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 0.011 -0.0122471 -0.000221838 -0.001 0 0 0 -0.0532317 -0.000386661 -0.0133719 -0.000244022 -0.00242809 9.47996e-06 0.252038 -0.001 0 0.252021 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -5.7933e-06 -0.0499766 3.22304e-06 1.27677e-05 0.000143992 -4.4215e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 5.57245e-05 -9.99565e-05 1.46481 0.105686 -0.959059 -0.0927272 1.46638 -0.105817 0.959128 0.0931485 -0.507333 -6.71329e-05 0.535778 -0.131521 5.51611e-05 -0.507309 6.03812e-05 0.535967 -0.13148 -5.56954e-05 -2.8737e-07 2.87369e-07 1.46556 0.106957 -0.959099 -0.0929358 1.46556 -0.106958 0.959099 0.0929356 -0.509632 3.38651e-06 0.53166 -0.133592 -5.13176e-06 -0.509636 3.38651e-06 0.531666 -0.133595 -5.13176e-06 0.996864 3.3044 33.6851 -0.443187 1.75038 -0.189934 1.52858 -3.33043 33.4136 0.429954 1.82118 0.179139 0 0 0 0 0 0 0.0210511 -0.00763189 0.23921 1.51412 -11.1558 0.874951 -1.94602 -319.521 0.0317362 393.567 -150.594 -0.00403165 0 -58.2656 0.239861 30 -22.1647 -0.257847 0 346.186 -0.00756143 -417.833 157.617 0.0161425 0 64.1788 -0.160685 -29.6927 24 0.256358 0 -82.124 6.62562 1.17746 -3.25234 -14.8922 1.21401 0.199715 -0.578073 -82.0286 6.27875 -1.25605 -3.30702 -14.887 1.06509 -0.21094 -0.491163 0.021 -0.0122082 -0.000266335 -0.001 0 0 0 -0.0528548 -0.000365326 -0.0133291 -0.000292968 -0.00243023 8.45586e-06 0.252037 -0.001 0 0.252021 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -6.3442e-06 -0.049976 2.55458e-06 1.98567e-05 0.000134958 -4.7221e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 4.86518e-05 -9.68214e-05 1.46481 0.105685 -0.959058 -0.0927271 1.46638 -0.105816 0.959126 0.093149 -0.507328 -6.88077e-05 0.535779 -0.131513 5.06951e-05 -0.507309 6.10198e-05 0.535967 -0.131482 -5.50874e-05 -1.10371e-06 1.10371e-06 1.46556 0.109148 -0.959131 -0.0929191 1.46556 -0.109152 0.959131 0.0929185 -0.50861 1.01464e-05 0.53265 -0.132877 -1.3799e-05 -0.508618 1.01464e-05 0.532664 -0.132884 -1.3799e-05 0.976267 3.31104 33.7332 -0.429187 1.74903 -0.190142 1.45509 -3.30565 33.5308 0.413842 1.80596 0.176417 0 0 0 0 -0.331875 -0.383935 -0.0522407 -0.00755538 0.220748 3.01835 6.26916 0.732099 1.26703 323.799 0.364654 -394.456 150.407 -0.567333 0 59.9176 0.38244 -30 23.1112 -0.463915 0 380.745 -0.464437 -443.614 157.728 0.728246 0 68.9792 -0.294165 -30 24 0.427975 0 -89.955 -7.42808 2.53334 24.1276 -15.7534 -1.1889 0.435019 4.21586 105.486 -27.558 5.64948 39.3317 15.6802 -12.639 1.09686 4.14079 0.031 -0.01355 -0.000623868 -0.001 0 0 0 -0.05236 -0.000708094 -0.014805 -0.000686255 -0.0024145 1.37427e-05 0.252035 -0.001 0 0.252021 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 4.68583e-05 -0.0499779 -2.1811e-05 1.719e-05 -5.0144e-05 -6.48254e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 2.53391e-05 -9.93872e-05 1.46493 0.106604 -0.959074 -0.0927371 1.46665 -0.106164 0.959134 0.0934137 -0.506895 -6.13849e-05 0.536305 -0.132062 4.68245e-05 -0.506526 6.29678e-05 0.535345 -0.131433 -5.43223e-05 -1.55247e-06 1.55244e-06 1.46556 0.111253 -0.959161 -0.0929027 1.46556 -0.111258 0.959161 0.0929019 -0.507597 1.42411e-05 0.533587 -0.132176 -1.9025e-05 -0.507609 1.42411e-05 0.533605 -0.132185 -1.90249e-05 0.937987 3.31584 33.8364 -0.417603 1.74581 -0.190215 1.41837 -3.29399 33.5977 0.380928 1.7866 0.175417 0 0 0 0 -0.33176 -0.374649 -0.0522516 -0.00755528 0.220753 2.99625 6.1167 0.767161 1.23386 331.602 0.478859 -390.386 144.242 -0.567155 0 62.119 0.343507 -30 24 -0.462847 0 421.684 -0.45343 -475.135 160.121 0.785829 0 73.6744 -0.25285 -30 24 0.351078 0 -90.5878 -5.08059 3.12884 25.8017 -16.275 -1.73735 0.573216 4.10776 119.609 -48.5705 5.38256 53.6115 15.6342 -23.2507 1.16478 4.30535 0.041 -0.015933 -0.00106571 -0.001 0 0 0 -0.0527789 -7.59754e-05 -0.0174263 -0.00117228 -0.00238909 1.90135e-05 0.252041 -0.001 0 0.252021 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 4.8397e-05 -0.0499792 -4.13453e-05 2.0863e-05 -0.000151423 -9.79416e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -5.46026e-05 -6.66019e-05 1.46507 0.108627 -0.959091 -0.0927233 1.46706 -0.107516 0.959148 0.0936397 -0.50586 -5.55238e-05 0.536949 -0.132968 3.93581e-05 -0.505191 6.90616e-05 0.535242 -0.132074 -5.50004e-05 1.28967e-06 -1.28997e-06 1.46556 0.113247 -0.95919 -0.0928871 1.46556 -0.113243 0.959189 0.0928878 -0.506604 -9.96922e-06 0.534484 -0.131543 1.22321e-05 -0.506598 -9.9696e-06 0.534476 -0.131539 1.22325e-05 1.15474 3.31975 33.4185 -0.403872 1.75883 -0.188612 1.40186 -3.29609 33.6308 0.387291 1.78154 0.17868 0 0 0 0 -0.329913 -0.364901 -0.0522443 -0.00755556 0.220765 3.23235 6.14418 0.814509 1.32009 331.637 0.448126 -386.676 141.996 -0.637234 0 62.1539 0.345594 -30 24 -0.460552 0 -318.818 0.782087 367.344 -124.556 -0.923642 0 -56.1132 -0.215192 30 -24 0.255621 0 -91.4199 -2.14421 3.14074 26.6821 -16.2518 -2.34042 0.572357 3.98845 62.569 -23.5896 3.51314 8.5822 10.7447 5.61859 0.748896 -0.505043 0.051 0.0149898 -0.000555792 -0.001 0 0 0 -0.0525082 0.000611511 0.0165887 -0.000611371 -0.00256897 1.61033e-05 0.252151 -0.001 0 0.252021 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000340347 -0.0499789 0.000247259 1.59812e-05 -0.00148712 -0.000151998 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000110353 -8.53419e-05 1.46484 0.110878 -0.959119 -0.0927275 1.46669 -0.109846 0.959149 0.0933246 -0.504851 -5.66662e-05 0.533316 -0.129848 3.32841e-05 -0.510406 8.35737e-05 0.54108 -0.133562 -7.62433e-05 7.53698e-06 -7.53736e-06 1.46569 0.115224 -0.959217 -0.0928396 1.46569 -0.115203 0.959216 0.0928439 -0.505744 -6.51524e-05 0.534923 -0.129849 8.33953e-05 -0.505698 -6.5153e-05 0.534855 -0.129816 8.33958e-05 1.0988 3.32478 32.7491 -0.353219 1.74531 -0.180798 0.917182 -3.29414 