MEMORY total 14.2 MB struct 159.1 KB buffer 40.4 KB arena 14.0 MB, used 0.5% SIZES narena 14680064 nbuffer 41392 nplugin 0 maxuse_stack 11716 maxuse_arena 72164 maxuse_con 13 maxuse_efc 54 ncon 13 ne 0 nf 0 nl 2 nefc 54 nJ 1458 nA 0 nisland 1 nidof 27 threadpool 0 TIMER 0: duration = 1.1 number = 6 1: duration = 1.1 number = 6 2: duration = 0 number = 0 3: duration = 0.63 number = 6 4: duration = 0.075 number = 6 5: duration = 0.016 number = 6 6: duration = 0.31 number = 6 7: duration = 0.044 number = 6 8: duration = 0.13 number = 6 9: duration = 0.069 number = 6 10: duration = 0.21 number = 6 11: duration = 0.22 number = 6 12: duration = 0.0021 number = 6 13: duration = 0.077 number = 6 14: duration = 0.13 number = 6 SOLVER STAT solver_fwdinv = 0 0 ISLAND 0 solver_niter = 1 solver_nnz = 729 0: improvement = -2.5e-15 gradient = 1e-15 lineslope = 0 nactive = 54 nchange = 0 neval = 2 nupdate = 0 ENERGY = 0 0 TIME = 48 QPOS 1.2 0.035 0.07 0.74 0.034 0.67 -0.037 -0.0067 0.15 -0.15 -0.059 -0.0033 -0.08 -0.21 0.28 -0.027 0.1 0.006 -0.08 -0.21 0.3 0.039 0.66 -0.63 -1.8 0.8 -0.59 -1.8 QVEL 3.7e-05 8.5e-05 -2.7e-08 -0.0012 -7.3e-07 0.00013 8.1e-05 6.5e-06 0.0018 4.7e-05 -7.9e-06 6.8e-06 0.00023 0.00077 -7.2e-05 -0.0002 -2.2e-05 6.5e-06 -8.8e-05 -0.00031 1.3e-05 -0.00061 -0.00019 -6.7e-08 -0.003 -0.0011 -8.7e-07 QACC_WARMSTART -1.5e-06 -2.3e-07 -4e-09 2.7e-05 9.9e-08 -1.2e-06 -7.2e-06 -5.1e-07 -9.5e-05 6.5e-05 8.8e-06 -7e-07 -2.2e-05 -8.2e-05 3.6e-05 -6.3e-05 -6e-06 -1.6e-06 3.6e-08 6.9e-06 -2.9e-05 -2.6e-05 -9.2e-06 1.4e-06 2.6e-05 1.7e-05 -1.1e-06 CTRL 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 QFRC_APPLIED 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 XFRC_APPLIED 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 QACC -1.5e-06 -2.3e-07 -4e-09 2.7e-05 9.9e-08 -1.2e-06 -7.2e-06 -5.1e-07 -9.5e-05 6.5e-05 8.8e-06 -7e-07 -2.2e-05 -8.2e-05 3.6e-05 -6.3e-05 -6e-06 -1.6e-06 3.6e-08 6.9e-06 -2.9e-05 -2.6e-05 -9.2e-06 1.4e-06 2.6e-05 1.7e-05 -1.1e-06 XPOS 0 0 0 1.2 0.035 0.07 1.4 0.016 0.09 0.92 0.061 0.062 0.76 0.063 0.07 0.72 -0.039 0.072 0.32 -0.073 0.062 -0.051 -0.11 0.15 0.71 0.16 0.072 0.32 0.09 0.062 -0.054 0.031 0.15 1.2 -0.14 0.076 0.91 -0.19 0.081 0.61 -0.22 0.04 1.3 0.2 0.076 0.95 0.27 0.08 0.65 0.33 0.04 XQUAT 1 0 0 0 0.74 0.034 0.67 -0.037 0.74 0.034 0.67 -0.037 0.69 0.034 0.72 -0.037 0.69 -0.018 0.72 0.018 0.72 -0.038 0.69 0.039 0.64 -0.042 0.77 0.035 0.53 -0.058 0.85 0.036 0.72 -0.054 0.69 0.055 0.64 -0.059 0.76 0.049 0.52 -0.082 0.85 0.05 0.4 0.17 0.89 -0.17 -0.32 -0.28 0.88 -0.23 -0.32 -0.28 0.88 -0.23 0.39 -0.15 0.9 0.12 -0.3 0.33 0.87 0.21 -0.3 0.33 0.87 0.21 XMAT 1 0 0 0 1 0 0 0 1 0.1 0.1 0.99 -0.011 0.99 -0.1 -0.99 -0.0001 0.1 0.1 0.1 0.99 -0.011 0.99 -0.1 -0.99 -0.0001 0.1 -0.045 0.1 0.99 -0.0021 0.99 -0.1 -1 -0.0067 -0.045 -0.045 -0.051 1 -0.0021 1 0.051 -1 0.00015 -0.045 0.035 -0.11 0.99 0.0033 0.99 0.11 -1 -0.00051 0.035 -0.18 -0.11 0.98 -0.02 0.99 0.11 -0.98 -0.00051 -0.18 -0.44 -0.14 0.89 -0.061 0.99 0.12 -0.9 -0.00059 -0.44 0.035 -0.15 0.99 0.0042 0.99 0.15 -1 -0.0011 0.035 -0.17 -0.15 0.97 -0.028 0.99 0.15 -0.98 -0.0011 -0.17 -0.44 -0.19 0.88 -0.088 0.98 0.17 -0.89 -0.00092 -0.45 -0.63 0.44 0.64 0.18 0.88 -0.43 -0.76 -0.16 -0.63 -0.64 -0.63 -0.43 -0.34 0.74 -0.58 0.69 -0.22 -0.69 -0.64 -0.63 -0.43 -0.34 0.74 -0.58 0.69 -0.22 -0.69 -0.65 -0.37 0.67 -0.18 0.93 0.33 -0.74 0.096 -0.67 -0.6 0.7 -0.39 0.44 0.7 0.56 0.66 0.16 -0.73 -0.6 0.7 -0.39 0.44 0.7 0.56 0.66 0.16 -0.73 XIPOS 0 0 0 1.1 0.04 0.069 1.4 0.016 0.09 0.92 0.061 0.062 0.76 0.063 0.09 0.55 -0.053 0.066 0.18 -0.089 0.088 -0.067 -0.12 0.12 0.54 0.13 0.066 0.17 0.067 0.088 -0.07 0.028 0.12 1.1 -0.16 0.078 0.76 -0.21 0.06 0.61 -0.22 0.04 1.1 0.23 0.078 0.8 0.3 0.06 0.65 0.33 0.04 XIMAT 1 0 0 0 1 0 0 0 1 0.021 0.1 0.99 -0.0023 0.99 -0.1 -1 -0.0001 0.022 0.1 0.1 0.99 -0.011 0.99 -0.1 -0.99 -0.0001 0.1 -0.045 0.99 -0.1 -0.0021 -0.1 -0.99 -1 -0.045 0.0067 -0.045 1 0.051 -0.0021 0.051 -1 -1 -0.045 -0.00015 0.035 -0.08 1 0.0033 1 0.08 -1 0.0005 0.035 -0.18 -0.11 0.98 -0.02 0.99 0.11 -0.98 -0.00051 -0.18 0.89 0.14 -0.44 0.12 -0.99 -0.061 -0.44 0.00059 -0.9 0.035 -0.18 0.98 0.0042 0.98 0.18 -1 -0.0022 0.035 -0.17 -0.15 0.97 -0.028 0.99 0.15 -0.98 -0.0011 -0.17 0.88 0.19 -0.44 0.17 -0.98 -0.088 -0.45 0.00092 -0.89 -0.028 -0.16 0.99 0.074 0.98 0.16 -1 0.078 -0.016 0.12 0.12 0.99 -0.99 0.095 0.1 -0.08 -0.99 0.13 -0.12 -0.12 -0.99 -0.095 0.99 -0.1 0.99 0.08 -0.13 -0.05 0.23 0.97 -0.14 0.96 -0.24 -0.99 -0.15 -0.014 0.19 -0.1 0.98 0.97 0.18 -0.17 -0.15 0.98 0.13 -0.1 0.19 -0.98 0.18 0.97 0.17 0.98 -0.15 -0.13 XANCHOR 1.2 0.035 0.07 0.99 0.055 0.06 0.99 0.055 0.06 0.86 0.068 0.065 0.72 -0.039 0.072 0.72 -0.039 0.072 0.72 -0.039 0.072 0.34 -0.071 0.059 0.02 -0.11 0.12 -0.016 -0.11 0.13 0.71 0.16 0.072 0.71 0.16 0.072 