$BEGIN_HEADER $TITLE 1 $WHEN Thu Mar 26 22:48:36 2009 $SOURCE NEW $MODEL LittleDog $INDIVIDUAL cmu $SUN_DATA $BINARY $ROW $DT 0.01 $NVAR 436 $VAR is_running unknown -1 1 $VAR trunk.pos.x unknown -1 1 $VAR trunk.pos.y unknown -1 1 $VAR trunk.pos.z unknown -1 1 $VAR trunk.vel.x unknown -1 1 $VAR trunk.vel.y unknown -1 1 $VAR trunk.vel.z unknown -1 1 $VAR trunk.orient.qx unknown -1 1 $VAR trunk.orient.qy unknown -1 1 $VAR trunk.orient.qz unknown -1 1 $VAR trunk.orient.qw unknown -1 1 $VAR trunk.rates.x unknown -1 1 $VAR trunk.rates.y unknown -1 1 $VAR trunk.rates.z unknown -1 1 $VAR trunk.cop.x unknown -1 1 $VAR trunk.cop.y unknown -1 1 $VAR trunk.cop.z unknown -1 1 $VAR trial.distance_travelled unknown -1 1 $VAR trial.goal_distance unknown -1 1 $VAR trial.speed unknown -1 1 $VAR fl.hip_rx.q unknown -1 1 $VAR fl.hip_rx.q_d unknown -1 1 $VAR fl.hip_rx.qd unknown -1 1 $VAR fl.hip_rx.qd_d unknown -1 1 $VAR fl.hip_rx.tau_d unknown -1 1 $VAR fl.hip_rx.k unknown -1 1 $VAR fl.hip_rx.b unknown -1 1 $VAR fl.hip_rx.ff_d unknown -1 1 $VAR fl.hip_ry.q unknown -1 1 $VAR fl.hip_ry.q_d unknown -1 1 $VAR fl.hip_ry.qd unknown -1 1 $VAR fl.hip_ry.qd_d unknown -1 1 $VAR fl.hip_ry.tau_d unknown -1 1 $VAR fl.hip_ry.k unknown -1 1 $VAR fl.hip_ry.b unknown -1 1 $VAR fl.hip_ry.ff_d unknown -1 1 $VAR fl.knee_ry.q unknown -1 1 $VAR fl.knee_ry.q_d unknown -1 1 $VAR fl.knee_ry.qd unknown -1 1 $VAR fl.knee_ry.qd_d unknown -1 1 $VAR fl.knee_ry.tau_d unknown -1 1 $VAR fl.knee_ry.k unknown -1 1 $VAR fl.knee_ry.b unknown -1 1 $VAR fl.knee_ry.ff_d unknown -1 1 $VAR fl.force.x unknown -1 1 $VAR fl.force.y unknown -1 1 $VAR fl.force.z unknown -1 1 $VAR fl.force.world.x unknown -1 1 $VAR fl.force.world.y unknown -1 1 $VAR fl.force.world.z unknown -1 1 $VAR fr.hip_rx.q unknown -1 1 $VAR fr.hip_rx.q_d unknown -1 1 $VAR fr.hip_rx.qd unknown -1 1 $VAR fr.hip_rx.qd_d unknown -1 1 $VAR fr.hip_rx.tau_d unknown -1 1 $VAR fr.hip_rx.k unknown -1 1 $VAR fr.hip_rx.b unknown -1 1 $VAR fr.hip_rx.ff_d unknown -1 1 $VAR 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hl.hip_ry.q_d unknown -1 1 $VAR hl.hip_ry.qd unknown -1 1 $VAR hl.hip_ry.qd_d unknown -1 1 $VAR hl.hip_ry.tau_d unknown -1 1 $VAR hl.hip_ry.k unknown -1 1 $VAR hl.hip_ry.b unknown -1 1 $VAR hl.hip_ry.ff_d unknown -1 1 $VAR hl.knee_ry.q unknown -1 1 $VAR hl.knee_ry.q_d unknown -1 1 $VAR hl.knee_ry.qd unknown -1 1 $VAR