time dcm_x dcm_y dcm_des_x dcm_des_y dcm_des_dx dcm_des_dy zmp_x zmp_y zmp_des_x zmp_des_y com_x com_y com_z com_des_x com_des_y com_des_z com_des_dx com_des_dy com_des_dz lf_x lf_y lf_z lf_roll lf_pitch lf_yaw rf_x rf_y rf_z rf_roll rf_pitch rf_yaw lf_des_x lf_des_y lf_des_z lf_des_roll lf_des_pitch lf_des_yaw rf_des_x rf_des_y rf_des_z rf_des_roll rf_des_pitch rf_des_yaw LHipYawPitch RHipYawPitch LShoulderPitch LShoulderRoll LElbowYaw LElbowRoll RShoulderPitch RShoulderRoll RElbowYaw RElbowRoll LHipPitch LHipRoll LKneePitch LAnklePitch LAnkleRoll RHipPitch RHipRoll RKneePitch RAnklePitch RAnkleRoll LHipYawPitch_des RHipYawPitch_des LShoulderPitch_des LShoulderRoll_des LElbowYaw_des LElbowRoll_des RShoulderPitch_des RShoulderRoll_des RElbowYaw_des RElbowRoll_des LHipPitch_des LHipRoll_des LKneePitch_des LAnklePitch_des LAnkleRoll_des RHipPitch_des RHipRoll_des RKneePitch_des RAnklePitch_des RAnkleRoll_des frx fry frz mrx mry mrz flx fly flz mlx mly mlz POS_X POS_Y CONTROL_ORDER trash e0 u0 abs_CoM_x abs_CoM_y abs_CoM_z torsowLHipYawPitch torsowRHipYawPitch torsotauLHipYawPitch torsotauRHipYawPitch LLegwLHipPitch LLegwLHipRoll LLegwLKneePitch LLegwLAnklePitch LLegwLAnkleRoll trash LLegtauLHipPitch LLegtauLHipRoll LLegtauLKneePitch LLegtauLAnklePitch LLegtauLAnkleRoll trash RLegwRHipPitch RLegwRHipRoll RLegwRKneePitch RLegwRAnklePitch RLegwRAnkleRoll trash RLegtauRHipPitch RLegtauRHipRoll RLegtauRKneePitch RLegtauRAnklePitch RLegtauRAnkleRoll trash LArmwLShoulderPitch LArmwLShoulderRoll LArmwLElbowYaw LArmwLElbowRoll LArmtauLShoulderPitch LArmtauLShoulderRoll LArmtauLElbowYaw LArmtauLElbowRoll RArmwRShoulderPitch RArmwRShoulderRoll RArmwRElbowYaw RArmwRElbowRoll RArmtauRShoulderPitch RArmtauRShoulderRoll RArmtauRElbowYaw RArmtauRElbowRoll 0.009 0.0155097 -0.0002901 -0.001 0 0 0 0.0389889 0.00231202 0.0171607 -0.00031911 -0.00228803 8.16772e-06 0.25209 -0.001 0 0.25187 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000479303 -0.0499814 0.000252823 3.33048e-06 -0.00136451 -0.000149764 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 7.49046e-06 -0.000201185 1.46636 0.105886 -0.959105 -0.0931539 1.46479 -0.105754 0.959039 0.0927322 -0.507325 -6.53153e-05 0.535432 -0.131561 4.88707e-05 -0.513164 6.49299e-05 0.542712 -0.134219 -6.32154e-05 8.17449e-06 -8.17445e-06 1.46537 0.106821 -0.959099 -0.09299 1.46537 -0.1068 0.959098 0.0929943 -0.509444 -6.58904e-05 0.532403 -0.135567 8.40151e-05 -0.509398 -6.58904e-05 0.532335 -0.135534 8.40151e-05 -10.5312 3.51466 44.658 -0.527465 -2.05086 0.161072 -9.40038 -3.46872 43.8938 0.769888 -1.38036 -0.0949836 0 0 0 0 -0.000117838 -0.000136322 0.0130669 -0.00761851 0.23922 -1.92933 11.5748 0.306259 2.22284 -319.211 0.0938906 393.342 -150.579 -0.0928756 0 -58.1721 0.188597 30 -22.1181 -0.201833 0 -346.184 0.0913816 417.806 -157.595 -0.0726565 0 -63.9161 -0.123352 30 -23.6795 0.115484 0 82.0627 -7.5607 -1.20174 4.64392 13.8116 -1.25591 -0.210785 0.719068 -82.0715 4.72839 -1.16778 0.116053 -14.8904 0.979405 -0.19537 -0.452211 0.019 0.013623 8.05878e-06 -0.001 0 0 0 0.038519 0.00299173 0.0150853 