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 0.008 -0.0246054 0.000461879 -0.001 0 0 0 0.0384687 -0.00123057 -0.0269659 0.000508066 -0.00257291 9.84868e-06 0.251827 -0.001 0 0.25202 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -0.000511495 -0.0499779 -0.00024168 1.1052e-05 0.00175428 -6.77025e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -3.82285e-05 -3.95369e-05 1.46655 0.105019 -0.95909 -0.0930999 1.46655 -0.105019 0.959107 0.0931 -0.513044 -7.17184e-05 0.543364 -0.134095 5.81666e-05 -0.507292 5.49257e-05 0.536637 -0.131366 -5.10474e-05 -5.15066e-06 5.15063e-06 1.46523 0.106706 -0.959098 -0.093034 1.46523 -0.10672 0.959099 0.0930313 -0.509204 4.32143e-05 0.532798 -0.136938 -5.63872e-05 -0.509236 4.32144e-05 0.532847 -0.136962 -5.63872e-05 -9.92539 2.97914 43.8978 -0.651143 -1.78013 0.145848 -9.88527 -3.00574 44.1557 0.529039 -1.62967 -0.140406 0 0 0 0 -6.17222e-05 -7.26387e-05 0.0191242 -0.00762366 0.239198 1.13866 -10.7494 0.816134 -1.81261 -320.113 0.0490454 394.047 -150.749 -0.00722168 0 -58.3693 0.206684 30 -22.1608 -0.241977 0 -345.345 0.0425093 417.019 -157.276 -0.10557 0 -63.67 -0.16633 30 -23.5254 0.190815 0 82.0524 -4.68555 -1.18624 -0.123464 13.811 -1.19933 -0.211311 0.688027 82.0524 -4.76605 1.23282 1.15166 13.8125 -0.762546 0.219736 -0.137088 0.018 -0.0149775 -7.37339e-05 -0.001 0 0 0 0.038819 -0.00119932 -0.0163753 -8.11072e-05 -0.00214887 3.77294e-06 0.251918 -0.001 0 0.25202 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 9.31719e-05 -0.0499834 -0.000130005 3.07327e-05 0.00142005 0.000191192 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000126783 0.000149736 1.46584 0.105649 -0.959128 -0.0933305 1.46655 -0.10502 0.959107 0.0931001 -0.509363 2.13512e-05 0.542059 -0.136121 -3.03377e-05 -0.507292 5.4377e-05 0.536637 -0.131366 -5.26329e-05 -1.39067e-05 1.39073e-05 1.46459 0.108429 -0.959128 -0.0932011 1.46459 -0.108466 0.959129 0.0931938 -0.507344 0.000115783 0.535931 -0.142562 -0.000149715 -0.507428 0.000115783 0.536057 -0.142624 -0.000149715 -9.92689 2.98467 43.9137 -0.652683 -1.78087 0.146967 -9.90481 -3.02248 44.2326 0.529955 -1.63667 -0.14323 0 0 0 0 -0.0570685 -0.0671603 -0.0119879 -0.0076044 0.220517 6.06815 7.51404 -0.785638 -0.674346 -174.534 1.2788 161.77 -64.5169 -0.951115 0 -69.3887 -0.0350569 -1.79303 -3.45493 -0.286631 0 334.38 -0.498082 -406.086 154.197 0.63326 0 62.115 -0.307752 -30 23.729 0.464299 0 77.6443 9.83715 -3.66601 -22.3309 14.8072 0.0695336 -0.293146 -2.05139 88.4965 -9.41791 5.14878 22.9634 15.3856 -0.828256 0.70741 3.71461 0.028 0.0248981 0.000291023 -0.001 0 0 0 0.0322138 -0.000607841 0.027488 0.000320125 -0.00122842 3.43753e-06 0.25191 -0.001 0 0.25202 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000686825 -0.0499791 3.79996e-05 2.65266e-05 0.000576987 0.000341298 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000177709 0.000310639 