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--- a/python/sot_talos_balance/test/test_dcmZmpControl.py
+++ b/python/sot_talos_balance/test/test_dcmZmpControl.py
--- a/python/sot_talos_balance/test/test_dcmZmpControl_distribute.py
+++ b/python/sot_talos_balance/test/test_dcmZmpControl_distribute.py
--- a/python/sot_talos_balance/test/test_dcmZmpControl_estimator.py
+++ b/python/sot_talos_balance/test/test_dcmZmpControl_estimator.py
--- a/python/sot_talos_balance/test/test_dcmZmpControl_feedback.py
+++ b/python/sot_talos_balance/test/test_dcmZmpControl_feedback.py
--- a/python/sot_talos_balance/test/test_dcm_estimator.py
+++ b/python/sot_talos_balance/test/test_dcm_estimator.py
--- a/python/sot_talos_balance/test/test_ffSubscriber.py
+++ b/python/sot_talos_balance/test/test_ffSubscriber.py
--- a/python/sot_talos_balance/test/test_jointTrajGen.py
+++ b/python/sot_talos_balance/test/test_jointTrajGen.py
--- a/python/sot_talos_balance/test/test_zmpEstimator.py
+++ b/python/sot_talos_balance/test/test_zmpEstimator.py
--- a/python/sot_talos_balance/utils/filter_utils.py
+++ b/python/sot_talos_balance/utils/filter_utils.py
--- a/python/sot_talos_balance/utils/plot_utils.py
+++ b/python/sot_talos_balance/utils/plot_utils.py
--- a/ros/CMakeLists.txt
+++ b/ros/CMakeLists.txt
--- a/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/10cm/CoM.dat
+++ b/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/10cm/CoM.dat
--- a/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/10cm/LeftFoot.dat
+++ b/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/10cm/LeftFoot.dat
--- a/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/10cm/Phase.dat
+++ b/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/10cm/Phase.dat
--- a/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/10cm/Rho.dat
+++ b/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/10cm/Rho.dat
--- a/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/10cm/RightFoot.dat
+++ b/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/10cm/RightFoot.dat
--- a/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/10cm/Torques.dat
+++ b/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/10cm/Torques.dat
--- a/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/10cm/WaistOrientation.dat
+++ b/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/10cm/WaistOrientation.dat
--- a/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/10cm/ZMP.dat
+++ b/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/10cm/ZMP.dat
--- a/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/15cm/CoM.dat
+++ b/ros/sot-talos-balance/data/TestKajita2003StraightWalking64/15cm/CoM.dat
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