{"time": [0.032392, 0.065748, 0.09908, 0.132424, 0.165755, 0.199082, 0.232424, 0.265752, 0.299082, 0.332424, 0.365753, 0.399082, 0.432425, 0.465752, 0.499082, 0.532424, 0.565754, 0.599081, 0.632424, 0.665752, 0.699082, 0.732423, 0.765752, 0.799081, 0.832423, 0.865752, 0.899082, 0.932424, 0.9657539, 0.999081, 1.032423, 1.06575, 1.099091, 1.13242, 1.165748, 1.199079, 1.23242, 1.265748, 1.299079, 1.332418, 1.365748, 1.399079, 1.432421, 1.465747, 1.499081, 1.532421, 1.565758, 1.599079, 1.632415, 1.665754, 1.699079, 1.732413, 1.765748, 1.799091, 1.832424, 1.865753, 1.899089, 1.932413, 1.965752, 1.999088, 2.032414, 2.065751, 2.099086, 2.132417, 2.165746, 2.199078, 2.232416, 2.265748, 2.299078, 2.33242, 2.365746, 2.399078, 2.432417, 2.465747, 2.499078, 2.532417, 2.565747, 2.599079, 2.632419, 2.665747, 2.699078, 2.732418, 2.765747, 2.799079, 2.832419, 2.865747, 2.899079, 2.93242, 2.965746, 2.999084, 3.032427, 3.065745, 3.099081, 3.132413, 3.165753, 3.199084, 3.232413, 3.265752, 3.299087, 3.332414, 3.365745, 3.399081, 3.432416, 3.465755, 3.499079, 3.532416, 3.565755, 3.599078, 3.632411, 3.665753, 3.69908, 3.732422, 3.765748, 3.799087, 3.832423, 3.865743, 3.899082, 3.932416, 3.96579, 3.999081, 4.032419, 4.065759, 4.099086, 4.132414, 4.165747, 4.199085, 4.232417, 4.265745, 4.299076, 4.332418, 4.365747, 4.399084, 4.43242, 4.465748, 4.499088, 4.53241, 4.565747, 4.599073, 4.63241, 4.665748, 4.699088, 4.732417, 4.765752, 4.799084, 4.832411, 4.865754, 4.899075, 4.93241, 4.965743, 4.999087, 5.032415, 5.065742, 5.099075, 5.132425, 5.165752, 5.199085, 5.232409, 5.265751, 5.299081, 5.332421, 5.365751, 5.399075, 5.432416, 5.465743, 5.499086, 5.532409, 5.565752, 5.599079, 5.63241, 5.665747, 5.699086, 5.732415, 5.765742, 5.799079, 5.832419, 5.865749, 5.899073, 5.93242, 5.965754, 5.999084, 6.032412, 6.065754, 6.099081, 6.132411, 6.16575, 6.199076, 6.232419, 6.265749, 6.299077, 6.332418, 6.365741, 6.399078, 6.432416, 6.46573, 6.49908, 6.53241, 6.56574, 6.59908, 6.632418, 6.665742, 6.699073, 6.732408, 6.765742, 6.799073, 6.832418, 6.86575, 6.899078, 6.932412, 6.965752, 6.999086, 7.032416, 7.065749, 7.099083, 7.132414, 7.165744, 7.199078, 7.23241, 7.265744, 7.299073, 7.33241, 7.365742, 7.399078, 7.432415, 7.465739, 7.499075, 7.532411, 7.565737, 7.599074, 7.632414, 7.66575, 7.699074, 7.732416, 7.765746, 7.799076, 7.832417, 7.865739, 7.899076, 7.932413, 7.965743, 7.999081, 8.032416, 8.06574, 8.099072, 8.132407, 8.16575, 8.199078, 8.232409, 8.265738, 8.299081, 8.332409, 8.365746, 8.399072, 8.432413, 8.465743, 8.499075, 8.532414, 8.565743, 8.599077, 8.632417, 8.665746, 8.699075, 8.732415, 8.76574, 8.799072, 8.832416, 8.865745, 8.899075, 8.93241, 8.96575, 8.999078, 9.032419, 9.065747, 9.099077, 9.132413, 9.165744, 9.19907, 9.232409, 9.265741, 9.299081, 9.332408, 9.365737, 9.399071, 9.432409, 9.465739, 9.499073, 9.532406, 9.565737, 9.59908, 9.632412, 9.665745, 9.699078, 9.732421, 9.765755, 9.799076, 9.832405, 9.865746, 9.899074, 9.932414, 9.965741, 9.999078, 10.03241, 10.06574], "x": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.06803673, -0.06803673, -0.06985366, -0.0701483, -0.06892065, -0.06892065, -0.06656355, -0.06410823, -0.06130917, -0.05747888, -0.05384502, -0.04952367, -0.04598802, -0.04250147, -0.03886761, -0.03533196, -0.03150167, -0.03150167, -0.02217148, -0.02217148, -0.009894913, -0.003069141, 0.003805736, 0.009452955, 0.01308682, 0.01308682, 0.01721175, 0.01755549, 0.01716264, 0.01618052, 0.01392163, 0.01131899, 0.007783342, 