025</INERTIA>
  596.                 <LIN_DAMP>0</LIN_DAMP>
  597.                 <ANG_DAMP>0</ANG_DAMP>
  598.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  599.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  600.             </DYNAMICS>
  601.         </MODEL>
  602.         <MODEL id="neck" type="dynamics_and_geometry" geometry="neck">
  603.             <DYNAMICS>
  604.                 <MASS>0.03351032</MASS>
  605.                 <DENSITY>1</DENSITY>
  606.                 <MASS_OFFSET>-2.384756e-008,-0.3,1.746354e-008</MASS_OFFSET>
  607.                 <INERTIA>0.016,0,0,0.016,0,0.016</INERTIA>
  608.                 <LIN_DAMP>0</LIN_DAMP>
  609.                 <ANG_DAMP>0</ANG_DAMP>
  610.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  611.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  612.             </DYNAMICS>
  613.         </MODEL>
  614.         <MODEL id="pelvis" type="dynamics_and_geometry" geometry="pelvis">
  615.             <DYNAMICS>
  616.                 <MASS>0.06544985</MASS>
  617.                 <DENSITY>1</DENSITY>
  618.                 <MASS_OFFSET>1.735238e-008,0.2,-9.701968e-010</MASS_OFFSET>
  619.                 <INERTIA>0.025,0,0,0.025,0,0.025</INERTIA>
  620.                 <LIN_DAMP>0</LIN_DAMP>
  621.                 <ANG_DAMP>0</ANG_DAMP>
  622.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  623.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  624.             </DYNAMICS>
  625.         </MODEL>
  626.         <MODEL id="r_elbow" type="dynamics_and_geometry" geometry="r_elbow">
  627.             <DYNAMICS>
  628.                 <MASS>0.02861782</MASS>
  629.                 <DENSITY>1</DENSITY>
  630.                 <MASS_OFFSET>-0.2,4.365656e-008,-1.104031e-007</MASS_OFFSET>
  631.                 <INERTIA>0.01696,0,0,0.04226153,0,0.04226153</INERTIA>
  632.                 <LIN_DAMP>0</LIN_DAMP>
  633.                 <ANG_DAMP>0</ANG_DAMP>
  634.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  635.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  636.             </DYNAMICS>
  637.         </MODEL>
  638.         <MODEL id="r_hip" type="dynamics_and_geometry" geometry="r_hip">
  639.             <DYNAMICS>
  640.                 <MASS>0.05790583</MASS>
  641.                 <DENSITY>1</DENSITY>
  642.                 <MASS_OFFSET>-0.09999997,0.4,-1.775351e-008</MASS_OFFSET>
  643.                 <INERTIA>0.02304,0,0,0.02304,0,0.02304</INERTIA>
  644.                 <LIN_DAMP>0</LIN_DAMP>
  645.                 <ANG_DAMP>0</ANG_DAMP>
  646.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  647.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  648.             </DYNAMICS>
  649.         </MODEL>
  650.         <MODEL id="r_knee" type="dynamics_and_geometry" geometry="r_knee">
  651.             <DYNAMICS>
  652.                 <MASS>0.05793935</MASS>
  653.                 <DENSITY>1</DENSITY>
  654.                 <MASS_OFFSET>-1.208735e-008,0.4,-3.453901e-007</MASS_OFFSET>
