<KARMA ka_file_version="1.0"> <ASSET id="terroskel" graphic="R6Terrorist.PSK" scale="0.02" mass_scale="1" length_scale="1"> <GEOMETRY id="r6 head"> <PRIMITIVE id="r6 head_1" type="sphere"> <RADIUS>0.1724915</RADIUS> <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1740922,-0.03304905,-3.814697e-008,1</TM> </PRIMITIVE> </GEOMETRY> <GEOMETRY id="r6 l calf"> <PRIMITIVE id="r6 l calf_1" type="sphyl"> <RADIUS>0.1564663</RADIUS> <HEIGHT>0.8782839</HEIGHT> <TM>-0.08715568,-0.9961318,0.01119387,0,1.75907e-008,-0.01123659,-0.9999369,0,0.9961947,-0.08715018,0.0009793788,0,0.5391419,3.875979e-008,8.022732e-009,1</TM> </PRIMITIVE> </GEOMETRY> <GEOMETRY id="r6 l clavicle"> <PRIMITIVE id="r6 l clavicle_1" type="sphyl"> <RADIUS>0.04228137</RADIUS> <HEIGHT>0.2104765</HEIGHT> <TM>9.141373e-007,-0.1387601,-0.9903259,0,1.33836e-007,0.9903258,-0.1387601,0,0.9999999,-8.121225e-009,9.401449e-007,0,0.1052382,-2.178174e-008,1.013557e-007,1</TM> </PRIMITIVE> </GEOMETRY> <GEOMETRY id="r6 l forearm"> <PRIMITIVE id="r6 l forearm_1" type="sphyl"> <RADIUS>0.13</RADIUS> <HEIGHT>0.452051</HEIGHT> <TM>-3.180183e-007,0.01210937,-0.9999265,0,1.903176e-008,0.9999266,0.01210941,0,0.9999999,-3.986599e-008,-3.044315e-007,0,0.3260257,-1.941957e-008,-1.655573e-007,1</TM> </PRIMITIVE> </GEOMETRY> <GEOMETRY id="r6 l thigh"> <PRIMITIVE id="r6 l thigh_1" type="sphyl"> <RADIUS>0.15</RADIUS> <HEIGHT>0.846202</HEIGHT> <TM>1.05374e-008,0.002244314,0.9999974,0,1.536041e-009,-0.9999975,0.002244312,0,1,3.063937e-008,-5.076819e-009,0,0.4231011,1.181556e-008,1.713865e-008,1</TM> </PRIMITIVE> </GEOMETRY> <GEOMETRY id="r6 l upperarm"> <PRIMITIVE id="r6 l upperarm_1" type="sphyl"> <RADIUS>0.12</RADIUS> <HEIGHT>0.646961</HEIGHT> <TM>1.568005e-007,0.01213295,-0.9999262,0,4.294956e-009,0.9999263,0.01213299,0,1,1.589512e-008,1.626121e-007,0,0.3234804,5.60322e-009,1.269582e-007,1</TM> </PRIMITIVE> </GEOMETRY> <GEOMETRY id="r6 neck"> <PRIMITIVE id="r6 neck_1" type="sphere"> <RADIUS>0.24</RADIUS> <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.3387463,-0.1016096,6.866455e-007,1</TM> </PRIMITIVE> </GEOMETRY> <GEOMETRY id="r6 pelvis"> <PRIMITIVE id="r6 pelvis_1" type="sphere"> <RADIUS>0.35</RADIUS> <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.09972163,0.02922882,0.001321582,1</TM> </PRIMITIVE> </GEOMETRY> <GEOMETRY id="r6 r calf"> <PRIMITIVE id="r6 r calf_1" type="sphyl"> <RADIUS>0.1564694</RADIUS> <HEIGHT>0.8782837</HEIGHT> <TM>-0.08715573,-0.9961319,-0.01119098,0,-2.297088e-008,0.01123372,-0.9999369,0,0.9961948,-0.08715022,-0.0009790957,0,0.5391418,7.889361e-009,-1.006772e-008,1</TM> </PRIMITIVE> </GEOMETRY> <GEOMETRY id="r6 r clavicle"> <PRIMITIVE id="r6 r clavicle_1" type="sphyl"> <RADIUS>0.04223618</RADIUS> <HEIGHT>0.2104764</HEIGHT> <TM>-1.025565e-006,0.1387599,-0.9903259,0,5.467752e-008,0.9903258,0.1387599,0,0.9999999,8.464096e-008,-1.031105e-006,0,0.1052382,1.021868e-008,-1.241523e-007,1</TM> </PRIMITIVE> </GEOMETRY> <GEOMETRY id="r6 r forearm"> <PRIMITIVE id="r6 r forearm_1" type="sphyl"> <RADIUS>0.13</RADIUS> <HEIGHT>0.452051</HEIGHT> <TM>8.649091e-007,-0.01210954,-0.9999264,0,2.705387e-008,0.9999266,-0.01210956,0,1,-3.271368e-008,8.642801e-007,0,0.3260256,-1.209264e-008,8.486688e-008,1</TM> </PRIMITIVE> </GEOMETRY> <GEOMETRY