predicted_x_d     0.071194775403 opt end
torque1     5.345544338226 opt end
hip_ff1    94.322547912598 opt end
knee_length_d1     0.125589296222 opt end
knee_extend1     0.041431374848 opt end
ss_torque_gain     1.002910971642 opt end
launch_time 0.29 opt end
stance_knee_pos_gain 10000.0 opt end
stance_knee_vel_gain 10000.0 opt end
stance_knee_int_gain 1000.0 opt end
swing_knee_pos_gain 10000.0 opt end
swing_knee_vel_gain 10000.0 opt end
swing_knee_int_gain 1000.0 opt end
touchdown_knee_pos_gain 10000.0 opt end
touchdown_knee_vel_gain 10000.0 opt end
touchdown_knee_int_gain 1000.0 opt end