0.71 0.16 0.072 0.34 0.093 0.059 0.016 0.043 0.12 -0.019 0.038 0.13 1.2 -0.14 0.076 1.2 -0.14 0.076 0.91 -0.19 0.081 1.3 0.2 0.076 1.3 0.2 0.076 0.95 0.27 0.08 XAXIS 0 0 1 0.99 -0.1 0.1 0.1 0.99 -0.0067 -0.045 -0.0021 -1 -0.045 -0.0021 -1 0.99 0.11 -0.045 -0.11 0.99 -0.00051 0.11 -0.99 0.00051 -0.11 0.99 -0.00051 0.0027 -0.00022 -1 0.045 0.0021 1 -0.99 -0.15 0.045 -0.15 0.99 -0.0011 0.15 -0.99 0.0011 -0.15 0.99 -0.0011 0.0052 0.0019 1 0.53 0.36 -0.77 0.14 -0.93 -0.33 0.14 -0.93 -0.33 -0.45 0.46 0.77 -0.21 -0.89 0.4 -0.21 -0.89 0.4 GEOM_XPOS 0 0 0 1.2 0.035 0.07 1.1 0.047 0.067 1.4 0.016 0.09 0.92 0.061 0.062 0.76 0.063 0.09 0.55 -0.053 0.066 0.18 -0.089 0.088 -0.064 -0.14 0.12 -0.069 -0.097 0.12 0.54 0.13 0.066 0.17 0.067 0.088 -0.066 0.008 0.12 -0.073 0.047 0.12 1.1 -0.16 0.078 0.76 -0.21 0.06 0.61 -0.22 0.04 1.1 0.23 0.078 0.8 0.3 0.06 0.65 0.33 0.04 GEOM_XMAT 1 0 0 0 1 0 0 0 1 0.1 0.99 -0.1 -0.011 -0.1 -0.99 -0.99 0.1 0.0001 0.1 0.99 -0.1 -0.011 -0.1 -0.99 -0.99 0.1 0.0001 0.1 0.1 0.99 -0.011 0.99 -0.1 -0.99 -0.0001 0.1 -0.045 0.99 -0.1 -0.0021 -0.1 -0.99 -1 -0.045 0.0067 -0.045 1 0.051 -0.0021 0.051 -1 -1 -0.045 -0.00015 0.035 -0.08 1 0.0033 1 0.08 -1 0.0005 0.035 -0.18 -0.11 0.98 -0.02 0.99 0.11 -0.98 -0.00051 -0.18 0.87 -0.26 0.43 0.21 0.96 0.15 -0.45 -0.043 0.89 0.89 -0.0095 0.45 0.027 1 -0.033 -0.45 0.042 0.89 0.035 -0.18 0.98 0.0042 0.98 0.18 -1 -0.0022 0.035 -0.17 -0.15 0.97 -0.028 0.99 0.15 -0.98 -0.0011 -0.17 0.85 -0.32 0.42 0.26 0.95 0.18 -0.46 -0.042 0.89 0.89 -0.066 0.46 0.077 1 -0.0058 -0.46 0.04 0.89 -0.028 -0.16 0.99 0.074 0.98 0.16 -1 0.078 -0.016 0.12 0.12 0.99 -0.99 0.095 0.1 -0.08 -0.99 0.13 -0.12 -0.12 -0.99 -0.095 0.99 -0.1 0.99 0.08 -0.13 -0.05 0.23 0.97 -0.14 0.96 -0.24 -0.99 -0.15 -0.014 0.19 -0.1 0.98 0.97 0.18 -0.17 -0.15 0.98 0.13 -0.1 0.19 -0.98 0.18 0.97 0.17 0.98 -0.15 -0.13 CAM_XPOS -2.3 0.031 1.5 0.7 -3 1.5 1.4 0.015 0.00029 CAM_XMAT 0 0.45 -0.89 -1 0 0 0 0.89 0.45 1 0 0 0 0.45 -0.89 0 0.89 0.45 -0.1 0.99 -0.005 -0.99 -0.1 0.00061 0.0001 0.005 1 LIGHT_XPOS 0 -6 4 0.7 0.031 1.2 LIGHT_XDIR 0.1 0.83 -0.54 0 0 -1 SUBTREE_COM 0.72 0.031 0.078 0.72 0.031 0.078 1.4 0.016 0.09 0.5 0.029 0.081 0.46 0.026 0.083 0.35 -0.073 0.08 0.11 -0.097 0.098 -0.067 -0.12 0.12 0.35 0.096 0.08 0.1 0.056 0.097 -0.07 0.028 0.12 0.93 -0.18 0.069 0.73 -0.21 0.056 0.61 -0.22 0.04 0.97 0.26 0.069 0.77 0.31 0.056 0.65 0.33 0.04 CDOF 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0.1 -0.011 -0.99 -0.004 0.46 -0.0053 0.1 0.99 -0.0001 0.0082 -0.00078 0.46 0.99 -0.1 0.1 -0.00042 -0.056 -0.05 0.99 -0.1 0.1 0.00059 -0.046 -0.05 0.1 0.99 -0.0067 0.018 -0.00011 0.26 -0.045 -0.0021 -1 -0.037 0.14 0.0014 -0.045 -0.0021 -1 0.07 0.0015 -0.0032 0.99 0.11 -0.045 0.0039 -0.0064 0.07 -0.11 0.99 -0.00051 0.0065 0.00072 -0.0065 0.11 -0.99 0.00051 -0.02 -0.002 0.39 -0.11 0.99 -0.00051 -0.038 -0.0046 -0.71 0.0027 -0.00022 -1 0.14 -0.74 0.00054 0.045 0.0021 1 0.13 0.0086 -0.0059 -0.99 -0.15 0.045 0.0048 0.0068 0.13 -0.15 0.99 -0.0011 0.0063 0.00099 0.011 0.15 -0.99 0.0011 -0.019 -0.0026 0.37 -0.15 0.99 -0.0011 -0.037 -0.0065 -0.69 0.0052 0.0019 1 0.0061 0.74 -0.0015 0.53 0.36 -0.77 0.13 0.38 0.27 0.14 -0.93 -0.33 0.055 0.17 -0.44 0.14 -0.93 -0.33 0.076 0.065 -0.15 -0.45 0.46 0.77 0.13 -0.41 0.32 -0.21 -0.89 0.4 0.066 -0.22 -0.44 -0.21 -0.89 0.4 0.099 -0.094 -0.16 CINERT 0 0 0 0 0 0 0 0 0 0 0.032 1 1 -0.021 0.022 0.00051 2.4 0.05 -0.054 5.9 0.011 1.3 1.3 0.03 -0.023 0.00053 2 -0.046 0.035 3.1 0.012 0.095 0.1 -0.014 0.0072 0.0011 0.45 0.068 -0.036 2.3 0.06 0.034 0.068 -0.0063 -0.0028 -0.0024 0.24 0.21 0.077 6.6 0.043 0.21 0.24 -0.072 -0.012 -0.0051 -0.8 -0.4 -0.059 4.8 0.045 0.85 0.89 -0.18 0.02 0.004 -1.5 -0.33 0.028 2.8 0.032 0.71 0.73 -0.13 0.036 0.0069 -0.89 -0.17 0.048 1.1 0.057 0.22 0.27 0.07 -0.013 0.0054 -0.84 0.47 -0.059 4.8 0.0085 0.86 0.86 0.05 0.02 -0.00019 -1.5 0.099 0.027 2.8 0.0074 0.71 0.71 -0.0034 0.036 -0.00026 -0.89 -0.0042 0.048 1.1 0.064 0.24 0.3 0.11 0.00011 0.0001 0.61 -0.32 0.00034 1.7 0.055 0.01 0.064 0.0082 -0.00036 -0.0042 0.038 -0.23 -0.017 0.96 0.018 0.004 0.021 -0.0077 -0.0012 -0.0026 -0.031 -0.068 -0.01 0.27 0.069 0.28 0.35 -0.13 0.00028 -5.8e-06 0.67 0.33 -0.00021 1.7 0.071 0.015 0.084 -0.019 0.00039 0.0049 0.078 0.26 -0.017 0.96 0.024 0.0019 0.025 0.0057 -0.00074 0.0031 -0.019 0.079 -0.01 0.27 TEN_LENGTH 0.066 0.064 TEN_MOMENT 0 0 0 0 0 0 0 0 0 0 0 0.5 -0.5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.5 -0.5 0 0 0 0 0 0 0 0 TENDON 0: 0 wrap points TENDON 1: 0 wrap points ACTUATOR_LENGTH -0.27 6 -6.1 -2.4 -0.13 -9.6 -17 5.7 -0.54 4.1 0.24 -9.6 -17 5.9 0.79 13 -13 -70 16 -12 -70 actuator_moment ----------------------------- x | x | x | x | x | x | x | x | x | x | x | x | x | x | x | x | x | x | x | x | x | ----------------------------- ACTUATOR_MOMENT 6: 40 7: 40 