id="r6 r thigh"> <PRIMITIVE id="r6 r thigh_1" type="sphyl"> <RADIUS>0.15</RADIUS> <HEIGHT>0.846202</HEIGHT> <TM>-3.283998e-008,-0.002241432,0.9999974,0,1.560299e-009,-0.9999974,-0.00224143,0,1,2.875607e-008,2.536692e-008,0,0.4231011,1.162083e-008,-6.049125e-011,1</TM> </PRIMITIVE> </GEOMETRY> <GEOMETRY id="r6 r upperarm"> <PRIMITIVE id="r6 r upperarm_1" type="sphyl"> <RADIUS>0.12</RADIUS> <HEIGHT>0.646961</HEIGHT> <TM>-2.73257e-007,-0.01213308,-0.9999262,0,3.037864e-008,0.9999263,-0.0121331,0,1,-2.844133e-009,-2.714892e-007,0,0.3234803,-2.588354e-009,4.082014e-008,1</TM> </PRIMITIVE> </GEOMETRY> <GEOMETRY id="r6 spine"> <PRIMITIVE id="r6 spine_2" type="sphere"> <RADIUS>0.3</RADIUS> <TM>1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1</TM> </PRIMITIVE> </GEOMETRY> <GEOMETRY id="r6 spine1"> <PRIMITIVE id="r6 spine1_1" type="sphyl"> <RADIUS>0.1236168</RADIUS> <HEIGHT>0.2629372</HEIGHT> <TM>-0.0009766921,0.9999994,-1.416986e-006,0,-3.25128e-010,1.416987e-006,0.9999999,0,0.9999995,0.0009766624,-1.058793e-009,0,0.1314685,0.0001284004,-1.392015e-010,1</TM> </PRIMITIVE> </GEOMETRY> <GEOMETRY id="r6 spine2"> <PRIMITIVE id="r6 spine2_2" type="sphere"> <RADIUS>0.35</RADIUS> <TM>1,0,0,0,0,1,0,0,0,0,1,0,0.03343602,0.01119987,0,1</TM> </PRIMITIVE> </GEOMETRY> <MODEL id="r6" type="dynamics_only"> <DYNAMICS> <MASS>3</MASS> <DENSITY>1</DENSITY> <MASS_OFFSET>0,0,0</MASS_OFFSET> <INERTIA>1,0,0,1,0,1</INERTIA> <LIN_DAMP>0</LIN_DAMP> <ANG_DAMP>0</ANG_DAMP> <FAST_SPIN>0,1,0</FAST_SPIN> <USE_FAST_SPIN>0</USE_FAST_SPIN> </DYNAMICS> </MODEL> <MODEL id="r6 l calf" type="dynamics_and_geometry" geometry="r6 l calf"> <DYNAMICS> <MASS>5</MASS> <DENSITY>1</DENSITY> <MASS_OFFSET>0.4391419,3.15643e-008,2.062267e-009</MASS_OFFSET> <INERTIA>1,0,0,1,0,1</INERTIA> <LIN_DAMP>0</LIN_DAMP> <ANG_DAMP>0</ANG_DAMP> <FAST_SPIN>0,1,0</FAST_SPIN> <USE_FAST_SPIN>0</USE_FAST_SPIN> </DYNAMICS> </MODEL> <MODEL id="r6 l clavicle" type="dynamics_only" geometry="r6 l clavicle"> <DYNAMICS> <MASS>3</MASS> <DENSITY>1</DENSITY> <MASS_OFFSET>0.1052382,-2.178174e-008,1.013557e-007</MASS_OFFSET> <INERTIA>1,0,0,1,0,1</INERTIA> <LIN_DAMP>0</LIN_DAMP> <ANG_DAMP>0</ANG_DAMP> <FAST_SPIN>0,1,0</FAST_SPIN> <USE_FAST_SPIN>0</USE_FAST_SPIN> </DYNAMICS> </MODEL> <MODEL id="r6 l forearm" type="dynamics_and_geometry" geometry="r6 l forearm"> <DYNAMICS> <MASS>4</MASS> <DENSITY>1</DENSITY> <MASS_OFFSET>0.3260257,-1.941957e-008,-1.655573e-007</MASS_OFFSET> <INERTIA>1,0,0,1,0,1</INERTIA> <LIN_DAMP>0</LIN_DAMP> <ANG_DAMP>0</ANG_DAMP> <FAST_SPIN>0,1,0</FAST_SPIN> <USE_FAST_SPIN>0</USE_FAST_SPIN> </DYNAMICS> </MODEL> <MODEL id="r6 l thigh" type="dynamics_and_geometry" geometry="r6 l thigh"> <DYNAMICS> <MASS>3</MASS> <DENSITY>1</DENSITY> <MASS_OFFSET>0.4231011,1.181556e-008,1.713865e-008</MASS_OFFSET> <INERTIA>1,0,0,1,0,1</INERTIA> <LIN_DAMP>0</LIN_DAMP> <ANG_DAMP>0</ANG_DAMP> <FAST_SPIN>0,1,0</FAST_SPIN> <USE_FAST_SPIN>0</USE_FAST_SPIN> </DYNAMICS> </MODEL> <MODEL id="r6 l upperarm" type="dynamics_and_geometry" geometry="r6 l