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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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CCD"}}},{"phase":0.083333333333,"modelTransform":[0.028185128,-0.048390344,-0.154175896,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.690474782,0.027955494,-0.017929509,0.722593661],[0.10411156,0.114124494,0.033526605,0.987427136],[0.063427727,0,-4.7e-8,0.997986435],[0.063427727,0,-4.7e-8,0.997986435],[-0.009713648,0.239190968,0.970579617,0.025856008],[-0.542913218,-0.001959056,0.123408772,0.830669414],[0.847341234,0.005577272,-0.101165217,0.521293896],[0.412641087,-0.02619394,0.025635222,0.910156056],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[-0.000007076,-3.44e-7,-0.000009246,1],[-0.000007076,-3.44e-7,-0.000009246,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0.000022916,-0.00000296,0.00000759,1],[0.000022916,-0.00000296,0.00000759,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[0.010630519,0.375128297,0.922771234,0.087515725],[-0.372271462,-0.007928617,0.088934102,0.92381915],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.623424393,0.16033881,-0.101297917,0.758532942],[0.412649357,0.026196615,-0.02563457,0.910152248],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[-0.00000714,0.000002389,0.000009252,1],[-0.00000714,0.000002389,0.000009252,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0.000022911,0.00000301,-0.000007598,1],[0.000022911,0.00000301,-0.000007598,1],[0,3.65e-7,6.5e-8,1],[0,3.65e-7,6.5e-8,1],[0,3.65e-7,6.5e-8,1],[-0.008628211,-0.008111134,0.032207284,0.999411054],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.312146476,0.001721599,-0.00568886,0.950015395],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.026039934,-0.001018497,-0.03542758,0.999032417],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.9999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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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CCD"}}},{"phase":0.116666666667,"modelTransform":[0.060458837,-0.098920839,-0.364839628,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.659894087,0.075002545,-0.048106266,0.746056431],[0.111159533,0.302152144,0.088764025,0.942586117],[0.005082634,0,-4e-9,0.999987083],[0.005082634,0,-4e-9,0.999987083],[-0.000090264,0.066224474,0.991728391,-0.109950484],[-0.336688299,-0.000053154,0.173474461,0.925498567],[0.786165133,0.136362419,-0.283173246,0.532130235],[0.034063934,-0.002162336,0.002116213,0.999415076],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[-0.000007076,-3.44e-7,-0.000009246,1],[-0.000007076,-3.44e-7,-0.000009246,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0.000022916,-0.00000296,0.00000759,1],[0.000022916,-0.00000296,0.00000759,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[-0.02957994,0.353481011,0.887144395,0.295213524],[-0.237902069,0.021535724,0.22056291,0.945669509],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.428537373,0.295875944,-0.149061214,0.840591399],[0.034064661,0.00216256,-0.002116162,0.999415051],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[-0.00000714,0.000002389,0.000009252,1],[-0.00000714,0.000002389,0.000009252,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0.000022911,0.00000301,-0.000007598,1],[0.000022911,0.00000301,-0.000007598,1],[0,3.65e-7,6.5e-8,1],[0,3.65e-7,6.5e-8,1],[0,3.65e-7,6.5e-8,1],[0.02972574,-0.021746441,0.086411586,0.99557848],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.310464991,0.004502915,-0.014120568,0.950469264],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.022172879,-0.003405882,-0.103392929,0.994387583],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.999993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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no