8: 40 9: 40 10: 40 11: 1.2e+02 12: 80 13: 20 14: 20 15: 40 16: 40 17: 1.2e+02 18: 80 19: 20 20: 20 21: 20 22: 20 23: 40 24: 20 25: 20 26: 40 CRB 0 0 0 0 0 0 0 0 0 0 0.61 6.6 7 -0.31 0.088 0.012 2.2e-15 -1.2e-16 4.8e-16 41 0.011 1.3 1.3 0.03 -0.023 0.00053 2 -0.046 0.035 3.1 0.27 3.7 3.9 -0.29 0.091 0.0093 -5.7 -0.058 0.074 26 0.25 3.6 3.8 -0.28 0.084 0.0082 -6.2 -0.13 0.11 24 0.12 1.8 1.9 -0.39 0.044 0.0057 -3.2 -0.9 0.017 8.6 0.077 1.6 1.6 -0.32 0.056 0.011 -2.4 -0.5 0.077 3.9 0.032 0.71 0.73 -0.13 0.036 0.0069 -0.89 -0.17 0.048 1.1 0.073 1.8 1.8 0.12 0.043 0.0049 -3.2 0.56 0.016 8.6 0.016 1.6 1.6 0.046 0.055 -0.00044 -2.4 0.094 0.075 3.9 0.0074 0.71 0.71 -0.0034 0.036 -0.00026 -0.89 -0.0042 0.048 1.1 0.14 0.25 0.38 0.12 -0.0014 -0.0067 0.61 -0.62 -0.027 2.9 0.073 0.014 0.084 0.00053 -0.0015 -0.0068 0.0078 -0.3 -0.028 1.2 0.018 0.004 0.021 -0.0077 -0.0012 -0.0026 -0.031 -0.068 -0.01 0.27 0.16 0.3 0.46 -0.14 -6.9e-05 0.0079 0.72 0.67 -0.028 2.9 0.095 0.017 0.11 -0.014 -0.00035 0.0079 0.058 0.34 -0.028 1.2 0.024 0.0019 0.025 0.0057 -0.00074 0.0031 -0.019 0.079 -0.01 0.27 QM 41 0 41 0 0 41 -0.16 19 -0.22 15 0.34 -0.032 19 -0.23 15 -0.017 -2.3 -2 -1.8 -1.8 1 0.014 -1.9 -1.9 -1.6 -1.8 0.68 0.67 0.56 0.028 13 -0.13 11 -1.4 -1.4 8.4 -1 9.4 0.025 8.9 -0.014 -1.1 -1 0.0081 5.9 -0.29 3.2 0.0063 3.2 -0.0072 -0.41 -0.38 0.0026 2.2 1.8 -0.0051 0.071 0.061 0.049 0.059 5.4e-05 0.00076 0.048 0.025 0.015 0.03 0.073 0.0097 3.2 -0.076 3.2 -0.73 -0.73 2.6 0.014 0.0055 0.029 1.8 -0.15 -0.017 -0.93 0.027 -1.1 0.24 0.24 -0.89 0.0064 -0.0033 -0.0087 -0.66 0.32 0.0048 0.00058 0.099 -0.0029 0.13 -0.028 -0.028 0.11 0.00036 0.00035 0.00084 0.084 -0.047 0.025 -0.0079 0.058 -3.4e-05 0.075 -0.00021 -0.0085 -0.008 7.6e-05 0.057 0.048 0.0015 -2.1e-05 4e-05 5.3e-05 0.015 0.56 -3.2 -0.018 -3.2 -0.00021 0.4 0.37 -0.0046 -2.2 1.8 0.014 -0.072 0.065 -0.05 0.057 -0.016 -0.017 0.044 -0.025 0.016 0.03 0.07 0.015 3.2 -0.0077 3.3 -0.23 -0.23 2.6 0.0054 -0.011 0.032 1.8 -0.15 -0.024 -0.93 -0.018 -1.1 0.11 0.11 -0.91 -0.016 0.0029 -0.01 -0.66 0.32 0.0055 0.00097 0.099 -0.0003 0.13 -0.015 -0.015 0.11 0.00078 -0.00058 0.0012 0.084 -0.047 0.025 0.011 -0.057 5.3e-05 -0.073 0.00027 0.0084 0.0078 2.7e-05 -0.055 0.048 0.0015 1.5e-05 -5e-05 -7.7e-05 0.015 -0.1 0.65 0.23 0.27 0.088 -0.086 0.27 -0.02 0.28 -0.8 0.14 -0.29 0.21 4.2e-17 0.38 0.021 0.081 -0.22 0.043 -0.11 0.063 2.8e-17 0.13 0.068 -0.15 -0.64 0.29 -0.26 0.11 0.084 0.28 -0.056 -0.34 -0.77 -0.15 -0.29 -0.16 1.4e-16 0.38 0.011 -0.098 -0.21 -0.048 -0.11 -0.046 4.9e-17 0.13 0.068 M 0: 41 0: 0 1: 41 0: 0 1: 0 2: 41 0: -0.16 1: 19 2: -0.22 3: 15 0: 0.34 1: -0.032 2: 19 3: -0.23 4: 15 0: -0.017 1: -2.3 2: -2 3: -1.8 4: -1.8 5: 1 0: 0.014 1: -1.9 2: -1.9 3: -1.6 4: -1.8 5: 0.68 6: 0.67 0: 0.56 1: 0.028 2: 13 3: -0.13 4: 11 5: -1.4 6: -1.4 7: 8.4 0: -1 1: 9.4 2: 0.025 3: 8.9 4: -0.014 5: -1.1 6: -1 7: 0.0081 8: 5.9 0: -0.29 1: 3.2 2: 0.0063 3: 3.2 4: -0.0072 5: -0.41 6: -0.38 7: 0.0026 8: 2.2 9: 1.8 0: -0.0051 1: 0.071 2: 0.061 3: 0.049 4: 0.059 5: 5.4e-05 6: 0.00076 7: 0.048 8: 0.025 9: 0.015 10: 0.03 0: 0.073 1: 0.0097 2: 3.2 3: -0.076 4: 3.2 5: -0.73 6: -0.73 7: 2.6 8: 0.014 9: 0.0055 10: 0.029 11: 1.8 0: -0.15 1: -0.017 2: -0.93 3: 0.027 4: -1.1 5: 0.24 6: 0.24 7: -0.89 8: 0.0064 9: -0.0033 10: -0.0087 11: -0.66 12: 0.32 0: 0.0048 1: 0.00058 2: 0.099 3: -0.0029 4: 0.13 5: -0.028 6: -0.028 7: 0.11 8: 0.00036 9: 0.00035 10: 0.00084 11: 0.084 12: -0.047 13: 0.025 0: -0.0079 1: 0.058 2: -3.4e-05 3: 0.075 4: -0.00021 5: -0.0085 6: -0.008 7: 7.6e-05 8: 0.057 9: 0.048 10: 0.0015 11: -2.1e-05 12: 4e-05 13: 5.3e-05 14: 0.015 0: 0.56 1: -3.2 2: -0.018 3: -3.2 4: -0.00021 5: 0.4 6: 0.37 7: -0.0046 8: -2.2 15: 1.8 0: 0.014 1: -0.072 2: 0.065 3: -0.05 4: 0.057 5: -0.016 6: -0.017 7: 0.044 8: -0.025 15: 0.016 16: 0.03 0: 0.07 1: 0.015 2: 3.2 3: -0.0077 4: 3.3 5: -0.23 6: -0.23 7: 2.6 8: 0.0054 15: -0.011 16: 0.032 17: 1.8 0: -0.15 1: -0.024 2: -0.93 3: -0.018 4: -1.1 5: 0.11 6: 0.11 7: -0.91 8: -0.016 15: 0.0029 16: -0.01 17: -0.66 18: 0.32 0: 0.0055 1: 0.00097 2: 0.099 3: -0.0003 4: 0.13 5: -0.015 6: -0.015 7: 0.11 8: 0.00078 15: -0.00058 16: 0.0012 17: 0.084 18: -0.047 19: 0.025 0: 0.011 1: -0.057 2: 5.3e-05 3: -0.073 4: 0.00027 5: 0.0084 6: 0.0078 7: 2.7e-05 8: -0.055 15: 0.048 16: 0.0015 17: 1.5e-05 18: -5e-05 19: -7.7e-05 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19: 0.025 0: 0.74 1: -3.8 2: 0.0036 3: -4.9 4: 0.018 5: 0.56 6: 0.52 7: 0.0018 8: -3.7 15: 3.2 16: 0.1 17: 0.00098 18: -0.0033 19: -0.0052 20: 0.015 0: -0.37 1: 2.4 2: 0.87 3: 1 4: 0.33 5: -0.32 21: 0.27 0: -0.46 1: 0.97 2: -2.9 3: 0.42 4: -0.67 5: 0.67 21: -8.7e-17 22: 0.13 0: 0.31 1: 1.2 2: -3.2 3: 0.63 4: -1.6 5: 0.93 21: 4.1e-16 22: 1.9 23: 0.068 0: -0.54 1: -2.3 2: 1 3: -0.91 4: 0.39 5: 0.3 24: 0.28 0: -0.58 1: -1.1 2: -2.8 