<KARMA ka_file_version="1.0">
<GEOMETRY id="male01 head">
<PRIMITIVE id="male01 head_1" type="sphyl">
<RADIUS>0.15</RADIUS>
<HEIGHT>0.006</HEIGHT>
<TM>-5.378332e-009,0.9999999,-1.417092e-006,0,-3.669142e-010,1.417663e-006,0.9999998,0,0.9999999,9.621968e-009,3.300194e-011,0,0.1529317,2.213353e-009,1.53101e-011,1</TM>
</PRIMITIVE>
</GEOMETRY>
<GEOMETRY id="male01 l calf">
<PRIMITIVE id="male01 l calf_1" type="sphyl">
<RADIUS>0.15</RADIUS>
<HEIGHT>0.27</HEIGHT>
<TM>-2.220609e-008,-0.9999295,0.0118756,0,7.471611e-008,-0.0118756,-0.9999294,0,1,7.58992e-010,7.526069e-008,0,0.2043712,-4.671467e-010,6.141649e-009,1</TM>
</PRIMITIVE>
</GEOMETRY>
<GEOMETRY id="male01 l clavicle">
<PRIMITIVE id="male01 l clavicle_1" type="sphyl">
<RADIUS>0.121693</RADIUS>
<HEIGHT>0.3527995</HEIGHT>
<TM>7.784693e-008,-9.613616e-008,-1,0,9.135358e-011,0.9999999,-9.977679e-008,0,0.9999998,1.844588e-009,5.187237e-008,0,0.1763997,2.770395e-010,-6.091035e-008,1</TM>
</PRIMITIVE>
</GEOMETRY>
<GEOMETRY id="male01 l finger">
<PRIMITIVE id="male01 l finger_1" type="sphyl">
<RADIUS>0.019346</RADIUS>
<HEIGHT>0.0805843</HEIGHT>
<TM>9.823126e-007,-0.01763539,-0.9998443,0,-2.073174e-007,0.9998443,-0.01763538,0,0.9999998,2.718054e-007,9.292019e-007,0,0.04029211,2.902264e-008,-5.045208e-008,1</TM>
<GEOMETRY id="male01 l foot">
<PRIMITIVE id="male01 l foot_1" type="sphyl">
<RADIUS>0.08486544</RADIUS>
<HEIGHT>0.2406334</HEIGHT>
<TM>-0.5364637,-0.8439234,1.138168e-006,0,-6.161736e-007,-9.584613e-007,-1,0,0.8439234,-0.5364637,-7.040283e-009,0,0.1015381,-0.06454554,1.353507e-008,1</TM>
</PRIMITIVE>
</GEOMETRY>
<GEOMETRY id="male01 l forearm">
<PRIMITIVE id="male01 l forearm_1" type="sphyl">
<RADIUS>0.09</RADIUS>
<HEIGHT>0.19</HEIGHT>
<TM>1.684364e-007,4.649574e-005,-0.9999999,0,2.246286e-010,0.9999999,4.649191e-005,0,0.9999998,1.437152e-009,1.687938e-007,0,0.1903336,3.839647e-010,-5.406786e-008,1</TM>
</PRIMITIVE>
</GEOMETRY>
<GEOMETRY id="male01 l hand">
<PRIMITIVE id="male01 l hand_1" type="sphere">
<RADIUS>0.05572831</RADIUS>
<TM>1,0,0,0,0,1,0,0,0,0,1,0,0.09649168,0.007376232,-0.009460158,1</TM>
</PRIMITIVE>
</GEOMETRY>
<GEOMETRY id="male01 l thigh">
<PRIMITIVE id="male01 l thigh_1" type="sphyl">
<RADIUS>0.2</RADIUS>
<HEIGHT>0.12</HEIGHT>
<TM>2.215715e-009,-0.9999295,0.0118726,0,-1.077623e-007,-0.0118726,-0.9999294,0,1,1.953672e-008,-1.073536e-007,0,0.2321155,4.991393e-010,-1.399195e-008,1</TM>
</PRIMITIVE>
</GEOMETRY>
<GEOMETRY id="male01 l upperarm">
<PRIMITIVE id="male01 l upperarm_1" type="sphyl">
<RADIUS>0.15</RADIUS>
<HEIGHT>0.11</HEIGHT>
<TM>-2.945767e-007,4.649687e-005,-1,0,-7.372888e-010,1,4.649303e-005,0,0.9999998,3.230374e-009,-2.944267e-007,0,0.1997613,6.001463e-010,-4.386239e-008,1</TM>
</PRIMITIVE>
</GEOMETRY>
<GEOMETRY id="male01 pelvis">
<PRIMITIVE id="male01 pelvis_1" type="sphyl">
<RADIUS>0.08584463</RADIUS>
<HEIGHT>0.1144994</HEIGHT>
<TM>-0.001141366,0.9999993,2.741798e-006,0,-1.34715e-006,-2.743337e-006,0.9999999,0,0.9999993,0.001141336,1.35028e-006,0,0.05724967,6.534152e-005,7.730313e-008,1</TM>
43,-0.01187396</ORTHOGONAL_AXIS2>
</JOINT>
<HIGH_LIMIT>0.6</HIGH_LIMIT>
<LOW_LIMIT>-0.6</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>0.2559557,0.000344544,-2.31645e-009</POS2>
<PRIMARY_AXIS1>-0.08715588,-0.9961947,0</PRIMARY_AXIS1>
<PRIMARY_AXIS2>-0.087156,-0.9961947,-1.513344e-012</PRIMARY_AXIS2>
<ORTHOGONAL_AXIS1>0.9961947,-0.08715588,0</ORTHOGONAL_AXIS1>
<ORTHOGONAL_AXIS2>0.9961948,-0.087156,1.828648e->