CCD"}}},{"phase":0.177777777778,"modelTransform":[0.070104687,-0.120518565,-0.422498335,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.65708597,0.079084753,-0.050724662,0.74793759],[0.111562995,0.318048178,0.093433848,0.936839992],[0,0,0,1],[0,0,0,1],[0.021572426,-0.080786377,0.974710592,-0.207237675],[-0.078825402,0.000298633,0.042969915,0.995961873],[0.69976823,0.157639856,-0.283175979,0.636620346],[0,0,0,1],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[0,0,0,1],[0,0,0,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0,0,0,1],[0,0,0,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[0,0,0,1],[0,0,0,1],[-0.037625163,0.354256921,0.878537359,0.318211391],[-0.202007338,0.025819032,0.200852205,0.958219601],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.362789864,0.312776917,-0.127686065,0.868475897],[0,0,0,1],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[0,0,0,1],[0,0,0,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0,0,0,1],[0,0,0,1],[0,3.65e-7,6.5e-8,1],[0,0,0,1],[0,0,0,1],[0.033060517,-0.022929556,0.091114819,0.9950273],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.310317413,0.004745015,-0.014854505,0.950505093],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.021831098,-0.003613113,-0.109291068,0.993763458],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.999993971],[0,0,0,1],[-1.97e-7,1.75e-7,0.00000587,1],[0,0,0,1],[0,0,0,1],[0.00000448,0,-0.000005776,1],[0,0,0,1],[0,0,0,1],[-0.017111864,-0.000074397,-0.010081958,0.999802747],[0,0,0,1],[0.013508842,0.000471073,0.006247652,0.999889122],[-0.007369994,-0.000970424,0.030442052,0.999508891],[-0.00057056,-0.000237781,-0.046703212,0.998908618],[0.019624144,0.003814391,0.011964405,0.999728561],[0.000936229,-0.003827456,0.005994767,0.999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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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CCD"}}},{"phase":0.180555555556,"modelTransform":[0.070104687,-0.125690468,-0.418275271,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.65708597,0.079084753,-0.050724662,0.74793759],[0.111562995,0.318048178,0.093433848,0.936839992],[0,0,0,1],[0,0,0,1],[0.020397043,-0.074398107,0.975692294,-0.205118088],[-0.097503282,0.000297029,0.053184454,0.993813079],[0.708693703,0.155708913,-0.286428013,0.625673208],[0,0,0,1],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[0,0,0,1],[0,0,0,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0,0,0,1],[0,0,0,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[0,0,0,1],[0,0,0,1],[-0.038357601,0.361922376,0.871894924,0.327628036],[-0.221222217,0.025578747,0.219831309,0.949779266],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.375181602,0.310310067,-0.132506089,0.863358885],[0,0,0,1],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[0,0,0,1],[0,0,0,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0,0,0,1],[0,0,0,1],[0,3.65e-7,6.5e-8,1],[0,0,0,1],[0,0,0,1],[0.033060517,-0.022929556,0.091114819,0.9950273],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.310317413,0.004745015,-0.014854505,0.950505093],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.021831098,-0.003613113,-0.109291068,0.993763458],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.999993971],[0,0,0,1],[-1.97e-7,1.75e-7,0.00000587,1],[0,0,0,1],[0,0,0,1],[0.00000448,0,-0.000005776,1],[0,0,0,1],[0,0,0,1],[-0.017111864,-0.000074397,-0.010081958,0.999802747],[0,0,0,1],[0.013508842,0.000471073,0.006247652,0.999889122],[-0.007369994,-0.000970424,0.030442052,0.999508891],[-0.00057056,-0.000237781,-0.046703212,0.998908618],[0.019624144,0.003814391,0.011964405,0.999728561],[0.000936229,-0.003827456,0.005994767,0.99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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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CCD"}}},{"phase":0.252777777778,"modelTransform":[0.070104687,-0.358959297,-0.227802047,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.65708597,0.079084753,-0.050724662,0.74793759],[0.111562995,0.318048178,0.093433848,0.936839992],[0,0,0,1],[0,0,0,1],[0.029265117,-0.162657118,0.938495701,-0.303169918],[-0.198525699,0.000701345,0.117528025,0.973023193],[0.826489399,0.096479681,-0.361896303,0.420283195],[0,0,0,1],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[0,0,0,1],[0,0,0,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0,0,0,1],[0,0,0,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[0,0,0,1],[0,0,0,1],[-0.057520083,0.497068733,0.695211186,0.516038242],[-0.60219341,0.007731303,0.556366324,0.57250308],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.658768941,0.221137892,-0.208123301,0.688335819],[0,0,0,1],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[0,0,0,1],[0,0,0,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0,0,0,1],[0,0,0,1],[0,3.65e-7,6.5e-8,1],[0,0,0,1],[0,0,0,1],[0.033060517,-0.022929556,0.091114819,0.9950273],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.310317413,0.004745015,-0.014854505,0.950505093],