3: -0.44 4: -0.67 5: -0.54 24: 3.5e-16 25: 0.13 0: 0.16 1: -1.4 2: -3.1 3: -0.71 4: -1.5 5: -0.68 24: 7.1e-16 25: 1.9 26: 0.068 QLDIAGINV 0.026 0.063 0.077 0.77 3.3 8.5 7.4 1.3 2.2 0.61 34 2.3 4.3 41 67 0.61 35 2.3 4.3 41 67 3.7 7.6 15 3.5 7.6 15 M: inertia structure ----------------------------- x | xx | xxx | xxxx | xxxxx | xxxxxx | xxxxxxx | xxxxxxxx | xxxxxxxxx | xxxxxxxxxx | xxxxxxxxxxx | xxxxxxxxxxxx | xxxxxxxxxxxxx | xxxxxxxxxxxxxx | xxxxxxxxxxxxxxx | xxxxxxxxx x | xxxxxxxxx xx | xxxxxxxxx xxx | xxxxxxxxx xxxx | xxxxxxxxx xxxxx | xxxxxxxxx xxxxxx | xxxxxx x | xxxxxx xx | xxxxxx xxx | xxxxxx x | xxxxxx xx | xxxxxx xxx | ----------------------------- iM: block-diagonal inertia (nnzs are island ids) ----------------------------- 0 | 00 | 000 | 0000 | 00000 | 000000 | 0000000 | 00000000 | 000000000 | 0000000000 | 00000000000 | 000000000000 | 0000000000000 | 00000000000000 | 000000000000000 | 000000000 0 | 000000000 00 | 000000000 000 | 000000000 0000 | 000000000 00000 | 000000000 000000 | 000000 0 | 000000 00 | 000000 000 | 000000 0 | 000000 00 | 000000 000 | ----------------------------- QH 0: 38 0: -0.06 1: 16 0: -0.06 1: 0.0012 2: 13 0: 0.78 1: 1.7 2: -0.029 3: 1.4 0: -0.98 1: -0.1 2: 1 3: -0.069 4: 0.39 0: -0.42 1: -1.5 2: -0.036 3: -0.47 4: -0.008 5: 0.14 0: -0.47 1: -1.5 2: -0.14 3: -0.44 4: -0.038 5: 0.82 6: 0.17 0: 0.54 1: 0.028 2: 3.3 3: 0.02 4: 1.6 5: -0.071 6: -0.07 7: 0.92 0: 0.044 1: 3 2: 0.009 3: 1.9 4: 0.0018 5: -0.22 6: -0.19 7: 0.006 8: 0.55 0: -0.16 1: 1.8 2: -6.7e-05 3: 1.8 4: -0.0095 5: -0.23 6: -0.21 7: -0.0034 8: 1.2 9: 1.7 0: -0.054 1: 1.2 2: 0.092 3: 0.79 4: 0.13 5: 0.24 6: 0.25 7: 0.11 8: 0.36 9: 0.18 10: 0.054 0: -0.54 1: -0.059 2: 2.8 3: -0.045 4: 2.2 5: -0.51 6: -0.51 7: 1.6 8: 0.059 9: -0.0037 10: 0.024 11: 0.46 0: -0.6 1: -0.07 2: -3.1 3: 0.087 4: -3.5 5: 0.78 6: 0.78 7: -2.9 8: 0.027 9: -0.013 10: -0.03 11: -2.1 12: 0.24 0: 0.19 1: 0.015 2: 3.9 3: -0.12 4: 5 5: -1.1 6: -1.1 7: 4.2 8: 0.0069 9: 0.0073 10: 0.033 11: 3.3 12: -1.8 13: 0.026 0: -0.5 1: 3.6 2: -0.0021 3: 4.7 4: -0.013 5: -0.53 6: -0.5 7: 0.0047 8: 3.5 9: 3 10: 0.096 11: -0.0013 12: 0.0025 13: 0.0033 14: 0.016 0: 0.31 1: -1.8 2: 0.0022 3: -1.8 4: 0.012 5: 0.23 6: 0.21 7: 0.0077 8: -1.2 15: 1.7 0: 0.25 1: -1.2 2: 0.092 3: -0.79 4: -0.027 5: -0.24 6: -0.26 7: -0.045 8: -0.36 15: 0.21 16: 0.054 0: -0.53 1: -0.08 2: 2.8 3: -0.1 4: 2.2 5: -0.025 6: -0.026 7: 1.7 8: -0.062 15: -0.011 16: 0.023 17: 0.46 0: -0.58 1: -0.096 2: -3.1 3: -0.081 4: -3.5 5: 0.34 6: 0.33 7: -2.9 8: -0.064 15: 0.0099 16: -0.034 17: -2.1 18: 0.24 0: 0.22 1: 0.027 2: 3.9 3: -0.025 4: 5 5: -0.58 6: -0.58 7: 4.3 8: 0.02 15: -0.013 16: 0.048 17: 3.3 18: -1.8 19: 0.026 0: 0.7 1: -3.6 2: 0.0033 3: -4.6 4: 0.017 5: 0.52 6: 0.49 7: 0.0017 8: -3.5 15: 3 16: 0.096 17: 0.00092 18: -0.0031 19: -0.0048 20: 0.016 0: -0.37 1: 2.4 2: 0.86 3: 1 4: 0.32 5: -0.32 21: 0.27 0: -0.44 1: 0.95 2: -2.8 3: 0.41 4: -0.67 5: 0.66 21: -7.8e-17 22: 0.14 0: 0.3 1: 1.2 2: -3.2 3: 0.62 4: -1.5 5: 0.91 21: 4e-16 22: 1.9 23: 0.069 0: -0.54 1: -2.3 2: 1 3: -0.91 4: 0.39 5: 0.3 24: 0.29 0: -0.56 1: -1.1 2: -2.8 3: -0.43 4: -0.67 5: -0.53 24: 3.5e-16 25: 0.14 0: 0.16 1: -1.4 2: -3.1 3: -0.7 4: -1.5 5: -0.67 24: 7e-16 25: 1.9 26: 0.069 QHDIAGINV 0.026 0.063 0.074 0.7 2.6 7.2 5.7 1.1 1.8 0.6 19 2.2 4.2 39 62 0.6 19 2.2 4.2 39 62 3.7 7.4 14 3.5 7.4 14 CONTACT 0: dim 3 geoms floor : torso exclude 0 efc_address 2 solref 0.018 1 solimp 0.9 0.97 0.002 0.5 2 dist -4.9e-05 includemargin 0 pos 1.2 -0.034 -2.4e-05 frame 0 0 1 -0.1 -0.99 0 0.99 -0.1 0 friction 1 1 0.005 0.0001 0.0001 mu 1 force 26 0.89 -1.2 0 0 0 1: dim 3 geoms floor : torso exclude 0 efc_address 6 solref 0.018 1 solimp 0.9 0.97 0.002 0.5 2 dist -6.3e-05 includemargin 0 pos 1.2 0.1 -3.2e-05 frame 0 0 1 -0.1 -0.99 0 0.99 -0.1 0 friction 1 1 0.005 0.0001 0.0001 mu 1 force 34 0.89 0.6 0 0 0 2: dim 3 geoms floor : head exclude 0 efc_address 10 solref 0.018 1 solimp 0.9 0.97 0.002 0.5 2 dist -0.0002 includemargin 0 pos 1.4 0.016 -0.0001 frame 0 0 1 0 1 0 -1 0 0 friction 1 1 0.005 0.0001 0.0001 mu 1 force 48 -1.5 0.28 0 0 0 3: dim 3 geoms floor : butt exclude 0 efc_address 14 solref 0.018 1 solimp 0.9 0.97 0.002 0.5 2 dist -0.00015 includemargin 0 pos 0.76 -0.0069 -7.5e-05 frame 0 0 1 0.051 -1 0 1 0.051 -0 friction 1 1 0.005 0.0001 0.0001 mu 1 force 77 -2.5 0.57 0 0 0 4: dim 3 geoms floor : butt exclude 0 efc_address 18 solref 0.018 1 solimp 0.9 0.97 0.002 0.5 2 dist -0.00013 includemargin 0 pos 0.75 0.13 -6.4e-05 frame 0 0 1 0.051 -1 0 1 0.051 -0 friction 1 1 0.005 0.0001 0.0001 mu 1 force 65 -2.5 -0.19 0 0 0 5: dim 3 geoms floor : thigh_right exclude 0 efc_address 22 solref 0.018 1 solimp 0.9 0.97 0.002 0.5 2 dist -0.00011 includemargin 0 pos 0.38 -0.066 -5.3e-05 frame 0 0 1 1 0.08 0 -0.08 1 0 friction 1 1 0.005 