hl.knee_ry.qd_d unknown -1 1 $VAR hl.knee_ry.tau_d unknown -1 1 $VAR hl.knee_ry.k unknown -1 1 $VAR hl.knee_ry.b unknown -1 1 $VAR hl.knee_ry.ff_d unknown -1 1 $VAR hl.force.x unknown -1 1 $VAR hl.force.y unknown -1 1 $VAR hl.force.z unknown -1 1 $VAR hl.force.world.x unknown -1 1 $VAR hl.force.world.y unknown -1 1 $VAR hl.force.world.z unknown -1 1 $VAR hr.hip_rx.q unknown -1 1 $VAR hr.hip_rx.q_d unknown -1 1 $VAR hr.hip_rx.qd unknown -1 1 $VAR hr.hip_rx.qd_d unknown -1 1 $VAR hr.hip_rx.tau_d unknown -1 1 $VAR hr.hip_rx.k unknown -1 1 $VAR hr.hip_rx.b unknown -1 1 $VAR hr.hip_rx.ff_d unknown -1 1 $VAR hr.hip_ry.q unknown -1 1 $VAR hr.hip_ry.q_d unknown -1 1 $VAR hr.hip_ry.qd unknown -1 1 $VAR hr.hip_ry.qd_d unknown -1 1 $VAR hr.hip_ry.tau_d unknown -1 1 $VAR hr.hip_ry.k unknown -1 1 $VAR hr.hip_ry.b unknown -1 1 $VAR hr.hip_ry.ff_d unknown -1 1 $VAR hr.knee_ry.q unknown -1 1 $VAR hr.knee_ry.q_d unknown -1 1 $VAR hr.knee_ry.qd unknown -1 1 $VAR hr.knee_ry.qd_d unknown -1 1 $VAR hr.knee_ry.tau_d unknown -1 1 $VAR hr.knee_ry.k unknown -1 1 $VAR hr.knee_ry.b unknown -1 1 $VAR hr.knee_ry.ff_d unknown -1 1 $VAR hr.force.x unknown -1 1 $VAR hr.force.y unknown -1 1 $VAR hr.force.z unknown -1 1 $VAR hr.force.world.x unknown -1 1 $VAR hr.force.world.y unknown -1 1 $VAR hr.force.world.z unknown -1 1 $VAR update_duration unknown -1 1 $VAR terrain[0].id unknown -1 1 $VAR terrain[0].position.x unknown -1 1 $VAR terrain[0].position.y unknown -1 1 $VAR terrain[0].position.z unknown -1 1 $VAR terrain[0].orientation.rx unknown -1 1 $VAR terrain[0].orientation.ry unknown -1 1 $VAR terrain[0].orientation.rz unknown -1 1 $VAR terrain[1].id unknown -1 1 $VAR terrain[1].position.x unknown -1 1 $VAR terrain[1].position.y unknown -1 1 $VAR terrain[1].position.z unknown -1 1 $VAR terrain[1].orientation.rx unknown -1 1 $VAR terrain[1].orientation.ry unknown -1 1 $VAR terrain[1].orientation.rz unknown -1 1 $VAR terrain[2].id unknown -1 1 $VAR terrain[2].position.x unknown -1 1 $VAR terrain[2].position.y unknown -1 1 $VAR terrain[2].position.z unknown -1 1 $VAR terrain[2].orientation.rx unknown -1 1 $VAR terrain[2].orientation.ry unknown -1 1 $VAR terrain[2].orientation.rz unknown -1 1 $VAR terrain[3].id unknown -1 1 $VAR terrain[3].position.x unknown -1 1 $VAR terrain[3].position.y unknown -1 1 $VAR terrain[3].position.z unknown -1 1 $VAR terrain[3].orientation.rx