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.021831098,-0.003613113,-0.109291068,0.99376346],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.999993971],[0,0,0,1],[-1.97e-7,1.75e-7,0.00000587,1],[0,0,0,1],[0,0,0,1],[0.00000448,0,-0.000005776,1],[0,0,0,1],[0,0,0,1],[-0.017111864,-0.000074397,-0.010081958,0.999802747],[0,0,0,1],[0.013508842,0.000471073,0.006247652,0.999889122],[-0.007369994,-0.000970424,0.030442052,0.999508891],[-0.00057056,-0.000237781,-0.046703212,0.998908618],[0.019624144,0.003814391,0.011964405,0.999728561],[0.000936229,-0.003827456,0.005994767,0.99997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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no CCD"}}},{"phase":0.308333333333,"modelTransform":[0.070104687,-0.358959297,-0.227802047,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.65708597,0.079084753,-0.050724662,0.74793759],[0.111562995,0.318048178,0.093433848,0.936839992],[0,0,0,1],[0,0,0,1],[0.029265117,-0.162657118,0.938495701,-0.303169918],[-0.198525699,0.000701345,0.117528025,0.973023193],[0.826489399,0.096479681,-0.361896303,0.420283195],[0,0,0,1],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[0,0,0,1],[0,0,0,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0,0,0,1],[0,0,0,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[0,0,0,1],[0,0,0,1],[-0.057520083,0.497068733,0.695211186,0.516038242],[-0.60219341,0.007731303,0.556366324,0.57250308],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.658768941,0.221137892,-0.208123301,0.688335819],[0,0,0,1],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[0,0,0,1],[0,0,0,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0,0,0,1],[0,0,0,1],[0,3.65e-7,6.5e-8,1],[0,0,0,1],[0,0,0,1],[0.033060517,-0.022929556,0.091114819,0.9950273],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.310317413,0.004745015,-0.014854505,0.950505093],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.021831098,-0.003613113,-0.109291068,0.99376346],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.999993971],[0,0,0,1],[-1.97e-7,1.75e-7,0.00000587,1],[0,0,0,1],[0,0,0,1],[0.00000448,0,-0.000005776,1],[0,0,0,1],[0,0,0,1],[-0.017111864,-0.000074397,-0.010081958,0.999802747],[0,0,0,1],[0.013508842,0.000471073,0.006247652,0.999889122],[-0.007369994,-0.000970424,0.030442052,0.999508891],[-0.00057056,-0.000237781,-0.046703212,0.998908618],[0.019624144,0.003814391,0.011964405,0.999728561],[0.000936229,-0.003827456,0.005994767,0.99997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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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CCD"}}},{"phase":0.333333333333,"modelTransform":[0.070104687,-0.308604237,-0.268918945,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.65708597,0.079084753,-0.050724662,0.74793759],[0.111562995,0.318048178,0.093433848,0.936839992],[0,0,0,1],[0,0,0,1],[0.021696136,-0.118239924,0.955776225,-0.268403439],[-0.228111811,0.000207779,0.132385559,0.964592672],[0.818829697,0.107376776,-0.350979928,0.441362941],[0,0,0,1],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[0,0,0,1],[0,0,0,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0,0,0,1],[0,0,0,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[0,0,0,1],[0,0,0,1],[-0.053629029,0.481347968,0.724285954,0.490752399],[-0.552061787,0.016356616,0.518136451,0.653065742],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.612870277,0.236117995,-0.200911267,0.726823898],[0,0,0,1],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[0,0,0,1],[0,0,0,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0,0,0,1],[0,0,0,1],[0,3.65e-7,6.5e-8,1],[0,0,0,1],[0,0,0,1],[0.033060517,-0.022929556,0.091114819,0.9950273],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.310317413,0.004745015,-0.014854505,0.950505093],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.021831098,-0.003613113,-0.109291068,0.993763458],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.999993971],[0,0,0,1],[-1.97e-7,1.75e-7,0.00000587,1],[0,0,0,1],[0,0,0,1],[0.00000448,0,-0.000005776,1],[0,0,0,1],[0,0,0,1],[-0.017111864,-0.000074397,-0.010081958,0.999802747],[0,0,0,1],[0.013508842,0.000471073,0.006247652,0.999889122],[-0.007369994,-0.000970424,0.030442052,0.999508891],[-0.00057056,-0.000237781,-0.046703212,0.998908618],[0.019624144,0.003814391,0.011964405,0.999728561],[0.000936229,-0.003827456,0.005994767,0.99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