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<NXUSTREAM2> <NxuPhysicsCollection id="C:\Documents and Settings\nampham\My Documents\nampham\GameFactoryDemo\GameFactoryDemo\media\marine.xml" userProperties="" sdkVersion="281" nxuVersion="103"> <NxPhysicsSDKDesc id="SDK"> <hwPageSize>65536</hwPageSize> <hwPageMax>256</hwPageMax> <hwConvexMax>2048</hwConvexMax> </NxPhysicsSDKDesc> <NxParameterDesc param="NX_PENALTY_FORCE" value="0.800000012"/> <NxParameterDesc param="NX_SKIN_WIDTH" value="0.002"/> <NxParameterDesc param="NX_DEFAULT_SLEEP_LIN_VEL_SQUARED" value="0.022500001"/> <NxParameterDesc param="NX_DEFAULT_SLEEP_ANG_VEL_SQUARED" value="0.0196"/> <NxParameterDesc param="NX_BOUNCE_THRESHOLD" value="-2"/> <NxParameterDesc param="NX_DYN_FRICT_SCALING" value="1"/> <NxParameterDesc param="NX_STA_FRICT_SCALING" value="1"/> <NxParameterDesc param="NX_MAX_ANGULAR_VELOCITY" value="7"/> <NxParameterDesc param="NX_CONTINUOUS_CD" value="0"/> <NxParameterDesc param="NX_VISUALIZATION_SCALE" value="0"/> <NxParameterDesc 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<NxMaterialFlag id="flags"> <NX_MF_ANISOTROPIC>false</NX_MF_ANISOTROPIC> <NX_MF_DISABLE_FRICTION>false</NX_MF_DISABLE_FRICTION> <NX_MF_DISABLE_STRONG_FRICTION>false</NX_MF_DISABLE_STRONG_FRICTION> </NxMaterialFlag> </NxMaterialDesc> <NxMaterialDesc id="Material_19" userProperties="" hasSpring="false" materialIndex="19"> <dynamicFriction>0.300000012</dynamicFriction> <staticFriction>0.300000012</staticFriction> <restitution>0</restitution> <dynamicFrictionV>0</dynamicFrictionV> <staticFrictionV>0</staticFrictionV> <frictionCombineMode>NX_CM_AVERAGE</frictionCombineMode> <restitutionCombineMode>NX_CM_AVERAGE</restitutionCombineMode> <dirOfAnisotropy>1 0 0</dirOfAnisotropy> <NxMaterialFlag id="flags"> <NX_MF_ANISOTROPIC>false</NX_MF_ANISOTROPIC> <NX_MF_DISABLE_FRICTION>false</NX_MF_DISABLE_FRICTION> <NX_MF_DISABLE_STRONG_FRICTION>false</NX_MF_DISABLE_STRONG_FRICTION> </NxMaterialFlag> </NxMaterialDesc> <NxActorDesc id="Actor_0" userProperties="" hasBody="true" name="Bip01_Head"> <globalPose>-0.000000137 0.000093363 -1.000000238 0.000000268 1 0.000093363 1.000000238 -0.000000268 -0.000000134 -0.065167829 0.018835336 1.67598629</globalPose> <NxBodyDesc id="body"> <massLocalPose>1 0 0 0 1 0 0 0 1 0.12882781 0 0</massLocalPose> <massSpaceInertia>0.000052269 0.000040836 0.000056181</massSpaceInertia> <mass>0.007525122</mass> <linearVelocity>0 0 0</linearVelocity> <angularVelocity>0 0 0</angularVelocity> <wakeUpCounter>0.399999976</wakeUpCounter> <linearDamping>0</linearDamping> <angularDamping>0.050000001</angularDamping> <maxAngularVelocity>7</maxAngularVelocity> <CCDMotionThreshold>0</CCDMotionThreshold> <NxBodyFlag id="flags"> <NX_BF_DISABLE_GRAVITY>false</NX_BF_DISABLE_GRAVITY> <NX_BF_FROZEN_POS_X>false</NX_BF_FROZEN_POS_X> <NX_BF_FROZEN_POS_Y>false</NX_BF_FROZEN_POS_Y> <NX_BF_FROZEN_POS_Z>false</NX_BF_FROZEN_POS_Z> <NX_BF_FROZEN_ROT_X>false</NX_BF_FROZEN_ROT_X> <NX_BF_FROZEN_ROT_Y>false</NX_BF_FROZEN_ROT_Y> <NX_BF_FROZEN_ROT_Z>false</NX_BF_FROZEN_ROT_Z> 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<NX_SF_FLUID_TWOWAY>false</NX_SF_FLUID_TWOWAY> <NX_SF_DISABLE_RESPONSE>false</NX_SF_DISABLE_RESPONSE> <NX_SF_DYNAMIC_DYNAMIC_CCD>false</NX_SF_DYNAMIC_DYNAMIC_CCD> <NX_SF_DISABLE_SCENE_QUERIES>false</NX_SF_DISABLE_SCENE_QUERIES> <NX_SF_CLOTH_DRAIN>false</NX_SF_CLOTH_DRAIN> <NX_SF_CLOTH_DISABLE_COLLISION>false</NX_SF_CLOTH_DISABLE_COLLISION> <NX_SF_CLOTH_TWOWAY>false</NX_SF_CLOTH_TWOWAY> <NX_SF_SOFTBODY_DRAIN>false</NX_SF_SOFTBODY_DRAIN> <NX_SF_SOFTBODY_DISABLE_COLLISION>false</NX_SF_SOFTBODY_DISABLE_COLLISION> <NX_SF_SOFTBODY_TWOWAY>false</NX_SF_SOFTBODY_TWOWAY> </NxShapeFlag> <group>0</group> <materialIndex>17</materialIndex> <CCDSkeleton></CCDSkeleton> <shapeDensity>1</shapeDensity> <shapeMass>1</shapeMass> <skinWidth>0.002</skinWidth> <NxGroupsMask