<?xml version="1.0"?>

<KARMA ka_file_version="1.0">
	<ASSET id="KCombatSoldier" graphic="combat_soldier.PSK" scale="0.02" mass_scale="1" length_scale="1">
		<GEOMETRY id="head">
			<PRIMITIVE id="head_1" type="sphere">
				<RADIUS>0.1630947</RADIUS>
				<TM>1,0,0,0,0,1,0,0,0,0,1,0,0.1393994,0.06702706,0.0005596352,1</TM>
			</PRIMITIVE>
		</GEOMETRY>
		<GEOMETRY id="l_clavicle">
			<PRIMITIVE id="l_clavicle_1" type="sphyl">
				<RADIUS>0.1079258</RADIUS>
				<HEIGHT>0.2423749</HEIGHT>
				<TM>1.404139e-007,-0.03787737,-0.9992824,0,7.102209e-008,0.9992825,-0.03787738,0,0.9999999,-8.465943e-008,1.338976e-007,0,0.1211874,-1.028503e-008,1.0045e-007,1</TM>
			</PRIMITIVE>
		</GEOMETRY>
		<GEOMETRY id="l_elbow">
			<PRIMITIVE id="l_elbow_1" type="sphyl">
				<RADIUS>0.09516</RADIUS>
				<HEIGHT>0.341929</HEIGHT>
				<TM>7.793962e-007,-0.00526179,-0.9999862,0,-3.488976e-008,0.9999864,-0.005261804,0,1,9.603851e-008,8.128739e-007,0,0.2209647,2.052257e-008,1.266323e-007,1</TM>
			</PRIMITIVE>
		</GEOMETRY>
		<GEOMETRY id="l_hip">
			<PRIMITIVE id="l_hip_1" type="sphyl">
				<RADIUS>0.18</RADIUS>
				<HEIGHT>0.767073</HEIGHT>
				<TM>4.278189e-008,-0.9999999,-0.0003905794,0,-6.452512e-008,0.0003905839,-1,0,0.9999999,4.89304e-008,-6.49751e-008,0,0.3835366,1.915517e-008,-1.804903e-008,1</TM>
			</PRIMITIVE>
		</GEOMETRY>
		<GEOMETRY id="l_knee">
			<PRIMITIVE id="l_knee_1" type="sphyl">
				<RADIUS>0.1641572</RADIUS>
				<HEIGHT>0.771506</HEIGHT>
				<TM>8.619093e-008,-0.9999985,-0.001698609,0,5.305263e-008,0.001698614,-0.9999985,0,0.9999998,1.160244e-007,5.759086e-008,0,0.3857529,4.321809e-008,2.260773e-008,1</TM>
			</PRIMITIVE>
		</GEOMETRY>
		<GEOMETRY id="l_shoulder">
			<PRIMITIVE id="l_shoulder_1" type="sphyl">
				<RADIUS>0.1</RADIUS>
				<HEIGHT>0.474873</HEIGHT>
				<TM>-0.014658,-0.007104763,-0.9998673,0,0.009825492,0.9999255,-0.007249226,0,0.9998442,-0.009930472,-0.01458709,0,0.2373995,-0.002357858,-0.003463403,1</TM>
			</PRIMITIVE>
		</GEOMETRY>
		<GEOMETRY id="pelvis">
			<PRIMITIVE id="pelvis_1" type="sphere">
				<RADIUS>0.175351</RADIUS>
				<TM>1,0,0,0,0,1,0,0,0,0,1,0,-0.06829006,0.07164282,0.0005731964,1</TM>
			</PRIMITIVE>
		</GEOMETRY>
		<GEOMETRY id="r_clavicle">
			<PRIMITIVE id="r_clavicle_1" type="sphyl">
				<RADIUS>0.09896436</RADIUS>
				<HEIGHT>0.2442945</HEIGHT>
				<TM>4.105745e-006,-0.1360614,0.9907004,0,-6.734097e-007,-0.9907005,-0.1360614,0,1,-6.824952e-008,-4.143112e-006,0,0.1221473,-8.182208e-009,-5.021783e-007,1</TM>
			</PRIMITIVE>
		</GEOMETRY>
		<GEOMETRY id="r_elbow">
			<PRIMITIVE id="r_elbow_1" type="sphyl">
				<RADIUS>0.0956</RADIUS>
				<HEIGHT>0.351944</HEIGHT>
				<TM>-1.410701e-007,0.0639804,0.9979511,0,-1.962901e-007,-0.9979513,0.06398043,0,0.9999999,-2.029483e-007,1.55419e-007,0,0.2259721,-5.031947e-008,-7.19939e-008,1</TM>
			</PRIMITIVE>
		</GEOMETRY>
		<GEOMETRY id="r_hip">
			<PRIMITIVE id="r_hip_1" type="sphyl">
				<RADIUS>0.18</RADIUS>
				<HEIGHT>0.766274</HEIGHT>
				<TM>2.473718e-008,-0.9997188,-0.02371643,0,6.226402e-008,0.02371644,-0.999719,0,1,3.426166e-008,6.335437e-008,0,0.3831369,1.50483e-008,1.716685e-008,1</TM>
			</PRIMITIVE>
		</GEOMETRY>
		<GEOMETRY id="r_knee">
			<PRIMITIVE id="r_knee_1" type="sphyl">
				<RADIUS>0.1641107</RADIUS>
				<HEIGHT>0.7715062</HEIGHT>
				<TM>5.747341e-008,-0.9997522,-0.02226484,0,-7.393681e-010,0.02226484,-0.9997521,0,1,8.88294e-008,-1.714961e-010,0,0.3857531,3.213297e-008,-1.015323e-008,1</TM>
			</PRIMITIVE>
		</GEOMETRY>
		<GEOMETRY id="r_shoulder">
			<PRIMITIVE id="r_shoulder_1" type="sphyl">
				<RADIUS>0.1</RADIUS>
				<HEIGHT>0.469251</HEIGHT>
				<TM>5.025959e-007,-0.08342081,0.9965144,0,-1.899137e-007,-0.9965146,-0.08342081,0,0.9999999,-1.465499e-007,-5.300456e-007,0,0.2346254,-2.728781e-008,-9.708684e-008,1</TM>
			</PRIMITIVE>
		</GEOMETRY>
		<GEOMETRY id="spine_high">
			<PRIMITIVE id="Part2" type="sphyl">
				<RADIUS>0.1</RADIUS>
				<HEIGHT>0.2</HEIGHT>
				<TM>1,0,0,0,0,0,-1,0,0,1,0,0,0.1,0.1,0,1</TM>
			</PRIMITIVE>
		</GEOMETRY>
		<GEOMETRY id="spine_low">