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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CCD"}}},{"phase":0.355555555556,"modelTransform":[0.070104687,-0.211141136,-0.348501421,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.65708597,0.079084753,-0.050724662,0.74793759],[0.111562995,0.318048178,0.093433848,0.936839992],[0,0,0,1],[0,0,0,1],[0.015552879,-0.064457925,0.973377418,-0.219407581],[-0.217472335,-0.000084309,0.120528048,0.968596286],[0.782231415,0.132724094,-0.322678873,0.516116918],[0,0,0,1],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[0,0,0,1],[0,0,0,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0,0,0,1],[0,0,0,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[0,0,0,1],[0,0,0,1],[-0.046632272,0.436514357,0.791549243,0.425124032],[-0.419242342,0.023325867,0.408181618,0.810604422],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.509031759,0.270309257,-0.179666124,0.797207412],[0,0,0,1],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[0,0,0,1],[0,0,0,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0,0,0,1],[0,0,0,1],[0,3.65e-7,6.5e-8,1],[0,0,0,1],[0,0,0,1],[0.033060517,-0.022929556,0.091114819,0.9950273],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.310317413,0.004745015,-0.014854505,0.950505093],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.021831098,-0.003613113,-0.109291068,0.993763458],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.999993971],[0,0,0,1],[-1.97e-7,1.75e-7,0.00000587,1],[0,0,0,1],[0,0,0,1],[0.00000448,0,-0.000005776,1],[0,0,0,1],[0,0,0,1],[-0.017111864,-0.000074397,-0.010081958,0.999802747],[0,0,0,1],[0.013508842,0.000471073,0.006247652,0.999889122],[-0.007369994,-0.000970424,0.030442052,0.999508891],[-0.00057056,-0.000237781,-0.046703212,0.998908618],[0.019624144,0.003814391,0.011964405,0.999728561],[0.000936229,-0.003827456,0.005994767,0.9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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no CCD"}}},{"phase":0.377777777778,"modelTransform":[0.070104687,-0.129427527,-0.415223815,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.65708597,0.079084753,-0.050724662,0.74793759],[0.111562995,0.318048178,0.093433848,0.936839992],[0,0,0,1],[0,0,0,1],[0.019731303,-0.070932758,0.976160724,-0.204179969],[-0.108699326,0.000294415,0.059316036,0.99230337],[0.714251442,0.154428522,-0.288558583,0.618652288],[0,0,0,1],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[0,0,0,1],[0,0,0,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0,0,0,1],[0,0,0,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[0,0,0,1],[0,0,0,1],[-0.038854207,0.366999892,0.867353427,0.333915352],[-0.234046042,0.025410215,0.232468804,0.943681634],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.383495091,0.308551128,-0.135714319,0.859830995],[0,0,0,1],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[0,0,0,1],[0,0,0,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0,0,0,1],[0,0,0,1],[0,3.65e-7,6.5e-8,1],[0,0,0,1],[0,0,0,1],[0.033060517,-0.022929556,0.091114819,0.9950273],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.310317413,0.004745015,-0.014854505,0.950505093],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.021831098,-0.003613113,-0.109291068,0.993763458],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.999993971],[0,0,0,1],[-1.97e-7,1.75e-7,0.00000587,1],[0,0,0,1],[0,0,0,1],[0.00000448,0,-0.000005776,1],[0,0,0,1],[0,0,0,1],[-0.017111864,-0.000074397,-0.010081958,0.999802747],[0,0,0,1],[0.013508842,0.000471073,0.006247652,0.999889122],[-0.007369994,-0.000970424,0.030442052,0.999508891],[-0.00057056,-0.000237781,-0.046703212,0.998908618],[0.019624144,0.003814391,0.011964405,0.999728561],[0.000936229,-0.003827456,0.005994767,0.999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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no