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 0.000542165 0.000877448 -0.001 0 0 0 -0.00204219 0.0098033 0.000696382 0.000965193 -0.00245589 8.92066e-06 0.251871 -0.001 0 0.251859 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -0.000370331 -0.0499748 -1.80206e-05 1.25394e-05 0.00145459 -7.36288e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000867093 0.000783543 1.46586 0.104906 -0.959727 -0.0928925 1.46586 -0.104905 0.959727 0.0928947 -0.512884 -7.65121e-05 0.542914 -0.134069 5.87088e-05 -0.512984 6.67034e-05 0.543268 -0.134036 -6.53529e-05 2.70738e-05 -2.70737e-05 1.46544 0.106901 -0.9591 -0.092963 1.46544 -0.10683 0.959098 0.0929772 -0.509596 -0.000220632 0.532224 -0.134845 0.000283145 -0.509439 -0.000220632 0.531991 -0.134731 0.000283145 1.7327 2.48085 31.9389 -0.226466 1.82452 -0.340291 -10.3462 -2.85728 44.5283 0.345688 -1.6802 -0.411782 0 0 0 0 0.000275046 0.000329194 -0.0381183 0.0252765 0.239255 -2.80439 12.431 0.196799 2.31337 -317.547 -0.426879 392.063 -150.256 0.299141 0 -57.7992 -0.498538 30 -22.0172 0.39265 0 -348.069 0.133787 419.179 -157.805 -0.231242 0 -64.2936 0.0663191 30 -23.7318 -0.0855689 0 -82.11 8.65394 1.13557 -4.53901 -14.895 1.51599 0.208675 -0.829188 -82.0648 7.39099 -1.51691 -3.50302 -14.8939 1.2636 -0.290341 -0.580345 0.018 -0.00137412 0.000772206 -0.001 0 0 0 -0.00238533 0.0086504 -0.00141154 0.000849427 -0.00251131 -4.78222e-06 0.251862 -0.001 0 0.251859 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -0.000766406 -0.0500364 -5.4653e-05 -1.87897e-05 0.00178539 -4.19625e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000868034 0.000783057 1.46586 0.104907 -0.959727 -0.0928924 1.46604 -0.105477 0.959742 0.0930136 -0.512884 -7.65006e-05 0.542914 -0.13407 5.92826e-05 -0.511278 -0.000249502 0.543761 -0.135906 0.000218466 7.70454e-05 -7.7022e-05 1.46519 0.10897 -0.959133 -0.0930029 1.46519 -0.108767 0.959127 0.0930434 -0.508485 -0.000636657 0.534355 -0.136689 0.000818357 -0.50803 -0.000636643 0.533679 -0.136359 0.000818343 2.16455 2.60095 31.9668 -0.27923 1.83598 -0.342665 -10.3429 -2.8386 44.5453 0.313247 -1.67798 -0.418844 0 0 0 0 0.0110311 0.0131951 -0.06575 0.0252361 0.220497 -99.3687 99.2551 -18.1598 18.2248 -308.586 -2.51164 385.783 -152.308 2.3342 0 -56.909 -0.152545 28.9219 -24 0.133176 0 -259.987 3.41979 309.389 -123.881 -2.12661 0 -60.5628 1.02377 17.4549 -22.9971 -0.513567 0 5.17848 7.28686 -75.7263 -0.0008033 0.879943 1.38169 -13.2442 -0.00583575 14.9392 -13.9467 77.7068 1.93229 3.39221 -0.619013 13.6711 1.50366 0.028 0.000173785 0.000608009 -0.001 0 0 0 -0.00369523 0.00615925 0.000291164 0.00066881 -0.00242177 2.20877e-05 0.251857 -0.001 0 0.251859 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -0.00100072 -0.0500809 -9.01795e-05 8.46957e-06 0.00192596 9.17788e-06 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000999934 