			<PRIMITIVE id="spine_low_1" type="sphyl">
				<RADIUS>0.1</RADIUS>
				<HEIGHT>0.28165</HEIGHT>
				<TM>1,-2.671774e-007,1.83768e-007,0,1.881703e-007,-1.485415e-008,-1,0,2.559998e-007,1,-1.451498e-008,0,4.077152e-008,0.140825,-2.044149e-009,1</TM>
			</PRIMITIVE>
		</GEOMETRY>
		<GEOMETRY id="spine_mid">
			<PRIMITIVE id="spine_mid_1" type="sphyl">
				<RADIUS>0.1</RADIUS>
				<HEIGHT>0.23611</HEIGHT>
				<TM>1,1.404496e-008,9.773328e-006,0,9.777745e-006,-1.177012e-007,-1,0,-1.404616e-008,1,-1.177828e-007,0,3.390902e-009,0.1180549,-1.390481e-008,1</TM>
			</PRIMITIVE>
		</GEOMETRY>
		<MODEL id="char_root" type="dynamics_and_geometry">
			<DYNAMICS>
				<MASS>1</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>0,0,0</MASS_OFFSET>
				<INERTIA>0.4,0,0,0.4,0,0.4</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<MODEL id="head" type="dynamics_and_geometry" geometry="head">
			<DYNAMICS>
				<MASS>0.01817223</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>0.1393994,0.06702706,0.0005596352</MASS_OFFSET>
				<INERTIA>0.0001933516,0,0,0.0001933516,0,0.0001933516</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<MODEL id="l_clavicle" type="dynamics_and_geometry" geometry="l_clavicle">
			<DYNAMICS>
				<MASS>0.01416788</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>0.1211874,-1.028503e-008,1.0045e-007</MASS_OFFSET>
				<INERTIA>8.251357e-005,7.34249e-012,-2.01607e-011,0.0002182403,-2.83473e-012,0.0002182402</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<MODEL id="l_elbow" type="dynamics_and_geometry" geometry="l_elbow">
			<DYNAMICS>
				<MASS>0.01335938</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>0.2209647,2.052257e-008,1.266323e-007</MASS_OFFSET>
				<INERTIA>6.048744e-005,-4.9424e-012,-1.656952e-010,0.0002757488,-4.162075e-012,0.0002757487</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<MODEL id="l_hip" type="dynamics_and_geometry" geometry="l_hip">
			<DYNAMICS>
				<MASS>0.1026597</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>0.3835366,1.915517e-008,-1.804903e-008</MASS_OFFSET>
				<INERTIA>0.001663088,-3.267366e-010,5.069479e-010,0.009533753,-4.358667e-011,0.009533755</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<MODEL id="l_knee" type="dynamics_and_geometry" geometry="l_knee">
			<DYNAMICS>
				<MASS>0.08395956</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>0.3857529,4.321809e-008,2.260773e-008</MASS_OFFSET>
				<INERTIA>0.001131253,-5.099587e-010,-3.310351e-010,0.007447231,-3.664033e-011,0.007447231</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<MODEL id="l_shoulder" type="dynamics_and_geometry" geometry="l_shoulder">
			<DYNAMICS>
				<MASS>0.01913346</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>0.2373995,-0.002357858,-0.003463403</MASS_OFFSET>
				<INERTIA>9.583659e-005,5.397264e-006,7.928189e-006,0.0006392053,-7.874849e-008,0.0006391431</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<MODEL id="neck" type="dynamics_and_geometry">
			<DYNAMICS>
				<MASS>1</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>0,0,0</MASS_OFFSET>
				<INERTIA>0.4,0,0,0.4,0,0.4</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<MODEL id="pelvis" type="dynamics_and_geometry" geometry="pelvis">
			<DYNAMICS>
				<MASS>0.02258465</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>-0.06829006,0.07164282,0.0005731964</MASS_OFFSET>
				<INERTIA>0.0002777729,0,0,0.0002777729,0,0.0002777729</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<MODEL id="r_clavicle" type="dynamics_and_geometry" geometry="r_clavicle">
			<DYNAMICS>
				<MASS>0.01160188</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>0.1221473,-8.182208e-009,-5.021783e-007</MASS_OFFSET>
				<INERTIA>5.68141e-005,1.412178e-011,4.545017e-010,0.0001658711,1.923456e-012,0.000165871</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<MODEL id="r_elbow" type="dynamics_and_geometry" geometry="r_elbow">
			<DYNAMICS>
				<MASS>0.01378771</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>0.2259721,-5.031947e-008,-7.19939e-008</MASS_OFFSET>