CCD"}}},{"phase":0.6125,"modelTransform":[-0.066401626,-0.093735609,-0.336447266,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.68380024,-0.099915548,0.064064534,0.719951283],[0.073005167,-0.263338832,0.042931651,0.960978552],[0.008852956,0,-7e-9,0.999960812],[0.008852956,0,-7e-9,0.999960812],[-0.03421059,0.350856796,0.925762996,-0.136718761],[-0.164495854,-0.019523764,-0.19535581,0.966641632],[0.419910442,-0.365256888,0.175639114,0.812042812],[0.059309708,-0.003764906,0.0036846,0.99822573],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[-0.000007076,-3.44e-7,-0.000009246,1],[-0.000007076,-3.44e-7,-0.000009246,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0.000022916,-0.00000296,0.00000759,1],[0.000022916,-0.00000296,0.00000759,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[0.03320415,0.115031724,0.973166295,0.196500761],[-0.393628897,0.000884845,-0.224882713,0.891337912],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.841388777,-0.048357745,0.264542399,0.468768357],[0.059310974,0.003765296,-0.003684511,0.998225653],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[-0.00000714,0.000002389,0.000009252,1],[-0.00000714,0.000002389,0.000009252,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0.000022911,0.00000301,-0.000007598,1],[0.000022911,0.00000301,-0.000007598,1],[0,3.65e-7,6.5e-8,1],[0,3.65e-7,6.5e-8,1],[0,3.65e-7,6.5e-8,1],[-0.005573045,0.02896577,-0.115099676,0.992915903],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.30927392,0.008741018,-0.026971832,0.950550239],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.019287929,-0.004387841,-0.113354836,0.993357641],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.999993971],[0,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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no CCD"}}},{"phase":0.613888888889,"modelTransform":[-0.0677375,-0.095525742,-0.343774455,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.683352227,-0.101477423,0.065065963,0.720068391],[0.072565833,-0.267372277,0.043589217,0.959867827],[0.0074511,0,-5e-9,0.99997224],[0.0074511,0,-5e-9,0.99997224],[-0.034305593,0.349213689,0.926118298,-0.138484018],[-0.156584293,-0.020231046,-0.191542628,0.968701959],[0.410697576,-0.371204595,0.173849306,0.814439113],[0.049926503,-0.003169272,0.003101671,0.99874305],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[-0.000007076,-3.44e-7,-0.000009246,1],[-0.000007076,-3.44e-7,-0.000009246,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0.000022916,-0.00000296,0.00000759,1],[0.000022916,-0.00000296,0.00000759,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[0.031874205,0.107247575,0.972181762,0.205778068],[-0.379564841,0.000523801,-0.219460807,0.898758706],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.837839237,-0.050733334,0.266696585,0.473629047],[0.049927569,0.0031696,-0.003101596,0.998742996],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[-0.00000714,0.000002389,0.000009252,1],[-0.00000714,0.000002389,0.000009252,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0.000022911,0.00000301,-0.000007598,1],[0.000022911,0.00000301,-0.000007598,1],[0,3.65e-7,6.5e-8,1],[0,3.65e-7,6.5e-8,1],[0,3.65e-7,6.5e-8,1],[-0.005166318,0.029418703,-0.116898891,0.992694564],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.309211379,0.008877174,-0.027384645,0.950557521],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.019144195,-0.004462741,-0.115205301,0.993147181],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.99999397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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no CCD"}}},{"phase":0.641666666667,"modelTransform":[-0.081541102,-0.114023212,-0.419486392,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.680929119,-0.109772482,0.070384511,0.720646625],[0.070208875,-0.288727088,0.047070659,0.953672761],[0,0,0,1],[0,0,0,1],[-0.040658756,0.3234053,0.937134741,-0.124636892],[-0.05676003,-0.024229529,-0.081483014,0.994762156],[0.291604738,-0.417256273,0.125205883,0.851579336],[0,0,0,1],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[0,0,0,1],[0,0,0,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0,0,0,1],[0,0,0,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[0,0,0,1],[0,0,0,1],[-0.005216705,-0.027180911,0.94764592,0.31812135],[-0.135144066,-0.001221555,-0.082980503,0.98734433],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.771250176,-0.080047672,0.258324243,0.57622402],[0,0,0,1],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[0,0,0,1],[0,0,0,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0,0,0,1],[0,0,0,1],[0,3.65e-7,6.5e-8,1],[0,0,0,1],[0,0,0,1],[-0.003004266,0.031824213,-0.126454458,0.991457243],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.308877974,0.009600821,-0.029578672,0.950593144],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.018379133,-0.004860573,-0.125033678,0.991970345],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.999993971],[0,0,0,1],[-1.97e-7,1.75e-7