  655.                 <INERTIA>0.1508892,0,0,0.03139858,0.01707008,0.1484506</INERTIA>
  656.                 <LIN_DAMP>0</LIN_DAMP>
  657.                 <ANG_DAMP>0</ANG_DAMP>
  658.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  659.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  660.             </DYNAMICS>
  661.         </MODEL>
  662.         <MODEL id="r_shoulder" type="dynamics_and_geometry" geometry="r_shoulder">
  663.             <DYNAMICS>
  664.                 <MASS>0.01715728</MASS>
  665.                 <DENSITY>1</DENSITY>
  666.                 <MASS_OFFSET>-0.1,1.2179e-008,-1.449738e-008</MASS_OFFSET>
  667.                 <INERTIA>0.01024,0,0,0.01024,0,0.01024</INERTIA>
  668.                 <LIN_DAMP>0</LIN_DAMP>
  669.                 <ANG_DAMP>0</ANG_DAMP>
  670.                 <FAST_SPIN>0,1,0</FAST_SPIN>
  671.                 <USE_FAST_SPIN>0</USE_FAST_SPIN>
  672.             </DYNAMICS>
  673.         </MODEL>
  674.         <PART id="l_elbow" model="l_elbow" parent="l_shoulder">
  675.             <TM>-1,3.606758e-007,1.890235e-006,0,5.355213e-007,-1,-3.288968e-006,0,-1.890235e-006,3.288967e-006,1,0,-0.8910362,2.729999,-0.09518648,1</TM>
  676.         </PART>
  677.         <PART id="l_hip" model="l_hip" parent="pelvis">
  678.             <TM>-1,-7.023927e-008,7.248687e-008,0,1.046063e-007,-1,-1.261256e-007,0,-7.248688e-008,1.261256e-007,1,0,-0.2283356,1.806697,0.005592527,1</TM>
  679.         </PART>
  680.         <PART id="l_knee" model="l_knee" parent="l_hip">
  681.             <TM>-1,1.518254e-007,1.00924e-006,0,3.266709e-007,-1,-1.756056e-006,0,-1.009241e-006,1.756056e-006,1,0,-0.2119086,1.048585,-0.01725668,1</TM>
  682.         </PART>
  683.         <PART id="l_shoulder" model="l_shoulder" parent="mid_back">
  684.             <TM>-1,-5.305556e-008,1.449737e-007,0,1.2179e-007,-1,-2.522511e-007,0,-1.449738e-007,2.522512e-007,1,0,-0.3982252,2.734898,-0.0735593,1</TM>
  685.         </PART>
  686.         <PART id="lower_back" model="lower_back">
  687.             <TM>-1,-8.742278e-008,0,0,8.742278e-008,-1,0,0,0,0,1,0,8.479223e-005,2.040688,-0.03039176,1</TM>
  688.         </PART>
  689.         <PART id="mid_back" model="mid_back" parent="lower_back">
  690.             <TM>-1,-8.610096e-008,5.575912e-009,0,8.874459e-008,-1,-9.701968e-009,0,-5.575913e-009,9.701967e-009,1,0,0.001068032,2.288244,-0.03063013,1</TM>
  691.         </PART>
  692.         <PART id="neck" model="neck" parent="mid_back">
  693.             <TM>-1,-5.305556e-008,1.449737e-007,0,1.2179e-007,-1,-2.522511e-007,0,-1.449738e-007,2.522512e-007,1,0,0.0001658618,2.806122,-0.1325918,1</TM>
  694.         </PART>
  695.         <PART id="pelvis" model="pelvis" parent="lower_back">
  696.             <TM>-1,-8.676187e-008,2.787956e-009,0,8.808368e-008,-1,-4.850984e-009,0,-2.787957e-009,4.850984e-009,1,0,0.0001695984,1.881376,0,1</TM>
  697.         </PART>
  698.         <PART id="r_elbow" model="r_elbow" parent="r_shoulder">
  699.             <TM>-1,3.606758e-007,1.890235e-006,0,5.355213e-007,-1,-3.288968e-006,0,-1.890235e-006,3.288967e-006,1,0,0.8781785,2.72976,-0.09322955,1</TM>