upperarm"> <DYNAMICS> <MASS>3</MASS> <DENSITY>1</DENSITY> <MASS_OFFSET>0.3234804,5.60322e-009,1.269582e-007</MASS_OFFSET> <INERTIA>1,0,0,1,0,1</INERTIA> <LIN_DAMP>0</LIN_DAMP> <ANG_DAMP>0</ANG_DAMP> <FAST_SPIN>0,1,0</FAST_SPIN> <USE_FAST_SPIN>0</USE_FAST_SPIN> </DYNAMICS> </MODEL> <MODEL id="r6 neck" type="dynamics_and_geometry" geometry="r6 neck"> <DYNAMICS> <MASS>3</MASS> <DENSITY>1</DENSITY> <MASS_OFFSET>0.3497532,-0.09060269,6.866455e-007</MASS_OFFSET> <INERTIA>1,0,0,1,0,1</INERTIA> <LIN_DAMP>0</LIN_DAMP> <ANG_DAMP>0</ANG_DAMP> <FAST_SPIN>0,1,0</FAST_SPIN> <USE_FAST_SPIN>0</USE_FAST_SPIN> </DYNAMICS> </MODEL> <MODEL id="r6 pelvis" type="dynamics_and_geometry" geometry="r6 pelvis"> <DYNAMICS> <MASS>3</MASS> <DENSITY>1</DENSITY> <MASS_OFFSET>0.09972163,0.02922882,0.001321582</MASS_OFFSET> <INERTIA>1,0,0,1,0,1</INERTIA> <LIN_DAMP>25</LIN_DAMP> <ANG_DAMP>0</ANG_DAMP> <FAST_SPIN>0,1,0</FAST_SPIN> <USE_FAST_SPIN>0</USE_FAST_SPIN> </DYNAMICS> </MODEL> <MODEL id="r6 r calf" type="dynamics_and_geometry" geometry="r6 r calf"> <DYNAMICS> <MASS>5</MASS> <DENSITY>1</DENSITY> <MASS_OFFSET>0.4391418,6.768558e-009,-9.868167e-009</MASS_OFFSET> <INERTIA>1,0,0,1,0,1</INERTIA> <LIN_DAMP>0</LIN_DAMP> <ANG_DAMP>0</ANG_DAMP> <FAST_SPIN>0,1,0</FAST_SPIN> <USE_FAST_SPIN>0</USE_FAST_SPIN> </DYNAMICS> </MODEL> <MODEL id="r6 r clavicle" type="dynamics_only" geometry="r6 r clavicle"> <DYNAMICS> <MASS>3</MASS> <DENSITY>1</DENSITY> <MASS_OFFSET>0.1052382,1.021868e-008,-1.241523e-007</MASS_OFFSET> <INERTIA>1,0,0,1,0,1</INERTIA> <LIN_DAMP>0</LIN_DAMP> <ANG_DAMP>0</ANG_DAMP> <FAST_SPIN>0,1,0</FAST_SPIN> <USE_FAST_SPIN>0</USE_FAST_SPIN> </DYNAMICS> </MODEL> <MODEL id="r6 r forearm" type="dynamics_and_geometry" geometry="r6 r forearm"> <DYNAMICS> <MASS>4</MASS> <DENSITY>1</DENSITY> <MASS_OFFSET>0.3260256,-1.209264e-008,8.486688e-008</MASS_OFFSET> <INERTIA>1,0,0,1,0,1</INERTIA> <LIN_DAMP>0</LIN_DAMP> <ANG_DAMP>0</ANG_DAMP> <FAST_SPIN>0,1,0</FAST_SPIN> <USE_FAST_SPIN>0</USE_FAST_SPIN> </DYNAMICS> </MODEL> <MODEL id="r6 r thigh" type="dynamics_and_geometry" geometry="r6 r thigh"> <DYNAMICS> <MASS>3</MASS> <DENSITY>1</DENSITY> <MASS_OFFSET>0.4231011,1.162083e-008,-6.049125e-011</MASS_OFFSET> <INERTIA>1,0,0,1,0,1</INERTIA> <LIN_DAMP>0</LIN_DAMP> <ANG_DAMP>0</ANG_DAMP> <FAST_SPIN>0,1,0</FAST_SPIN> <USE_FAST_SPIN>0</USE_FAST_SPIN> </DYNAMICS> </MODEL> <MODEL id="r6 r upperarm" type="dynamics_and_geometry" geometry="r6 r upperarm"> <DYNAMICS> <MASS>3</MASS> <DENSITY>1</DENSITY> <MASS_OFFSET>0.3234803,-2.588354e-009,4.082014e-008</MASS_OFFSET> <INERTIA>1,0,0,1,0,1</INERTIA> <LIN_DAMP>0</LIN_DAMP> <ANG_DAMP>0</ANG_DAMP> <FAST_SPIN>0,1,0</FAST_SPIN> <USE_FAST_SPIN>0</USE_FAST_SPIN> </DYNAMICS> </MODEL> <MODEL id="r6 spine" type="dynamics_only" geometry="r6 spine"> <DYNAMICS> <MASS>2</MASS> <DENSITY>1</DENSITY> <MASS_OFFSET>0,0,0</MASS_OFFSET> <INERTIA>1,0,0,1,0,1</INERTIA> <LIN_DAMP>0</LIN_DAMP> <ANG_DAMP>0</ANG_DAMP> <FAST_SPIN>0,1,0</FAST_SPIN> <USE_FAST_SPIN>0</USE_FAST_SPIN> </DYNAMICS> </MODEL> <MODEL id="r6 spine1" type="dynamics_only" geometry="r6 