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 -0.0239927 2.38546e-05 -0.001 0 0 0 0.0388081 -0.002892 -0.0262919 2.624e-05 -0.00257715 6.97007e-06 0.251826 -0.001 0 0.25202 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -0.000506952 -0.0499879 -0.000240061 -4.45709e-06 0.00171743 -0.00019043 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000100951 -0.000154062 1.46657 0.104903 -0.959088 -0.0930939 1.46657 -0.104904 0.959105 0.093094 -0.513044 -6.10109e-05 0.543402 -0.134091 4.96497e-05 -0.507293 4.6633e-05 0.536676 -0.131362 -4.31967e-05 -8.71746e-06 8.71741e-06 1.46523 0.106702 -0.959098 -0.0930346 1.46523 -0.106725 0.959099 0.0930301 -0.509194 7.24178e-05 0.532778 -0.136921 -9.39676e-05 -0.509248 7.24178e-05 0.532859 -0.13696 -9.39676e-05 -9.87228 2.5355 43.7349 -0.614434 -1.79209 0.145409 -10.4735 -2.55522 45.0786 0.290216 -1.67688 -0.169017 0 0 0 0 8.35431e-05 9.8319e-05 0.0197599 -0.00762735 0.239195 1.69162 -11.3562 0.919269 -1.98739 -319.629 0.0128971 393.529 -150.658 -0.0242477 0 -58.2201 0.220924 30 -22.1768 -0.254555 0 346.258 -0.0344767 -417.785 157.569 0.00111855 0 64.1649 -0.174816 -29.6527 24 0.213642 0 82.0431 -7.02782 -1.16242 3.8971 13.8116 -1.00243 -0.210485 0.508231 -82.0673 6.33167 -1.24609 -3.17363 -14.8894 1.01662 -0.210662 -0.465604 0.019 0.0459102 -0.002114 -0.001 0 0 0 0.035367 -0.00245808 0.0506013 -0.0023254 -0.00218202 -7.52796e-06 0.252007 -0.001 0 0.25202 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000444452 -0.0499979 -1.00786e-05 4.68685e-06 7.80435e-05 8.68697e-06 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -1.30088e-05 2.64278e-05 1.465 0.104773 -0.959036 -0.0926727 1.4669 -0.105156 0.959096 0.0932915 -0.5063 3.98934e-05 0.539239 -0.134967 -3.91632e-05 -0.507293 4.73036e-05 0.536675 -0.131361 -4.28146e-05 -1.78588e-05 1.78588e-05 1.46481 0.108583 -0.959128 -0.0931376 1.46481 -0.10863 0.95913 0.0931282 -0.507638 0.000148984 0.535164 -0.140308 -0.000192377 -0.507746 0.000148984 0.535326 -0.140387 -0.000192377 -9.88883 2.54516 43.7755 -0.556152 -1.79449 0.156691 -8.58677 -2.59885 44.5502 0.300198 -1.30986 -0.157573 0 0 0 0 -0.0209133 -0.0246145 -0.0101872 -0.00760027 0.220471 3.36134 4.02073 -0.973722 -1.23613 386.43 4.99035 -238.514 -50.2017 -4.06132 0 72.5202 1.2269 -30 -19.0739 -1.72249 0 334.422 -0.478547 -406.152 154.229 0.604364 0 62.1263 -0.275204 -30 23.7421 0.402893 0 88.4222 8.82528 -3.11823 -23.1767 15.3647 0.942589 -0.500251 -3.72514 108.752 -22.0369 4.36387 35.4658 12.3107 -10.2892 1.01333 5.09601 0.029 0.0498202 -0.00080108 -0.001 0 0 0 0.0239864 -0.000835617 0.0549023 -0.000881188 -0.0015148 -4.98244e-06 0.252054 -0.001 0 0.25202 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000539078 -0.0500362 4.12321e-05 -0.000188948 0.000317745 0.000181725 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 7.06015e-05 0.000160731 1.46587 0.105611 -0.959133 -0.0933547 1.46642 -0.10551 0.95913 0.093334 -0.504316 0.000334034 0.539815 -0.139113 -0.000126924 -0.506243 0.00014988 0.538013 -0.13513 -0.000149623 -1.74395e-05 1.74397e-05 1.46474 0.110621 -0.959158 -0.0931429 1.46474 -0.110668 0.95916 0.0931337 -0.506526 0.00015102 0.53647 -0.140536 -0.000194676 -0.506634 0.000151021 0.536633 -0.140616 -0.000194677 -8.2808 2.48273 43.6684 -0.448703 -1.43099 0.153493 -5.36418 -2.67898 43.8135 0.369669 -0.643763 -0.13001 0 0 0 0 -0.0186412 -0.0213634 -0.0101514 -0.00760583 0.220492 -0.95265 0.709357 -1.65955 -0.996737 443.294 17.808 -293.339 -43.4287 -5.45719 0 80.2108 1.071 -30 -15.9617 -1.69856 0 323.607 -1.95743 -387.424 137.7 1.74721 0 62.139 -0.385402 -30 24 0.514821 0 88.6488 13.2847 -3.59859 -23.6601 16.5314 0.288667 -0.544171 -4.35152 122.658 4.15073 4.43463 23.7891 15.805 -1.2283 0.814819 4.20859 0.039 -0.00928793 -0.000958701 -0.001 0 0 0 0.0107531 -0.000166426 -0.0101167 -0.00105457 -0.00110196 -3.31852e-05 0.252077 -0.001 0 0.25202 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 4.20952e-05 -0.0499721 2.90815e-05 1.14096e-05 0.000900589 0.000289784 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000183508 0.00023934 1.46549 0.107246 -0.959171 -0.0935347 1.46542 -0.10839 0.959161 0.0937133 -0.503853 0.00011826 0.538795 -0.140827 -0.000172963 -0.504774 0.00019191 0.539799 -0.14005 -0.000266375 -1.36129e-05 1.36102e-05 1.46458 0.112483 -0.959186 -0.0931727 1.46458 -0.112519 0.959187 0.0931656 -0.505302 0.000125558 0.538054 -0.141743 -0.000161378 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0.000171857 0.537711 -0.140679 -0.00026466 -5.11271e-06 5.10484e-06 1.46436 0.114186 -0.959212 -0.093224 1.46436 -0.114198 0.959213 0.0932216 -0.503989 5.82395e-05 0.539873 -0.143795 -7.40399e-05 -0.504027 5.82339e-05 0.539933 -0.143825 -7.40339e-05 -4.13042 2.46213 43.6752 -0.445789 -0.271426 0.102651 -4.3127 -2.68539 43.7793 0.468556 -0.115988 -0.0878499 0 0 0 0 -0.0213554 -0.0237382 -0.00978228 -0.00763246 0.220569 -2.28181 -5.4265 -1.10734 -1.76073 434.92 -0.368373 -479.447 143.087 -0.366826 0 77.1794 -0.0120467 -30 20.7333 0.214302 0 337.348 -0.561027 -419.273 154.66 0.608741 0 62.8606 -0.190296 -30 24 0.575473 0 92.5815 13.6578 -3.18982 -23.0305 16.3264 0.302907 -0.548549 -4.8362 121.011 -44.1602 5.50606 49.1837 14.6741 -19.537 1.11307 4.71524 0.059 0.0174639 -4.28171e-05 -0.001 0 0 0 0.00510381 0.000657529 0.0193103 -4.70989e-05 -0.000409982 -2.25536e-05 0.252188 -0.001 0 0.25202 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.0002422 -0.049968 4.9445e-05 -5.28048e-06 0.000271953 0.000307714 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000195134 0.000257001 1.46519 0.111256 -0.95923 -0.0935701 1.46572 -0.112108 0.959263 0.0938718 -0.500681 3.89823e-05 0.535352 -0.14292 -0.000112616 -0.502524 0.000133241 0.536423 -0.14192 -0.000246126 2.47257e-06 -2.48314e-06 1.46428 0.115872 -0.959237 -0.0932389 1.46428 -0.115863 0.959237 0.0932408 -0.502875 -4.11812e-06 0.54124 -0.144626 6.77919e-06 -0.502866 -4.12457e-06 0.541232 -0.144622 6.78599e-06 -4.90029 2.59823 43.9869 -0.451913 -0.21346 0.08882 -4.49767 -2.53184 43.8809 0.513512 -0.224209 -0.116111 0 0 0 0 -0.0215139 -0.0235702 -0.00957557 -0.00763429 0.220617 2.51129 5.7549 0.26819 0.896303 436.725 -2.54715 -420.2 85.6871 1.35249 0 78.3279 -0.511992 -30 8.58737 1.00566 0 340.193 -0.440554 -407.807 145.412 0.66068 0 63.8763 -0.143672 -30 24 0.667664 0 90.8893 13.5538 -3.31062 -23.3733 16.4742 0.308733 -0.564932 -4.80376 122.493 -41.8936 5.47755 46.6777 13.9041 -17.7774 1.11047 5.05077 0.069 -0.0129669 0.000321785 -0.001 0 0 0 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