  700.         </PART>
  701.         <PART id="r_hip" model="r_hip" parent="pelvis">
  702.             <TM>-1,-7.023927e-008,7.248687e-008,0,1.046063e-007,-1,-1.261256e-007,0,-7.248688e-008,1.261256e-007,1,0,0.2310936,1.807489,0.006114677,1</TM>
  703.         </PART>
  704.         <PART id="r_knee" model="r_knee" parent="r_hip">
  705.             <TM>-1,1.518254e-007,1.00924e-006,0,3.266709e-007,-1,-1.756056e-006,0,-1.009241e-006,1.756056e-006,1,0,0.2181578,1.048631,-0.01777866,1</TM>
  706.         </PART>
  707.         <PART id="r_shoulder" model="r_shoulder" parent="mid_back">
  708.             <TM>-1,-5.305556e-008,1.449737e-007,0,1.2179e-007,-1,-2.522511e-007,0,-1.449738e-007,2.522512e-007,1,0,0.3877829,2.735014,-0.06855899,1</TM>
  709.         </PART>
  710.         <NO_COLLISION part1="l_elbow" part2="l_shoulder"></NO_COLLISION>
  711.         <NO_COLLISION part1="l_hip" part2="l_knee"></NO_COLLISION>
  712.         <NO_COLLISION part1="l_hip" part2="pelvis"></NO_COLLISION>
  713.         <NO_COLLISION part1="l_shoulder" part2="mid_back"></NO_COLLISION>
  714.         <NO_COLLISION part1="lower_back" part2="mid_back"></NO_COLLISION>
  715.         <NO_COLLISION part1="lower_back" part2="pelvis"></NO_COLLISION>
  716.         <NO_COLLISION part1="mid_back" part2="neck"></NO_COLLISION>
  717.         <NO_COLLISION part1="mid_back" part2="r_shoulder"></NO_COLLISION>
  718.         <NO_COLLISION part1="pelvis" part2="r_hip"></NO_COLLISION>
  719.         <NO_COLLISION part1="r_elbow" part2="r_shoulder"></NO_COLLISION>
  720.         <NO_COLLISION part1="r_hip" part2="r_knee"></NO_COLLISION>
  721.         <JOINT id="l_elbow" part1="l_elbow" part2="l_shoulder" type="hinge">
  722.             <HIGH_LIMIT>0.8</HIGH_LIMIT>
  723.             <LOW_LIMIT>-0.8</LOW_LIMIT>
  724.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  725.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  726.             <LIMITED>1</LIMITED>
  727.             <MOTORIZED>0</MOTORIZED>
  728.             <DES_VEL>0</DES_VEL>
  729.             <MAX_FORCE>0</MAX_FORCE>
  730.             <POS1>-2.980232e-008,-2.289321e-008,6.621825e-008</POS1>
  731.             <POS2>0.4928111,0.004898946,-0.021628</POS2>
  732.             <PRIMARY_AXIS1>-6.609069e-010,1,-4.850984e-009</PRIMARY_AXIS1>
  733.             <PRIMARY_AXIS2>-1.784451e-008,1,-1.309766e-007</PRIMARY_AXIS2>
  734.             <ORTHOGONAL_AXIS1>-0.09641328,2.860263e-010,0.9953414</ORTHOGONAL_AXIS1>
  735.             <ORTHOGONAL_AXIS2>-0.0964132,-1.235953e-007,0.9953414</ORTHOGONAL_AXIS2>
  736.         </JOINT>
  737.         <JOINT id="l_hip" part1="l_hip" part2="pelvis" type="hinge">
  738.             <HIGH_LIMIT>0.8</HIGH_LIMIT>
  739.             <LOW_LIMIT>-0.8</LOW_LIMIT>
  740.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  741.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  742.             <LIMITED>1</LIMITED>
  743.             <MOTORIZED>0</MOTORIZED>
  744.             <DES_VEL>0</DES_VEL>
  745.             <MAX_FORCE>0</MAX_FORCE>