spine1"> <DYNAMICS> <MASS>2</MASS> <DENSITY>1</DENSITY> <MASS_OFFSET>0.1314685,0.0001284004,-1.392015e-010</MASS_OFFSET> <INERTIA>1,0,0,1,0,1</INERTIA> <LIN_DAMP>0</LIN_DAMP> <ANG_DAMP>0</ANG_DAMP> <FAST_SPIN>0,1,0</FAST_SPIN> <USE_FAST_SPIN>0</USE_FAST_SPIN> </DYNAMICS> </MODEL> <MODEL id="r6 spine2" type="dynamics_and_geometry" geometry="r6 spine2"> <DYNAMICS> <MASS>2</MASS> <DENSITY>1</DENSITY> <MASS_OFFSET>0.03343602,0.04442691,0</MASS_OFFSET> <INERTIA>1,0,0,1,0,1</INERTIA> <LIN_DAMP>0</LIN_DAMP> <ANG_DAMP>0</ANG_DAMP> <FAST_SPIN>0,1,0</FAST_SPIN> <USE_FAST_SPIN>0</USE_FAST_SPIN> </DYNAMICS> </MODEL> <PART id="r6" model="r6"> <TM>4.470351e-008,6.273144e-008,1,0,1,-1.206994e-006,-4.470344e-008,0,1.206994e-006,1,-6.27315e-008,0,3.170966e-006,1.9,0.03764249,1</TM> </PART> <PART id="r6 l calf" model="r6 l calf" parent="r6 l thigh"> <TM>-0.1341309,-0.8292572,0.5425324,0,-0.08537667,-0.5357736,-0.8400342,0,0.9872789,-0.1589942,0.001064594,0,-0.2953401,1.252876,0.5727324,1</TM> </PART> <PART id="r6 l clavicle" model="r6 l clavicle" parent="r6 neck"> <TM>-0.9969729,-0.07699385,0.0108205,0,-4.544077e-007,0.1391754,0.9902678,0,-0.07775047,0.9872701,-0.1387541,0,-0.08760858,2.815867,-0.002399483,1</TM> </PART> <PART id="r6 l forearm" model="r6 l forearm" parent="r6 l upperarm"> <TM>-0.7067986,-0.04212619,0.7061595,0,0.7058197,0.02500578,0.7079501,0,-0.04748131,0.9987994,0.01205944,0,-0.83349,2.769821,0.3608203,1</TM> </PART> <PART id="r6 l thigh" model="r6 l thigh" parent="r6 pelvis"> <TM>-0.1238363,-0.7647319,0.6323366,0,-0.0997238,-0.6244245,-0.774693,0,0.9872789,-0.1589942,0.001064467,0,-0.1905492,1.9,0.03764268,1</TM> </PART> <PART id="r6 l upperarm" model="r6 l upperarm" parent="r6 l clavicle"> <TM>-0.8286048,-0.04612692,0.5579305,0,0.5578168,0.01649871,0.8298001,0,-0.04748125,0.9987993,0.01205946,0,-0.2974388,2.799661,-0.0001224994,1</TM> </PART> <PART id="r6 neck" model="r6 neck" parent="r6 spine2"> <TM>1.277948e-006,0.9903792,-0.1383799,0,-2.990595e-006,-0.1383799,-0.9903792,0,-1,1.679492e-006,2.784981e-006,0,3.826104e-006,2.864093,-0.00787413,1</TM> </PART> <PART id="r6 pelvis" model="r6 pelvis" parent="r6"> <TM>2.708884e-006,1,-1.043072e-007,0,1.356005e-006,-1.043109e-007,-1,0,-1,2.708884e-006,-1.356005e-006,0,2.289945e-006,1.9,0.03764249,1</TM> </PART> <PART id="r6 r calf" model="r6 r calf" parent="r6 r thigh"> <TM>0.1341286,-0.8292577,0.5425321,0,0.08537527,-0.5357736,-0.8400344,0,0.9872794,0.1589915,-0.001064472,0,0.2953426,1.252882,0.5727276,1</TM> </PART> <PART id="r6 r clavicle" model="r6 r clavicle" parent="r6 neck"> <TM>0.9969725,-0.07699833,0.0108205,0,1.346413e-006,0.1391787,0.9902673,0,-0.07775491,-0.9872692,0.1387575,0,0.08761393,2.815867,-0.002400184,1</TM> </PART> <PART id="r6 r forearm" model="r6 r forearm" parent="r6 r upperarm"> <TM>0.7067941,-0.04212373,0.706164,0,-0.7058237,0.0250163,0.7079458,0,-0.04748693,-0.9987992,-0.01205055,0,0.8334303,2.769823,0.3607822,1</TM> </PART> <PART id="r6 r thigh" model="r6 r thigh" parent="r6 pelvis"> <TM>0.1238341,-0.7647323,0.6323366,0,0.09972206,-0.6244247,-0.774693,0,0.9872794,0.1589913,-0.00106438,0,0.1905538,1.9,0.03764266,1</TM> </PART> <PART id="r6 r upperarm" model="r6 r upperarm" parent="r6 r