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 0.015 -0.0203232 0.000276487 -0.001 0 0 0 0.0381444 0.0013976 -0.0222555 0.000304136 -0.00252781 1.0876e-05 0.251836 -0.001 0 0.251825 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -0.000458578 -0.0499744 -0.000236374 1.35642e-05 0.00152502 -6.04204e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 5.80677e-05 -0.000123155 1.4649 0.105342 -0.959051 -0.0927062 1.46647 -0.105473 0.95912 0.0931274 -0.512983 -7.81447e-05 0.543106 -0.134076 6.44577e-05 -0.507312 6.41268e-05 0.536422 -0.131411 -5.87132e-05 3.46655e-06 -3.46653e-06 1.46524 0.106722 -0.959099 -0.0930273 1.46524 -0.106713 0.959098 0.0930292 -0.509285 -2.73403e-05 0.532823 -0.136808 3.44059e-05 -0.509266 -2.73403e-05 0.532797 -0.136795 3.44059e-05 -9.98194 3.46215 44.1486 -0.74184 -2.0371 0.11979 -10.1239 -3.49926 44.9655 0.824536 -1.3824 -0.0761454 0 0 0 0 -7.32317e-05 -8.76485e-05 0.0186442 -0.00762377 0.2392 -1.34309 10.9628 0.420776 2.07371 320.544 -0.0352175 -394.461 150.88 -0.0167382 0 60.153 0.0971146 -28.2205 24 -0.131377 0 345.365 0.0110592 -416.861 157.2 0.065211 0 64.0544 -0.149564 -29.6044 24 0.163399 0 -82.0837 6.2774 1.18974 -3.0636 -14.8921 1.14764 0.200769 -0.549678 -82.0901 4.44523 -1.23469 0.161252 -14.891 0.965129 -0.209974 -0.442861 0.02 -0.010483 0.000152953 -0.001 0 0 0 0.0380342 0.00162752 -0.0114313 0.000168248 -0.00217687 1.75199e-05 0.251873 -0.001 0 0.251825 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -5.69621e-05 -0.0499674 -0.000188432 3.97453e-06 0.001531 -0.000121228 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 2.94555e-05 -0.000173201 1.4649 0.105342 -0.959051 -0.0927068 1.46633 -0.105722 0.959102 0.0932303 -0.511036 -0.000130863 0.543344 -0.136282 0.00012071 -0.507312 6.41268e-05 0.536422 -0.131411 -5.87132e-05 1.09135e-05 -1.09127e-05 1.46464 0.108476 -0.959129 -0.093181 1.46464 -0.108447 0.959128 0.0931867 -0.507589 -8.90017e-05 0.536001 -0.142155 0.000113776 -0.507527 -8.9001e-05 0.535909 -0.14211 0.000113776 -9.98421 3.45634 44.1489 -0.754203 -2.03698 0.11616 -10.1244 -3.50979 44.9585 0.857555 -1.35475 -0.0684905 0 0 0 0 -0.111773 -0.133776 -0.0278693 -0.00757897 0.220739 1.0184 4.09688 0.470876 1.41063 -272.696 -0.723879 342.758 -146.333 1.10804 0 -52.5742 0.33414 21.5179 -24 -0.341362 0 291.264 -0.110422 -363.959 133.6 0.253093 0 49.8078 -0.52764 -30 19.2697 0.77695 0 -89.9188 -7.41197 2.50859 24.1046 -15.7377 -1.18984 0.432871 4.21313 62.8022 -21.9343 4.48017 31.9551 10.075 -9.96695 0.921451 4.51433 0.035 -0.00694625 0.000584089 -0.001 0 0 0 0.0346164 0.00205066 -0.00754088 0.000642498 -0.00129457 2.32564e-05 0.251853 -0.001 0 0.251825 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000247492 -0.0499486 -0.000232456 3.83091e-06 0.00260625 2.58287e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000120702 -4.57232e-05 1.46446 0.106022 -0.959077 -0.0929085 1.46398 -0.107487 0.959092 0.0931064 -0.509662 -0.000211695 0.547436 -0.143213 0.000212197 -0.506065 4.51147e-05 0.537293 -0.133942 -4.49357e-05 1.89741e-05 -1.89709e-05 1.46413 0.110208 -0.959158 -0.0933085 1.46413 -0.110159 0.959157 0.0933184 -0.505934 -0.000157825 0.538843 -0.14677 0.000202343 -0.505822 -0.000157822 0.538678 -0.146689 0.000202341 -9.50649 3.45569 44.132 -0.752776 -1.72116 0.0907362 -10.0965 -3.51951 44.9214 0.893612 -1.35061 -0.0624798 0 0 0 0 -0.110952 -0.129711 -0.0278437 -0.00757663 0.22075 6.16512 9.79242 1.28706 2.22369 -316.332 -0.393902 379.669 -153.461 0.669921 0 -56.9651 0.388918 26.5219 -24 -0.465704 0 310.352 -0.479278 -397.785 149.34 1.08572 0 57.043 -0.0465784 -30 24 1.13694 0 -88.5389 -4.03355 2.4991 22.2674 -14.0725 -1.63817 0.497662 3.86363 -91.5143 -0.319177 -4.09814 -20.7207 -12.4587 2.49189 -0.872735 -3.92681 0.045 0.0051019 -0.000265347 -0.001 0 0 0 0.025634 