Okay, to sum that quote up. It pretty much is that each "triplet" stands for a joint. It is the same order as the joints listed in the first section of the quote.
If you mess around with the POS, the joint you mess around with teleports to the spot you told it to. the first number in the triplet represents the X co-ordinate. Which is if uke and tori are facing each other its left and right. The second integer in the triplet is the Y co-ordinate, which is forward and backwards. The last number is the Z co-ordinate, which is pretty much up and down, or quite simply, height.
In testing2 I use LINVEL to add momentum to my head and launch it at uke. In testing3, I teleport my head behind Uke's with POS and it stays there because I copy the POS value for a few frames, instead of letting the replay run normally, and it teleports back to its original position by copying the frame before I teleported the head. Make sense?
ANGVEL is the rotation of the joint, like how fast it will spin, and LINVEL is force.