clavicle"> <TM>0.8286082,-0.0461268,0.5579254,0,-0.5578113,0.01650898,0.8298036,0,-0.04748696,-0.9987991,-0.01205057,0,0.2974288,2.799662,-0.0001223623,1</TM> </PART> <PART id="r6 spine" model="r6 spine" parent="r6 pelvis"> <TM>1.331095e-006,0.9999997,0.0007962432,0,-2.803317e-006,0.0007962432,-0.9999997,0,-1,1.328863e-006,2.804376e-006,0,2.545582e-006,2.044474,0.03745621,1</TM> </PART> <PART id="r6 spine1" model="r6 spine1" parent="r6 spine"> <TM>1.331095e-006,0.9999997,0.0007963024,0,-2.803382e-006,0.0007963024,-0.9999997,0,-1,1.328862e-006,2.804441e-006,0,2.900133e-006,2.278615,0.03743333,1</TM> </PART> <PART id="r6 spine2" model="r6 spine2" parent="r6 spine1"> <TM>1.277945e-006,0.9903786,-0.1383843,0,-2.990605e-006,-0.1383843,-0.9903786,0,-1,1.679502e-006,2.784984e-006,0,3.301231e-006,2.541553,0.03738584,1</TM> </PART> <NO_COLLISION part1="r6" part2="r6 pelvis"></NO_COLLISION> <NO_COLLISION part1="r6 l calf" part2="r6 l thigh"></NO_COLLISION> <NO_COLLISION part1="r6 l clavicle" part2="r6 l upperarm"></NO_COLLISION> <NO_COLLISION part1="r6 l clavicle" part2="r6 neck"></NO_COLLISION> <NO_COLLISION part1="r6 l forearm" part2="r6 l upperarm"></NO_COLLISION> <NO_COLLISION part1="r6 l thigh" part2="r6 pelvis"></NO_COLLISION> <NO_COLLISION part1="r6 l upperarm" part2="r6 spine2"></NO_COLLISION> <NO_COLLISION part1="r6 neck" part2="r6 r clavicle"></NO_COLLISION> <NO_COLLISION part1="r6 neck" part2="r6 spine2"></NO_COLLISION> <NO_COLLISION part1="r6 pelvis" part2="r6 r thigh"></NO_COLLISION> <NO_COLLISION part1="r6 pelvis" part2="r6 spine"></NO_COLLISION> <NO_COLLISION part1="r6 pelvis" part2="r6 spine2"></NO_COLLISION> <NO_COLLISION part1="r6 r calf" part2="r6 r thigh"></NO_COLLISION> <NO_COLLISION part1="r6 r clavicle" part2="r6 r upperarm"></NO_COLLISION> <NO_COLLISION part1="r6 r forearm" part2="r6 r upperarm"></NO_COLLISION> <NO_COLLISION part1="r6 r upperarm" part2="r6 spine2"></NO_COLLISION> <NO_COLLISION part1="r6 spine" part2="r6 spine1"></NO_COLLISION> <NO_COLLISION part1="r6 spine1" part2="r6 spine2"></NO_COLLISION> <JOINT id="r6 l calf" part1="r6 l calf" part2="r6 l thigh" type="hinge"> <HIGH_LIMIT>0.200013</HIGH_LIMIT> <LOW_LIMIT>-1.150088</LOW_LIMIT> <HIGH_STIFFNESS>1000</HIGH_STIFFNESS> <LOW_STIFFNESS>1000</LOW_STIFFNESS> <LIMITED>1</LIMITED> <MOTORIZED>0</MOTORIZED> <DES_VEL>1</DES_VEL> <MAX_FORCE>1000</MAX_FORCE> <POS1>0,0,0</POS1> <POS2>0.84621,-2.423321e-007,6.215529e-007</POS2> <PRIMARY_AXIS1>0.08715604,-1.092412e-006,-0.996196</PRIMARY_AXIS1> <PRIMARY_AXIS2>0.08661855,0.009663638,-0.9961959</PRIMARY_AXIS2> <ORTHOGONAL_AXIS1>0.996196,9.685755e-007,0.08715602</ORTHOGONAL_AXIS1> <ORTHOGONAL_AXIS2>0.9900522,0.1104676,0.08715592</ORTHOGONAL_AXIS2> </JOINT> <JOINT id="r6 l clavicle" part1="r6 l clavicle" part2="r6 neck" type="hinge"> <HIGH_LIMIT>0.2843004</HIGH_LIMIT> <LOW_LIMIT>-0.004214524</LOW_LIMIT> <HIGH_STIFFNESS>1000</HIGH_STIFFNESS> <LOW_STIFFNESS>1000</LOW_STIFFNESS> <LIMITED>1</LIMITED> <MOTORIZED>0</MOTORIZED> <DES_VEL>1</DES_VEL> <MAX_FORCE>1000</MAX_FORCE> <POS1>0,0,0</POS1> <POS2>-0.04851986,0.001251804,0.08761233</POS2> <PRIMARY_AXIS1>0,-0.9999999,0</PRIMARY_AXIS1> <PRIMARY_AXIS2>-0.0008032938,0.9999995,-3.388123e-006</PRIMARY_AXIS2> <ORTHOGONAL_AXIS1>0.9999999,0,0</ORTHOGONAL_AXIS1> <ORTHOGONAL_AXIS2>-0.0777517,-5.9024e-005,0.9969724</ORTHOGONAL_AXIS2> </JOINT> <JOINT