				<INERTIA>6.300542e-005,4.260898e-011,-3.566576e-011,0.0002964528,-1.309354e-011,0.0002964527</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<MODEL id="r_hip" type="dynamics_and_geometry" geometry="r_hip">
			<DYNAMICS>
				<MASS>0.1025784</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>0.3831369,1.50483e-008,1.716685e-008</MASS_OFFSET>
				<INERTIA>0.00166177,-1.642626e-010,-4.924159e-010,0.009512428,-1.608252e-010,0.009512434</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<MODEL id="r_knee" type="dynamics_and_geometry" geometry="r_knee">
			<DYNAMICS>
				<MASS>0.08390675</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>0.3857531,3.213297e-008,-1.015323e-008</MASS_OFFSET>
				<INERTIA>0.001129902,-3.273286e-010,-4.21547e-012,0.007441366,2.993321e-011,0.007441364</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<MODEL id="r_shoulder" type="dynamics_and_geometry" geometry="r_shoulder">
			<DYNAMICS>
				<MASS>0.01895684</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>0.2346254,-2.728781e-008,-9.708684e-008</MASS_OFFSET>
				<INERTIA>9.478419e-005,7.783228e-011,2.714439e-010,0.0006225898,1.377473e-011,0.0006225895</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<MODEL id="spine_high" type="dynamics_and_geometry" geometry="spine_high">
			<DYNAMICS>
				<MASS>0.01049807</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>0.1,0.1,0</MASS_OFFSET>
				<INERTIA>0.0001239346,0,0,5.249036e-005,0,0.0001239346</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<MODEL id="spine_low" type="dynamics_and_geometry" geometry="spine_low">
			<DYNAMICS>
				<MASS>0.01306318</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>4.077152e-008,0.140825,-2.044149e-009</MASS_OFFSET>
				<INERTIA>0.000220878,-4.229276e-011,-9.723738e-013,6.531593e-005,2.332886e-012,0.000220878</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<MODEL id="spine_mid" type="dynamics_and_geometry" geometry="spine_mid">
			<DYNAMICS>
				<MASS>0.0116325</MASS>
				<DENSITY>1</DENSITY>
				<MASS_OFFSET>3.390902e-009,0.1180549,-1.390481e-008</MASS_OFFSET>
				<INERTIA>0.0001619853,1.457931e-012,-7.154091e-013,5.816251e-005,1.221535e-011,0.0001619853</INERTIA>
				<LIN_DAMP>1</LIN_DAMP>
				<ANG_DAMP>0.5</ANG_DAMP>
				<FAST_SPIN>0,1,0</FAST_SPIN>
				<USE_FAST_SPIN>0</USE_FAST_SPIN>
			</DYNAMICS>
		</MODEL>
		<PART id="char_root" model="char_root">
			<TM>1,0,0,0,0,-0.08715591,-0.9961947,0,0,0.9961947,-0.08715591,0,0.2,2.56396,1.224496,1</TM>
		</PART>
		<PART id="head" model="head" parent="neck">
			<TM>-2.449933e-005,0.9920624,-0.1257468,0,-2.143156e-005,-0.1257468,-0.9920624,0,-1,-2.160991e-005,2.434216e-005,0,0.1999892,3.696528,1.196813,1</TM>
		</PART>
		<PART id="l_clavicle" model="l_clavicle" parent="spine_high">
			<TM>0.9609276,-0.2356729,0.1451772,0,0.1295233,-0.08068135,-0.9882885,0,0.2446259,0.9684775,-0.04700381,0,0.4109863,3.49107,1.186308,1</TM>
		</PART>
		<PART id="l_elbow" model="l_elbow" parent="l_shoulder">
			<TM>0.9910143,-0.002139591,-0.1337387,0,-0.1334588,-0.08241242,-0.9876218,0,-0.008908623,0.996596,-0.08195744,0,1.108086,3.356724,1.285027,1</TM>
		</PART>
		<PART id="l_hip" model="l_hip" parent="pelvis">
			<TM>0.005480498,-0.9980969,0.06142039,0,0.0003905827,0.06142345,0.9981117,0,-0.9999849,-0.00544616,0.0007264705,0,0.3913215,2.587604,1.259374,1</TM>
		</PART>
		<PART id="l_knee" model="l_knee" parent="l_hip">
			<TM>-0.01594033,-0.9853007,0.1700838,0,0.001698419,0.1700785,0.985429,0,-0.9998715,0.01599694,-0.001037654,0,0.3955255,1.821992,1.306485,1</TM>
		</PART>
		<PART id="l_shoulder" model="l_shoulder" parent="l_clavicle">
			<TM>0.9811375,-0.1492832,0.1228155,0,0.108801,-0.09870081,-0.9891514,0,0.1597857,0.983856,-0.08059689,0,0.6438854,3.433951,1.221494,1</TM>
		</PART>
		<PART id="neck" model="neck" parent="spine_high">
			<TM>-2.745782e-005,0.9650682,-0.261999,0,-1.625978e-005,-0.261999,-0.9650682,0,-1,-2.223862e-005,2.288572e-005,0,0.1999931,3.559675,1.233967,1</TM>
		</PART>
		<PART id="pelvis" model="pelvis" parent="char_root">