  746.             <POS1>5.770232e-008,-2.980232e-008,1.689152e-007</POS1>
  747.             <POS2>0.2285053,0.07467888,0.005592686</POS2>
  748.             <PRIMARY_AXIS1>1,-6.609069e-010,2.787956e-009</PRIMARY_AXIS1>
  749.             <PRIMARY_AXIS2>1,-3.965425e-009,1.672774e-008</PRIMARY_AXIS2>
  750.             <ORTHOGONAL_AXIS1>1.040574e-010,-0.998219,0.05965723</ORTHOGONAL_AXIS1>
  751.             <ORTHOGONAL_AXIS2>4.2343e-009,-0.998219,0.05965725</ORTHOGONAL_AXIS2>
  752.         </JOINT>
  753.         <JOINT id="l_knee" part1="l_knee" part2="l_hip" type="hinge">
  754.             <HIGH_LIMIT>0.2</HIGH_LIMIT>
  755.             <LOW_LIMIT>-1.6</LOW_LIMIT>
  756.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  757.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  758.             <LIMITED>1</LIMITED>
  759.             <MOTORIZED>0</MOTORIZED>
  760.             <DES_VEL>0</DES_VEL>
  761.             <MAX_FORCE>0</MAX_FORCE>
  762.             <POS1>-9.635165e-008,-5.960464e-008,-3.325297e-008</POS1>
  763.             <POS2>-0.0164268,0.7581116,-0.02284794</POS2>
  764.             <PRIMARY_AXIS1>1,-6.609069e-010,2.787956e-009</PRIMARY_AXIS1>
  765.             <PRIMARY_AXIS2>1,-9.913571e-009,4.181934e-008</PRIMARY_AXIS2>
  766.             <ORTHOGONAL_AXIS1>1.040574e-010,-0.998219,0.05965723</ORTHOGONAL_AXIS1>
  767.             <ORTHOGONAL_AXIS2>1.166875e-008,-0.998219,0.0596573</ORTHOGONAL_AXIS2>
  768.         </JOINT>
  769.         <JOINT id="l_shoulder" part1="l_shoulder" part2="mid_back" type="hinge">
  770.             <HIGH_LIMIT>0.8</HIGH_LIMIT>
  771.             <LOW_LIMIT>-0.8</LOW_LIMIT>
  772.             <HIGH_STIFFNESS>500</HIGH_STIFFNESS>
  773.             <LOW_STIFFNESS>500</LOW_STIFFNESS>
  774.             <LIMITED>1</LIMITED>
  775.             <MOTORIZED>0</MOTORIZED>
  776.             <DES_VEL>0</DES_VEL>
  777.             <MAX_FORCE>0</MAX_FORCE>
  778.             <POS1>1.490116e-007,-3.601191e-008,-2.021618e-007</POS1>
  779.             <POS2>0.3992933,-0.4466534,-0.04292953</POS2>
  780.             <PRIMARY_AXIS1>2.787956e-009,-4.850984e-009,1</PRIMARY_AXIS1>
  781.             <PRIMARY_AXIS2>3.066752e-008,-5.336083e-008,1</PRIMARY_AXIS2>
  782.             <ORTHOGONAL_AXIS1>-0.008945526,-0.99996,4.42715e-010</ORTHOGONAL_AXIS1>
  783.             <ORTHOGONAL_AXIS2>-0.008945518,-0.99996,4.870122e-008</ORTHOGONAL_AXIS2>
  784.         </JOINT>
  785.         <JOINT id="lower_back" part1="lower_back" part2="pelvis" type="hinge">
  786.             <HIGH_LIMIT>0.8</HIGH_LIMIT>
  787.             <LOW_LIMIT>-0.8</LOW_LIMIT>
  788.             <HIGH_STIFFNESS>500</HIGH_STIFFNESS>
  789.             <LOW_STIFFNESS>500</LOW_STIFFNESS>
  790.             <LIMITED>1</LIMITED>
  791.             <MOTORIZED>0</MOTORIZED>
  792.             <DES_VEL>0</DES_VEL>
  793.             <MAX_FORCE>0</MAX_FORCE>
  794.             <POS1>-8.477934e-008,7.450581e-009,4.140818e-007</POS1>
  795.             <POS2>8.470749e-005,-0.159312,-0.03039135</POS2>
  796.             <PRIMARY_AXIS1>1,-6.609069e-010,2.787956e-009</PRIMARY_AXIS1>