,0.00000587,1],[0,0,0,1],[0,0,0,1],[0.00000448,0,-0.000005776,1],[0,0,0,1],[0,0,0,1],[-0.017111864,-0.000074397,-0.010081958,0.999802747],[0,0,0,1],[0.013508842,0.000471073,0.006247652,0.999889122],[-0.007369994,-0.000970424,0.030442052,0.999508891],[-0.00057056,-0.000237781,-0.046703212,0.998908618],[0.019624144,0.003814391,0.011964405,0.999728561],[0.000936229,-0.003827456,0.005994767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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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CCD"}}},{"phase":0.655555555556,"modelTransform":[-0.081541102,-0.114023212,-0.419486392,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.680929119,-0.109772482,0.070384511,0.720646625],[0.070208875,-0.288727088,0.047070659,0.953672761],[0,0,0,1],[0,0,0,1],[-0.040658756,0.3234053,0.937134741,-0.124636892],[-0.05676003,-0.024229529,-0.081483014,0.994762156],[0.291604738,-0.417256273,0.125205883,0.851579336],[0,0,0,1],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[0,0,0,1],[0,0,0,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0,0,0,1],[0,0,0,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[0,0,0,1],[0,0,0,1],[-0.005216705,-0.027180911,0.94764592,0.31812135],[-0.135144066,-0.001221555,-0.082980503,0.98734433],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.771250176,-0.080047672,0.258324243,0.57622402],[0,0,0,1],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[0,0,0,1],[0,0,0,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0,0,0,1],[0,0,0,1],[0,3.65e-7,6.5e-8,1],[0,0,0,1],[0,0,0,1],[-0.003004266,0.031824213,-0.126454458,0.991457243],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.308877974,0.009600821,-0.029578672,0.950593144],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.018379133,-0.004860573,-0.125033678,0.991970345],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.999993971],[0,0,0,1],[-1.97e-7,1.75e-7,0.00000587,1],[0,0,0,1],[0,0,0,1],[0.00000448,0,-0.000005776,1],[0,0,0,1],[0,0,0,1],[-0.017111864,-0.000074397,-0.010081958,0.999802747],[0,0,0,1],[0.013508842,0.000471073,0.006247652,0.999889122],[-0.007369994,-0.000970424,0.030442052,0.999508891],[-0.00057056,-0.000237781,-0.046703212,0.998908618],[0.019624144,0.003814391,0.011964405,0.999728561],[0.000936229,-0.003827456,0.005994767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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no CCD"}}},{"phase":0.666666666667,"modelTransform":[-0.081541102,-0.114023212,-0.419486392,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.680929119,-0.109772482,0.070384511,0.720646625],[0.070208875,-0.288727088,0.047070659,0.953672761],[0,0,0,1],[0,0,0,1],[-0.040658756,0.3234053,0.937134741,-0.124636892],[-0.05676003,-0.024229529,-0.081483014,0.994762156],[0.291604738,-0.417256273,0.125205883,0.851579336],[0,0,0,1],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[0,0,0,1],[0,0,0,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0,0,0,1],[0,0,0,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[0,0,0,1],[0,0,0,1],[-0.005216705,-0.027180911,0.94764592,0.31812135],[-0.135144066,-0.001221555,-0.082980503,0.98734433],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.771250176,-0.080047672,0.258324243,0.57622402],[0,0,0,1],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[0,0,0,1],[0,0,0,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0,0,0,1],[0,0,0,1],[0,3.65e-7,6.5e-8,1],[0,0,0,1],[0,0,0,1],[-0.003004266,0.031824213,-0.126454458,0.991457243],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.308877974,0.009600821,-0.029578672,0.950593144],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.018379133,-0.004860573,-0.125033678,0.991970345],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.999993971],[0,0,0,1],[-1.97e-7,1.75e-7,0.00000587,1],[0,0,0,1],[0,0,0,1],[0.00000448,0,-0.000005776,1],[0,0,0,1],[0,0,0,1],[-0.017111864,-0.000074397,-0.010081958,0.999802747],[0,0,0,1],[0.013508842,0.000471073,0.006247652,0.999889122],[-0.007369994,-0.000970424,0.030442052,0.999508891],[-0.00057056,-0.000237781,-0.046703212,0.998908618],[0.019624144,0.003814391,0.011964405,0.999728561],[0.000936229,-0.003827456,0.005994767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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no