# order is:
# Heading
# Position
# Orientation
# Velocity
# AngularVelocity

# Relative Orientation
# Relative Angular Velocity
#----------------

# Heading
0

# Root(body)
0 0.562244 0
0.999554 0.029849 -0.000000 -0.000152
0.249120 0.375816 0.866547
0.257640 0.100468 0.388803

# body_neck
0.971329 0.236049 -0.026133 0.010859
1.284002 -0.001600 -0.184769

# lHip
0.945588 -0.308475 0.102839 0.011456
3.254196 -0.322589 -1.152888

# rHip
0.991720 -0.055775 -0.068613 -0.093132
1.945090 1.340484 -0.409870

# lShoulder
0.999031 0.044015 0.000000 -0.000000
-0.846975 0.000081 -0.000029

# rShoulder
0.999919 0.012727 0.000000 -0.000000
-0.322678 0.000031 -0.000011


# tail_1
0.997887 0.059312 0.026492 -0.001575
-0.944952 -0.316730 0.050275

# neck_head
0.978705 -0.204796 -0.013719 0.002532
-0.816336 -0.004197 0.002574

# lKnee
0.821044 0.570865 -0.000000 0.000000
-2.636854 -0.000040 0.000011

# rKnee
0.835187 0.549966 -0.000001 -0.000001
-2.321718 -0.000044 -0.001092

# lElbow
0.808695 -0.588228 -0.000000 -0.000000
3.590452 -0.000337 0.000157

# rElbow
0.795908 -0.605418 -0.000000 -0.000000
3.686549 -0.000358 0.000140

# tail_2
0.999502 0.022834 0.021787 -0.000498
-0.247141 -0.025675 0.010785

# lAnkle
0.788617 -0.614885 -0.000000 0.000000
-0.973770 -0.000000 0.000012

# rAnkle
0.877432 -0.479702 0.000001 0.000001
1.503026 0.000674 0.000254

# tail_3
0.998683 -0.048837 0.015720 0.000769
0.106479 0.102742 -0.003331

# lToeJoint
0.943267 0.331479 0.006367 0.018119
-0.005999 -0.000237 0.072710

# rToeJoint
0.995236 -0.043699 -0.003823 0.087069
-0.070184 -0.012520 -0.498030

# tail_4
0.999432 -0.031060 0.013064 0.000406
0.296221 0.162244 -0.007705

# tail_5
0.999542 -0.027252 0.013160 0.000359
0.464454 0.226639 -0.012165

# tail_6
0.999821 -0.016443 0.009325 0.000153
0.398090 0.177272 -0.007375