id="r6 l forearm" part1="r6 l forearm" part2="r6 l upperarm" type="hinge"> <HIGH_LIMIT>0.1670241</HIGH_LIMIT> <LOW_LIMIT>-1.570796</LOW_LIMIT> <HIGH_STIFFNESS>1000</HIGH_STIFFNESS> <LOW_STIFFNESS>1000</LOW_STIFFNESS> <LIMITED>1</LIMITED> <MOTORIZED>0</MOTORIZED> <DES_VEL>1</DES_VEL> <MAX_FORCE>1000</MAX_FORCE> <POS1>0,0,0</POS1> <POS2>0.6469318,-2.603906e-007,1.158104e-006</POS2> <PRIMARY_AXIS1>-2.980232e-008,-0.08715576,-0.9961947</PRIMARY_AXIS1> <PRIMARY_AXIS2>0.01664779,-0.08555092,-0.9961947</PRIMARY_AXIS2> <ORTHOGONAL_AXIS1>1,-2.980232e-008,-3.826361e-009</ORTHOGONAL_AXIS1> <ORTHOGONAL_AXIS2>0.9815873,0.191012,-8.779013e-008</ORTHOGONAL_AXIS2> </JOINT> <JOINT id="r6 l thigh" part1="r6 l thigh" part2="r6 pelvis" type="skeletal"> <CONE_TYPE>2</CONE_TYPE> <CONE_HALF_ANGLE_X>0.229474</CONE_HALF_ANGLE_X> <CONE_HALF_ANGLE_Y>0.259265</CONE_HALF_ANGLE_Y> <CONE_STIFFNESS>4000</CONE_STIFFNESS> <CONE_DAMPING>1</CONE_DAMPING> <TWIST_TYPE>2</TWIST_TYPE> <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE> <TWIST_STIFFNESS>1000</TWIST_STIFFNESS> <TWIST_DAMPING>1</TWIST_DAMPING> <POS1>0,0,0</POS1> <POS2>-5.201022e-007,-4.446555e-007,0.1905515</POS2> <PRIMARY_AXIS1>1,5.601004e-008,0</PRIMARY_AXIS1> <PRIMARY_AXIS2>-0.7647324,-0.6323367,0.1238334</PRIMARY_AXIS2> <ORTHOGONAL_AXIS1>-5.601004e-008,1,0</ORTHOGONAL_AXIS1> <ORTHOGONAL_AXIS2>-0.6244246,0.7746929,0.09972319</ORTHOGONAL_AXIS2> </JOINT> <JOINT id="r6 l upperarm" part1="r6 l upperarm" part2="r6 l clavicle" type="skeletal"> <CONE_TYPE>2</CONE_TYPE> <CONE_HALF_ANGLE_X>0.5187238</CONE_HALF_ANGLE_X> <CONE_HALF_ANGLE_Y>0.674101</CONE_HALF_ANGLE_Y> <CONE_STIFFNESS>1000</CONE_STIFFNESS> <CONE_DAMPING>1</CONE_DAMPING> <TWIST_TYPE>2</TWIST_TYPE> <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE> <TWIST_STIFFNESS>1000</TWIST_STIFFNESS> <TWIST_DAMPING>1</TWIST_DAMPING> <POS1>0,0,0</POS1> <POS2>0.2104674,-5.606827e-007,-1.250074e-006</POS2> <PRIMARY_AXIS1>1,0,0</PRIMARY_AXIS1> <PRIMARY_AXIS2>0.8356848,0.546081,-0.05853051</PRIMARY_AXIS2> <ORTHOGONAL_AXIS1>0,-0.08715591,0.9961947</ORTHOGONAL_AXIS1> <ORTHOGONAL_AXIS2>0.01847658,0.07855771,0.9967384</ORTHOGONAL_AXIS2> </JOINT> <JOINT id="r6 neck" part1="r6 neck" part2="r6 spine2" type="hinge"> <HIGH_LIMIT>0.2782851</HIGH_LIMIT> <LOW_LIMIT>-0.2782851</LOW_LIMIT> <HIGH_STIFFNESS>1000</HIGH_STIFFNESS> <LOW_STIFFNESS>1000</LOW_STIFFNESS> <LIMITED>1</LIMITED> <MOTORIZED>0</MOTORIZED> <DES_VEL>1</DES_VEL> <MAX_FORCE>1000</MAX_FORCE> <POS1>0,0,0</POS1> <POS2>0.3257,0.0001900699,-1.176198e-007</POS2> <PRIMARY_AXIS1>1.639128e-007,3.691964e-006,-0.9999964</PRIMARY_AXIS1> <PRIMARY_AXIS2>1.897619e-007,3.661416e-006,-0.9999964</PRIMARY_AXIS2> <ORTHOGONAL_AXIS1>0.9961908,-0.08715875,-1.476638e-007</ORTHOGONAL_AXIS1> <ORTHOGONAL_AXIS2>0.9961904,-0.08716312,-1.760411e-007</ORTHOGONAL_AXIS2> </JOINT> <JOINT id="r6 pelvis" part1="r6 