1.46555 0.107068 -0.959145 -0.0935231 1.46584 -0.105742 0.959142 0.0933618 -0.509322 0.000100673 0.546982 -0.143105 -9.73107e-05 -0.51205 0.000121362 0.545129 -0.13804 -0.000127689 -1.98169e-05 1.98206e-05 1.46418 0.110226 -0.959157 -0.0933026 1.46418 -0.110278 0.959159 0.0932923 -0.505735 0.000167932 0.538308 -0.146113 -0.000216681 -0.505856 0.000167936 0.538489 -0.146202 -0.000216685 -9.28528 2.98582 43.5711 -0.649555 -1.46001 0.130598 -9.40571 -3.03994 44.2318 0.561746 -1.33831 -0.123382 0 0 0 0 -0.056439 -0.0648459 -0.0119522 -0.00760754 0.220538 5.57568 7.31011 0.0436293 -0.485646 -301.355 0.305862 390.541 -189.732 -0.223642 0 -81.8928 -1.02705 16.1408 -3.8492 0.696189 0 -333.166 -0.425396 409.82 -166.049 0.119206 0 -60.6486 -0.0741858 28.3353 -24 0.13663 0 83.2776 14.5597 -2.64219 -23.5489 16.6153 -0.130696 -0.54899 -4.12812 72.821 -12.8731 4.62825 23.3232 16.162 -0.357469 0.800667 4.23302 0.038 0.0184533 1.78151e-05 -0.001 0 0 0 0.0191169 0.000617349 0.0203987 1.95966e-05 -0.000440833 -5.43868e-07 0.2519 -0.001 0 0.25202 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000393304 -0.0499654 -9.67094e-07 2.62745e-05 0.00119127 0.000540672 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000329526 0.000446219 1.46488 0.108853 -0.959201 -0.0937525 1.46521 -0.107306 0.959169 0.0935042 -0.508723 0.000149361 0.549269 -0.148626 -0.000155826 -0.510036 0.000195359 0.547462 -0.144398 -0.0002344 -2.01771e-05 2.01819e-05 1.46401 0.112064 -0.959185 -0.0933403 1.46401 -0.112117 0.959187 0.0933298 -0.504419 0.000177192 0.539988 -0.147674 -0.000228185 -0.504544 0.000177199 0.540177 -0.147767 -0.000228192 -8.46681 2.96494 43.3015 -0.603145 -0.87437 0.0896743 -8.86195 -3.05626 44.4222 0.599295 -0.785283 -0.0800891 0 0 0 0 -0.0560269 -0.0630689 -0.0118077 -0.0076168 0.220569 4.31185 6.70212 0.0127185 0.246134 -362.39 0.720356 447.672 -195.09 -0.681167 0 -80.173 -0.526476 28.0122 0.801935 0.213255 0 -339.596 0.0559087 394.313 -154.009 -0.427469 0 -59.2651 -0.143866 30 -24 0.312333 0 89.5033 16.1549 -3.56658 -24.3034 17.5517 -0.0420652 -0.564387 -5.09937 87.1262 -13.8528 5.21663 24.2868 17.0506 -0.30826 0.808068 4.5694 0.048 0.0148931 0.000459602 -0.001 0 0 0 0.00905741 0.00141616 0.0164824 0.000505562 8.61912e-07 -1.34554e-05 0.251959 -0.001 0 0.25202 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 5.78974e-05 -0.049968 4.37824e-05 1.38761e-05 0.00115336 0.000628037 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000390549 0.000505174 1.46447 0.110627 -0.959223 -0.0939005 1.4647 -0.109139 0.959229 0.0937062 -0.507548 0.000193408 0.547198 -0.149974 -0.000230372 -0.50882 0.000210126 0.548678 -0.149109 -0.000302772 -1.47783e-05 1.47796e-05 1.4639 0.113841 -0.959211 -0.0933578 1.4639 -0.113879 0.959212 0.0933503 -0.503225 0.000139447 0.541468 -0.148693 -0.000178897 -0.50332 0.000139452 0.541615 -0.148765 -0.000178903 -8.334 