humanoid_state_zz = 'moveyy_humanoid_state.csv';

% humanoid state variables
importfile(humanoid_state_zz);
humanoid_state(:,1) = data(:,19); % servo 11
humanoid_state(:,2) = data(:,20); % servo 21
humanoid_state(:,3) = data(:,21); % servo 12
humanoid_state(:,4) = data(:,22); % servo 22
humanoid_state(:,5) = data(:,23); % servo 13
humanoid_state(:,6) = data(:,24); % servo 23
humanoid_state(:,7) = data(:,25); % servo 15
humanoid_state(:,8) = data(:,26); % servo 25
humanoid_state(:,9) = data(:,27); % servo 16
humanoid_state(:,10) = data(:,28); % servo 26
humanoid_state(:,11) = data(:,29); % servo 31
humanoid_state(:,12) = data(:,30); % servo 32
humanoid_state(:,13) = data(:,31); % servo (rotacao_tronco)
humanoid_state(:,14) = data(:,3); % TimeStamp
humanoid_time = (humanoid_state(:,14) - humanoid_state(1,14))*1e-9;
% anulamento de campos com erro de comunicacao
x = find(humanoid_state>=1000);
for q = 1:size(x)
    humanoid_state(x(q))=humanoid_state(x(q)-1);
end
init_time = data(1,3);