CCD"}}},{"phase":0.669444444444,"modelTransform":[-0.081541102,-0.114023212,-0.419486392,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.680929119,-0.109772482,0.070384511,0.720646625],[0.070208875,-0.288727088,0.047070659,0.953672761],[0,0,0,1],[0,0,0,1],[-0.040658756,0.3234053,0.937134741,-0.124636892],[-0.05676003,-0.024229529,-0.081483014,0.994762156],[0.291604738,-0.417256273,0.125205883,0.851579336],[0,0,0,1],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[0,0,0,1],[0,0,0,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0,0,0,1],[0,0,0,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[0,0,0,1],[0,0,0,1],[-0.005216705,-0.027180911,0.94764592,0.31812135],[-0.135144066,-0.001221555,-0.082980503,0.98734433],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.771250176,-0.080047672,0.258324243,0.57622402],[0,0,0,1],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[0,0,0,1],[0,0,0,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0,0,0,1],[0,0,0,1],[0,3.65e-7,6.5e-8,1],[0,0,0,1],[0,0,0,1],[-0.003004266,0.031824213,-0.126454458,0.991457243],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.308877974,0.009600821,-0.029578672,0.950593144],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.018379133,-0.004860573,-0.125033678,0.991970345],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.999993971],[0,0,0,1],[-1.97e-7,1.75e-7,0.00000587,1],[0,0,0,1],[0,0,0,1],[0.00000448,0,-0.000005776,1],[0,0,0,1],[0,0,0,1],[-0.017111864,-0.000074397,-0.010081958,0.999802747],[0,0,0,1],[0.013508842,0.000471073,0.006247652,0.999889122],[-0.007369994,-0.000970424,0.030442052,0.999508891],[-0.00057056,-0.000237781,-0.046703212,0.998908618],[0.019624144,0.003814391,0.011964405,0.999728561],[0.000936229,-0.003827456,0.005994767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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no CCD"}}},{"phase":0.680555555556,"modelTransform":[-0.081541102,-0.126274552,-0.409959616,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.680929119,-0.109772482,0.070384511,0.720646625],[0.070208875,-0.288727088,0.047070659,0.953672761],[0,0,0,1],[0,0,0,1],[-0.028029171,0.355436108,0.918450906,-0.171252657],[-0.125943266,-0.023774519,-0.180650257,0.975160782],[0.343373077,-0.406314714,0.151034498,0.833181771],[0,0,0,1],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[0,0,0,1],[0,0,0,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0,0,0,1],[0,0,0,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[0,0,0,1],[0,0,0,1],[-0.003380645,-0.021468236,0.948696109,0.315441563],[-0.162075225,-0.001221877,-0.099579685,0.981740299],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.78436565,-0.074939584,0.264762957,0.555927299],[0,0,0,1],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[0,0,0,1],[0,0,0,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0,0,0,1],[0,0,0,1],[0,3.65e-7,6.5e-8,1],[0,0,0,1],[0,0,0,1],[-0.003004266,0.031824213,-0.126454458,0.991457243],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.308877974,0.009600821,-0.029578672,0.950593143],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.018379133,-0.004860573,-0.125033678,0.991970343],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.999993971],[0,0,0,1],[-1.97e-7,1.75e-7,0.00000587,1],[0,0,0,1],[0,0,0,1],[0.00000448,0,-0.000005776,1],[0,0,0,1],[0,0,0,1],[-0.017111864,-0.000074397,-0.010081958,0.999802747],[0,0,0,1],[0.013508842,0.000471073,0.006247652,0.999889122],[-0.007369994,-0.000970424,0.030442052,0.999508891],[-0.00057056,-0.000237781,-0.046703212,0.998908618],[0.019624144,0.003814391,0.011964405,0.999728561],[0.000936229,-0.003827456,0.005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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no CCD"}}},{"phase":0.766666666667,"modelTransform":[-0.081541102,-0.371221239,-0.219486392,0,0,0,1,0.010162,0.010162,0.010162],"boneLocalQuaternions":[[-0.707106781,0,0,0.707106781],[0.680929119,-0.109772482,0.070384511,0.720646625],[0.070208875,-0.288727088,0.047070659,0.953672761],[0,0,0,1],[0,0,0,1],[0.045986263,0.488758002,0.764522921,-0.417738535],[-0.490353533,-0.01087838,-0.643924115,0.587193912],[0.653608005,-0.28611053,0.257101203,0.651794675],[0,0,0,1],[0.178816873,0.026813169,-0.028999711,0.983089313],[0.178810671,0.026627199,-0.029024733,0.983094757],[-0.190368297,0.03144018,-0.017268103,0.981057205],[-0.225082987,0.049500033,0.001951408,0.973079435],[-0.152873613,0.037741851,0.012582689,0.987444625],[0,0,0,1],[-0.163063625,0.042507641,0.012951022,0.985614339],[-0.031832567,0.00001039,0.010522678,0.999437822