			<TM>-2.975606e-007,0.9948249,0.1016043,0,-1.214465e-006,0.1016043,-0.9948249,0,-1,-4.194155e-007,1.177946e-006,0,0.2,2.591163,1.338921,1</TM>
		</PART>
		<PART id="r_clavicle" model="r_clavicle" parent="spine_high">
			<TM>-0.953357,-0.2292832,0.1963152,0,0.2023882,-0.003038384,0.9793007,0,-0.2239407,0.973355,0.04930089,0,-0.01099,3.491071,1.186313,1</TM>
		</PART>
		<PART id="r_elbow" model="r_elbow" parent="r_shoulder">
			<TM>-0.9970498,-0.05230144,-0.05617997,0,-0.06335881,0.1476387,0.9870099,0,-0.0433277,0.9876575,-0.1505169,0,-0.7080668,3.367518,1.245864,1</TM>
		</PART>
		<PART id="r_hip" model="r_hip" parent="pelvis">
			<TM>-0.00551164,-0.9980866,0.06158461,0,0.02371641,0.06143776,0.9978291,0,-0.9997035,0.006960241,0.02333241,0,0.008675796,2.586798,1.259296,1</TM>
		</PART>
		<PART id="r_knee" model="r_knee" parent="r_hip">
			<TM>0.01597973,-0.9853016,0.1700751,0,0.02226291,0.1704053,0.9851226,0,-0.9996245,-0.01195563,0.02465871,0,0.004452419,1.822011,1.306487,1</TM>
		</PART>
		<PART id="r_shoulder" model="r_shoulder" parent="r_clavicle">
			<TM>-0.9892776,-0.1439421,0.02470857,0,0.02404164,0.006371066,0.9996907,0,-0.144055,0.9895656,-0.002842149,0,-0.2438793,3.435058,1.23427,1</TM>
		</PART>
		<PART id="spine_high" model="spine_high" parent="spine_mid">
			<TM>-3.10424e-005,0.8559152,-0.5171162,0,-7.935764e-006,-0.5171162,-0.8559152,0,-0.9999999,-2.246595e-005,2.284487e-005,0,0.1999997,3.377643,1.343945,1</TM>
		</PART>
		<PART id="spine_low" model="spine_low" parent="pelvis">
			<TM>-5.280267e-007,0.9962134,-0.08694109,0,-1.925784e-007,-0.0869411,-0.9962134,0,-0.9999999,-5.092843e-007,2.377565e-007,0,0.1999999,2.861001,1.36648,1</TM>
		</PART>
		<PART id="spine_mid" model="spine_mid" parent="spine_low">
			<TM>-2.403675e-007,0.9999658,0.008266851,0,-9.791271e-006,0.00826685,-0.9999658,0,-1,-3.213022e-007,9.788949e-006,0,0.1999997,3.141583,1.341993,1</TM>
		</PART>
		<NO_COLLISION part1="char_root" part2="head"></NO_COLLISION>
		<NO_COLLISION part1="char_root" part2="l_clavicle"></NO_COLLISION>
		<NO_COLLISION part1="char_root" part2="l_elbow"></NO_COLLISION>
		<NO_COLLISION part1="char_root" part2="l_hip"></NO_COLLISION>
		<NO_COLLISION part1="char_root" part2="l_knee"></NO_COLLISION>
		<NO_COLLISION part1="char_root" part2="l_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="char_root" part2="neck"></NO_COLLISION>
		<NO_COLLISION part1="char_root" part2="pelvis"></NO_COLLISION>
		<NO_COLLISION part1="char_root" part2="r_clavicle"></NO_COLLISION>
		<NO_COLLISION part1="char_root" part2="r_elbow"></NO_COLLISION>
		<NO_COLLISION part1="char_root" part2="r_hip"></NO_COLLISION>
		<NO_COLLISION part1="char_root" part2="r_knee"></NO_COLLISION>
		<NO_COLLISION part1="char_root" part2="r_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="char_root" part2="spine_high"></NO_COLLISION>
		<NO_COLLISION part1="char_root" part2="spine_low"></NO_COLLISION>
		<NO_COLLISION part1="char_root" part2="spine_mid"></NO_COLLISION>
		<NO_COLLISION part1="head" part2="l_clavicle"></NO_COLLISION>
		<NO_COLLISION part1="head" part2="l_elbow"></NO_COLLISION>
		<NO_COLLISION part1="head" part2="l_hip"></NO_COLLISION>
		<NO_COLLISION part1="head" part2="l_knee"></NO_COLLISION>
		<NO_COLLISION part1="head" part2="l_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="head" part2="neck"></NO_COLLISION>
		<NO_COLLISION part1="head" part2="pelvis"></NO_COLLISION>
		<NO_COLLISION part1="head" part2="r_clavicle"></NO_COLLISION>
		<NO_COLLISION part1="head" part2="r_elbow"></NO_COLLISION>
		<NO_COLLISION part1="head" part2="r_hip"></NO_COLLISION>
		<NO_COLLISION part1="head" part2="r_knee"></NO_COLLISION>
		<NO_COLLISION part1="head" part2="r_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="head" part2="spine_high"></NO_COLLISION>
		<NO_COLLISION part1="head" part2="spine_low"></NO_COLLISION>
		<NO_COLLISION part1="head" part2="spine_mid"></NO_COLLISION>
		<NO_COLLISION part1="l_clavicle" part2="l_elbow"></NO_COLLISION>
		<NO_COLLISION part1="l_clavicle" part2="l_hip"></NO_COLLISION>