0.003953054, -0.001301316, -0.006997643, -0.01244844, -0.01657336, -0.01951974, -0.02148399, -0.02315361, -0.02335003, -0.02246612, -0.02114025, -0.01897957, -0.01568945, -0.01244844, -0.008323512, -0.005229817, -0.001055785, 0.002283442, 0.004738755, 0.006359262, 0.008127087, 0.00847083, 0.008421724, 0.008028874, 0.008028874, 0.00572088, 0.003903948, 0.003903948, -0.0005647221, -0.003805736, -0.007144961, -0.01117168, -0.01117168, -0.01642604, -0.01897957, -0.02005991, -0.02035455, -0.01971617, -0.01814476, -0.01618052, -0.01421626, -0.01117168, -0.008569043, -0.008569043, -0.004395011, -0.002283442, -0.0002209782, 0.0008102533, 0.0008102533, 0.0008102533, 0.00243076, 0.00243076, 0.001841485, 0.0005156157, -0.0005156157, -0.002578079, -0.004395011, -0.007341387, -0.009207424, -0.01176095, -0.01313593, -0.01559124, -0.01632783, -0.01627873, -0.0160332, -0.01554213, -0.01554213, -0.01249754, -0.01102436, -0.00861815, -0.00729228, -0.005278924, -0.004002161, -0.003461992, -0.003118248, -0.001546847, -0.0009575722, -0.0009575722, -0.0005156157, -0.0009575722, -0.001006678, -0.001350422, -0.00243076, -0.003265567, -0.003903948, -0.004395011, -0.005082499, -0.006997643, -0.008176194, -0.008176194, -0.01146631, -0.01264486, -0.01343056, -0.01387252, -0.01465822, -0.01505107, -0.01475643, -0.01421626, -0.01362699, -0.0136761, -0.01284129, -0.01195738, -0.01185916, -0.01102436, -0.01102436, -0.008421724, -0.00783245, -0.007046749, -0.006359262, -0.006064624, -0.005966411, -0.005819092, -0.006211943, -0.006752111, -0.006752111, -0.007144961, -0.007341387, -0.007586918, -0.007636024, -0.008028874, -0.007930661, -0.007930661, -0.008028874, -0.007881556, -0.007636024, -0.00783245, -0.00768513, -0.00768513, -0.007930661, -0.007930661, -0.007734237, -0.007636024, -0.007636024, -0.007734237, -0.007930661, -0.007930661, -0.007979769, -0.007734237, -0.007243175, -0.007783342, -0.007930661, -0.007586918, -0.007783342, -0.007783342, -0.007734237, -0.00783245, -0.007636024, -0.00768513, -0.007734237, -0.007586918, -0.007734237, -0.007734237, -0.007734237, -0.007636024, -0.007783342, -0.007930661, -0.008127087, -0.00768513, -0.007734237, -0.007881556, -0.007734237, -0.007783342, -0.007881556, -0.007734237, -0.007783342, -0.00783245, -0.007930661, -0.007783342, -0.007636024, -0.007734237, -0.007734237, -0.007636024, -0.00768513, -0.00783245, -0.007243175, -0.007734237, -0.00783245, -0.007783342, -0.00783245, -0.00783245], "theta_y": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.001713596, -0.007711182, 0.005140789, 0.03941271, 0.06083266, 0.05740547, 0.06168945, 0.06425985, 0.05997586, 0.05397828, 0.04626709, 0.03769911, 0.02741754, 0.02056315, 0.01713596, 0.01542236, 0.01285197, 0.009424778, 0.005997586, 0.002570394, -0.005140789, -0.01970635, -0.03769911, -0.07282783, -0.1036726, -0.1053862, -0.101959, -0.1079566, -0.1036726, -0.09938856, -0.09767497, -0.0873934, -0.07025743, -0.05569187, -0.03855591, -0.01713596, 0.00428399, 0.03255832, 0.04712389, 0.0436967, 0.04798069, 0.04541029, 0.0436967, 0.0428399, 0.03769911, 0.03255832, 0.02741754, 0.01627916, 0.001713596, -0.006854384, -0.01199517, -0.02056315, -0.03427192, -0.03684231, -0.03512872, -0.03769911, -0.03769911, -0.03769911, -0.03769911, -0.03769911, -0.03512872, -0.02827433, -0.02570394, -0.02141995, -0.003427192, 0.01199517, 0.01542236, 0.02399035, 0.02998793, 0.02827433, 0.02913114, 0.02484714, 0.02227675, 0.01970635, 0.01456557, 0.008567981, 