0.00095167 1.46575 0.105878 -0.95976 -0.0929333 1.46603 -0.10696 0.959771 0.0931873 -0.512264 -0.000355802 0.543814 -0.135416 0.00033709 -0.509581 -0.000775973 0.544327 -0.138067 0.000766444 0.000114689 -0.000114599 1.46497 0.110944 -0.959164 -0.0930418 1.46497 -0.11064 0.959155 0.0931023 -0.507362 -0.000970098 0.536367 -0.138429 0.00124669 -0.506674 -0.000970043 0.535338 -0.137926 0.00124663 3.18726 2.87498 32.0174 -0.405702 1.85903 -0.345949 -9.90904 -2.62811 44.585 0.251741 -1.608 -0.434516 0 0 0 0 0.010758 0.0125653 -0.0657274 0.0252513 0.220501 -100.469 99.9313 -17.9519 18.0284 -306.905 -1.89487 385.967 -154.238 2.05622 0 -55.7068 -0.116905 28.934 -24 0.304136 0 -247.221 3.82813 254.67 -81.4989 -1.28509 0 -62.7403 1.71301 14.931 -11.2142 -0.865811 0 4.83763 9.27563 -75.8206 0.376439 0.988692 1.03387 -13.3076 -0.0352317 20.3368 -21.0306 79.1442 3.37358 5.77616 0.358579 13.9365 2.93738 0.038 0.0194427 -0.000557527 -0.001 0 0 0 -0.00620858 0.00343312 0.0214869 -0.00061328 -0.00206625 0.000103661 0.252076 -0.001 0 0.251859 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000271088 -0.0500617 0.000215613 7.61128e-05 -0.00220677 -4.83671e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000665088 -0.000782933 1.46551 0.107905 -0.959783 -0.0929782 1.46572 -0.108815 0.959819 0.0932721 -0.505745 -0.000730523 0.539027 -0.13567 0.000824362 -0.509108 -0.0010542 0.546074 -0.140536 0.00123078 0.000137403 -0.000137226 1.46486 0.112855 -0.959193 -0.0930551 1.46486 -0.112489 0.959181 0.0931282 -0.506341 -0.00120245 0.537945 -0.139198 0.00154417 -0.505498 -0.00120234 0.536674 -0.138577 0.00154405 4.17311 3.11307 32.0297 -0.512827 1.87989 -0.348689 -8.50194 -2.12917 44.2563 0.165279 -1.3976 -0.455432 0 0 0 0 0.0167567 0.0195005 -0.0656419 0.0253009 0.220516 101.889 -108.916 18.9944 -18.8864 296.374 4.1449 -382.652 153.182 -2.55685 0 52.6858 0.787279 -30 24 -0.587847 0 -299.573 3.87835 353.831 -130.94 -1.16799 0 -62.5635 1.34471 24.4559 -11.0342 -0.993229 0 3.17404 11.2326 -75.4988 0.756157 1.15362 0.557047 -13.1664 0.0580676 18.3311 -22.065 79.48 3.32533 5.95745 0.547248 13.7632 2.85177 0.048 0.0225799 0.000636031 -0.001 0 0 0 -0.00863727 0.00109389 0.0249379 0.000699634 -0.00187382 0.00019468 0.252098 -0.001 0 0.251859 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000419648 -0.0500257 0.000226512 0.000127149 -0.00219575 -2.37761e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000743825 -0.000803168 1.46589 0.110474 -0.959805 -0.0934175 1.46542 -0.110827 0.959789 0.0931955 -0.504785 -0.00100006 0.539901 -0.137389 0.00130464 -0.508282 -0.00115718 0.5459 -0.140994 0.00159219 0.000141766 -0.000141557 1.46486 0.114713 -0.959219 -0.0930416 1.46486 -0.114331 0.959207 0.0931175 -0.505428 -0.00129538 0.539033 -0.13888 0.00166132 -0.504534 -0.00129524 0.537672 -0.138213 0.00166117 