0.0001 0.0001 mu 1 force 40 0.6 0.22 0 0 0 6: dim 3 geoms floor : foot1_right exclude 0 efc_address 26 solref 0.018 1 solimp 0.9 0.97 0.002 0.5 2 dist -0.00011 includemargin 0 pos -0.11 -0.15 -5.7e-05 frame 0 0 1 0.94 0.34 0 -0.34 0.94 0 friction 1 1 0.005 0.0001 0.0001 mu 1 force 8.8 0.16 -0.45 0 0 0 7: dim 3 geoms floor : foot2_right exclude 0 efc_address 30 solref 0.018 1 solimp 0.9 0.97 0.002 0.5 2 dist -0.00015 includemargin 0 pos -0.12 -0.094 -7.4e-05 frame 0 0 1 1 -0.073 0 0.073 1 -0 friction 1 1 0.005 0.0001 0.0001 mu 1 force 12 0.28 -0.35 0 0 0 8: dim 3 geoms floor : thigh_left exclude 0 efc_address 34 solref 0.018 1 solimp 0.9 0.97 0.002 0.5 2 dist -0.00011 includemargin 0 pos 0.38 0.099 -5.3e-05 frame 0 0 1 0.98 0.18 0 -0.18 0.98 0 friction 1 1 0.005 0.0001 0.0001 mu 1 force 40 -0.031 -0.13 0 0 0 9: dim 3 geoms floor : foot1_left exclude 0 efc_address 38 solref 0.018 1 solimp 0.9 0.97 0.002 0.5 2 dist -0.0001 includemargin 0 pos -0.11 -0.011 -5.1e-05 frame 0 0 1 0.92 0.39 0 -0.39 0.92 0 friction 1 1 0.005 0.0001 0.0001 mu 1 force 8 -0.16 -0.56 0 0 0 10: dim 3 geoms floor : foot2_left exclude 0 efc_address 42 solref 0.018 1 solimp 0.9 0.97 0.002 0.5 2 dist -0.00016 includemargin 0 pos -0.12 0.048 -7.9e-05 frame 0 0 1 1 -0.013 0 0.013 1 -0 friction 1 1 0.005 0.0001 0.0001 mu 1 force 12 0.02 -0.59 0 0 0 11: dim 3 geoms floor : hand_right exclude 0 efc_address 46 solref 0.018 1 solimp 0.9 0.97 0.002 0.5 2 dist -0.0004 includemargin 0 pos 0.61 -0.22 -0.0002 frame 0 0 1 0 1 0 -1 0 0 friction 1 1 0.005 0.0001 0.0001 mu 1 force 15 0.68 0.28 0 0 0 12: dim 3 geoms floor : hand_left exclude 0 efc_address 50 solref 0.018 1 solimp 0.9 0.97 0.002 0.5 2 dist -0.0004 includemargin 0 pos 0.65 0.33 -0.0002 frame 0 0 1 0 1 0 -1 0 0 friction 1 1 0.005 0.0001 0.0001 mu 1 force 15 -0.83 0.035 0 0 0 EFC_TYPE 3 3 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 EFC_ID 18 21 0 0 0 0 1 1 1 1 2 2 2 2 3 3 3 3 4 4 4 4 5 5 5 5 6 6 6 6 7 7 7 7 8 8 8 8 9 9 9 9 10 10 10 10 11 11 11 11 12 12 12 12 EFC_J 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 -0.1 -0.99 1 -0.015 -6.9e-17 -0.14 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0.99 1 -3.3e-06 -4.2e-17 -3.1e-05 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.99 -0.1 1 -0.077 -0.07 -0.062 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.99 0.1 1 0.062 0.07 -0.077 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.1 -0.99 1 2.5e-06 4.1e-17 2.4e-05 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0.99 1 0.015 7e-17 0.14 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.99 -0.1 1 0.077 -0.07 0.062 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.99 0.1 1 -0.062 0.07 0.077 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 -0.18 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0 -1 -0.08 1 0.017 0.85 -0.2 -0.2 0.65 0.1 0.00062 0.012 0.41 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.08 1 1 0.79 0.8 -0.2 -0.19 0.6 0.48 0.34 0.097 0.34 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.08 -1 1 -0.82 0.77 -0.16 -0.17 0.57 -0.47 -0.34 -0.077 0.34 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.94 0.34 1 0.23 1.2 -0.31 -0.31 1 0.13 0.18 0.0023 0.77 -0.4 0.02 -0.0087 0 0 0 0 0 0 0 0 0 0 0 0 -0.94 -0.34 1 -0.3 1.3 -0.32 -0.32 1.1 -0.11 -0.17 -0.048 0.91 -0.51 0.25 0.0085 0 0 0 0 0 0 0 0 0 0 0 0 -0.34 0.94 1 1.2 1.3 -0.39 -0.38 1.1 0.99 0.82 0.084 0.86 -0.47 0.16 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0.34 -0.94 1 -1.3 1.2 -0.24 -0.25 1 -0.97 -0.81 -0.13 0.82 -0.44 0.11 -0.1 0 0 0 0 0 0 0 0 0 0 0 0 1 -0.073 1 -0.25 1.2 -0.23 -0.23 1 -0.23 -0.11 0.019 0.77 -0.4 0.02 0.0089 0 0 0 0 0 0 0 0 0 0 0 0 -1 0.073 1 0.19 1.3 -0.28 -0.28 1.1 0.24 0.12 0.056 0.91 -0.52 0.25 -0.0088 0 0 0 0 0 0 0 0 0 0 0 0 0.073 1 1 1.3 1.3 -0.32 -0.31 1.1 0.96 0.83 0.15 0.83 -0.45 0.11 0.1 0 0 0 0 0 0 0 0 0 0 0 0 -0.073 -1 1 -1.3 1.3 -0.19 -0.2 1.1 -0.95 -0.83 -0.071 0.85 -0.47 0.16 -0.1 0 0 0 0 0 0 0 0 0 0 0 0 0.98 0.18 1 0.21 0.74 -0.02 -0.017 0.55 0.11 0 0 0 0 0 0 -0.0016 0.0079 0.27 0 0 0 0 0 0 0 0 0 -0.98 -0.18 1 -0.21 0.87 -0.015 -0.018 0.67 -0.12 0 0 0 0 0 0 -0.0025 0.012 0.41 0 0 0 0 0 0 0 0 0 -0.18 0.98 1 0.78 0.82 -0.032 -0.022 0.63 0.46 0 0 0 0 0 0 -0.34 -0.077 0.34 0 0 0 0 0 0 0 0 0 0.18 -0.98 1 -0.78 0.78 -0.0029 -0.012 0.59 -0.46 0 0 0 0 0 0 0.33 0.097 0.34 0 0 0 0 0 0 0 0 0 0.92 0.39 1 0.45 1.2 -0.19 -0.18 1 0.31 0 0 0 0 0 0 -0.17 0.019 0.77 -0.4 0.021 0.0088 0 0 0 0 0 0 -0.92 -0.39 1 -0.48 1.3 -0.16 -0.16 1.1 -0.3 0 0 0 0 0 0 0.16 0.069 0.91 -0.52 0.25 -0.009 0 0 0 0 0 0 -0.39 0.92 1 1.2 1.3 -0.24 -0.23 1.1 0.92 0 0 0 0 0 0 -0.83 -0.063 0.86 -0.47 0.16 -0.1 0 0 0 0 0 0 0.39 -0.92 1 -1.2 1.2 -0.11 -0.12 1 -0.91 0 0 0 0 0 0 0.81 0.15 0.82 -0.44 0.1 0.1 0 0 0 0 0 0 1 -0.013 1 -0.016 1.2 -0.11 -0.11 1 -0.033 0 