0.001713596, -0.003427192, -0.005140789, -0.005997586, -0.01028158, -0.01370877, -0.01799276, -0.01884955, -0.01799276, -0.01970635, -0.02141995, -0.02056315, -0.01884955, -0.01799276, -0.01285197, -0.007711182, 0.002570394, 0.01113837, 0.008567981, 0.01113837, 0.01370877, 0.01199517, 0.009424778, 0.009424778, 0.008567981, 0.007711182, 0.006854384, 0.003427192, 0.0, -0.003427192, -0.005140789, -0.006854384, -0.006854384, -0.006854384, -0.009424778, -0.01113837, -0.01028158, -0.01113837, -0.01113837, -0.01113837, -0.01199517, -0.009424778, -0.01028158, -0.01028158, -0.009424778, -0.01028158, -0.003427192, -0.001713596, -0.003427192, 0.003427192, 0.00428399, 0.001713596, 0.003427192, 0.003427192, 0.002570394, 0.001713596, 0.001713596, 0.001713596, 0.001713596, 0.000856798, 0.0, 0.0, -0.000856798, -0.002570394, -0.003427192, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.003427192, -0.003427192, -0.00428399, -0.003427192, -0.00428399, -0.003427192, -0.00428399, -0.003427192, -0.00428399, -0.00428399, -0.003427192, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.003427192, -0.00428399, -0.00428399, -0.003427192, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.00428399, -0.003427192, -0.00428399, -0.00428399, -0.00428399], "x_dot": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.02268584, -0.02268584, -0.02725631, -0.008838309, 0.03683103, 0.03683103, 0.03535417, 0.07366905, 0.08395737, 0.1149031, 0.109037, 0.129649, 0.1060613, 0.1045913, 0.1089973, 0.1060992, 0.1148956, 0.1148956, 0.139963, 0.139963, 0.1841256, 0.2048114, 0.2061919, 0.1694543, 0.1089973, 0.1089973, 0.06188392, 0.01031055, -0.01178527, -0.02942777, -0.06785313, -0.07806729, -0.1060484, -0.1149318, -0.1576561, -0.17089, -0.1635006, -0.1237532, -0.0884053, -0.05893179, -0.05007557, -0.005893466, 0.02651437, 0.03977324, 0.06483054, 0.09868395, 0.09726248, 0.1237355, 0.09283085, 0.1252068, 0.1001626, 0.07364472, 0.04862151, 0.05303254, 0.01031262, -0.001473472, -0.01178199, -0.01178199, -0.03462564, -0.05450801, -0.05450801, -0.06702484, -0.09724858, -0.1001783, -0.1207411, -0.1207411, -0.07882296, -0.07662778, -0.03240183, -0.008840002, 0.0191476, 0.04714677, 0.0589436, 0.05891412, 0.09135473, 0.07805671, 0.07805671, 0.06261099, 0.06335893, 0.06187838, 0.03093344, 0.03093344, 0.03093344, 0.01620593, 0.01620593, -0.008837745, -0.0397801, -0.03094538, -0.06184918, -0.05450644, -0.08840021, -0.05599, -0.07658611, -0.04125699, -0.07366683, -0.02209408, 0.001473521, 0.007363861, 0.01473333, 0.01473333, 0.04566726, 0.04420958, 0.07217801, 0.03977045, 0.06043533, 0.03828376, 0.01620669, 0.01031337, 0.04713262, 0.01767575, 0.01767575, 0.006630538, -0.01325795, -0.00147317, -0.01031291, -0.03239904, -0.0250453, -0.01915447, -0.01473148, -0.02062053, -0.05745356, -0.03536009, -0.03536009, -0.04935149, -0.03535905, -0.02357341, -0.0132583, -0.02357206, -0.01178519, 0.008840282, 0.01620346, 0.0176788, -0.001473099, 0.02504134, 0.02652502, 0.0029461, 0.02504208, 0.02504208, 0.03904176, 0.01767472, 0.02356903, 0.02063055, 0.008836728, 0.00294669, 0.004420001, -0.01178281, -0.01621065, 0.0, -0.01178416, -0.005893353, -0.007364886, -0.001473106, -0.01178905, 0.002946424, 0.0, -0.002945581, 0.004420254, 0.007366481, -0.005893536, 0.004418259, 0.0, -0.007365202, 0.0, 0.005891316, 0.002946676, 0.0, -0.002945833, -0.005893508, 0.0, -0.001472931, 0.007366902, 0.01473379, -0.01620159, -0.004420647, 0.01031276, -0.005890979, 0.0, 0.001473324, -0.002946185, 0.005891681, -0.001473423, -0.001472833, 