id="groupsMask" bits0="0" bits1="0" bits2="0" bits3="0"/> <NxShapeCompartmentType id="nonInteractingCompartmentTypes"> <NX_COMPARTMENT_SW_RIGIDBODY>false</NX_COMPARTMENT_SW_RIGIDBODY> <NX_COMPARTMENT_HW_RIGIDBODY>false</NX_COMPARTMENT_HW_RIGIDBODY> <NX_COMPARTMENT_SW_FLUID>false</NX_COMPARTMENT_SW_FLUID> <NX_COMPARTMENT_HW_FLUID>false</NX_COMPARTMENT_HW_FLUID> <NX_COMPARTMENT_SW_CLOTH>false</NX_COMPARTMENT_SW_CLOTH> <NX_COMPARTMENT_HW_CLOTH>false</NX_COMPARTMENT_HW_CLOTH> <NX_COMPARTMENT_SW_SOFTBODY>false</NX_COMPARTMENT_SW_SOFTBODY> <NX_COMPARTMENT_HW_SOFTBODY>false</NX_COMPARTMENT_HW_SOFTBODY> </NxShapeCompartmentType> </NxShapeDesc> </NxBoxShapeDesc> <dominanceGroup>0</dominanceGroup> <contactReportFlags>0</contactReportFlags> <forceFieldMaterial>0</forceFieldMaterial> </NxActorDesc> <NxActorDesc id="Actor_17" userProperties="" hasBody="true" name="Bip01_Spine1"> <globalPose>-0.000000809 0.000020601 -1.000000358 -0.000000014 1 0.000020601 1.000000358 0.000000014 -0.000000809 -0.086340994 0.000631869 1.219052315</globalPose> <NxBodyDesc id="body"> <massLocalPose>1 -0.000040964 -0.000000203 0.000040964 1 -0.000001393 0.000000203 0.000001393 1 0.089443803 0.000003664 0</massLocalPose> <massSpaceInertia>0.026983155 0.017477721 0.014838914</massSpaceInertia> <mass>1</mass> <linearVelocity>0 0 0</linearVelocity> <angularVelocity>0 0 0</angularVelocity> <wakeUpCounter>0.399999976</wakeUpCounter> <linearDamping>0</linearDamping> <angularDamping>0.050000001</angularDamping> <maxAngularVelocity>7</maxAngularVelocity> <CCDMotionThreshold>0</CCDMotionThreshold> <NxBodyFlag id="flags"> <NX_BF_DISABLE_GRAVITY>false</NX_BF_DISABLE_GRAVITY> <NX_BF_FROZEN_POS_X>false</NX_BF_FROZEN_POS_X> <NX_BF_FROZEN_POS_Y>false</NX_BF_FROZEN_POS_Y> <NX_BF_FROZEN_POS_Z>false</NX_BF_FROZEN_POS_Z> <NX_BF_FROZEN_ROT_X>false</NX_BF_FROZEN_ROT_X> <NX_BF_FROZEN_ROT_Y>false</NX_BF_FROZEN_ROT_Y> <NX_BF_FROZEN_ROT_Z>false</NX_BF_FROZEN_ROT_Z> <NX_BF_KINEMATIC>false</NX_BF_KINEMATIC> <NX_BF_VISUALIZATION>true</NX_BF_VISUALIZATION> <NX_BF_FILTER_SLEEP_VEL>false</NX_BF_FILTER_SLEEP_VEL> <NX_BF_ENERGY_SLEEP_TEST>true</NX_BF_ENERGY_SLEEP_TEST> </NxBodyFlag> <sleepLinearVelocity>0.150000006</sleepLinearVelocity> <sleepAngularVelocity>0.140000001</sleepAngularVelocity> <solverIterationCount>4</solverIterationCount> <contactReportThreshold>FLT_MAX</contactReportThreshold> <sleepEnergyThreshold>-1</sleepEnergyThreshold> <sleepDamping>0</sleepDamping> </NxBodyDesc> <density>0</density> <NxActorFlag id="flags"> <NX_AF_DISABLE_COLLISION>false</NX_AF_DISABLE_COLLISION> <NX_AF_DISABLE_RESPONSE>false</NX_AF_DISABLE_RESPONSE> <NX_AF_LOCK_COM>false</NX_AF_LOCK_COM> <NX_AF_FLUID_DISABLE_COLLISION>false</NX_AF_FLUID_DISABLE_COLLISION> <NX_AF_CONTACT_MODIFICATION>false</NX_AF_CONTACT_MODIFICATION> <NX_AF_FORCE_CONE_FRICTION>false</NX_AF_FORCE_CONE_FRICTION> <NX_AF_USER_ACTOR_PAIR_FILTERING>false</NX_AF_USER_ACTOR_PAIR_FILTERING> </NxActorFlag> <group>0</group> <compartment></compartment> <NxBoxShapeDesc dimensions="0.21079123 0.191093028 0.089443915"> <NxShapeDesc userProperties="" name="Bip01_Spine1"> <localPose>0.000000202 -0.000040964 0.999999881 0.000001393 1 0.000040964 -0.999999881 0.000001393 0.000000203 0.089443803 0.000003664 0</localPose> <NxShapeFlag