		<NO_COLLISION part1="l_clavicle" part2="l_knee"></NO_COLLISION>
		<NO_COLLISION part1="l_clavicle" part2="l_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="l_clavicle" part2="neck"></NO_COLLISION>
		<NO_COLLISION part1="l_clavicle" part2="pelvis"></NO_COLLISION>
		<NO_COLLISION part1="l_clavicle" part2="r_clavicle"></NO_COLLISION>
		<NO_COLLISION part1="l_clavicle" part2="r_elbow"></NO_COLLISION>
		<NO_COLLISION part1="l_clavicle" part2="r_hip"></NO_COLLISION>
		<NO_COLLISION part1="l_clavicle" part2="r_knee"></NO_COLLISION>
		<NO_COLLISION part1="l_clavicle" part2="r_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="l_clavicle" part2="spine_high"></NO_COLLISION>
		<NO_COLLISION part1="l_clavicle" part2="spine_low"></NO_COLLISION>
		<NO_COLLISION part1="l_clavicle" part2="spine_mid"></NO_COLLISION>
		<NO_COLLISION part1="l_elbow" part2="l_hip"></NO_COLLISION>
		<NO_COLLISION part1="l_elbow" part2="l_knee"></NO_COLLISION>
		<NO_COLLISION part1="l_elbow" part2="l_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="l_elbow" part2="neck"></NO_COLLISION>
		<NO_COLLISION part1="l_elbow" part2="pelvis"></NO_COLLISION>
		<NO_COLLISION part1="l_elbow" part2="r_clavicle"></NO_COLLISION>
		<NO_COLLISION part1="l_elbow" part2="r_elbow"></NO_COLLISION>
		<NO_COLLISION part1="l_elbow" part2="r_hip"></NO_COLLISION>
		<NO_COLLISION part1="l_elbow" part2="r_knee"></NO_COLLISION>
		<NO_COLLISION part1="l_elbow" part2="r_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="l_elbow" part2="spine_high"></NO_COLLISION>
		<NO_COLLISION part1="l_elbow" part2="spine_low"></NO_COLLISION>
		<NO_COLLISION part1="l_elbow" part2="spine_mid"></NO_COLLISION>
		<NO_COLLISION part1="l_hip" part2="l_knee"></NO_COLLISION>
		<NO_COLLISION part1="l_hip" part2="l_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="l_hip" part2="neck"></NO_COLLISION>
		<NO_COLLISION part1="l_hip" part2="pelvis"></NO_COLLISION>
		<NO_COLLISION part1="l_hip" part2="r_clavicle"></NO_COLLISION>
		<NO_COLLISION part1="l_hip" part2="r_elbow"></NO_COLLISION>
		<NO_COLLISION part1="l_hip" part2="r_hip"></NO_COLLISION>
		<NO_COLLISION part1="l_hip" part2="r_knee"></NO_COLLISION>
		<NO_COLLISION part1="l_hip" part2="r_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="l_hip" part2="spine_high"></NO_COLLISION>
		<NO_COLLISION part1="l_hip" part2="spine_low"></NO_COLLISION>
		<NO_COLLISION part1="l_hip" part2="spine_mid"></NO_COLLISION>
		<NO_COLLISION part1="l_knee" part2="l_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="l_knee" part2="neck"></NO_COLLISION>
		<NO_COLLISION part1="l_knee" part2="pelvis"></NO_COLLISION>
		<NO_COLLISION part1="l_knee" part2="r_clavicle"></NO_COLLISION>
		<NO_COLLISION part1="l_knee" part2="r_elbow"></NO_COLLISION>
		<NO_COLLISION part1="l_knee" part2="r_hip"></NO_COLLISION>
		<NO_COLLISION part1="l_knee" part2="r_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="l_knee" part2="spine_high"></NO_COLLISION>
		<NO_COLLISION part1="l_knee" part2="spine_low"></NO_COLLISION>
		<NO_COLLISION part1="l_knee" part2="spine_mid"></NO_COLLISION>
		<NO_COLLISION part1="l_shoulder" part2="neck"></NO_COLLISION>
		<NO_COLLISION part1="l_shoulder" part2="pelvis"></NO_COLLISION>
		<NO_COLLISION part1="l_shoulder" part2="r_clavicle"></NO_COLLISION>
		<NO_COLLISION part1="l_shoulder" part2="r_elbow"></NO_COLLISION>
		<NO_COLLISION part1="l_shoulder" part2="r_hip"></NO_COLLISION>
		<NO_COLLISION part1="l_shoulder" part2="r_knee"></NO_COLLISION>
		<NO_COLLISION part1="l_shoulder" part2="r_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="l_shoulder" part2="spine_high"></NO_COLLISION>
		<NO_COLLISION part1="l_shoulder" part2="spine_low"></NO_COLLISION>
		<NO_COLLISION part1="l_shoulder" part2="spine_mid"></NO_COLLISION>
		<NO_COLLISION part1="neck" part2="pelvis"></NO_COLLISION>
		<NO_COLLISION part1="neck" part2="r_clavicle"></NO_COLLISION>
		<NO_COLLISION part1="neck" part2="r_elbow"></NO_COLLISION>
		<NO_COLLISION part1="neck" part2="r_hip"></NO_COLLISION>