unknown -1 1 $VAR terrain[3].orientation.ry unknown -1 1 $VAR terrain[3].orientation.rz unknown -1 1 $VAR terrain[4].id unknown -1 1 $VAR terrain[4].position.x unknown -1 1 $VAR terrain[4].position.y unknown -1 1 $VAR terrain[4].position.z unknown -1 1 $VAR terrain[4].orientation.rx 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$VAR filter.rates.y unknown -1 1 $VAR filter.rates.z unknown -1 1 $VAR filter.rate_bias.x unknown -1 1 $VAR filter.rate_bias.y unknown -1 1 $VAR filter.rate_bias.z unknown -1 1 $VAR filter.accel_bias.x unknown -1 1 $VAR filter.accel_bias.y unknown -1 1 $VAR filter.accel_bias.z unknown -1 1 $VAR filter.meas.rates.x unknown -1 1 $VAR filter.meas.rates.y unknown -1 1 $VAR filter.meas.rates.z unknown -1 1 $VAR filter.meas.accel.x unknown -1 1 $VAR filter.meas.accel.y unknown -1 1 $VAR filter.meas.accel.z unknown -1 1 $VAR filter.meas.pos.x unknown -1 1 $VAR filter.meas.pos.y unknown -1 1 $VAR filter.meas.pos.z unknown -1 1 $VAR filter.meas.rot.qx unknown -1 1 $VAR filter.meas.rot.qy unknown -1 1 $VAR filter.meas.rot.qz unknown -1 1 $VAR filter.meas.rot.qw unknown -1 1 $VAR filter.fl.odom_vel.x unknown -1 1 $VAR filter.fl.odom_vel.y unknown -1 1 $VAR filter.fl.odom_vel.z unknown -1 1 $VAR filter.fl.odom_weight unknown -1 1 $VAR filter.fr.odom_vel.x unknown -1 1 $VAR filter.fr.odom_vel.y unknown -1 1 $VAR filter.fr.odom_vel.z unknown -1 1 $VAR filter.fr.odom_weight unknown -1 1 $VAR filter.hl.odom_vel.x unknown -1 1 $VAR filter.hl.odom_vel.y unknown -1 1 $VAR filter.hl.odom_vel.z unknown -1 1 $VAR filter.hl.odom_weight unknown -1 1 $VAR filter.hr.odom_vel.x unknown -1 1 $VAR filter.hr.odom_vel.y unknown -1 1 $VAR filter.hr.odom_vel.z unknown -1 1 $VAR filter.hr.odom_weight unknown -1 1 $VAR robot.timestamp unknown -1 1 $IN 0 $OUT 1501 $N 1501 $END_HEADER ?:>=#??>=A>?qAZA>dA >LA>?qA[A>fA >L=A>qA^A>?dA >LA>qA_A>?fA >LA`>A?i7LLAp?xb??@K9iٸ*?9i٪:v99v9????:>=#6K3&?=#?;" ;" ;" ;" ?:>=+ 5dϾ;h3J2j?8S7-zo6$e?:>=G=װ=9SA>?p?nң?;A>nƛފ>G A >LAScA6 JAXFlFнנ=9lA>?p?nҧ?hA>nƟދZ>G]A >LA?d@A6 @JAXE.=G==y9A>pnҤ>fA>?n?ƙ?ދGwA >Lƿ[A6 @^JAXEFנ^=9A>pnҬ>A>?n?Ɵ?ފFA >Lf?p=A6 @p@JAXF<1A`>A?i7LLAp?xb??@K9iٸ*?9i٪:v99v9????:>=m3j?=+3J2j?????<1?:>=55+40;h4n3I7w1Q?6)p52Ŭ60w?:>< J?>==`=krA>?r?l`>oA>ݿ?LA >LA96!WAcR}A½ϡ@,=rA>?r?l`>oA>?MA >LA96@!VAcS@A==P=UrA>rȿl`*?rA>???LNA >L96!X 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