4.89717 3.20894 32.0564 -0.571156 1.89331 -0.352746 -7.39061 -1.65563 43.7839 0.0685227 -1.22482 -0.464061 0 0 0 0 0.0258715 0.0300408 -0.0655013 0.0253793 0.220535 100.771 -97.3296 18.7459 -17.4615 312.322 4.55325 -372.218 136.371 -2.53401 0 58.6655 0.555343 -30 24 -0.93915 0 -316.216 4.52499 414.485 -172.043 -2.29053 0 -56.945 0.443618 30 -24 -1.07666 0 33.0721 41.7266 -76.4981 -24.9276 -0.0157198 19.8859 -13.6581 -0.322053 -0.646952 -16.8647 76.5814 -5.05041 -0.0161735 1.06492 13.1483 -0.4282 0.058 0.0219184 0.000611235 -0.001 0 0 0 -0.00683754 0.00163248 0.0242102 0.000672358 -0.00167613 0.000266804 0.252118 -0.001 0 0.251859 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000716836 -0.0500021 0.000237025 5.91595e-05 -0.00253386 -8.86177e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000956407 -0.0010868 1.4656 0.112529 -0.959949 -0.0933889 1.46533 -0.112787 0.959879 0.0932074 -0.503711 -0.00115426 0.541084 -0.13928 0.00167744 -0.507387 -0.00115962 0.545457 -0.141067 0.0017509 0.000134884 -0.000134692 1.4649 0.116469 -0.959243 -0.0930246 1.4649 -0.116103 0.959232 0.0930974 -0.504531 -0.00129909 0.539941 -0.13833 0.00166305 -0.503651 -0.00129895 0.538587 -0.137666 0.0016629 4.32071 2.91485 32.1726 -0.49643 1.78742 -0.336591 -6.99513 -1.53962 43.5668 0.0502754 -1.24652 -0.464562 0 0 0 0 0.0270115 0.0308471 -0.0653499 0.0254554 0.220545 121.856 -123.5 20.8535 -20.2829 314.181 3.86738 -391.202 154.349 -2.43257 0 58.557 0.307647 -30 24 -1.38343 0 -330.764 3.47117 401.744 -151.997 -2.39264 0 -62.0335 0.196913 30 -23.0893 -1.30813 0 22.7505 43.8451 -83.9435 -24.8967 1.3364 19.4999 -13.6557 0.00102182 5.79899 -19.1093 82.4988 -1.04635 2.71423 0.562166 15.4366 0.63378 0.068 0.0211018 -0.000695885 -0.001 0 0 0 -0.00131209 0.00562592 0.023312 -0.000765473 -0.00166758 0.00028749 0.252151 -0.001 0 0.251859 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000691154 -0.0499924 0.00024247 -2.7371e-05 -0.00229901 -0.000176304 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000805251 -0.00104713 1.46511 0.113828 -0.959866 -0.0929834 1.46525 -0.114519 0.959889 0.093278 -0.5028 -0.00122895 0.539957 -0.138903 0.00181045 -0.506578 -0.0011441 0.544308 -0.140464 0.00171566 0.000143553 -0.00014329 1.46493 0.118139 -0.959267 -0.093009 1.46493 -0.117742 0.959254 0.0930877 -0.503674 -0.00144418 0.540931 -0.138022 0.00184748 -0.502708 -0.00144398 0.539432 -0.137286 0.00184728 2.64575 2.30104 32.3464 -0.312197 1.58244 -0.304229 -7.3884 -1.82094 43.5851 0.176918 -1.4605 -0.447573 0 0 0 0 0.0287383 0.0324181 -0.0652763 0.0254929 0.220557 98.7153 -103.307 18.5453 -18.1973 314.072 3.06712 -390.4 153.154 -2.80539 0 58.7474 0.328521 -30 24 -1.477 0 -332.325 2.89306 401.711 -151.234 -3.10916 0 -62.1609 0.0127631 30 -23.9977 -0.919451 0 5.03048 10.2213 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