id="shapeFlags"> <NX_TRIGGER_ON_ENTER>false</NX_TRIGGER_ON_ENTER> <NX_TRIGGER_ON_LEAVE>false</NX_TRIGGER_ON_LEAVE> <NX_TRIGGER_ON_STAY>false</NX_TRIGGER_ON_STAY> <NX_SF_VISUALIZATION>false</NX_SF_VISUALIZATION> <NX_SF_DISABLE_COLLISION>false</NX_SF_DISABLE_COLLISION> <NX_SF_FEATURE_INDICES>false</NX_SF_FEATURE_INDICES> <NX_SF_DISABLE_RAYCASTING>false</NX_SF_DISABLE_RAYCASTING> <NX_SF_POINT_CONTACT_FORCE>false</NX_SF_POINT_CONTACT_FORCE> <NX_SF_FLUID_DRAIN>false</NX_SF_FLUID_DRAIN> <NX_SF_FLUID_DISABLE_COLLISION>false</NX_SF_FLUID_DISABLE_COLLISION> <NX_SF_FLUID_TWOWAY>false</NX_SF_FLUID_TWOWAY> <NX_SF_DISABLE_RESPONSE>false</NX_SF_DISABLE_RESPONSE> <NX_SF_DYNAMIC_DYNAMIC_CCD>false</NX_SF_DYNAMIC_DYNAMIC_CCD> <NX_SF_DISABLE_SCENE_QUERIES>false</NX_SF_DISABLE_SCENE_QUERIES> <NX_SF_CLOTH_DRAIN>false</NX_SF_CLOTH_DRAIN> <NX_SF_CLOTH_DISABLE_COLLISION>false</NX_SF_CLOTH_DISABLE_COLLISION> <NX_SF_CLOTH_TWOWAY>false</NX_SF_CLOTH_TWOWAY> <NX_SF_SOFTBODY_DRAIN>false</NX_SF_SOFTBODY_DRAIN> <NX_SF_SOFTBODY_DISABLE_COLLISION>false</NX_SF_SOFTBODY_DISABLE_COLLISION> <NX_SF_SOFTBODY_TWOWAY>false</NX_SF_SOFTBODY_TWOWAY> </NxShapeFlag> <group>0</group> <materialIndex>18</materialIndex> <CCDSkeleton></CCDSkeleton> <shapeDensity>1</shapeDensity> <shapeMass>1</shapeMass> <skinWidth>0.002</skinWidth> <NxGroupsMask id="groupsMask" bits0="0" bits1="0" bits2="0" bits3="0"/> <NxShapeCompartmentType id="nonInteractingCompartmentTypes"> <NX_COMPARTMENT_SW_RIGIDBODY>false</NX_COMPARTMENT_SW_RIGIDBODY> <NX_COMPARTMENT_HW_RIGIDBODY>false</NX_COMPARTMENT_HW_RIGIDBODY> <NX_COMPARTMENT_SW_FLUID>false</NX_COMPARTMENT_SW_FLUID> <NX_COMPARTMENT_HW_FLUID>false</NX_COMPARTMENT_HW_FLUID> <NX_COMPARTMENT_SW_CLOTH>false</NX_COMPARTMENT_SW_CLOTH> <NX_COMPARTMENT_HW_CLOTH>false</NX_COMPARTMENT_HW_CLOTH> <NX_COMPARTMENT_SW_SOFTBODY>false</NX_COMPARTMENT_SW_SOFTBODY> <NX_COMPARTMENT_HW_SOFTBODY>false</NX_COMPARTMENT_HW_SOFTBODY> </NxShapeCompartmentType> </NxShapeDesc> </NxBoxShapeDesc> <dominanceGroup>0</dominanceGroup> <contactReportFlags>0</contactReportFlags> <forceFieldMaterial>0</forceFieldMaterial> </NxActorDesc> <NxActorDesc id="Actor_18" userProperties="" hasBody="true" name="Bip01_Spine2"> <globalPose>-0.000000135 0.000058967 -1 0.000000009 1 0.000058967 1 -0.000000009 -0.000000134 -0.086340949 0.000344127 1.412624359</globalPose> <NxBodyDesc id="body"> <massLocalPose>1 0 0 0 1 0 0 0 1 0.099444032 0 0</massLocalPose> <massSpaceInertia>0.02124314 0.010381398 0.017454473</massSpaceInertia> <mass>1</mass> <linearVelocity>0 0 0</linearVelocity> <angularVelocity>0 0 0</angularVelocity> <wakeUpCounter>0.399999976</wakeUpCounter> <linearDamping>0</linearDamping> <angularDamping>0.050000001</angularDamping> <maxAngularVelocity>7</maxAngularVelocity> <CCDMotionThreshold>0</CCDMotionThreshold> <NxBodyFlag id="flags"> <NX_BF_DISABLE_GRAVITY>false</NX_BF_DISABLE_GRAVITY> <NX_BF_FROZEN_POS_X>false</NX_BF_FROZEN_POS_X> <NX_BF_FROZEN_POS_Y>false</NX_BF_FROZEN_POS_Y> <NX_BF_FROZEN_POS_Z>false</NX_BF_FROZEN_POS_Z> <NX_BF_FROZEN_ROT_X>false</NX_BF_FROZEN_ROT_X> <NX_BF_FROZEN_ROT_Y>false</NX_BF_FROZEN_ROT_Y> <NX_BF_FROZEN_ROT_Z>false</NX_BF_FROZEN_ROT_Z> <NX_BF_KINEMATIC>false</NX_BF_KINEMATIC> <NX_BF_VISUALIZATION>true</NX_BF_VISUALIZATION> <NX_BF_FILTER_SLEEP_VEL>false</NX_BF_FILTER_SLEEP_VEL> <NX_BF_ENERGY_SLEEP_TEST>true</NX_BF_ENERGY_SLEEP_TEST> </NxBodyFlag> <sleepLinearVelocity>0.150000006</sleepLinearVelocity> <sleepAngularVelocity>0.140000001</sleepAngularVelocity> <solverIterationCount>4</solverIterationCount> <contactReportThreshold>FLT_MAX</contactReportThreshold> <sleepEnergyThreshold>-1</sleepEnergyThreshold> <sleepDamping>0</sleepDamping> </NxBodyDesc> <density>0</density> <NxActorFlag id="flags"> <NX_AF_DISABLE_COLLISION>false</NX_AF_DISABLE_COLLISION> <NX_AF_DISABLE_RESPONSE>false</NX_AF_DISABLE_RESPONSE> <NX_AF_LOCK_COM>false</NX_AF_LOCK_COM> <NX_AF_FLUID_DISABLE_COLLISION>false</NX_AF_FLUID_DISABLE_COLLISION> <NX_AF_CONTACT_MODIFICATION>false</NX_AF_CONTACT_MODIFICATION> <NX_AF_FORCE_CONE_FRICTION>false</NX_AF_FORCE_CONE_FRICTION> <NX_AF_USER_ACTOR_PAIR_FILTERING>false</NX_AF_USER_ACTOR_PAIR_FILTERING> </NxActorFlag> <group>0</group> <compartment></compartment> <NxBoxShapeDesc