		<NO_COLLISION part1="neck" part2="r_knee"></NO_COLLISION>
		<NO_COLLISION part1="neck" part2="r_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="neck" part2="spine_high"></NO_COLLISION>
		<NO_COLLISION part1="neck" part2="spine_low"></NO_COLLISION>
		<NO_COLLISION part1="neck" part2="spine_mid"></NO_COLLISION>
		<NO_COLLISION part1="pelvis" part2="r_clavicle"></NO_COLLISION>
		<NO_COLLISION part1="pelvis" part2="r_elbow"></NO_COLLISION>
		<NO_COLLISION part1="pelvis" part2="r_hip"></NO_COLLISION>
		<NO_COLLISION part1="pelvis" part2="r_knee"></NO_COLLISION>
		<NO_COLLISION part1="pelvis" part2="r_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="pelvis" part2="spine_high"></NO_COLLISION>
		<NO_COLLISION part1="pelvis" part2="spine_low"></NO_COLLISION>
		<NO_COLLISION part1="pelvis" part2="spine_mid"></NO_COLLISION>
		<NO_COLLISION part1="r_clavicle" part2="r_elbow"></NO_COLLISION>
		<NO_COLLISION part1="r_clavicle" part2="r_hip"></NO_COLLISION>
		<NO_COLLISION part1="r_clavicle" part2="r_knee"></NO_COLLISION>
		<NO_COLLISION part1="r_clavicle" part2="r_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="r_clavicle" part2="spine_high"></NO_COLLISION>
		<NO_COLLISION part1="r_clavicle" part2="spine_low"></NO_COLLISION>
		<NO_COLLISION part1="r_clavicle" part2="spine_mid"></NO_COLLISION>
		<NO_COLLISION part1="r_elbow" part2="r_hip"></NO_COLLISION>
		<NO_COLLISION part1="r_elbow" part2="r_knee"></NO_COLLISION>
		<NO_COLLISION part1="r_elbow" part2="r_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="r_elbow" part2="spine_high"></NO_COLLISION>
		<NO_COLLISION part1="r_elbow" part2="spine_low"></NO_COLLISION>
		<NO_COLLISION part1="r_elbow" part2="spine_mid"></NO_COLLISION>
		<NO_COLLISION part1="r_hip" part2="r_knee"></NO_COLLISION>
		<NO_COLLISION part1="r_hip" part2="r_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="r_hip" part2="spine_high"></NO_COLLISION>
		<NO_COLLISION part1="r_hip" part2="spine_low"></NO_COLLISION>
		<NO_COLLISION part1="r_hip" part2="spine_mid"></NO_COLLISION>
		<NO_COLLISION part1="r_knee" part2="r_shoulder"></NO_COLLISION>
		<NO_COLLISION part1="r_knee" part2="spine_high"></NO_COLLISION>
		<NO_COLLISION part1="r_knee" part2="spine_low"></NO_COLLISION>
		<NO_COLLISION part1="r_knee" part2="spine_mid"></NO_COLLISION>
		<NO_COLLISION part1="r_shoulder" part2="spine_high"></NO_COLLISION>
		<NO_COLLISION part1="r_shoulder" part2="spine_low"></NO_COLLISION>
		<NO_COLLISION part1="r_shoulder" part2="spine_mid"></NO_COLLISION>
		<NO_COLLISION part1="spine_high" part2="spine_low"></NO_COLLISION>
		<NO_COLLISION part1="spine_high" part2="spine_mid"></NO_COLLISION>
		<NO_COLLISION part1="spine_low" part2="spine_mid"></NO_COLLISION>
		<JOINT id="head" part1="head" part2="neck" type="hinge">
			<HIGH_LIMIT>0.223003</HIGH_LIMIT>
			<LOW_LIMIT>-0.22824</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>0.1418076,6.990836e-007,8.571107e-009</POS2>
			<PRIMARY_AXIS1>8.952338e-008,-1.045168e-009,0.9999999</PRIMARY_AXIS1>
			<PRIMARY_AXIS2>3.136794e-007,-1.583726e-006,0.9999994</PRIMARY_AXIS2>
			<ORTHOGONAL_AXIS1>0.08715573,0.9961946,-5.399915e-009</ORTHOGONAL_AXIS1>
			<ORTHOGONAL_AXIS2>0.2243527,0.9745073,1.474345e-006</ORTHOGONAL_AXIS2>
		</JOINT>
		<JOINT id="l_clavicle" part1="l_clavicle" part2="spine_high" type="skeletal">
			<CONE_TYPE>2</CONE_TYPE>
			<CONE_HALF_ANGLE_X>0.588149</CONE_HALF_ANGLE_X>
			<CONE_HALF_ANGLE_Y>0.348459</CONE_HALF_ANGLE_Y>
			<CONE_STIFFNESS>2000</CONE_STIFFNESS>
			<CONE_DAMPING>1</CONE_DAMPING>
			<TWIST_TYPE>2</TWIST_TYPE>
			<TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
			<TWIST_STIFFNESS>2000</TWIST_STIFFNESS>
			<TWIST_DAMPING>1</TWIST_DAMPING>
			<POS1>0,0,0</POS1>
			<POS2>0.178594,0.07626741,-0.2109927</POS2>
			<PRIMARY_AXIS1>0.9671756,0.07362379,0.2432105</PRIMARY_AXIS1>
			<PRIMARY_AXIS2>-0.02767585,-0.04898806,-0.9984157</PRIMARY_AXIS2>
			<ORTHOGONAL_AXIS1>-0.0977179,0.9912697,0.08852141</ORTHOGONAL_AXIS1>
			<ORTHOGONAL_AXIS2>0.5407201,0.8393247,-0.0561708</ORTHOGONAL_AXIS2>
		</JOINT>