0 0 0 0 0 0.12 0.0015 0.77 -0.4 0.022 -0.0091 0 0 0 0 0 0 -1 0.013 1 -0.0094 1.4 -0.12 -0.12 1.2 0.031 0 0 0 0 0 0 -0.13 -0.033 0.91 -0.52 0.25 0.0096 0 0 0 0 0 0 0.013 1 1 1.3 1.3 -0.18 -0.17 1.1 0.97 0 0 0 0 0 0 -0.83 -0.12 0.83 -0.45 0.12 -0.1 0 0 0 0 0 0 -0.013 -1 1 -1.3 1.3 -0.051 -0.061 1.1 -0.97 0 0 0 0 0 0 0.82 0.092 0.85 -0.47 0.15 0.1 0 0 0 0 0 0 0 1 1 0.54 0.55 -0.3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.69 -0.37 -0.18 0 0 0 0 -1 1 -0.61 0.54 -0.32 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.34 -0.8 -0.41 0 0 0 -1 0 1 0.22 0.61 -0.35 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.27 -0.63 -0.36 0 0 0 1 0 1 -0.29 0.47 -0.28 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.086 -0.54 -0.23 0 0 0 0 1 1 0.56 0.56 0.25 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.28 -0.83 -0.42 0 -1 1 -0.51 0.55 0.22 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.72 -0.31 -0.14 -1 0 1 -0.27 0.63 0.26 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.35 -0.58 -0.33 1 0 1 0.32 0.49 0.21 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.085 -0.55 -0.23 IEFC_J 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 -0.1 -0.99 1 -0.015 -6.9e-17 -0.14 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0.99 1 -3.3e-06 -4.2e-17 -3.1e-05 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.99 -0.1 1 -0.077 -0.07 -0.062 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.99 0.1 1 0.062 0.07 -0.077 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.1 -0.99 1 2.5e-06 4.1e-17 2.4e-05 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0.99 1 0.015 7e-17 0.14 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.99 -0.1 1 0.077 -0.07 0.062 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.99 0.1 1 -0.062 0.07 0.077 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 -0.18 -0.18 0.089 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -1 1 0.18 -0.2 -0.089 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -1 0 1 0.018 -0.12 -0.009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 -0.018 -0.26 0.009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.051 -1 1 -0.43 0.4 -0.11 -0.12 0.21 -0.093 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.051 1 1 0.42 0.42 -0.059 -0.049 0.23 0.099 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0.051 1 -0.028 0.34 -0.071 -0.069 0.16 -0.067 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -1 -0.051 1 0.011 0.48 -0.096 -0.098 0.28 0.073 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.051 -1 1 -0.42 0.42 0.029 0.019 0.23 -0.099 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.051 1 1 0.43 0.44 0.079 0.089 0.25 0.093 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0.051 1 0.13 0.36 0.052 0.054 0.18 0.067 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -1 -0.051 1 -0.11 0.5 0.056 0.055 0.3 -0.073 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0.08 1 -0.055 0.71 -0.16 -0.16 0.53 -0.091 0.0004 0.0079 0.27 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -1 -0.08 1 0.017 0.85 -0.2 -0.2 0.65 0.1 0.00062 0.012 0.41 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.08 1 1 0.79 0.8 -0.2 -0.19 0.6 0.48 0.34 0.097 0.34 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.08 -1 1 -0.82 0.77 -0.16 -0.17 0.57 -0.47 -0.34 -0.077 0.34 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.94 0.34 1 0.23 1.2 -0.31 -0.31 1 0.13 0.18 0.0023 0.77 -0.4 0.02 -0.0087 0 0 0 0 0 0 0 0 0 0 0 0 -0.94 -0.34 1 -0.3 1.3 -0.32 -0.32 1.1 -0.11 -0.17 -0.048 0.91 -0.51 0.25 0.0085 0 0 0 0 0 0 0 0 0 0 0 0 -0.34 0.94 1 1.2 1.3 -0.39 -0.38 1.1 0.99 0.82 0.084 0.86 -0.47 0.16 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0.34 -0.94 1 -1.3 1.2 -0.24 -0.25 1 -0.97 -0.81 -0.13 0.82 -0.44 0.11 -0.1 0 0 0 0 0 0 0 0 0 0 0 0 1 -0.073 1 -0.25 1.2 -0.23 -0.23 1 -0.23 -0.11 0.019 0.77 -0.4 0.02 0.0089 0 0 0 0 0 0 0 0 0 0 0 0 -1 0.073 1 0.19 1.3 -0.28 -0.28 1.1 0.24 0.12 0.056 0.91 -0.52 0.25 -0.0088 0 0 0 0 0 0 0 0 0 0 0 0 0.073 1 1 1.3 1.3 -0.32 -0.31 1.1 0.96 0.83 0.15 0.83 -0.45 0.11 0.1 0 0 0 0 0 0 0 0 0 0 0 0 -0.073 -1 1 -1.3 1.3 -0.19 -0.2 1.1 -0.95 -0.83 -0.071 0.85 -0.47 0.16 -0.1 0 0 0 0 0 0 0 0 0 0 0 0 0.98 0.18 1 0.21 0.74 -0.02 -0.017 0.55 0.11 0 0 0 0 0 0 -0.0016 0.0079 0.27 0 0 0 0 0 0 0 0 0 -0.98 -0.18 1 -0.21 0.87 -0.015 -0.018 0.67 -0.12 0 0 0 0 0 0 -0.0025 0.012 0.41 0 0 0 0 0 0 0 0 0 -0.18 0.98 1 0.78 0.82 -0.032 -0.022 0.63 0.46 0 0 0 0 0 0 -0.34 -0.077 0.34 0 0 0 0 0 0 0 0 0 0.18 -0.98 1 -0.78 0.78 -0.0029 -0.012 0.59 -0.46 0 0 0 0 0 0 0.33 0.097 0.34 0 0 0 0 0 0 0 0 0 0.92 0.39 1 0.45 1.2 -0.19 -0.18 1 0.31 0 0 0 0 0 0 -0.17 0.019 0.77 -0.4 0.021 0.0088 0 0 0 0 0 0 -0.92 -0.39 1 -0.48 1.3 -0.16 -0.16 1.1 -0.3 0 0 0 0 0 0 0.16 0.069 0.91 -0.52 0.25 -0.009 0 0 0 0 0 0 -0.39 