],[-0.000007076,-3.44e-7,-0.000009246,1],[0,0,0,1],[0,0,0,1],[-0.000001439,0.000549708,-0.000001682,0.999999849],[0.000098384,0.016082307,0.000004843,0.999870666],[0,0,0,1],[0.000022916,-0.00000296,0.00000759,1],[0,0,0,1],[0,0,0,1],[-7.9e-8,-4.17e-7,-6.7e-8,1],[0,0,0,1],[0,0,0,1],[-0.038197797,-0.132793358,0.907647844,0.396335989],[-0.255117293,-0.001829039,-0.16141094,0.953340588],[-0.000004491,-0.016080252,-0.000006463,0.999870704],[0,0,0,1],[0.885016686,-0.014478282,0.328039918,0.330038832],[0,0,0,1],[0.17881085,-0.026627195,0.029024696,0.983094726],[-0.031832573,-0.000010398,-0.010522683,0.999437822],[-0.190368298,-0.031440182,0.017268092,0.981057205],[-0.225082939,-0.049500035,-0.001951414,0.973079446],[-0.163063642,-0.042507644,-0.012951032,0.985614336],[-0.152873613,-0.037741849,-0.0125827,0.987444625],[0,0,0,1],[0.17881702,-0.026813185,0.028999706,0.983089286],[-0.00000714,0.000002389,0.000009252,1],[0,0,0,1],[0,0,0,1],[-0.000001384,-0.000548495,0.000001675,0.99999985],[0.000022911,0.00000301,-0.000007598,1],[0,0,0,1],[0,0,0,1],[0,3.65e-7,6.5e-8,1],[0,0,0,1],[0,0,0,1],[-0.003004266,0.031824213,-0.126454458,0.991457243],[0,0,0,1],[0,0,0,1],[0.01056598,-0.00009737,-0.000001085,0.999944174],[0,0,0,1],[0,0,0,1],[-0.04477961,-0.000698051,-0.00047939,0.998996531],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.308877974,0.009600821,-0.029578672,0.950593144],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.018379133,-0.004860573,-0.125033678,0.991970345],[0,0,0,1],[0,0,0,1],[0,0,0,1],[-0.191990711,0.000362041,-0.003022984,0.98139202],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0.500000007,0.499999926,0.500000007,0.500000059],[-0.000058586,-0.000042547,0.707091526,0.707122032],[0,0,0,1],[-0.000038968,0.000684483,0.122379774,0.992483109],[-0.000122113,0.001686095,0.063062094,0.998008174],[-0.000015405,1.44e-7,0.003217774,0.999994823],[0.999999992,-0.000002538,0.000097168,-0.000081759],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.707106781,0.000001224,0.707106781,-0.000001224],[0.000028375,-0.000031126,0.707110453,0.707103108],[0.999999999,-0.00001036,-0.000034108,0.000010919],[-0.010438039,0.144192517,-0.694353376,0.704963087],[0,0,0,1],[0,0,0,1],[-0.233324647,-0.064338026,0.592854036,-0.768078329],[0.028752566,-0.00003322,-0.074892146,0.996777034],[-2.28e-7,0,-0.000005899,1],[0,0,0,1],[0,0,0,1],[0.000004465,0,0.000005731,1],[0,0,0,1],[0,0,0,1],[0.003402682,0.00042134,-0.000548847,0.999993971],[0,0,0,1],[-0.017111981,0.000074568,0.010081891,0.999802746],[0,0,0,1],[0.012780066,-0.00033052,-0.008576634,0.999881494],[-0.006852286,-0.001987763,-0.016139182,0.999844299],[0.001598246,0.002962642,0.060525392,0.998160982],[0.013508875,-0.000471153,-0.006247547,0.999889122],[-0.007369852,0.000970501,-0.030442224,0.999508887],[-0.000570588,0.00023779,0.046703332,0.998908613],[0.019624172,-0.003814536,-0.011964128,0.999728564],[0.00093633,0.003827622,-0.00599498,0.999974266],[0.009838543,0.000300557,0.022931008,0.999688592],[0.011185931,-0.004469512,-0.012875133,0.999844553],[0.010254404,0.005976712,-0.009837545,0.999881167],[0.017394306,-0.00012016,0.0326961,0.999313959],[0.39867773,-0.103807562,-0.067720723,0.908677039],[0,0,0,1],[-0.139093406,-0.013395649,0.051349018,0.988856339],[0.009037587,0.00180372,0.024457326,0.999658396],[0.000002948,0.000679505,2.5e-7,0.999999769],[0,0,0,1],[0.00000116,-0.000679786,2.27e-7,0.999999769],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[0.000008452,0.637571702,0.770391021,0.000001648],[0,0,0,1],[-9.3e-8,0,0,1],[0,0,0,1],[-0.010438077,-0.144192518,0.694353423,0.70496304],[0,0,0,1],[0,0,0,1],[0.234002537,-0.064556285,0.593559325,0.767308691],[0.028600559,0.00004403,0.074949529,0.996777094],[0.003402731,-0.00042131,0.00054891,0.999993971],[0,0,0,1],[-1.97e-7,1.75e-7,0.00000587,1],[0,0,0,1],[0,0,0,1],[0.00000448,0,-0.000005776,1],[0,0,0,1],[0,0,0,1],[-0.017111864,-0.000074397,-0.010081958,0.999802747],[0,0,0,1],[0.013508842,0.000471073,0.006247652,0.999889122],[-0.007369994,-0.000970424,0.030442052,0.999508891],[-0.00057056,-0.000237781,-0.046703212,0.998908618],[0.019624144,0.003814391,0.011964405,0.999728561],[0.000936229,-0.003827456,0.005994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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no 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step -> plant -> descend -> rise -> return; deterministic two-bone positive-Z knee branch; no CCD"}}}]}