dimensions="0.145791292 0.206093013 0.09944392"> <NxShapeDesc userProperties="" name="Bip01_Spine2"> <localPose>0.000000034 -0 0.99999994 0 1 0 -0.99999994 0 0.000000034 0.099444032 0 0</localPose> <NxShapeFlag id="shapeFlags"> <NX_TRIGGER_ON_ENTER>false</NX_TRIGGER_ON_ENTER> <NX_TRIGGER_ON_LEAVE>false</NX_TRIGGER_ON_LEAVE> <NX_TRIGGER_ON_STAY>false</NX_TRIGGER_ON_STAY> <NX_SF_VISUALIZATION>false</NX_SF_VISUALIZATION> <NX_SF_DISABLE_COLLISION>false</NX_SF_DISABLE_COLLISION> <NX_SF_FEATURE_INDICES>false</NX_SF_FEATURE_INDICES> <NX_SF_DISABLE_RAYCASTING>false</NX_SF_DISABLE_RAYCASTING> <NX_SF_POINT_CONTACT_FORCE>false</NX_SF_POINT_CONTACT_FORCE> <NX_SF_FLUID_DRAIN>false</NX_SF_FLUID_DRAIN> <NX_SF_FLUID_DISABLE_COLLISION>false</NX_SF_FLUID_DISABLE_COLLISION> <NX_SF_FLUID_TWOWAY>false</NX_SF_FLUID_TWOWAY> <NX_SF_DISABLE_RESPONSE>false</NX_SF_DISABLE_RESPONSE> <NX_SF_DYNAMIC_DYNAMIC_CCD>false</NX_SF_DYNAMIC_DYNAMIC_CCD> <NX_SF_DISABLE_SCENE_QUERIES>false</NX_SF_DISABLE_SCENE_QUERIES> <NX_SF_CLOTH_DRAIN>false</NX_SF_CLOTH_DRAIN> <NX_SF_CLOTH_DISABLE_COLLISION>false</NX_SF_CLOTH_DISABLE_COLLISION> <NX_SF_CLOTH_TWOWAY>false</NX_SF_CLOTH_TWOWAY> <NX_SF_SOFTBODY_DRAIN>false</NX_SF_SOFTBODY_DRAIN> <NX_SF_SOFTBODY_DISABLE_COLLISION>false</NX_SF_SOFTBODY_DISABLE_COLLISION> <NX_SF_SOFTBODY_TWOWAY>false</NX_SF_SOFTBODY_TWOWAY> </NxShapeFlag> <group>0</group> <materialIndex>19</materialIndex> <CCDSkeleton></CCDSkeleton> <shapeDensity>1</shapeDensity> <shapeMass>1</shapeMass> <skinWidth>0.002</skinWidth> <NxGroupsMask id="groupsMask" bits0="0" bits1="0" bits2="0" bits3="0"/> <NxShapeCompartmentType id="nonInteractingCompartmentTypes"> <NX_COMPARTMENT_SW_RIGIDBODY>false</NX_COMPARTMENT_SW_RIGIDBODY> <NX_COMPARTMENT_HW_RIGIDBODY>false</NX_COMPARTMENT_HW_RIGIDBODY> <NX_COMPARTMENT_SW_FLUID>false</NX_COMPARTMENT_SW_FLUID> <NX_COMPARTMENT_HW_FLUID>false</NX_COMPARTMENT_HW_FLUID> <NX_COMPARTMENT_SW_CLOTH>false</NX_COMPARTMENT_SW_CLOTH> <NX_COMPARTMENT_HW_CLOTH>false</NX_COMPARTMENT_HW_CLOTH> <NX_COMPARTMENT_SW_SOFTBODY>false</NX_COMPARTMENT_SW_SOFTBODY> <NX_COMPARTMENT_HW_SOFTBODY>false</NX_COMPARTMENT_HW_SOFTBODY> </NxShapeCompartmentType> </NxShapeDesc> </NxBoxShapeDesc> <dominanceGroup>0</dominanceGroup> <contactReportFlags>0</contactReportFlags> <forceFieldMaterial>0</forceFieldMaterial> </NxActorDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LIMITED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LIMITED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LIMITED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_0" userProperties="" name=""> <actor0>Actor_5</actor0> <actor1>Actor_16</actor1> <localNormal0>-0.000000119 1 0.000015289</localNormal0> <localNormal1>-0 1 -0.000002295</localNormal1> <localAxis0>1 0.000000149 -0.000000119</localAxis0> <localAxis1>1 0.00000003 -0.000000298</localAxis1> <localAnchor0>0.142000198 -0.007999999 0.000999898</localAnchor0> <localAnchor1>-0.000357747 -0.000079164 0.000297837</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LIMITED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LIMITED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LIMITED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_1" userProperties="" name=""> <actor0>Actor_17</actor0> <actor1>Actor_16</actor1> <localNormal0>-0.00000006 1 0.000020593</localNormal0> <localNormal1>-0.00000006 1 -0.000002265</localNormal1> <localAxis0>1 0.00000003 -0.000001133</localAxis0> <localAxis1>1 0.00000006 -0.000000298</localAxis1> <localAnchor0>0.000095963 0.000368151 -0.000340968</localAnchor0> <localAnchor1>0.182790399 -0.023079138 0.006297924</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LIMITED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LIMITED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LIMITED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_2" userProperties="" name=""> <actor0>Actor_17</actor0> <actor1>Actor_18</actor1> <localNormal0>-0.00000006 1 0.000020593</localNormal0> <localNormal1>0.000000059 1 0.000058919</localNormal1> <localAxis0>1 0.00000003 -0.000001133</localAxis0> <localAxis1>1 -0.00000003 -0.000000418</localAxis1> <localAnchor0>0.193947434 -0.000631858 -0.000341147</localAnchor0> <localAnchor1>0.00037539 -0.000344106 -0.000340953</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LIMITED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LOCKED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LOCKED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.08726646</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>0.785398185</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_3" userProperties="" name=""> <actor0>Actor_18</actor0> <actor1>Actor_1</actor1> <localNormal0>0.000000033 -1 -0.000059531</localNormal0> <localNormal1>-0.000017764 1 -0.00007394</localNormal1> <localAxis0>0.000000109 -0.000059531 1</localAxis0> <localAxis1>1 0.000017792 0.000000177</localAxis1> <localAnchor0>0.192375541 0.018653352 0.04266008</localAnchor0> <localAnchor1>0.000160843 0.000067122 -0.00019896</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LIMITED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LIMITED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LIMITED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.52359879</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>0.34906584</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0.69813168</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0.69813168</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_4" userProperties="" name=""> <actor0>Actor_0</actor0> <actor1>Actor_18</actor1> <localNormal0>0.000000355 1 0.000093579</localNormal0> <localNormal1>0.000000059 1 0.000059217</localNormal1> <localAxis0>1 -0.000000238 -0.000000837</localAxis0> <localAxis1>1 0.00000003 -0.000000895</localAxis1> <localAnchor0>0.000013709 0.000164678 -0.000167832</localAnchor0> <localAnchor1>0.26337564 0.018657127 -0.021339901</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LIMITED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LOCKED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LOCKED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.08726646</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>0.785398185</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_5" userProperties="" name=""> <actor0>Actor_18</actor0> <actor1>Actor_12</actor1> <localNormal0>0.000001045 -1 -0.000059038</localNormal0> <localNormal1>0.000019192 1 0.000037402</localNormal1> <localAxis0>-0.00000014 0.000059038 -1</localAxis0> <localAxis1>1 -0.000019223 0.000000118</localAxis1> <localAnchor0>0.190375686 0.015659956 -0.069340028</localAnchor0> <localAnchor1>-0.000019168 0.000374209 0.00009644</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LOCKED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LIMITED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LOCKED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.785398185</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>1.221730471</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_6" userProperties="" name=""> <actor0>Actor_2</actor0> <actor1>Actor_3</actor1> <localNormal0>0.939688921 0.342030376 0.000009567</localNormal0> <localNormal1>0.000000238 1 -0.000019223</localNormal1> <localAxis0>0.342030376 -0.939688921 