0.92 1 1.2 1.3 -0.24 -0.23 1.1 0.92 0 0 0 0 0 0 -0.83 -0.063 0.86 -0.47 0.16 -0.1 0 0 0 0 0 0 0.39 -0.92 1 -1.2 1.2 -0.11 -0.12 1 -0.91 0 0 0 0 0 0 0.81 0.15 0.82 -0.44 0.1 0.1 0 0 0 0 0 0 1 -0.013 1 -0.016 1.2 -0.11 -0.11 1 -0.033 0 0 0 0 0 0 0.12 0.0015 0.77 -0.4 0.022 -0.0091 0 0 0 0 0 0 -1 0.013 1 -0.0094 1.4 -0.12 -0.12 1.2 0.031 0 0 0 0 0 0 -0.13 -0.033 0.91 -0.52 0.25 0.0096 0 0 0 0 0 0 0.013 1 1 1.3 1.3 -0.18 -0.17 1.1 0.97 0 0 0 0 0 0 -0.83 -0.12 0.83 -0.45 0.12 -0.1 0 0 0 0 0 0 -0.013 -1 1 -1.3 1.3 -0.051 -0.061 1.1 -0.97 0 0 0 0 0 0 0.82 0.092 0.85 -0.47 0.15 0.1 0 0 0 0 0 0 0 1 1 0.54 0.55 -0.3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.69 -0.37 -0.18 0 0 0 0 -1 1 -0.61 0.54 -0.32 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.34 -0.8 -0.41 0 0 0 -1 0 1 0.22 0.61 -0.35 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.27 -0.63 -0.36 0 0 0 1 0 1 -0.29 0.47 -0.28 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.086 -0.54 -0.23 0 0 0 0 1 1 0.56 0.56 0.25 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.28 -0.83 -0.42 0 -1 1 -0.51 0.55 0.22 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.72 -0.31 -0.14 -1 0 1 -0.27 0.63 0.26 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.35 -0.58 -0.33 1 0 1 0.32 0.49 0.21 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.085 -0.55 -0.23 EFC_POS -0.0066 -0.0066 -4.9e-05 -4.9e-05 -4.9e-05 -4.9e-05 -6.3e-05 -6.3e-05 -6.3e-05 -6.3e-05 -0.0002 -0.0002 -0.0002 -0.0002 -0.00015 -0.00015 -0.00015 -0.00015 -0.00013 -0.00013 -0.00013 -0.00013 -0.00011 -0.00011 -0.00011 -0.00011 -0.00011 -0.00011 -0.00011 -0.00011 -0.00015 -0.00015 -0.00015 -0.00015 -0.00011 -0.00011 -0.00011 -0.00011 -0.0001 -0.0001 -0.0001 -0.0001 -0.00016 -0.00016 -0.00016 -0.00016 -0.0004 -0.0004 -0.0004 -0.0004 -0.0004 -0.0004 -0.0004 -0.0004 EFC_MARGIN 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 EFC_FRICTIONLOSS 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 EFC_DIAGAPPROX 20 20 0.21 0.21 0.21 0.21 0.21 0.21 0.21 0.21 0.48 0.48 0.48 0.48 0.22 0.22 0.22 0.22 0.22 0.22 0.22 0.22 0.3 0.3 0.3 0.3 1.5 1.5 1.5 1.5 1.5 1.5 1.5 1.5 0.3 0.3 0.3 0.3 1.5 1.5 1.5 1.5 1.5 1.5 1.5 1.5 3.3 3.3 3.3 3.3 3.3 3.3 3.3 3.3 EFC_KBIP 2.6e+03 1e+02 0.76 -1.3e+02 2.6e+03 1e+02 0.76 -1.4e+02 3.5e+03 1.2e+02 0.9 -3.4 3.5e+03 1.2e+02 0.9 -3.4 3.5e+03 1.2e+02 0.9 -3.4 3.5e+03 1.2e+02 0.9 -3.4 3.5e+03 1.2e+02 0.9 -4.4 3.5e+03 1.2e+02 0.9 -4.4 3.5e+03 1.2e+02 0.9 -4.4 3.5e+03 1.2e+02 0.9 -4.4 3.5e+03 1.2e+02 0.9 -14 3.5e+03 1.2e+02 0.9 -14 3.5e+03 1.2e+02 0.9 -14 3.5e+03 1.2e+02 0.9 -14 3.5e+03 1.2e+02 0.9 -10 3.5e+03 1.2e+02 0.9 -10 3.5e+03 1.2e+02 0.9 -10 3.5e+03 1.2e+02 0.9 -10 3.5e+03 1.2e+02 0.9 -9 3.5e+03 1.2e+02 0.9 -9 3.5e+03 1.2e+02 0.9 -9 3.5e+03 1.2e+02 0.9 -9 3.5e+03 1.2e+02 0.9 -7.5 3.5e+03 1.2e+02 0.9 -7.5 3.5e+03 1.2e+02 0.9 -7.5 3.5e+03 1.2e+02 0.9 -7.5 3.5e+03 1.2e+02 0.9 -8 3.5e+03 1.2e+02 0.9 -8 3.5e+03 1.2e+02 0.9 -8 3.5e+03 1.2e+02 0.9 -8 3.5e+03 1.2e+02 0.9 -10 3.5e+03 1.2e+02 0.9 -10 3.5e+03 1.2e+02 0.9 -10 3.5e+03 1.2e+02 0.9 -10 3.5e+03 1.2e+02 0.9 -7.5 3.5e+03 1.2e+02 0.9 -7.5 3.5e+03 1.2e+02 0.9 -7.5 3.5e+03 1.2e+02 0.9 -7.5 3.5e+03 1.2e+02 0.9 -7.2 3.5e+03 1.2e+02 0.9 -7.2 3.5e+03 1.2e+02 0.9 -7.2 3.5e+03 1.2e+02 0.9 -7.2 3.5e+03 1.2e+02 0.9 -11 3.5e+03 1.2e+02 0.9 -11 3.5e+03 1.2e+02 0.9 -11 3.5e+03 1.2e+02 0.9 -11 3.5e+03 1.2e+02 0.91 -28 3.5e+03 1.2e+02 0.91 -28 3.5e+03 1.2e+02 0.91 -28 3.5e+03 1.2e+02 0.91 -28 3.5e+03 1.2e+02 0.91 -28 3.5e+03 1.2e+02 0.91 -28 3.5e+03 1.2e+02 0.91 -28 3.5e+03 1.2e+02 0.91 -28 EFC_D 0.16 0.16 43 43 43 43 43 43 43 43 19 19 19 19 41 41 41 41 41 41 41 41 30 30 30 30 6.2 6.2 6.2 6.2 6.2 6.2 6.2 6.2 30 30 30 30 6.2 6.2 6.2 6.2 6.2 6.2 6.2 6.2 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 EFC_R 6.2 6.4 0.023 0.023 0.023 0.023 0.023 0.023 0.023 0.023 0.052 0.052 0.052 0.052 0.025 0.025 0.025 0.025 0.025 0.025 0.025 0.025 0.033 0.033 0.033 0.033 0.16 0.16 0.16 0.16 0.16 0.16 0.16 0.16 0.033 0.033 0.033 0.033 0.16 0.16 0.16 0.16 0.16 0.16 0.16 0.16 0.34 0.34 0.34 0.34 0.34 0.34 0.34 0.34 TEN_VELOCITY -0.00011 4.7e-05 ACTUATOR_VELOCITY 0.0032 0.00026 0.073 0.0019 -0.00032 0.00082 0.018 0.015 -0.0014 -0.008 -0.00086 0.00079 -0.007 -0.0061 0.00026 -0.012 -0.0037 -2.7e-06 -0.059 -0.023 -3.5e-05 CVEL 0 0 0 0 0 0 1.3e-06 -7.3e-07 0.0013 4.2e-05 -0.00049 -3.7e-07 1.3e-06 -7.3e-07 0.0013 4.2e-05 -0.00049 -3.7e-07 8.2e-05 -2.4e-06 0.0013 4.2e-05 -0.00049 -2.7e-06 -8.3e-07 -6.3e-06 -0.00057 -2.5e-05 -0.00024 -2e-07 -1.2e-05 -5.2e-07 -0.00062 -2.1e-05 -0.00024 -9.5e-07 1.3e-05 -0.00023 -0.00061 -2.6e-05 -0.00024 8.6e-05 -7.2e-05 0.00054 -0.00054 -6.6e-05 -0.00019 -0.00046 1e-05 3e-06 -0.00077 -5.1e-05 -0.00025 -1.7e-06 -3.1e-06 9e-05 -0.00077 -4.9e-05 -0.00025 -3.4e-05 4.4e-05 -0.00021 -0.00076 -3.8e-05 -0.00023 0.00018 -0.00035 -4.6e-05 0.0018 -4.9e-05 -0.00076 -8.3e-05 -0.00035 -4.6e-05 0.0018 -4.9e-05 -0.00076 -8.3e-05 -0.00035 -4.6e-05 0.0018 -4.9e-05 -0.00076 -8.3e-05 0.0016 -0.00033 -0.0015 -0.00042 0.00097 -0.00044 0.0016 -0.00033 -0.0015 -0.00042 0.00098 -0.00044 0.0016 -0.00033 -0.0015 -0.00042 0.00098 -0.00044 CDOF_DOT 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0 -8.5e-05 3.7e-05 -9.3e-06 -0 0 0 1.8e-08 1.2e-09 2.9e-05 0 0 -0 8.9e-06 -3.9e-06 -8.8e-05 0.00013 0.0012 6e-07 6.7e-06 -4e-06 0.00048 -0.0013 0.00013 8.2e-05 5.5e-06 1.8e-06 9.2e-05 5.1e-06 2.5e-05 -2.9e-07 0.00032 -3.9e-06 -1.1e-05 5.1e-06 2.5e-05 -2.9e-07 0.00024 -6.5e-05 -1.1e-05 6.8e-05 -0.00061 6.1e-06 6.7e-06 -3.5e-06 0.00024 0.00061 6.7e-05 -1.2e-05 1.5e-06 -4e-06 -4.8e-05 -0.00061 -6.7e-05 1.2e-05 -2.5e-06 1.6e-05 4.8e-05 0.00061 6.7e-05 -1.2e-05 7.2e-05 2.3e-05 -6.1e-05 -0.00054 -7.3e-05 -1.4e-06 -0.0002 -0.00014 -2.3e-05 -5.1e-06 -2.5e-05 2.9e-07 -0.00024 -4.9e-05 1.2e-05 -0.00012 0.00076 -5.2e-06 -6.6e-06 -1.1e-06 -0.00024 0.00076 0.00012 1.1e-05 2.8e-06 -4.7e-06 -8.8e-05 -0.00076 -0.00012 -1.1e-05 -2.9e-06 1.1e-05 8.8e-05 0.00076 0.00012 1.1e-05 -3.3e-05 3.1e-05 -8.3e-05 -0.00021 -4.8e-05 1.2e-06 0.00032 3.4e-05 3.5e-05 -0.00045 0.00067 8.5e-07 -0.00011 0.0002 0.00028 0.0017 0.00014 0.00033 -0.0001 -8.4e-05 9.8e-05 0.0017 0.00014 0.00033 6.5e-05 5.6e-05 0.00013 -0.00057 -0.00056 2.6e-07 0.00014 0.00013 -0.0002 -0.0015 -0.00032 -0.0015 -0.00017 0.00086 0.00026 -0.0015 -0.00032 -0.0015 -8.8e-05 0.00036 0.00046 QFRC_BIAS 2.1e-05 -2e-06 4e+02 -2.1 1.8e+02 -20 -19 1.2e+02 0.25 0.062 0.6 31 -9.1 0.97 -0.00033 -0.18 0.64 32 -9.1 0.97 0.00052 2.3 -7.8 -2.1 2.9 -7.6 -2.1 QFRC_SPRING 0 0 0 0 0 0 0.13 -1.5 1.5 0.59 0.033 0.8 0.21 -1.7 0.081 -1 -0.06 0.8 0.21 -1.8 -0.12 -0.66 0.63 0 -0.8 0.59 0 QFRC_DAMPER 0 0 0 0 0 0 -0.00041 -3.2e-05 -0.0092 -0.00023 4e-05 -3.4e-05 -4.5e-05 -0.00015 1.4e-05 0.001 0.00011 -3.3e-05 1.8e-05 6.1e-05 -2.6e-06 0.00012 3.7e-05 1.3e-08 0.00059 0.00023 1.7e-07 QFRC_GRAVCOMP 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 QFRC_FLUID 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 QFRC_PASSIVE 0 0 0 0 0 0 0.13 -1.5 1.5 0.59 0.033 0.8 0.21 -1.7 0.081 -1 -0.059 0.8 0.21 -1.8 -0.12 -0.66 0.63 1.3e-08 -0.8 0.59 1.7e-07 EFC_VEL -6.7e-08 -8.7e-07 -8.9e-05 8.9e-05 0.00012 -0.00012 -8.9e-05 8.9e-05 -5.9e-05 5.9e-05 0.00032 -0.00032 -6.1e-05 6.1e-05 0.00026 -0.00026 -5.9e-05 6e-05 0.00026 -0.00026 2e-05 -2e-05 -8.4e-05 8.4e-05 -3.1e-05 3.1e-05 -0.00011 0.00011 0.00031 -0.00031 -0.00019 0.00019 0.00024 -0.00024 4.4e-06 -4.4e-06 1.8e-05 -1.8e-05 0.00011 -0.00011 0.00039 -0.00039 -1.4e-05 1.4e-05 0.0004 -0.0004 -0.00099 0.00099 -0.00041 0.00041 0.0012 -0.0012 -5e-05 5e-05 EFC_AREF 13 13 0.16 0.14 0.14 0.17 0.21 0.19 0.2 0.19 0.59 0.67 0.64 0.62 0.44 0.5 0.48 0.46 0.37 0.43 0.4 0.4 0.34 0.32 0.34 0.33 0.37 0.34 0.32 0.39 0.49 0.44 0.44 0.49 0.33 0.33 0.33 0.34 0.31 0.33 0.28 0.37 0.5 0.49 0.45 0.54 1.4 1.1 1.3 1.2 1.1 1.4 1.3 1.3 SUBTREE_LINVEL 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SUBTREE_ANGMOM 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ACTUATOR_FORCE 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 QFRC_ACTUATOR 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 QFRC_SMOOTH -2.1e-05 2e-06 -4e+02 2.1 -1.8e+02 20 19 -1.2e+02 1.3 0.53 -0.56 -31 9.3 -2.7 0.082 -0.85 -0.7 -31 9.3 -2.7 -0.12 -3 8.4 2.1 -3.7 8.2 2.1 QACC_SMOOTH 0.3 0.16 -8.7 -1.4 16 -1.7 6.5 -38 2.3 0.54 0.59 28 -7.9 -95 4.4 -0.64 -3.1 27 -9.4 -98 -6.4 -8.2 21 -8.5 -11 17 -6.5 EFC_B -21 -19 -8.8 -8.7 -9.5 -8 -9.1 -9 -10 -8.1 -12 -13 -12 -13 -11 -11 -9.8 -13 -11 -11 -9.5 -12 -11 -9.6 -10 -10 -7 -26 -18 -15 -7.2 -27 -14 -20 -11 -9.7 -10 -10 -6.9 -27 -18 -16 -7.1 -27 -14 -20 -13 -10 -12 -11 -10 -13 -12 -11 EFC_FORCE 2.1 2 6.9 6 5.9 7.1 8.9 8 8.7 8.2 11 13 12 12 18 20 19 19 15 18 16 16 10 9.8 10 10 2.3 2.1 2 2.4 3 2.7 2.7 3.1 10 10 10 10 1.9 2.1 1.7 2.3 3.1 3.1 2.8 3.4 4 3.3 3.8 3.5 3.3 4.1 3.7 3.7 EFC_STATE 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 QFRC_CONSTRAINT -4e-06 -8.7e-06 4e+02 -2.1 1.8e+02 -20 -19 1.2e+02 -1.3 -0.53 0.56 31 -9.3 2.7 -0.082 0.85 0.7 31 -9.3 2.7 0.12 3 -8.4 -2.1 3.7 -8.2 -2.1 QFRC_INVERSE 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 CACC 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 CFRC_INT 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 CFRC_EXT 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 DOF_ISLAND 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ISLAND_NV 27 ISLAND_IDOFADR 0 MAP_IDOF2DOF 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 EFC_ISLAND 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ISLAND_NEFC 54 ISLAND_IEFCADR 0 MAP_IEFC2EFC 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 TENDON_EFCADR -1 -1