0.004420268, -0.004420015, 0.0, 0.0, 0.002947014, -0.004418863, -0.004419636, -0.005891667, 0.01326117, -0.00147338, -0.004419509, 0.004418877, -0.001473324, -0.002946353, 0.004419636, -0.001473282, -0.001472776, -0.00294648, 0.004419636, 0.004419621, -0.002945497, 0.0, 0.002947435, -0.00147338, -0.004418638, 0.01768107, -0.01472873, -0.002946944, 0.001473071, -0.00147324, 0.0], "theta_y_dot": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.05141933, -0.179902, 0.3854464, 1.028629, 0.6425487, -0.1028202, 0.1284938, 0.07711698, -0.1285364, -0.1798968, -0.2313241, -0.2570894, -0.3084674, -0.2056155, -0.1028107, -0.05139917, -0.07713336, -0.1028041, -0.1027989, -0.1028475, -0.2313373, -0.4368549, -0.5398836, -1.053584, -0.9255477, -0.05139956, 0.102808, -0.18, 0.1284981, 0.128517, 0.05134492, 0.3088408, 0.5140019, 0.4368801, 0.5141821, 0.6427003, 0.6425992, 0.8481094, 0.4369864, -0.1028322, 0.128529, -0.07709206, -0.05141456, -0.02570103, -0.1542128, -0.1542481, -0.1541928, -0.3342616, -0.4369236, -0.2570948, -0.1542061, -0.2570029, -0.4111811, -0.07712173, 0.05140562, -0.077114, 0.0, 0.0, 0.0, 0.0, 0.07711179, 0.2055671, 0.07712399, 0.1285437, 0.5397909, 0.4624398, 0.1028349, 0.2570397, 0.1799792, -0.05139471, 0.02570665, -0.1284942, -0.07711952, -0.07713293, -0.1541884, -0.1799613, -0.2055729, -0.1542701, -0.05139323, -0.02570873, -0.128529, -0.1028041, -0.1284978, -0.02570722, 0.02570906, -0.051402, -0.05139765, 0.02570649, 0.05142197, 0.02569362, 0.1542194, 0.1542392, 0.3084961, 0.2569735, -0.07712626, 0.07711963, 0.07709865, -0.05141897, -0.07708985, 0.0, -0.02570799, -0.02569811, -0.02571203, -0.1028041, -0.1028012, -0.1028747, -0.05138221, -0.05141307, 0.0, 0.0, -0.07710085, -0.05142268, 0.02570581, -0.0257025, 0.0, 0.0, -0.02569512, 0.07711521, -0.02570804, 0.0, 0.02569885, -0.02570363, 0.2056523, 0.05140793, -0.05140719, 0.2056464, 0.02570654, -0.07710969, 0.05141014, 0.0, -0.02570727, -0.02570139, 0.0, 0.0, 0.0, -0.02571132, -0.02570176, 0.0, -0.02570985, -0.05140205, -0.02569881, -0.02570176, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0257128, 0.0, -0.02570103, 0.02570654, -0.02570029, 0.0257025, -0.02571169, 0.02570434, -0.02570287, 0.0, 0.02570801, -0.02570581, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02571022, -0.02570507, 0.0, 0.02570728, -0.02570654, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02570875, -0.02570139, 0.0, 0.0], "torque_x": [-0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, 0.005041128, 0.1638788, 0.1133488, 0.0461098, 0.0451307, 0.07015962, 0.05028182, 0.04819561, 0.03789434, 0.03470305, 0.0181885, 0.02364891, 0.0146641, 0.02074169, 0.01046805, -0.001477271, -0.002565153, -0.01073924, -0.007937518, -0.03854173, -0.02314096, -0.0475409, -0.05142631, -0.0004118085, 0.02755044, -0.002616876, -0.01633565, 0.02972548, 0.03554394, 0.04642888, 0.06326535, 0.06468335, 0.04745648, 0.0650713, 0.05843561, 0.06829053, 0.06990468, 0.03816202, 0.03876539, 0.06363848, 0.02934926, 0.0437536, 0.01645376, -0.006361895, -0.003791787, -0.01920198, -0.04221793, -0.0257194, -0.03080966, -0.02341582, -0.05449976, -0.03118642, 0.002576547, -0.00664743, -0.02326855, 0.01362883, 0.01553636, 0.02265232, 0.02265232, 0.04118561, 0.04938693, 0.03468913, 0.05799703, 0.07573548, 0.04014078, 0.05343843, 0.07609354, 0.04241252, 0.04652037, 0.03909051, 0.01896051, 0.01488299, -0.00695013, -0.01590383, -0.01000503, -0.02914813, -0.01853092, -0.01795962, -0.02233832, -0.02797829, -0.02024961, -0.00215841, 