		<JOINT id="l_elbow" part1="l_elbow" part2="l_shoulder" type="hinge">
			<HIGH_LIMIT>-0.0021</HIGH_LIMIT>
			<LOW_LIMIT>-1.405432</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>0.4747759,-0.004715634,-0.006927849</POS2>
			<PRIMARY_AXIS1>-0.08715598,-1.102294e-007,-0.996195</PRIMARY_AXIS1>
			<PRIMARY_AXIS2>0.08360375,-0.00274935,-0.9964948</PRIMARY_AXIS2>
			<ORTHOGONAL_AXIS1>0.9924042,-0.08715592,-0.08682433</ORTHOGONAL_AXIS1>
			<ORTHOGONAL_AXIS2>0.9844136,0.1554961,0.08216111</ORTHOGONAL_AXIS2>
		</JOINT>
		<JOINT id="l_hip" part1="l_hip" part2="pelvis" type="skeletal">
			<CONE_TYPE>2</CONE_TYPE>
			<CONE_HALF_ANGLE_X>0.785398</CONE_HALF_ANGLE_X>
			<CONE_HALF_ANGLE_Y>0.3050914</CONE_HALF_ANGLE_Y>
			<CONE_STIFFNESS>2000</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>-0.01162282,0.07877348,-0.1913216</POS2>
			<PRIMARY_AXIS1>0.9223992,-0.331826,-0.1976642</PRIMARY_AXIS1>
			<PRIMARY_AXIS2>-0.9629944,0.1777642,-0.2025868</PRIMARY_AXIS2>
			<ORTHOGONAL_AXIS1>0.3478567,0.9361168,0.05177893</ORTHOGONAL_AXIS1>
			<ORTHOGONAL_AXIS2>-0.191368,-0.9802689,0.04950733</ORTHOGONAL_AXIS2>
		</JOINT>
		<JOINT id="l_knee" part1="l_knee" part2="l_hip" type="hinge">
			<HIGH_LIMIT>-0.004129</HIGH_LIMIT>
			<LOW_LIMIT>-1.344009</LOW_LIMIT>
			<HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
			<LOW_STIFFNESS>1000</LOW_STIFFNESS>
			<LIMITED>1</LIMITED>
			<MOTORIZED>1</MOTORIZED>
			<DES_VEL>1</DES_VEL>
			<MAX_FORCE>0.1</MAX_FORCE>
			<POS1>0,0,0</POS1>
			<POS2>0.7670714,-2.856305e-006,-7.390949e-008</POS2>
			<PRIMARY_AXIS1>1.937151e-007,1.15068e-008,-0.9999998</PRIMARY_AXIS1>
			<PRIMARY_AXIS2>0.0215102,0.0004436728,-0.9997684</PRIMARY_AXIS2>
			<ORTHOGONAL_AXIS1>0.9848076,-0.1736483,1.877227e-007</ORTHOGONAL_AXIS1>
			<ORTHOGONAL_AXIS2>0.9976526,-0.06503284,0.02143583</ORTHOGONAL_AXIS2>
		</JOINT>
		<JOINT id="l_shoulder" part1="l_shoulder" part2="l_clavicle" type="hinge">
			<HIGH_LIMIT>0.005829</HIGH_LIMIT>
			<LOW_LIMIT>-1.183409</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>0.2423686,5.622273e-007,1.073251e-006</POS2>
			<PRIMARY_AXIS1>0.1729858,-0.9810629,-0.08715858</PRIMARY_AXIS1>
			<PRIMARY_AXIS2>0.1956003,-0.9794497,-0.04922085</PRIMARY_AXIS2>
			<ORTHOGONAL_AXIS1>0.9848107,0.1736466,-5.337528e-007</ORTHOGONAL_AXIS1>
			<ORTHOGONAL_AXIS2>0.977946,0.1910588,0.08439535</ORTHOGONAL_AXIS2>
		</JOINT>
		<JOINT id="neck" part1="neck" part2="spine_high" type="hinge">
			<HIGH_LIMIT>0.335922</HIGH_LIMIT>
			<LOW_LIMIT>-0.112464</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>0.2126755,5.799087e-007,5.856791e-009</POS2>
			<PRIMARY_AXIS1>-6.146729e-008,5.559659e-010,1</PRIMARY_AXIS1>
			<PRIMARY_AXIS2>1.145017e-007,-1.350867e-007,0.9999996</PRIMARY_AXIS2>
			<ORTHOGONAL_AXIS1>0.258819,0.9659259,2.538347e-008</ORTHOGONAL_AXIS1>
			<ORTHOGONAL_AXIS2>0.514294,0.8576133,6.698534e-008</ORTHOGONAL_AXIS2>
		</JOINT>
		<JOINT id="pelvis" part1="pelvis" part2="char_root" type="hinge">
			<HIGH_LIMIT>0.327116</HIGH_LIMIT>
			<LOW_LIMIT>-0.214786</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,-0.1163605,0.0171264</POS2>
			<PRIMARY_AXIS1>2.980232e-008,0,0.9999999</PRIMARY_AXIS1>
			<PRIMARY_AXIS2>-0.9999999,-1.142509e-006,-4.91213e-007</PRIMARY_AXIS2>
			<ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
			<ORTHOGONAL_AXIS2>-1.214465e-006,0.9821838,0.1879225</ORTHOGONAL_AXIS2>
		</JOINT>
		<JOINT id="r_clavicle" part1="r_clavicle" part2="spine_high" type="skeletal">
			<CONE_TYPE>2</CONE_TYPE>
			<CONE_HALF_ANGLE_X>0.588149</CONE_HALF_ANGLE_X>
			<CONE_HALF_ANGLE_Y>0.348459</CONE_HALF_ANGLE_Y>
			<CONE_STIFFNESS>2000</CONE_STIFFNESS>
			<CONE_DAMPING>1</CONE_DAMPING>
			<TWIST_TYPE>2</TWIST_TYPE>
			<TWIST_HALF_ANGLE>1.570796</TWIST_HALF_ANGLE>
			<TWIST_STIFFNESS>2000</TWIST_STIFFNESS>
			<TWIST_DAMPING>1</TWIST_DAMPING>
			<POS1>0,0,0</POS1>
			<POS2>0.1786059,0.07626604,0.2109835</POS2>
			<PRIMARY_AXIS1>0.9680189,-0.2506937,-0.00963082</PRIMARY_AXIS1>
			<PRIMARY_AXIS2>-0.1683834,0.1671176,0.9714519</PRIMARY_AXIS2>
			<ORTHOGONAL_AXIS1>0.2483021,0.9518836,0.1796235</ORTHOGONAL_AXIS1>
