swing_time     0.526873171329 opt end
thrust1    -0.098604977131 opt end
swing_hip_target     0.300015062094 opt end
stance_hip_target    -0.316180378199 opt end
swing_hip_overshoot     0.000000023353 opt end
pitch_d     0.020006390288 opt end
pushoff_time     0.400011956692 opt end
swing_hip_overshoot_time     0.899999976158 opt end
swing_knee1    -0.760000288486 opt end
swing_knee1_time     0.501645982265 opt end
swing_knee2    -0.389459967613 opt end
swing_knee2_time     0.949993371964 opt end
stance_ankle_torque    30.000000000000 opt end
swing_hv1     0.284999191761 opt end
swing_kv1    -6.000001430511 opt end
swing_kv2    -0.000000022341 opt end