0.003163114, -0.003413125, -0.001782858, 0.005077041, 0.02306324, 0.03854593, 0.03185647, 0.05601162, 0.04167345, 0.06404793, 0.02831258, 0.04257346, 0.04917238, 0.06087048, 0.02836595, 0.0242291, 0.02404137, 0.01309262, 0.01561306, -0.008628739, -0.009860914, -0.02348553, -0.003237573, -0.01705263, -0.008084403, 0.005901838, 0.005237397, -0.02050246, 0.004099239, 0.003682472, 0.00348696, 0.02094814, 0.01195169, 0.01806697, 0.03629149, 0.02397983, 0.02955239, 0.02594779, 0.02838371, 0.05913253, 0.02578471, 0.03530295, 0.05894256, 0.02877399, 0.03505088, 0.03891641, 0.03629186, 0.03341415, 0.02264177, 0.01775991, 0.01389692, 0.0258083, 0.007843177, 0.007748554, 0.022808, 0.005749629, 0.008270205, -0.002153015, 0.008778397, 0.004331296, 0.00300279, 0.009713095, 0.01315844, 0.01196609, 0.0227189, 0.02396894, 0.01578704, 0.02633345, 0.01873672, 0.02445657, 0.01657628, 0.02803707, 0.01441586, 0.02057359, 0.02076036, 0.0134118, 0.01546198, 0.02220154, 0.01555573, 0.01828185, 0.02329844, 0.01875403, 0.01474127, 0.01636928, 0.01818741, 0.0201939, 0.02239039, 0.01875403, 0.01975728, 0.01383082, 0.008341003, 0.02846729, 0.01896101, 0.01354959, 0.02210552, 0.01595032, 0.01928705, 0.02038299, 0.01455217, 0.01919097, 0.01928504, 0.01536562, 0.02110348, 0.01837628, 0.01837628, 0.01636907, 0.02119721, 0.02148099, 0.022767, 0.01009955, 0.01928538, 0.02138648, 0.01564978, 0.01937978, 0.02047753, 0.01564932, 0.01937975, 0.01947388, 0.02057204, 0.01574375, 0.01546045, 0.02019369, 0.01837628, 0.01636881, 0.01919094, 0.02129151, 0.006522497, 0.02746408, 0.01786296, 0.01938127, 0.01947416, 0.01856516], "y": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.005347752, -0.005347752, -0.002652245, -0.0006555724, 0.002239602, 0.002239602, 0.008396008, 0.01179035, 0.01541764, 0.01581697, 0.01581697, 0.01585025, 0.01595008, 0.0163827, 0.01581697, 0.01538436, 0.01468552, 0.01468552, 0.01105824, 0.01105824, 0.003237939, -0.00115474, -0.005680531, -0.008675539, -0.01060566, -0.01060566, -0.013401, -0.01483195, -0.01559734, -0.01732779, -0.01792679, -0.01845923, -0.01879201, -0.01919135, -0.01899168, -0.01855907, -0.01852579, -0.01842595, -0.0180599, -0.01832612, -0.01825957, -0.01809318, -0.01822629, -0.01809318, -0.01802662, -0.01832612, -0.01859234, -0.01849251, -0.01832612, -0.01879201, -0.01852579, -0.01825957, -0.01779368, -0.01672879, -0.01509817, -0.01409983, -0.01293511, -0.01293511, -0.009740431, -0.008642262, -0.008642262, -0.005148086, -0.003550747, -0.001520797, -0.0002229601, -0.0002229601, 0.002006657, 0.002772048, 0.003004993, 0.003071549, 0.002905159, 0.002772048, 0.001640601, -8.984863e-05, -0.001287852, -0.002053243, -0.002053243, -0.005014974, -0.006079865, -0.008642262, -0.01067221, -0.01067221, -0.01067221, -0.009740431, -0.009740431, -0.005480864, -0.004249582, -0.002352744, -0.001188018, 9.984985e-06, 0.001740434, 0.003038271, 0.003803662, 0.003670551, 0.004835276, 0.005068222, 0.005401, 0.005301166, 0.004901832, 0.004901832, 0.00383694, 0.003304494, 0.002472548, 