pelvis" part2="r6" type="hinge"> <HIGH_LIMIT>0.072274</HIGH_LIMIT> <LOW_LIMIT>-0.033185</LOW_LIMIT> <HIGH_STIFFNESS>9000</HIGH_STIFFNESS> <LOW_STIFFNESS>8000</LOW_STIFFNESS> <LIMITED>1</LIMITED> <MOTORIZED>0</MOTORIZED> <DES_VEL>1</DES_VEL> <MAX_FORCE>1000</MAX_FORCE> <POS1>0,0,0</POS1> <POS2>3.705847e-009,-8.810212e-007,-3.48037e-009</POS2> <PRIMARY_AXIS1>5.960464e-008,-5.960464e-008,-1</PRIMARY_AXIS1> <PRIMARY_AXIS2>1.486989e-006,1,-1.382681e-006</PRIMARY_AXIS2> <ORTHOGONAL_AXIS1>-1,0,-3.763178e-008</ORTHOGONAL_AXIS1> <ORTHOGONAL_AXIS2>4.157569e-008,-1.464258e-006,-1</ORTHOGONAL_AXIS2> </JOINT> <JOINT id="r6 r calf" part1="r6 r calf" part2="r6 r thigh" type="hinge"> <HIGH_LIMIT>0.189921</HIGH_LIMIT> <LOW_LIMIT>-0.97886</LOW_LIMIT> <HIGH_STIFFNESS>1000</HIGH_STIFFNESS> <LOW_STIFFNESS>1000</LOW_STIFFNESS> <LIMITED>1</LIMITED> <MOTORIZED>0</MOTORIZED> <DES_VEL>1</DES_VEL> <MAX_FORCE>1000</MAX_FORCE> <POS1>0,0,0</POS1> <POS2>0.8462019,-6.929594e-007,2.120931e-007</POS2> <PRIMARY_AXIS1>-0.08715571,-5.199833e-009,-0.9961949</PRIMARY_AXIS1> <PRIMARY_AXIS2>-0.08661801,-0.009664538,-0.996195</PRIMARY_AXIS2> <ORTHOGONAL_AXIS1>0.9961949,1.043081e-007,-0.08715571</ORTHOGONAL_AXIS1> <ORTHOGONAL_AXIS2>0.9900511,0.1104669,-0.08715551</ORTHOGONAL_AXIS2> </JOINT> <JOINT id="r6 r clavicle" part1="r6 r clavicle" part2="r6 neck" type="hinge"> <HIGH_LIMIT>0.02171934</HIGH_LIMIT> <LOW_LIMIT>-0.5768245</LOW_LIMIT> <HIGH_STIFFNESS>1000</HIGH_STIFFNESS> <LOW_STIFFNESS>1000</LOW_STIFFNESS> <LIMITED>1</LIMITED> <MOTORIZED>0</MOTORIZED> <DES_VEL>1</DES_VEL> <MAX_FORCE>1000</MAX_FORCE> <POS1>0,0,0</POS1> <POS2>-0.04851954,0.001251974,-0.08761016</POS2> <PRIMARY_AXIS1>0,-0.9999999,0</PRIMARY_AXIS1> <PRIMARY_AXIS2>-0.0008066508,0.9999995,-1.583098e-006</PRIMARY_AXIS2> <ORTHOGONAL_AXIS1>0.9999999,0,0</ORTHOGONAL_AXIS1> <ORTHOGONAL_AXIS2>-0.0777536,-6.436272e-005,-0.9969723</ORTHOGONAL_AXIS2> </JOINT> <JOINT id="r6 r forearm" part1="r6 r forearm" part2="r6 r upperarm" type="hinge"> <HIGH_LIMIT>0.1670241</HIGH_LIMIT> <LOW_LIMIT>-1.570796</LOW_LIMIT> <HIGH_STIFFNESS>1000</HIGH_STIFFNESS> <LOW_STIFFNESS>1000</LOW_STIFFNESS> <LIMITED>1</LIMITED> <MOTORIZED>0</MOTORIZED> <DES_VEL>1</DES_VEL> <MAX_FORCE>1000</MAX_FORCE> <POS1>0,0,0</POS1> <POS2>0.6468694,-4.190981e-007,1.492548e-006</POS2> <PRIMARY_AXIS1>0.02255762,0.08618625,-0.9960244</PRIMARY_AXIS1> <PRIMARY_AXIS2>0.00567853,0.08890815,-0.9960244</PRIMARY_AXIS2> <ORTHOGONAL_AXIS1>0.9961954,-0.08583218,0.01513444</ORTHOGONAL_AXIS1> <ORTHOGONAL_AXIS2>0.9942464,0.1060459,0.0151344</ORTHOGONAL_AXIS2> </JOINT> <JOINT id="r6 r thigh" part1="r6 r thigh" part2="r6 pelvis" type="skeletal"> <CONE_TYPE>2</CONE_TYPE> <CONE_HALF_ANGLE_X>0.286468</CONE_HALF_ANGLE_X> <CONE_HALF_ANGLE_Y>0.311689</CONE_HALF_ANGLE_Y> <CONE_STIFFNESS>4000</CONE_STIFFNESS> <CONE_DAMPING>1</CONE_DAMPING> <TWIST_TYPE>2</TWIST_TYPE> <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE> <TWIST_STIFFNESS>1000</TWIST_STIFFNESS> <TWIST_DAMPING>1</TWIST_DAMPING> <POS1>0,0,0</POS1> <POS2>5.122619e-007,9.447395e-008,-0.1905515</POS2> <PRIMARY_AXIS1>0.9961946,0.08715577,0</PRIMARY_AXIS1> <PRIMARY_AXIS2>-0.8162441,-0.5624111,-0.1320572</PRIMARY_AXIS2> <ORTHOGONAL_AXIS1>-0.08715577,0.9961946,0</ORTHOGONAL_AXIS1> <ORTHOGONAL_AXIS2>-0.5553973,0.8268569,-0.08855006</ORTHOGONAL_AXIS2> </JOINT> <JOINT