8.86466e-06 -0.00233848 1.1849e-05 0.252084 -0.001 0 0.25187 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 9.51515e-05 -0.049996 0.000226389 5.70251e-06 -0.00118733 -8.11115e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 7.91899e-05 -0.000188924 1.4663 0.106387 -0.959093 -0.0932509 1.46479 -0.105753 0.959036 0.0927326 -0.507329 -6.35079e-05 0.535423 -0.131566 5.24479e-05 -0.511633 -2.52342e-05 0.543606 -0.136442 2.80816e-05 2.4897e-05 -2.48943e-05 1.46497 0.108737 -0.95913 -0.0930823 1.46497 -0.108672 0.959128 0.0930953 -0.508034 -0.000204769 0.534904 -0.138864 0.000262722 -0.507889 -0.000204767 0.534688 -0.138759 0.00026272 -10.534 3.51163 44.6907 -0.520666 -2.05143 0.161923 -9.40096 -3.46562 43.936 0.823536 -1.35818 -0.083273 0 0 0 0 -0.584409 -0.67608 -0.0845047 -0.00745754 0.220753 1.63882 -4.95535 -0.737035 -1.33776 324.116 0.469467 -394.975 150.623 -0.546789 0 60.0214 0.362571 -30 23.2155 -0.494595 0 -301.048 -0.126014 390.838 -175.782 0.0976975 0 -70.4402 0.690966 19.2053 -20.561 -0.180486 0 78.1946 13.9889 -1.92576 -24.2325 17.0288 0.446925 -0.421055 -5.51136 -90.2084 7.68834 -5.28523 -24.1543 -15.8037 1.23499 -0.920081 -4.21612 0.029 0.014392 -0.000191112 -0.001 0 0 0 0.0327384 0.00319804 0.0159312 -0.000210223 -0.00209785 2.76561e-05 0.252085 -0.001 0 0.25187 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -0.000108685 -0.0500072 0.000199557 -1.59085e-06 -0.0012964 4.44598e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000128495 -7.25227e-05 1.46598 0.107819 -0.959106 -0.0934563 1.46447 -0.106611 0.959058 0.0928534 -0.506527 -0.000156012 0.536426 -0.133729 0.000139679 -0.509813 -0.000203165 0.544659 -0.13983 0.000180886 4.31254e-05 -4.31111e-05 1.46461 0.110587 -0.95916 -0.093165 1.46461 -0.110474 0.959157 0.0931877 -0.506649 -0.000362117 0.537288 -0.141955 0.000465116 -0.506393 -0.000362109 0.536906 -0.141767 0.000465107 -10.2101 3.49016 44.697 -0.548164 -1.89338 0.123323 -9.05546 -3.4523 43.9224 0.870536 -1.01271 -0.0519379 0 0 0 0 -0.581486 -0.656583 -0.0844693 -0.00745233 0.22076 5.90577 -5.2082 -0.81688 -1.72641 319.558 0.699678 -397.447 153.959 -1.05884 0 60.1238 0.486475 -30 24 -0.543132 0 -295.234 -2.78353 354.129 -152.607 2.51626 0 -79.8608 0.965924 15.1877 -2.91132 -0.269678 0 72.2467 21.7458 -0.521273 -25.3902 19.1554 -0.564291 -0.467868 -6.89091 -91.3139 6.23104 -4.69672 -24.645 -15.8316 1.49673 -0.876717 -4.19069 0.039 0.0161816 -0.00113318 -0.001 0 0 0 0.0220592 0.00183519 0.0178998 -0.0012465 -0.00163121 5.21828e-05 0.252111 -0.001 0 0.25187 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 6.58813e-05 -0.050014 0.000220563 -1.15918e-06 -0.00145028 8.57716e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000142356 -3.47968e-05 1.46561 0.109871 -0.959195 -0.0935336 1.46457 -0.109016 0.95914 0.0934 -0.505094 -0.000300604 0.537548 -0.137012 0.00032186 -0.509164 -0.000392512 0.545595 -0.142314 0.000404177 6.02741e-05 -6.02373e-05 1.46434 0.11238 -0.959188 -0.0932233 1.46434 -0.11222 0.959183 0.0932552 -0.50536 -0.000519306 0.539363 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