0.00187536 0.00571209 -0.000291882 -0.000479417 3.81542e-05 0.252044 -0.001 0 0.251825 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000435101 -0.0499489 7.36641e-07 -2.16941e-05 0.00198375 0.000200191 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000231697 8.64251e-05 1.46353 0.107833 -0.959133 -0.0931295 1.46336 -0.109151 0.959121 0.0933183 -0.502974 -0.000235888 0.543103 -0.146386 0.000280727 -0.504255 -1.51277e-05 0.540723 -0.140638 1.56825e-05 2.85444e-05 -2.85352e-05 1.46377 0.111921 -0.959186 -0.0933969 1.46377 -0.111847 0.959183 0.0934119 -0.504411 -0.000242806 0.54123 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0.544372 -0.150444 0.000393026 -0.508371 -0.000107229 0.549988 -0.149215 0.000120014 3.86626e-05 -3.86437e-05 1.46362 0.11366 -0.959212 -0.0934266 1.46362 -0.113558 0.959209 0.0934469 -0.503209 -0.000337294 0.54298 -0.151805 0.000433397 -0.502974 -0.00033728 0.542625 -0.151631 0.000433383 -8.14357 3.48066 43.7806 -0.754694 -0.607029 0.0186272 -8.50601 -3.49089 44.5109 0.848503 -0.609088 -0.0162698 0 0 0 0 -0.10745 -0.120897 -0.027465 -0.00755366 0.220809 -1.77997 -4.82952 -1.24635 -2.00151 331.421 0.965387 -419.894 160.094 -0.717382 0 61.7118 0.291669 -30 24 -0.625651 0 -340.741 0.910807 395.972 -149.973 -0.701707 0 -62.7598 -0.144812 30 -22.9086 0.216877 0 -92.8107 -3.3351 3.59174 23.6343 -14.6296 -2.00491 0.98875 3.97691 -97.8357 1.27203 -4.5948 -26.3055 -15.8001 2.69107 -0.969461 -4.28566 0.065 0.0291596 -0.000396328 -0.001 0 0 0 0.00398872 0.00111068 0.0321756 -0.000435961 0.000460223 8.03186e-05 0.252163 -0.001 0 0.251825 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000454511 -0.049945 0.000303378 -3.47678e-05 -3.87383e-05 0.000349795 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000288811 0.000241348 1.46263 0.111378 -0.959184 -0.0933093 1.46246 -0.112649 0.959199 0.0935151 -0.500414 -0.000400603 0.542392 -0.151074 0.000529722 -0.507213 -0.000190618 0.551131 -0.153019 0.000245442 4.58771e-05 -4.58475e-05 1.46365 0.115401 -0.959236 -0.0934078 1.46365 -0.115278 0.959232 0.0934323 -0.502319 -0.000413473 0.544191 -0.151719 0.000531266 -0.502033 -0.000413451 0.543757 -0.151505 0.000531244 -8.23607 3.44915 43.355 -0.755563 -0.15353 -0.0211224 -7.70751 -3.50495 43.812 0.827089 -0.174186 0.00875437 0 0 0 0 -0.106322 -0.11788 -0.0271358 -0.00753487 0.220827 -2.5448 -3.81558 -0.509163 -0.507951 326.845 0.997685 -394.014 140.702 -0.762855 0 60.8448 0.35116 -30 24 -0.759823 0 -338.597 1.03261 419.474 -170.3 -0.792326 0 -61.5883 -0.175531 30 -24 0.175291 0 -95.6109 -4.13662 3.02505 24.3066 -15.2343 -1.94158 0.601294 4.34102 -90.433 -0.247614 -4.33402 -24.2443 -14.2575 2.5938 -0.83404 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0.794775 0.525754 0.097214 0 0 0 0 -0.106861 -0.116028 -0.0266036 -0.00750072 0.220859 -4.27537 -5.90438 -0.287341 -0.542737 325.989 0.597084 -407.675 154.142 -0.69409 0 61.0814 0.437802 -30 20.6079 -0.726473 0 -339.061 0.948592 403.298 -155.038 -0.8491 0 -61.4036 -0.297933 30 -24 0.16387 0 -91.1519 -3.69395 3.28522 25.7578 -15.9257 -2.00458 0.593067 4.01272 -92.2724 -0.411726 -4.58435 -24.5752 -14.3647 2.70947 -0.898975 -3.58223 0.095 0.026688 -0.000496782 -0.001 0 0 0 0.00156725 0.000411063 0.0294569 -0.00054646 0.00068961 0.000105529 0.252309 -0.001 0 0.251825 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000432061 -0.0499647 0.000283096 1.39972e-05 -0.000820303 -0.000278577 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -6.89813e-05 -0.0002899 1.46238 0.116591 -0.959265 -0.0933616 1.46274 -0.117742 0.959256 0.0933821 -0.498125 -0.000620103 0.534687 -0.148117 0.000747935 -0.504338 -0.000379656 0.542849 -0.15073 0.000551228 5.4767e-05 -5.47137e-05 1.46404 0.120227 -0.9593 -0.0932834 1.46404 -0.120074 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