0.001108155, -0.0006555724, -0.001587353, -0.002485855, -0.004183027, -0.00538103, -0.006212976, -0.006212976, -0.008808651, -0.009773708, -0.009873543, -0.00960732, -0.008708818, -0.007311147, -0.006579034, -0.005813642, -0.005114808, -0.004482528, -0.004349416, -0.004349416, -0.002286188, -0.001953409, -0.001188018, -0.001054907, -0.001021629, -0.0009550733, -0.0008885175, -0.0009217955, -0.0009217955, -0.001088185, -0.00115474, -0.001920132, -0.002452578, -0.003550747, -0.003550747, -0.00461564, -0.004582361, -0.004881862, -0.005314475, -0.005480864, -0.005580698, -0.005747087, -0.005946754, -0.006212976, -0.0064792, -0.006712145, -0.006845256, -0.006811979, -0.006811979, -0.006678867, -0.006612311, -0.006678867, -0.006445922, -0.006346088, -0.006146421, -0.006046588, -0.005880198, -0.005680531, -0.005514142, -0.005014974, -0.00474875, -0.004782029, -0.004682195, -0.004815306, -0.004981696, -0.005048252, -0.005148086, -0.005014974, -0.005114808, -0.005048252, -0.005048252, -0.005048252, -0.00491514, -0.004981696, -0.005014974, -0.005081529, -0.005048252, -0.005014974, -0.004981696, -0.005014974, -0.005014974, -0.005014974, -0.005048252, -0.004881862, -0.005048252, -0.005014974, -0.004981696, -0.005081529, -0.005014974, -0.005014974, -0.00491514, -0.004981696, -0.005014974, -0.004981696, -0.004981696, -0.004981696, -0.005081529, -0.005014974, -0.004981696, -0.005081529, -0.004981696, -0.005014974, -0.005048252, -0.004948418, -0.005081529, -0.004981696, -0.005014974, -0.004948418, -0.005014974, -0.005048252], "theta_x": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001713596, -0.000856798, -0.008567981, -0.009424778, -0.01370877, -0.01627916, -0.02227675, -0.03512872, -0.04626709, -0.0419831, -0.03769911, -0.03855591, -0.03598552, -0.03684231, -0.03512872, -0.03427192, -0.03341512, -0.03255832, -0.02827433, -0.02399035, 0.0, 0.02656074, 0.02570394, 0.02656074, 0.02570394, 0.02570394, 0.02656074, 0.02570394, 0.02484714, 0.02656074, 0.02227675, 0.01713596, 0.01799276, 0.01542236, 0.01028158, 0.006854384, 0.007711182, 0.007711182, 0.007711182, 0.009424778, 0.008567981, 0.009424778, 0.008567981, 0.01113837, 0.01113837, 0.01370877, 0.01627916, 0.01627916, 0.01542236, 0.01713596, 0.01884955, 0.01542236, 0.01542236, 0.01370877, 0.009424778, 0.009424778, 0.009424778, 0.009424778, 0.007711182, 0.006854384, 0.005140789, 0.003427192, 0.0, -0.005997586, -0.005997586, -0.005140789, -0.009424778, -0.008567981, -0.008567981, -0.009424778, -0.009424778, -0.008567981, -0.006854384, -0.002570394, -0.002570394, -0.002570394, -0.001713596, 0.0, 0.0, 0.009424778, 0.01199517, 0.01285197, 0.01285197, 0.008567981, 0.006854384, 0.000856798, -0.000856798, -0.002570394, -0.003427192, -0.005997586, -0.009424778, -0.01199517, -0.01199517, -0.01113837, -0.01199517, -0.01285197, -0.01285197, -0.01285197, -0.01285197, -0.01285197, -0.01285197, -0.01199517, -0.01028158, -0.007711182, -0.006854384, -0.006854384, -0.006854384, -0.00428399, -0.005140789, -0.00428399, -0.003427192, -0.002570394, -0.002570394, -0.003427192, -0.00428399, -0.00428399, -0.005140789, -0.005140789, -0.005140789, -0.005140789, -0.005140789, -0.007711182, -0.007711182, -0.007711182, -0.01028158, -0.01113837, -0.01028158, -0.01028158, -0.01028158, -0.01028158, -0.01113837, -0.01113837, -0.01113837, -0.01113837, -0.009424778, -0.01028158, -0.007711182, -0.007711182, -0.007711182, -0.008567981, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.008567981, -0.008567981, -0.008567981, -0.008567981, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.008567981, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.007711182, -0.008567981, -0.007711182], "y_dot": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.001783128, -0.001783128, 0.04043597, 0.05989552, 0.08685905, 0.08685905, 0.0923399, 0.1018435, 0.1088001, 0.01197941, 0.0, 0.0009984057, 0.002994789, 