0.000014363</localAxis0> <localAxis1>1 -0.000000089 -0.000000894</localAxis1> <localAnchor0>0.415995657 -0.000328934 -0.000020504</localAnchor0> <localAnchor1>0.000167727 0.00035277 0.000131369</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LOCKED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LIMITED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LOCKED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.785398185</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>1.221730471</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_7" userProperties="" name=""> <actor0>Actor_4</actor0> <actor1>Actor_3</actor1> <localNormal0>0.000001788 -1 0.000024438</localNormal0> <localNormal1>0.000001214 0.000024796 1</localNormal1> <localAxis0>1 0.000001907 -0.000000835</localAxis0> <localAxis1>1 0.000001132 -0.000001315</localAxis1> <localAnchor0>-0.000251487 0.000209808 0.000309944</localAnchor0> <localAnchor1>0.299167871 0.00035274 0.000130773</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LIMITED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LIMITED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LIMITED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.785398185</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>0.87266463</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_8" userProperties="" name=""> <actor0>Actor_2</actor0> <actor1>Actor_1</actor1> <localNormal0>-0.000011444 1 -0.000014514</localNormal0> <localNormal1>-0.000016961 1 -0.000073999</localNormal1> <localAxis0>1 0.000011414 -0.00000006</localAxis0> <localAxis1>0.707106948 -0.000040323 -0.70710665</localAxis1> <localAnchor0>0.000180721 -0.000464195 -0.000020981</localAnchor0> <localAnchor1>0.205161005 0.000070736 -0.00019896</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LOCKED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LIMITED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LIMITED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.058072433</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>0.52359879</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_9" userProperties="" name=""> <actor0>Actor_8</actor0> <actor1>Actor_7</actor1> <localNormal0>0.000015557 1 -0.000023454</localNormal0> <localNormal1>0.000014603 1 -0.000003487</localNormal1> <localAxis0>1 -0.000015706 0.000003457</localAxis0> <localAxis1>1 -0.000014573 0.000002265</localAxis1> <localAnchor0>0.000097752 -0.000136875 -0.000243269</localAnchor0> <localAnchor1>0.398456216 0.000527784 -0.000622988</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LOCKED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LIMITED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LOCKED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.785398185</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>1.04719758</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_10" userProperties="" name=""> <actor0>Actor_6</actor0> <actor1>Actor_7</actor1> <localNormal0>0.939696431 0.342009634 0.000004932</localNormal0> <localNormal1>0.000014901 1 -0.000003427</localNormal1> <localAxis0>0.342009634 -0.939696431 0.000001867</localAxis0> <localAxis1>1 -0.000014842 0.00000304</localAxis1> <localAnchor0>0.423261523 -0.000085115 -0.000173748</localAnchor0> <localAnchor1>0.000456095 -0.000466436 0.000376761</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LIMITED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LIMITED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LIMITED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.52359879</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>0.87266463</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_11" userProperties="" name=""> <actor0>Actor_5</actor0> <actor1>Actor_6</actor1> <localNormal0>0.707106948 