33.6595 0.347356 1.75278 0.176428 0 0 0 0 -0.329557 -0.358206 -0.052285 -0.0075569 0.2208 3.22308 5.9535 0.940395 1.32593 330.906 0.467372 -395.82 150.034 -0.623617 0 61.9619 0.370167 -30 24 -0.454967 0 -319.345 0.452999 405.664 -158.683 -0.604153 0 -55.8718 -0.124341 30 -24 0.161687 0 -91.4928 -2.6153 3.02187 25.68 -15.7596 -2.21027 0.612745 4.01932 67.1611 -22.0163 3.24872 8.80236 10.5891 5.25925 0.730944 -0.327651 0.061 0.0141538 -0.000564624 -0.001 0 0 0 -0.0515908 0.00136239 0.0156692 -0.000621086 -0.00254503 1.79394e-05 0.252149 -0.001 0 0.252021 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000650936 -0.0499842 0.000211203 3.20335e-06 -0.00207771 -0.000210831 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000175567 -0.00010548 1.46512 0.112945 -0.959138 -0.0926086 1.46655 -0.112023 0.959184 0.093317 -0.503869 -7.97605e-05 0.534678 -0.130996 5.86381e-05 -0.509478 5.01248e-05 0.539653 -0.132489 -4.75015e-05 1.58102e-05 -1.58089e-05 1.46592 0.117195 -0.959243 -0.0927603 1.46592 -0.117149 0.959241 0.0927695 -0.505002 -0.000142745 0.534874 -0.127068 0.00018339 -0.504902 -0.000142745 0.534724 -0.126995 0.00018339 0.590544 3.33388 32.3536 -0.275826 1.69597 -0.170112 0.622104 -3.28484 33.5323 0.305788 1.72414 0.173841 0 0 0 0 -0.328791 -0.352106 -0.0523679 -0.00755634 0.220831 -3.38426 -6.60589 -0.414268 -0.789205 331.34 0.534666 -385.034 142.919 -0.670352 0 61.9857 0.36129 -30 24 -0.426137 0 -372.922 0.163108 409.703 -128.041 -0.00195722 0 -76.4522 0.653643 30 -15.8752 -0.169385 0 -89.9723 -2.99349 3.2187 26.3519 -16.2047 -2.13751 0.592873 3.87308 123.939 -46.6624 5.97541 50.6607 16.9327 -20.6507 1.13764 4.12987 0.071 0.0138003 -0.00136777 -0.001 0 0 0 -0.0508264 0.00133419 0.0152804 -0.00150455 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25.964 -15.9218 -2.29307 0.597561 4.09206 82.863 -25.1422 18.6062 11.2278 12.4356 5.15114 1.54187 -0.410603 0.081 0.0158463 -0.000954818 -0.001 0 0 0 -0.0437517 -0.00109983 0.0175309 -0.0010503 -0.00328328 4.03791e-05 0.252242 -0.001 0 0.252021 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000177294 -0.0499981 0.000285463 -4.07792e-05 -0.00192833 -0.000422986 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000214307 -0.000370723 1.46516 0.117012 -0.959245 -0.0925313 1.467 -0.116097 0.959423 0.0932005 -0.50236 -0.00021834 0.529132 -0.124813 0.000226133 -0.508031 -0.000100119 0.539063 -0.13089 0.000108211 3.33123e-05 -3.33014e-05 1.46639 0.120861 -0.959291 -0.092612 1.46639 -0.12076 0.959288 0.0926322 -0.503459 -0.000325461 0.534558 -0.121764 0.000418363 -0.503234 -0.000325453 0.534213 -0.121597 0.000418355 -0.338696 3.35887 32.7074 -0.324709 1.28088 -0.141408 -0.360949 -3.21713 33.393 0.217128 1.61679 0.156672 0 0 0 0 -0.33325 -0.34935 -0.0526379 -0.007541 0.220858 -3.74474 -6.06642 -0.194769 -0.93885 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