0.01297773, -0.01696884, -0.012982, -0.02096269, -0.02096269, -0.05441325, -0.05441325, -0.1172899, -0.131805, -0.1357379, -0.08987026, -0.05789362, -0.05789362, -0.04193691, -0.04292112, -0.02296128, -0.05185009, -0.017993, -0.01597101, -0.009981304, -0.0119825, 0.005990936, 0.01297844, 0.0009981987, 0.002995153, 0.01098343, -0.007987304, 0.001996169, 0.004992294, -0.003992853, 0.003993025, 0.001997053, -0.008983274, -0.007989305, 0.002994669, 0.004992779, -0.01397507, 0.007985534, 0.007985077, 0.01397852, 0.03194539, 0.04891994, 0.0299561, 0.03493129, 0.03493129, 0.04792808, 0.0329451, 0.0329451, 0.05240858, 0.04792911, 0.06089943, 0.03891566, 0.03891566, 0.0334474, 0.02296832, 0.006986564, 0.001996869, -0.004990687, -0.003993745, -0.03395269, -0.05190165, -0.03594682, -0.02295518, -0.02295518, -0.04442632, -0.03195273, -0.07687746, -0.06089158, -0.06089158, -0.06089158, 0.009318305, 0.009318305, 0.06388352, 0.03694218, 0.05692067, 0.03492781, 0.0359391, 0.05191874, 0.03894127, 0.02295585, -0.003994088, 0.03494528, 0.006987177, 0.009985502, -0.002994154, -0.01198124, -0.01198124, -0.01597282, -0.01597842, -0.02495556, -0.04092597, -0.05294216, -0.02793945, -0.0269578, -0.0509203, -0.03593293, -0.02495486, -0.02495486, -0.03894211, -0.02895011, -0.002994982, 0.007987161, 0.02694583, 0.04193197, 0.02196687, 0.0229611, 0.02096088, 0.01896813, 0.003993752, 0.003993752, 0.03094823, 0.009984081, 0.02296406, 0.003993234, 0.0009983809, 0.001996615, 0.001996931, -0.0009982381, 0.0, -0.004991328, -0.001996444, -0.02296833, -0.01597203, -0.03294229, -0.03294229, -0.01597431, 0.0009981417, -0.008984261, -0.0129821, -0.004990323, -0.002995324, -0.004992166, -0.005988665, -0.007989433, -0.00798579, -0.006987549, -0.003993752, 0.0009981848, 0.0, 0.003994566, 0.001996684, -0.001996569, 0.006986449, 0.002995482, 0.005990463, 0.002995382, 0.004990194, 0.005990964, 0.004991179, 0.01497827, 0.007984762, -0.0009984415, 0.002995139, -0.003992596, -0.004992337, -0.001996655, -0.002994454, 0.003993866, -0.002995396, 0.001996241, 0.0, 0.0, 0.003992153, -0.001996926, -0.0009984415, -0.001996526, 0.0009981419, 0.0009984987, 0.0009980988, -0.0009984987, 0.0, 0.0, -0.000998413, 0.004992765, -0.004990908, 0.0009983558, 0.000998156, -0.002995568, 0.001996926, 0.0, 0.002994539, -0.001996869, -0.0009983273, 0.0009983558, 0.0, 0.0, -0.002995139, 0.001996698, 0.0009983558, -0.002994111, 0.002994968, -0.0009986986, -0.0009984701, 0.002994382, -0.003993981, 0.002994368, -0.0009985271, 0.001996483, -0.001996712, -0.000998413], "theta_x_dot": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05139286, -0.07714721, -0.2313175, -0.02570504, -0.1284941, -0.07711682, -0.179951, -0.3854933, -0.3341348, 0.1285448, 0.128528, -0.02570206, 0.07710805, -0.02569945, 0.05142217, 0.02570103, 0.02569985, 0.02571187, 0.1285207, 0.1284867, 0.7198449, 0.7966121, -0.02570967, 0.02569956, -0.02570195, 0.0, 0.02569956, -0.02570342, -0.02567262, 0.05147353, -0.1285005, -0.1541929, 0.02570912, -0.07712409, -0.1542237, -0.1028012, 0.02570504, 0.0, 0.0, 0.05139471, -0.02570725, 0.025701, -0.0257021, 0.07712405, 0.0, 0.07713726, 0.07710413, 0.0, -0.02570103, 0.05140064, 0.05139759, -0.1028291, 0.0, -0.05140935, -0.1285456, 0.0, 0.0, 0.0, -0.05140794, -0.02569585, -0.05141602, -0.0514175, -0.1028173, -0.1798377, 0.0, 0.02570395, -0.1285566, 0.02569732, 0.0, -0.02569879, 0.0, 0.02571093, 0.05139617, 0.1285437, 0.0, 0.0, 0.02569662, 0.05141749, 0.0, 0.2827112, 0.07709867, 0.02570728, 