id="r6 r upperarm" part1="r6 r upperarm" part2="r6 r clavicle" type="skeletal"> <CONE_TYPE>2</CONE_TYPE> <CONE_HALF_ANGLE_X>0.5187238</CONE_HALF_ANGLE_X> <CONE_HALF_ANGLE_Y>0.610873</CONE_HALF_ANGLE_Y> <CONE_STIFFNESS>1000</CONE_STIFFNESS> <CONE_DAMPING>1</CONE_DAMPING> <TWIST_TYPE>2</TWIST_TYPE> <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE> <TWIST_STIFFNESS>1000</TWIST_STIFFNESS> <TWIST_DAMPING>1</TWIST_DAMPING> <POS1>0,0,0</POS1> <POS2>0.210452,5.651441e-007,4.421014e-007</POS2> <PRIMARY_AXIS1>0.9999999,0,0</PRIMARY_AXIS1> <PRIMARY_AXIS2>0.8356879,0.5460764,0.0585275</PRIMARY_AXIS2> <ORTHOGONAL_AXIS1>0,0,-0.9999999</ORTHOGONAL_AXIS1> <ORTHOGONAL_AXIS2>-0.02943224,0.1509449,-0.9881038</ORTHOGONAL_AXIS2> </JOINT> <JOINT id="r6 spine" part1="r6 spine" part2="r6 pelvis" type="skeletal"> <CONE_TYPE>2</CONE_TYPE> <CONE_HALF_ANGLE_X>0.019289</CONE_HALF_ANGLE_X> <CONE_HALF_ANGLE_Y>0.124487</CONE_HALF_ANGLE_Y> <CONE_STIFFNESS>8000</CONE_STIFFNESS> <CONE_DAMPING>50</CONE_DAMPING> <TWIST_TYPE>2</TWIST_TYPE> <TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE> <TWIST_STIFFNESS>1000</TWIST_STIFFNESS> <TWIST_DAMPING>1</TWIST_DAMPING> <POS1>0,0,0</POS1> <POS2>0.1444739,0.0001862761,1.316778e-007</POS2> <PRIMARY_AXIS1>-1,-1.645912e-007,0</PRIMARY_AXIS1> <PRIMARY_AXIS2>-0.9999997,0.0007961531,-1.346886e-006</PRIMARY_AXIS2> <ORTHOGONAL_AXIS1>1.645912e-007,-1,0</ORTHOGONAL_AXIS1> <ORTHOGONAL_AXIS2>-0.0007962127,-0.9999997,-4.188131e-006</ORTHOGONAL_AXIS2> </JOINT> <JOINT id="r6 spine1" part1="r6 spine1" part2="r6 spine" type="hinge"> <HIGH_LIMIT>0.156124</HIGH_LIMIT> <LOW_LIMIT>0.005371</LOW_LIMIT> <HIGH_STIFFNESS>3000</HIGH_STIFFNESS> <LOW_STIFFNESS>3000</LOW_STIFFNESS> <LIMITED>1</LIMITED> <MOTORIZED>0</MOTORIZED> <DES_VEL>1</DES_VEL> <MAX_FORCE>1000</MAX_FORCE> <POS1>0,0,0</POS1> <POS2>0.2341409,0.000209321,-5.045115e-008</POS2> <PRIMARY_AXIS1>8.940697e-008,2.587408e-008,0.9999999</PRIMARY_AXIS1> <PRIMARY_AXIS2>5.958339e-008,5.246095e-008,0.9999999</PRIMARY_AXIS2> <ORTHOGONAL_AXIS1>-0.9961945,0.08715579,8.89724e-008</ORTHOGONAL_AXIS1> <ORTHOGONAL_AXIS2>-0.9961945,0.08715582,1.210103e-007</ORTHOGONAL_AXIS2> </JOINT> <JOINT id="r6 spine2" part1="r6 spine2" part2="r6 spine1" type="hinge"> <HIGH_LIMIT>0.080398</HIGH_LIMIT> <LOW_LIMIT>-0.061981</LOW_LIMIT> <HIGH_STIFFNESS>2500</HIGH_STIFFNESS> <LOW_STIFFNESS>2500</LOW_STIFFNESS> <LIMITED>1</LIMITED> <MOTORIZED>0</MOTORIZED> <DES_VEL>1</DES_VEL> <MAX_FORCE>1000</MAX_FORCE> <POS1>0,0,0</POS1> <POS2>0.262938,0.00025687,-5.965723e-008</POS2> <PRIMARY_AXIS1>4.470348e-008,0,0.9999999</PRIMARY_AXIS1> <PRIMARY_AXIS2>3.650698e-007,5.260926e-008,0.9999999</PRIMARY_AXIS2> <ORTHOGONAL_AXIS1>-0.9848077,0.173648,2.610492e-008</ORTHOGONAL_AXIS1> <ORTHOGONAL_AXIS2>-0.9993908,0.03489955,4.065617e-007</ORTHOGONAL_AXIS2> </JOINT> </ASSET> </KARMA>X__Template\Air-H-G3A3-G.tpt_____¯________Template\Air-H-G3A3.tpt_°___›________Template\Air-H-M249-G.tpt_P___________Template\Air-H-M249.tpt_____—________Template\Air-H-Mac119-G.tpt_ ___ç________Template\Air-H-TAR21-G.tpt____ ________Template\Air-R-G3A3.tpt_ |