  797.             <PRIMARY_AXIS2>1,-1.321808e-009,5.575912e-009</PRIMARY_AXIS2>
  798.             <ORTHOGONAL_AXIS1>1.040574e-010,-0.998219,0.05965723</ORTHOGONAL_AXIS1>
  799.             <ORTHOGONAL_AXIS2>9.301054e-010,-0.998219,0.05965723</ORTHOGONAL_AXIS2>
  800.         </JOINT>
  801.         <JOINT id="mid_back" part1="mid_back" part2="lower_back" type="hinge">
  802.             <HIGH_LIMIT>0.8</HIGH_LIMIT>
  803.             <LOW_LIMIT>-0.8</LOW_LIMIT>
  804.             <HIGH_STIFFNESS>500</HIGH_STIFFNESS>
  805.             <LOW_STIFFNESS>500</LOW_STIFFNESS>
  806.             <LIMITED>1</LIMITED>
  807.             <MOTORIZED>0</MOTORIZED>
  808.             <DES_VEL>0</DES_VEL>
  809.             <MAX_FORCE>0</MAX_FORCE>
  810.             <POS1>-1.084595e-007,5.960464e-008,-1.512285e-008</POS1>
  811.             <POS2>-0.0009833701,-0.2475564,-0.0002383832</POS2>
  812.             <PRIMARY_AXIS1>2.787956e-009,-4.850984e-009,1</PRIMARY_AXIS1>
  813.             <PRIMARY_AXIS2>8.363869e-009,-1.455295e-008,1</PRIMARY_AXIS2>
  814.             <ORTHOGONAL_AXIS1>-0.008945526,-0.99996,4.42715e-010</ORTHOGONAL_AXIS1>
  815.             <ORTHOGONAL_AXIS2>-0.008945525,-0.99996,1.009442e-008</ORTHOGONAL_AXIS2>
  816.         </JOINT>
  817.         <JOINT id="neck" part1="neck" part2="mid_back" type="hinge">
  818.             <HIGH_LIMIT>0.4</HIGH_LIMIT>
  819.             <LOW_LIMIT>-0.4</LOW_LIMIT>
  820.             <HIGH_STIFFNESS>500</HIGH_STIFFNESS>
  821.             <LOW_STIFFNESS>500</LOW_STIFFNESS>
  822.             <LIMITED>1</LIMITED>
  823.             <MOTORIZED>0</MOTORIZED>
  824.             <DES_VEL>0</DES_VEL>
  825.             <MAX_FORCE>0</MAX_FORCE>
  826.             <POS1>3.147652e-007,5.960464e-008,-1.564622e-007</POS1>
  827.             <POS2>0.0009024375,-0.5178773,-0.101962</POS2>
  828.             <PRIMARY_AXIS1>1,-6.609069e-010,2.787956e-009</PRIMARY_AXIS1>
  829.             <PRIMARY_AXIS2>1,-7.269982e-009,3.066752e-008</PRIMARY_AXIS2>
  830.             <ORTHOGONAL_AXIS1>1.040574e-010,-0.998219,0.05965723</ORTHOGONAL_AXIS1>
  831.             <ORTHOGONAL_AXIS2>8.364585e-009,-0.998219,0.05965728</ORTHOGONAL_AXIS2>
  832.         </JOINT>
  833.         <JOINT id="r_elbow" part1="r_elbow" part2="r_shoulder" type="hinge">
  834.             <HIGH_LIMIT>0.8</HIGH_LIMIT>
  835.             <LOW_LIMIT>-0.8</LOW_LIMIT>
  836.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  837.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  838.             <LIMITED>1</LIMITED>
  839.             <MOTORIZED>0</MOTORIZED>
  840.             <DES_VEL>0</DES_VEL>
  841.             <MAX_FORCE>0</MAX_FORCE>
  842.             <POS1>1.490116e-007,-2.276728e-008,8.383093e-008</POS1>
  843.             <POS2>-0.4903955,0.005253639,-0.02466961</POS2>
  844.             <PRIMARY_AXIS1>-6.609069e-010,1,-4.850984e-009</PRIMARY_AXIS1>
  845.             <PRIMARY_AXIS2>-1.784451e-008,1,-1.309766e-007</PRIMARY_AXIS2>
  846.             <ORTHOGONAL_AXIS1>-0.09641328,2.860263e-010,0.9953414</ORTHOGONAL_AXIS1>