2.9749 43.2983 -0.564434 -0.414063 0.0505807 -8.86765 -3.0588 44.6802 0.618287 -0.379933 -0.0380056 0 0 0 0 -0.0563496 -0.0623852 -0.011557 -0.00763017 0.220606 2.71723 7.2898 -0.187048 0.767501 -376.168 14.9234 448.356 -186.044 -2.92012 0 -79.8788 2.66755 30 -23.4626 -0.100635 0 -340.631 0.0615531 390.27 -148.733 -0.645415 0 -62.6485 -0.0255698 30 -22.2504 0.338653 0 92.1055 17.5919 -3.18659 -23.3532 17.5395 -0.573449 -0.37694 -5.13843 90.8147 -14.0931 5.16719 23.451 16.636 -0.293022 0.873912 4.74059 0.058 0.00749999 0.000963164 -0.001 0 0 0 0.00832684 0.000689354 0.00834999 0.00105948 0.000341989 -1.64139e-06 0.252019 -0.001 0 0.25202 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -1.92168e-05 -0.0499477 5.30422e-05 3.28483e-05 0.000921273 0.00054704 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000367255 0.000432277 1.46434 0.112532 -0.959262 -0.0938842 1.46438 -0.110987 0.95927 0.0938053 -0.506348 7.78143e-05 0.54457 -0.150381 -0.000149624 -0.507585 0.000212541 0.546883 -0.150582 -0.000313866 -1.22683e-05 1.22679e-05 1.46383 0.115518 -0.959235 -0.0933724 1.46383 -0.11555 0.959236 0.0933662 -0.502056 0.000125284 0.542856 -0.149618 -0.000160156 -0.502139 0.000125289 0.542986 -0.149682 -0.000160161 -8.70622 3.11202 43.2745 -0.594746 -0.3552 0.0377701 -9.30981 -2.97491 44.794 0.577026 -0.37864 -0.0307373 0 0 0 0 -0.0568971 -0.0621363 -0.011254 -0.00764147 0.220653 2.87879 5.90475 0.0953097 0.712971 -373.915 -1.5785 419.12 -157.712 1.51492 0 -78.8143 0.249689 30 -24 -0.00682709 0 -340.537 0.2295 397.085 -152.056 -0.563273 0 -62.6249 0.000613898 30 -22.6559 0.302848 0 93.6533 16.8432 -3.39236 -24.1126 17.6121 -0.146094 -0.530921 -5.26182 92.7515 -13.5428 5.20191 23.3526 16.4859 -0.382599 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-340.749 0.568734 411.93 -164.325 -0.635136 0 -62.5538 -0.0092858 30 -22.8409 0.400402 0 93.917 16.3069 -3.37051 -24.1061 17.4921 -0.0463369 -0.557155 -5.2611 -92.0399 3.44339 -5.06795 -26.3275 -16.2087 2.18314 -0.90163 -4.10777 0.078 0.0144349 0.000557104 -0.001 0 0 0 0.0225205 -0.000553653 0.0159784 0.000612815 0.00107111 -7.23578e-06 0.2521 -0.001 0 0.25202 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 7.3065e-05 -0.0499879 4.3564e-05 -3.12754e-05 0.000650381 0.000109413 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 5.16099e-05 0.00011114 1.46454 0.115961 -0.959292 -0.0937334 1.46279 -0.114492 0.959216 0.0932792 -0.503988 0.000122449 0.542076 -0.152954 -0.000149967 -0.505213 0.000166405 0.543378 -0.152422 -0.000238097 -2.17811e-05 2.17864e-05 1.46363 0.118512 -0.959278 -0.0934272 1.46363 -0.118571 0.95928 0.0934155 -0.499577 0.000221377 0.545668 -0.152302 -0.000283934 -0.499725 0.000221385 0.545899 -0.152416 -0.000283942 -9.68937 3.2771 43.1249 -0.675295 -1.0195 0.0824938 -10.3234 -2.87974 44.623 0.551179 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