			<ORTHOGONAL_AXIS2>-0.4133871,-0.9066431,0.08431554</ORTHOGONAL_AXIS2>
		</JOINT>
		<JOINT id="r_elbow" part1="r_elbow" part2="r_shoulder" type="hinge">
			<HIGH_LIMIT>0</HIGH_LIMIT>
			<LOW_LIMIT>-1.390506</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>0.4692186,3.209445e-007,-3.578969e-007</POS2>
			<PRIMARY_AXIS1>0.1729873,0.01513444,0.9848072</PRIMARY_AXIS1>
			<PRIMARY_AXIS2>0.07122957,-0.1420085,0.9872983</PRIMARY_AXIS2>
			<ORTHOGONAL_AXIS1>0.9810597,0.08583145,-0.1736481</ORTHOGONAL_AXIS1>
			<ORTHOGONAL_AXIS2>0.9972387,0.03091489,-0.06750017</ORTHOGONAL_AXIS2>
		</JOINT>
		<JOINT id="r_hip" part1="r_hip" part2="pelvis" type="skeletal">
			<CONE_TYPE>2</CONE_TYPE>
			<CONE_HALF_ANGLE_X>0.785398</CONE_HALF_ANGLE_X>
			<CONE_HALF_ANGLE_Y>0.3050914</CONE_HALF_ANGLE_Y>
			<CONE_STIFFNESS>2000</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>1.060961e-007,-7.054376e-009,-1.285942e-009</POS1>
			<POS2>-0.01243257,0.07876972,0.1913241</POS2>
			<PRIMARY_AXIS1>0.92666,-0.3407333,0.1587485</PRIMARY_AXIS1>
			<PRIMARY_AXIS2>-0.9681968,0.1817896,0.1718899</PRIMARY_AXIS2>
			<ORTHOGONAL_AXIS1>0.3469713,0.9377916,-0.01251988</ORTHOGONAL_AXIS1>
			<ORTHOGONAL_AXIS2>-0.190066,-0.9812211,-0.03284359</ORTHOGONAL_AXIS2>
		</JOINT>
		<JOINT id="r_knee" part1="r_knee" part2="r_hip" type="hinge">
			<HIGH_LIMIT>-0.004129</HIGH_LIMIT>
			<LOW_LIMIT>-1.344009</LOW_LIMIT>
			<HIGH_STIFFNESS>1000</HIGH_STIFFNESS>
			<LOW_STIFFNESS>1000</LOW_STIFFNESS>
			<LIMITED>1</LIMITED>
			<MOTORIZED>1</MOTORIZED>
			<DES_VEL>1</DES_VEL>
			<MAX_FORCE>0.1</MAX_FORCE>
			<POS1>0,0,0</POS1>
			<POS2>0.766253,1.636856e-006,1.07436e-007</POS2>
			<PRIMARY_AXIS1>0.007596105,0.08682425,-0.9961948</PRIMARY_AXIS1>
			<PRIMARY_AXIS2>-0.0208499,0.0869713,-0.9959927</PRIMARY_AXIS2>
			<ORTHOGONAL_AXIS1>0.9961947,-0.08715588,-2.812093e-008</ORTHOGONAL_AXIS1>
			<ORTHOGONAL_AXIS2>0.9995667,0.02250196,-0.01895981</ORTHOGONAL_AXIS2>
		</JOINT>
		<JOINT id="r_shoulder" part1="r_shoulder" part2="r_clavicle" type="hinge">
			<HIGH_LIMIT>0.005828786</HIGH_LIMIT>
			<LOW_LIMIT>-1.183409</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>0.244284,4.684871e-007,-2.536505e-006</POS2>
			<PRIMARY_AXIS1>-0.08715549,-0.9961959,-5.927546e-007</PRIMARY_AXIS1>
			<PRIMARY_AXIS2>-0.2567179,-0.9647978,-0.05711646</PRIMARY_AXIS2>
			<ORTHOGONAL_AXIS1>0.9961959,-0.08715549,-7.716484e-007</ORTHOGONAL_AXIS1>
			<ORTHOGONAL_AXIS2>0.9622768,-0.2606629,0.07796896</ORTHOGONAL_AXIS2>
		</JOINT>
		<JOINT id="spine_high" part1="spine_high" part2="spine_mid" type="hinge">
			<HIGH_LIMIT>0.3273626</HIGH_LIMIT>
			<LOW_LIMIT>-0.088078</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>0.2360676,-5.280347e-007,-5.004432e-008</POS2>
			<PRIMARY_AXIS1>1.47894e-006,-5.570065e-007,0.999999</PRIMARY_AXIS1>
			<PRIMARY_AXIS2>-2.048447e-005,-1.293764e-005,0.9999987</PRIMARY_AXIS2>
			<ORTHOGONAL_AXIS1>0.4999993,0.8660247,-2.571237e-007</ORTHOGONAL_AXIS1>
			<ORTHOGONAL_AXIS2>-0.02814291,0.9996024,1.2356e-005</ORTHOGONAL_AXIS2>
		</JOINT>
		<JOINT id="spine_low" part1="spine_low" part2="pelvis" type="hinge">
			<HIGH_LIMIT>0.357264</HIGH_LIMIT>
			<LOW_LIMIT>-0.136235</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>0.271242,3.705215e-007,2.226133e-008</POS2>
			<PRIMARY_AXIS1>0,0,0.9999999</PRIMARY_AXIS1>
			<PRIMARY_AXIS2>-1.84931e-007,9.26193e-007,0.9999998</PRIMARY_AXIS2>
			<ORTHOGONAL_AXIS1>0,0.9999999,0</ORTHOGONAL_AXIS1>
			<ORTHOGONAL_AXIS2>-0.1877107,0.982224,-9.444426e-007</ORTHOGONAL_AXIS2>
		</JOINT>
		<JOINT id="spine_mid" part1="spine_mid" part2="spine_low" type="hinge">
			<HIGH_LIMIT>0.3824117</HIGH_LIMIT>
			<LOW_LIMIT>-0.110564</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>0.2816481,2.004015e-007,4.233179e-008</POS2>
			<PRIMARY_AXIS1>-5.960464e-008,0,1</PRIMARY_AXIS1>
			<PRIMARY_AXIS2>-7.024544e-007,-9.525692e-006,0.9999998</PRIMARY_AXIS2>
			<ORTHOGONAL_AXIS1>0,1,0</ORTHOGONAL_AXIS1>
			<ORTHOGONAL_AXIS2>0.09517363,0.9954603,9.549309e-006</ORTHOGONAL_AXIS2>
		</JOINT>
	</ASSET>
</KARMA>