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 0.013 0.0107411 -0.000427328 -0.001 0 0 0 0.0391854 -7.38782e-05 0.0119152 -0.00047006 -0.00246801 4.74013e-06 0.252066 -0.001 0 0.252087 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000425158 -0.0499881 0.000249659 7.68183e-07 -0.00112429 -0.000189268 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000100682 -0.000152921 1.46658 0.104931 -0.959089 -0.0931023 1.46658 -0.104931 0.959106 0.093103 -0.507355 -5.45609e-05 0.536461 -0.131446 3.69219e-05 -0.513129 5.14233e-05 0.543755 -0.134054 -4.94153e-05 1.39817e-06 -1.39816e-06 1.46535 0.106806 -0.959099 -0.0929969 1.46535 -0.106803 0.959099 0.0929976 -0.509361 -1.04081e-05 0.532389 -0.135725 1.2618e-05 -0.509355 -1.04081e-05 0.532381 -0.135721 1.2618e-05 -9.91782 2.4134 43.6509 -0.459215 -1.78281 0.170319 -9.52828 -2.43893 43.7685 0.446694 -1.62428 -0.153079 0 0 0 0 -0.000292244 -0.000346854 0.0207179 -0.00763565 0.239179 -3.25296 12.9084 0.073895 2.40848 -316.174 0.0181343 390.138 -149.537 -0.0330438 0 -57.3908 0.297789 30 -21.8202 -0.224304 0 349.787 -0.0226719 -421.001 158.533 0.134737 0 64.6617 -0.238923 -30 24 0.169398 0 82.0413 -9.19735 -1.13584 5.28845 13.808 -1.49284 -0.202466 0.842965 82.0407 -7.5868 1.26629 2.99356 13.8127 -1.38171 0.223303 0.615623 0.023 -0.0160843 -0.000515735 -0.001 0 0 0 0.0389236 -0.000856571 -0.0175927 -0.000567309 -0.00255142 4.20939e-06 0.25202 -0.001 0 0.252087 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -4.82098e-05 -0.0499894 9.75051e-07 3.6426e-06 0.000316547 -0.000188706 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000101403 -0.000152687 1.46658 0.104932 -0.959089 -0.0931025 1.46658 -0.104932 0.959106 0.093103 -0.507355 -5.42766e-05 0.53646 -0.131446 3.52981e-05 -0.507292 4.35423e-05 0.536667 -0.131363 -4.00068e-05 1.62632e-06 -1.62635e-06 1.46483 0.108626 -0.959129 -0.0931289 1.46483 -0.108622 0.959129 0.0931298 -0.50766 -1.24562e-05 0.535146 -0.140212 1.52545e-05 -0.507652 -1.24562e-05 0.535136 -0.140207 1.52545e-05 -9.75745 2.41185 43.466 -0.521822 -1.77548 0.159278 -9.56324 -2.44216 43.8382 0.428303 -1.6249 -0.154269 0 0 0 0 -0.0215032 -0.0255133 -0.00900151 -0.00758766 0.220486 -5.30682 -8.41262 -0.522947 -1.03839 296.584 -0.323424 -380.825 147.397 0.268476 0 48.8637 0.284638 -30 24 -0.403821 0 334.381 -0.469699 -406.103 154.207 0.680765 0 62.1142 -0.253774 -30 23.736 0.385034 0 87.6713 9.86619 -2.60968 -23.4878 15.7538 0.826019 -0.538724 -4.0639 83.3849 -11.0804 4.01853 23.2292 15.7402 -0.496326 0.706956 3.73712 0.033 -0.0148433 -0.000260521 -0.001 0 0 0 0.037009 5.29789e-05 -0.0162277 -0.000286573 -0.00227234 7.49251e-06 0.252037 -0.001 0 0.252087 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 3.09489e-05 -0.0499912 1.86141e-05 -5.66809e-06 -0.000104846 -0.000242113 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000136712 -0.000192501 1.46631 0.105706 -0.959103 -0.0932268 1.46636 -0.105597 0.959104 0.0932241 -0.506042 -6.98699e-05 0.537287 -0.133663 5.34405e-05 -0.50647 3.32547e-05 0.537817 -0.133831 -3.10034e-05 1.60995e-06 -1.60992e-06 1.46425 0.110312 -0.959158 -0.0932793 1.46425 -0.110308 0.959158 0.0932801 -0.505818 -1.28484e-05 0.538086 -0.145468 1.57623e-05 -0.505811 -1.28483e-05 0.538075 -0.145463 1.57622e-05 -9.737 2.41675 43.5422 -0.500701 -1.77782 0.163709 -9.13693 -2.43519 43.936 0.485696 -1.45843 -0.115159 0 0 0 0 -0.0209266 -0.0242374 -0.00896744 -0.00758695 0.220494 -8.08974 -10.9475 -0.55735 -1.11768 295.416 -0.40288 -386.278 147.732 0.858335 0 46.836 0.109863 -30 24 -0.162343 0 333.847 -0.861089 -406.123 152.31 0.982736 0 62.5965 -0.292121 -30 24 0.438533 0 88.6151 12.841 -3.40825 -23.4081 16.274 0.300533 -0.50083 -4.26774 84.2635 -15.5495 4.6889 23.3362 16.6293 0.391749 0.61943 3.77346 0.043 -0.0124477 -7.97733e-05 -0.001 0 0 0 0.0298441 -0.00024074 -0.0135925 -8.77506e-05 -0.00174774 8.03919e-06 0.252058 -0.001 0 0.252087 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -2.83994e-05 -0.0499936 3.95796e-05 -1.20874e-05 -0.0004605 -0.000216285 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000146793 -0.000148251 1.46587 0.107365 -0.959137 -0.0933989 1.46595 -0.107146 0.959146 0.0934203 -0.504039 -5.62058e-05 0.539038 -0.13793 4.73202e-05 -0.504693 2.90093e-05 0.540662 -0.139359 -2.80843e-05 1.97788e-06 -1.97765e-06 1.46376 0.111938 -0.959186 -0.093408 1.46376 -0.111934 0.959185 0.093409 -0.503989 -1.63649e-05 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0.541989 -0.143882 5.28145e-05 -0.502709 2.28974e-05 0.542712 -0.145152 -3.52742e-05 9.94449e-07 -9.93895e-07 1.4634 0.113539 -0.959211 -0.0935014 1.4634 -0.113537 0.959211 0.0935019 -0.502276 -8.64884e-06 0.542943 -0.153829 1.02827e-05 -0.502272 -8.6475e-06 0.542937 -0.153826 1.02813e-05 -8.4357 2.40516 43.661 -0.453022 -1.13163 0.0907871 -7.7345 -2.41916 43.8661 0.418772 -0.529387 -0.0432103 0 0 0 0 -0.017409 -0.019191 -0.00857663 -0.00758421 0.220539 -8.84855 -9.69589 -1.03542 -1.46702 336.111 -0.271235 -372.245 107.887 0.230345 0 62.9601 -0.0324261 -30 24 -0.235233 0 322.3 -0.90675 -420.696 162.232 0.926629 0 58.0784 -0.264942 -30 24 0.431896 0 87.3035 12.7763 -3.27159 -24.2123 16.7829 0.404671 -0.69011 -4.44579 88.0892 -15.7085 4.20283 24.3635 17.3741 0.0845457 0.518996 4.55585 0.063 0.00328986 -0.000408909 -0.001 0 0 0 0.0103664 0.000804092 0.00371885 -0.000449799 -0.000143651 1.51701e-05 0.252054 -0.001 0 0.252087 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.00019148 -0.0499808 -6.0411e-06 -6.28741e-06 -0.00121839 0.000181995 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000119381 0.000148319 1.46444 0.110809 -0.959244 -0.0937534 1.46458 -0.110596 0.959192 0.093787 -0.500784 -3.83103e-05 0.545084 -0.150256 5.84494e-05 -0.501037 2.04291e-05 0.544264 -0.150423 -2.62605e-05 