0.0, -0.1285051, -0.05139765, -0.1799458, -0.0514219, -0.05138735, -0.02570323, -0.07711961, -0.102832, -0.07709206, 0.0, 0.02570652, -0.02569953, -0.02570949, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02570103, 0.05140056, 0.07715608, 0.02569108, 0.0, 0.0, 0.07709646, -0.02570029, 0.02571132, 0.02570581, 0.02570249, 0.0, -0.02570543, -0.02569515, 0.0, -0.02570801, 0.0, 0.0, 0.0, 0.0, -0.07711186, 0.0, 0.0, -0.07711966, -0.02570323, 0.02570507, 0.0, 0.0, 0.0, -0.02570471, 0.0, 0.0, 0.0, 0.05140355, -0.02570179, 0.07712959, 0.0, 0.0, -0.02570179, 0.02571135, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.02569775, 0.0, 0.0, 0.0, 0.02570731, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.02569628, 0.02570731, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.02570436, 0.02570584], "torque_y": [-0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, 0.01138445, 0.006345193, -0.01368701, -0.01231483, -0.04837456, -0.03759529, -0.05435193, -0.0545599, -0.04076921, 0.02367333, -0.005191904, -0.009373349, 0.0008216661, -0.0155496, 0.01199421, 0.003505598, 0.01089403, 0.01019359, 0.03710722, 0.02632656, 0.07666117, 0.03258656, 0.01656604, 0.05293925, 0.0325812, 0.03692055, 0.03063128, 0.03147055, 0.02496646, 0.04681736, 0.02021669, 0.03623639, 0.0392026, 0.02776915, 0.0256767, 0.03019455, 0.03668428, 0.0254624, 0.02164929, 0.03386643, 0.02253913, 0.02652924, 0.02798934, 0.02714544, 0.01886813, 0.03167886, 0.02401526, 0.01494682, 0.01885234, 0.03397163, 0.01305047, 0.01113796, 0.0202641, -0.0001490377, -0.008717944, 0.01002631, -0.00438332, -0.00438332, -0.01854616, -0.006373046, -0.007492737, -0.02299973, -0.02190653, -0.02737236, -0.005947896, -0.01867899, -0.02211293, -0.002696096, -0.004903623, -0.0001337473, 0.007017432, 0.004839022, 0.02297927, 0.03416245, 0.01765795, 0.02021377, 0.02021377, 0.03663775, 0.02776742, 0.06405418, 0.03037502, 0.0428292, 0.04576679, 0.002474434, 0.01507419, -0.03084229, -0.00258319, -0.02625538, -0.01352681, -0.01757237, -0.02501836, -0.01488466, -0.006214006, 0.005212895, -0.02357337, -0.002431203, -0.004219942, 0.002160618, 0.008473714, 0.008473714, 0.01298445, 0.01401185, 0.01863081, 0.02788823, 0.03476932, 0.02407705, 0.02701799, 0.04506696, 0.03056406, 0.0333681, 0.02902803, 0.04194993, 0.03694036, 0.02293726, 0.01816945, 0.005443619, -0.008309876, 0.005121347, 0.001216053, 0.001106288, 0.001119901, 0.01010328, 0.01766376, -0.008394161, 0.003900999, 0.001981314, 0.01049119, 0.007935231, 0.009011031, 0.008882843, 0.01079489, 0.01269918, 0.01427918, 0.0125593, 0.02697111, 0.01863825, 0.03737995, 0.02799873, 0.02503735, 0.01450115, 0.02375639, 0.02271488, 0.01992401, 0.01888506, 0.02043712, 0.02143595, 0.02318242, 0.02369214, 0.02352419, 0.02193297, 0.01878889, 0.01940478, 0.0166841, 0.01778883, 0.0203807, 0.0143901, 0.01666058, 0.01442867, 0.01608468, 0.01453387, 0.01353241, 0.0138293, 0.006707205, 0.01303003, 0.01681757, 0.01416149, 0.01872899, 0.01714543, 0.01724493, 0.01805257, 0.01348471, 0.01798916, 0.01478126, 0.01601297, 0.01601297, 0.0158134, 0.01529722, 0.01656502, 0.01730884, 0.0153971, 0.01533288, 0.01526913, 0.01656505, 0.01594897, 0.01594897, 0.016629, 0.01261239, 0.01909241, 0.01533297, 0.0152691, 0.01792526, 0.01471684, 0.01594897, 0.01390932, 0.01711707, 0.01656495, 0.01526898, 0.01588497, 0.01588497, 0.017925, 0.01471698, 0.01526898, 0.01792437, 0.01403704, 0.01656518, 0.01662903, 0.01397341, 0.01854129, 0.01403741, 0.01656507, 0.01458912, 0.01970115, 0.01480923]}