0.70710659 0.000015438</localNormal0> <localNormal1>0.000015616 1 0.000005126</localNormal1> <localAxis0>-0.70710665 0.707106888 -0.000000012</localAxis0> <localAxis1>1 -0.000015855 -0.000000477</localAxis1> <localAnchor0>0.000030518 -0.000010103 -0.164000005</localAnchor0> <localAnchor1>0.00000006 0.000043213 -0.000173688</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LOCKED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LIMITED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LIMITED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.058072433</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>0.52359879</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_12" userProperties="" name=""> <actor0>Actor_10</actor0> <actor1>Actor_11</actor1> <localNormal0>0.000000417 1 0.000002116</localNormal0> <localNormal1>-0.000001848 1 -0.000010729</localNormal1> <localAxis0>1 -0.000000328 0.00000149</localAxis0> <localAxis1>1 0.000001729 0.00000149</localAxis1> <localAnchor0>0.397752225 0.001174569 -0.000087768</localAnchor0> <localAnchor1>0.000520468 0.00119359 -0.000453979</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LOCKED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LIMITED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LOCKED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.785398185</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>1.04719758</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_13" userProperties="" name=""> <actor0>Actor_9</actor0> <actor1>Actor_10</actor1> <localNormal0>0.939690948 0.342024773 -0.000050619</localNormal0> <localNormal1>0.000000656 1 0.000001997</localNormal1> <localAxis0>0.342024803 -0.939690948 0.000000005</localAxis0> <localAxis1>1 -0.000000566 0.000000656</localAxis1> <localAnchor0>0.424327254 -0.000217438 -0.000783101</localAnchor0> <localAnchor1>-0.000247896 0.000174493 -0.000087455</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LIMITED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LIMITED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LIMITED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.52359879</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>0.87266463</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_14" userProperties="" name=""> <actor0>Actor_5</actor0> <actor1>Actor_9</actor1> <localNormal0>0.707104743 0.707108796 0.000026226</localNormal0> <localNormal1>-0.000000239 1 -0.000053257</localNormal1> <localAxis0>-0.707108855 0.707104743 0.000000069</localAxis0> <localAxis1>1 -0.000000149 -0.000001729</localAxis1> <localAnchor0>-0.000237226 0.000095747 0.162999928</localAnchor0> <localAnchor1>0.000000119 -0.000335336 0.000217333</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LIMITED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LIMITED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LIMITED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.785398185</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>0.87266463</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0.17453292</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_15" userProperties="" name=""> <actor0>Actor_12</actor0> <actor1>Actor_13</actor1> <localNormal0>-0.000019847 -1 -0.000038087</localNormal0> <localNormal1>0.000041779 -1 0.00011611</localNormal1> <localAxis0>0.707106113 -0.000040974 0.707107425</localAxis0> <localAxis1>1 0.000041664 0.000000888</localAxis1> <localAnchor0>0.205980763 -0.00062976 0.000096321</localAnchor0> <localAnchor1>0.000142336 -0.000433691 -0.000514746</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LOCKED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LIMITED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LOCKED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.785398185</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>1.221730471</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_16" userProperties="" name=""> <actor0>Actor_13</actor0> <actor1>Actor_14</actor1> <localNormal0>0.939678669 0.342058539 0.00000082</localNormal0> <localNormal1>0.000001609 1 -0.000016361</localNormal1> <localAxis0>0.342058539 -0.939678609 0.000115554</localAxis0> <localAxis1>1 -0.000001222 0.00000155</localAxis1> <localAnchor0>0.415272117 -0.000374997 0.000192642</localAnchor0> <localAnchor1>0.000184849 0.000087976 -0.000259876</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> <NxD6JointDesc> <xMotion>NX_D6JOINT_MOTION_LOCKED</xMotion> <yMotion>NX_D6JOINT_MOTION_LOCKED</yMotion> <zMotion>NX_D6JOINT_MOTION_LOCKED</zMotion> <swing1Motion>NX_D6JOINT_MOTION_LOCKED</swing1Motion> <swing2Motion>NX_D6JOINT_MOTION_LIMITED</swing2Motion> <twistMotion>NX_D6JOINT_MOTION_LOCKED</twistMotion> <NxJointLimitSoftDesc id="linearLimit"> <value>45</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing1Limit"> <value>0.785398185</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="swing2Limit"> <value>1.221730471</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftPairDesc id="twistLimit"> <NxJointLimitSoftDesc id="low"> <value>0</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> <NxJointLimitSoftDesc id="high"> <value>0</value> <restitution>0</restitution> <spring>0</spring> <damping>0</damping> </NxJointLimitSoftDesc> </NxJointLimitSoftPairDesc> <NxJointDriveDesc id="xDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="yDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="zDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="swingDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="twistDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <NxJointDriveDesc id="slerpDrive"> <NxD6JointDriveType id="driveType"> <NX_D6JOINT_DRIVE_POSITION>false</NX_D6JOINT_DRIVE_POSITION> <NX_D6JOINT_DRIVE_VELOCITY>false</NX_D6JOINT_DRIVE_VELOCITY> </NxD6JointDriveType> <spring>0</spring> <damping>0</damping> <forceLimit>FLT_MAX</forceLimit> </NxJointDriveDesc> <drivePosition>0 0 0</drivePosition> <driveOrientation>0 0 0 1</driveOrientation> <driveLinearVelocity>0 0 0</driveLinearVelocity> <driveAngularVelocity>0 0 0</driveAngularVelocity> <projectionMode>NX_JPM_NONE</projectionMode> <projectionDistance>0.100000001</projectionDistance> <projectionAngle>0.087200001</projectionAngle> <gearRatio>1</gearRatio> <NxD6JointFlag id="flags"> <NX_D6JOINT_SLERP_DRIVE>false</NX_D6JOINT_SLERP_DRIVE> <NX_D6JOINT_GEAR_ENABLED>false</NX_D6JOINT_GEAR_ENABLED> </NxD6JointFlag> <NxJointDesc id="Joint_17" userProperties="" name=""> <actor0>Actor_15</actor0> <actor1>Actor_14</actor1> <localNormal0>0.000079928 1 0.000031054</localNormal0> <localNormal1>-0.000000977 0.000016749 1</localNormal1> <localAxis0>1 -0.000079899 -0.000082617</localAxis0> <localAxis1>1 0.000010982 0.000001046</localAxis1> <localAnchor0>0.001474991 -0.000259638 -0.000138998</localAnchor0> <localAnchor1>0.301184803 0.000088096 -0.000259876</localAnchor1> <maxForce>FLT_MAX</maxForce> <maxTorque>FLT_MAX</maxTorque> <solverExtrapolationFactor>1</solverExtrapolationFactor> <useAccelerationSpring>0</useAccelerationSpring> <NxJointFlag id="jointFlags"> <NX_JF_COLLISION_ENABLED>false</NX_JF_COLLISION_ENABLED> <NX_JF_VISUALIZATION>false</NX_JF_VISUALIZATION> </NxJointFlag> <planeLimitPoint>0 0 0</planeLimitPoint> <onActor2>false</onActor2> </NxJointDesc> </NxD6JointDesc> </NxSceneDesc> </NxuPhysicsCollection> </NXUSTREAM2>
marine.xml
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