4.01701e-06 -4.01587e-06 1.4632 0.115139 -0.959235 -0.0935511 1.4632 -0.115128 0.959235 0.0935532 -0.500804 -3.51305e-05 0.544707 -0.156136 4.45789e-05 -0.500781 -3.5128e-05 0.544673 -0.156119 4.45763e-05 -7.95329 2.40581 43.5827 -0.40799 -0.625239 0.0630402 -7.53854 -2.42289 43.8478 0.464088 -0.272685 -0.00640666 0 0 0 0 -0.019578 -0.0215325 -0.00822168 -0.00758329 0.220564 -8.04446 -10.1002 -1.01184 -1.50368 356.92 -0.293964 -387.15 112.59 -0.0326304 0 69.3618 -0.136886 -30 24 -0.194373 0 336.727 -0.731916 -422.553 155.627 0.883165 0 62.8186 -0.224326 -30 24 0.358033 0 87.8338 13.0262 -3.55348 -24.5627 17.0427 0.43317 -0.575164 -4.59591 91.0787 -15.9559 5.37541 24.6853 17.7427 -0.140784 0.850461 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-0.508233 -422.511 155.893 0.680346 0 63.0634 -0.155439 -30 24 0.360014 0 89.5243 12.712 -3.64585 -24.0989 16.7959 0.432014 -0.568028 -4.67295 92.5851 -15.6684 5.47251 24.6562 17.6704 -0.190777 0.913687 5.289 0.083 0.00218739 -0.000425391 -0.001 0 0 0 0.0143419 0.00103931 0.00250613 -0.00046793 0.000974096 1.9201e-05 0.25211 -0.001 0 0.252087 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000164672 -0.0499783 -1.52594e-05 9.7254e-06 -0.000793158 0.000298154 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000184647 0.000246117 1.46382 0.114074 -0.959271 -0.0938981 1.46394 -0.113877 0.959302 0.093943 -0.497779 -6.99436e-05 0.545099 -0.156567 8.57123e-05 -0.497877 -2.74062e-05 0.544057 -0.156263 1.99597e-05 1.84285e-05 -1.8424e-05 1.46301 0.118179 -0.959279 -0.093593 1.46301 -0.118128 0.959278 0.0936032 -0.498239 -0.000164758 0.54764 -0.159078 0.000212438 -0.498124 -0.000164753 0.547466 -0.158993 0.000212432 -8.37749 2.47094 43.6381 -0.456074 -0.286074 0.0250247 -9.35032 -2.51415 44.1183 0.522241 -0.965198 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0.128134 1.07133 0.0897401 0.0231021 0 -0 0.109865 1.07786 -0.0103487 0 0 -0 0.128134 -0.0139921 0.0435078 1.48216 0.113107 -0.958532 -0.0885014 1.4822 -0.105048 0.959289 0.0904442 -0.672907 0.111856 1.07245 -0.426353 -0.222515 -0.56798 0.0909144 0.813006 -0.307386 -0.20236 -0.015744 0.0455018 1.48079 0.113837 -0.959037 -0.0889413 1.48076 -0.107301 0.958844 0.090341 -0.684881 0.113808 1.07855 -0.415222 -0.223046 -0.560047 0.0919354 0.808173 -0.311168 -0.202149 -6.87071 9.74806 81.2662 0.825184 -1.91911 -0.0804769 0.402087 1.51304 3.02014 -0.0838887 -0.012327 0.115829 2 0 0 0 -2.96302 -2.87005 1.05103 -0.0285057 0.222564 -17.0523 25.1374 0.943607 3.06341 -305.313 8.53858 296.468 -22.2465 -5.86268 0 -52.4911 -3.22726 30 -24 3.22145 0 -313.405 -2.29626 406.057 -152.689 2.94057 0 -61.1839 -2.75186 24.1347 -20.7875 1.0073 0 86.2735 6.3201 -2.00003 -21.538 14.2011 1.04417 -0.884075 -4.05961 83.552 -11.1126 4.4452 21.1686 14.4611 -0.756238 0.961867 4.28528 29.004 1.07927 0.0129192 1.07876 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