  847.             <ORTHOGONAL_AXIS2>-0.0964132,-1.235953e-007,0.9953414</ORTHOGONAL_AXIS2>
  848.         </JOINT>
  849.         <JOINT id="r_hip" part1="r_hip" part2="pelvis" type="hinge">
  850.             <HIGH_LIMIT>0.8</HIGH_LIMIT>
  851.             <LOW_LIMIT>-0.8</LOW_LIMIT>
  852.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  853.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  854.             <LIMITED>1</LIMITED>
  855.             <MOTORIZED>0</MOTORIZED>
  856.             <DES_VEL>0</DES_VEL>
  857.             <MAX_FORCE>0</MAX_FORCE>
  858.             <POS1>8.275356e-008,-2.980232e-008,2.176833e-007</POS1>
  859.             <POS2>-0.2309239,0.07388701,0.006114914</POS2>
  860.             <PRIMARY_AXIS1>1,-6.609069e-010,2.787956e-009</PRIMARY_AXIS1>
  861.             <PRIMARY_AXIS2>1,-3.965425e-009,1.672774e-008</PRIMARY_AXIS2>
  862.             <ORTHOGONAL_AXIS1>1.040574e-010,-0.998219,0.05965723</ORTHOGONAL_AXIS1>
  863.             <ORTHOGONAL_AXIS2>4.2343e-009,-0.998219,0.05965725</ORTHOGONAL_AXIS2>
  864.         </JOINT>
  865.         <JOINT id="r_knee" part1="r_knee" part2="r_hip" type="hinge">
  866.             <HIGH_LIMIT>0.2</HIGH_LIMIT>
  867.             <LOW_LIMIT>-1.6</LOW_LIMIT>
  868.             <HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
  869.             <LOW_STIFFNESS>1000</LOW_STIFFNESS>
  870.             <LIMITED>1</LIMITED>
  871.             <MOTORIZED>0</MOTORIZED>
  872.             <DES_VEL>0</DES_VEL>
  873.             <MAX_FORCE>0</MAX_FORCE>
  874.             <POS1>-3.77124e-007,-5.960464e-008,1.038871e-007</POS1>
  875.             <POS2>0.01293571,0.7588583,-0.02389198</POS2>
  876.             <PRIMARY_AXIS1>1,-6.609069e-010,2.787956e-009</PRIMARY_AXIS1>
  877.             <PRIMARY_AXIS2>1,-9.913571e-009,4.181934e-008</PRIMARY_AXIS2>
  878.             <ORTHOGONAL_AXIS1>1.040574e-010,-0.998219,0.05965723</ORTHOGONAL_AXIS1>
  879.             <ORTHOGONAL_AXIS2>1.166875e-008,-0.998219,0.0596573</ORTHOGONAL_AXIS2>
  880.         </JOINT>
  881.         <JOINT id="r_shoulder" part1="r_shoulder" part2="mid_back" type="hinge">
  882.             <HIGH_LIMIT>0.8</HIGH_LIMIT>
  883.             <LOW_LIMIT>-0.8</LOW_LIMIT>
  884.             <HIGH_STIFFNESS>500</HIGH_STIFFNESS>
  885.             <LOW_STIFFNESS>500</LOW_STIFFNESS>
  886.             <LIMITED>1</LIMITED>
  887.             <MOTORIZED>0</MOTORIZED>
  888.             <DES_VEL>0</DES_VEL>
  889.             <MAX_FORCE>0</MAX_FORCE>
  890.             <POS1>-5.960464e-008,9.912692e-009,8.578407e-008</POS1>
  891.             <POS2>-0.386715,-0.4467692,-0.03792885</POS2>
  892.             <PRIMARY_AXIS1>2.787956e-009,-4.850984e-009,1</PRIMARY_AXIS1>
  893.             <PRIMARY_AXIS2>3.066752e-008,-5.336083e-008,1</PRIMARY_AXIS2>
  894.             <ORTHOGONAL_AXIS1>-0.008945526,-0.99996,4.42715e-010</ORTHOGONAL_AXIS1>
  895.             <ORTHOGONAL_AXIS2>-0.008945518,-0.99996,4.870122e-008</ORTHOGONAL_AXIS2>
  896.         </JOINT>
  897.     </ASSET>
  898. </KARMA>