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 0.017 0.0145743 0.000130075 -0.001 0 0 0 0.0384368 -0.00153934 0.0161318 0.000143083 -0.00244432 9.16101e-06 0.252068 -0.001 0 0.252065 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000422291 -0.0499769 0.000248164 1.01463e-05 -0.00109491 -6.11197e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -3.2391e-05 -3.53502e-05 1.46654 0.105146 -0.959093 -0.0931114 1.46497 -0.105014 0.959025 0.09269 -0.507354 -6.6916e-05 0.536387 -0.131453 5.00349e-05 -0.513126 6.40312e-05 0.543675 -0.134061 -6.51819e-05 -4.97378e-06 4.97375e-06 1.46537 0.106809 -0.959099 -0.092994 1.46537 -0.106822 0.959099 0.0929914 -0.509367 4.17624e-05 0.532311 -0.135554 -5.45173e-05 -0.509398 4.17624e-05 0.532359 -0.135577 -5.45173e-05 -10.3216 3.11526 44.3318 -0.75039 -1.77415 0.131129 -9.72702 -3.13991 44.387 0.610139 -1.61724 -0.136585 0 0 0 0 -0.000284779 -0.000346538 0.0163349 -0.00761602 0.239209 -1.3404 10.9559 0.435789 2.07206 -320.218 0.0418259 393.974 -150.77 -0.0316037 0 -58.3477 0.203978 30 -22.2038 -0.230226 0 345.719 -0.0147831 -417.223 157.328 0.0428741 0 64.0997 -0.137494 -29.6228 24 0.164668 0 82.0619 -6.6602 -1.20447 3.87047 13.8128 -0.993011 -0.215583 0.506885 82.0549 -5.74195 1.19128 1.96207 13.812 -1.03283 0.21045 0.405326 0.022 0.0145747 0.000120694 -0.001 0 0 0 0.0367934 -6.84643e-05 0.0161322 0.000132764 -0.00244426 8.90242e-06 0.252068 -0.001 0 0.252065 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000422308 -0.0499768 0.000248039 1.25131e-05 -0.00109495 -6.0945e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -3.20366e-05 -3.54977e-05 1.46654 0.105147 -0.959094 -0.0931113 1.46497 -0.105015 0.959025 0.0926901 -0.507354 -6.67962e-05 0.536386 -0.131453 4.87758e-05 -0.513126 6.38553e-05 0.543674 -0.134061 -6.3795e-05 -1.08051e-05 1.08052e-05 1.46497 0.108713 -0.959129 -0.0930901 1.46497 -0.108742 0.95913 0.0930844 -0.507825 9.04077e-05 0.534608 -0.138723 -0.000117035 -0.507891 9.04078e-05 0.534707 -0.138772 -0.000117035 -9.7699 3.08373 44.4072 -0.657686 -1.6303 0.129195 -9.72569 -3.1315 44.3875 0.651661 -1.61805 -0.127882 0 0 0 0 -0.0689978 -0.0839533 -0.0180436 -0.00759643 0.220612 -3.3915 -6.12963 -0.554671 -1.02518 313.289 0.37808 -383.708 146.649 -0.624476 0 57.0357 0.328116 -30 24 -0.696732 0 -276.509 2.44064 363.604 -154.737 -1.89141 0 -52.1407 0.366153 30 -24 -0.55968 0 90.0108 7.4759 -2.99862 -24.1391 15.7147 1.41553 -0.52654 -4.22746 -90.1645 7.65098 -4.82795 -24.1482 -15.7931 1.22929 -0.842016 -4.21647 0.032 0.0121226 -0.000183962 -0.001 0 0 0 0.0303749 0.000721643 0.0134348 -0.000202358 -0.00225935 -1.26934e-06 0.252068 -0.001 0 0.252065 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.00055575 -0.0499852 0.000224186 1.73541e-05 -0.000961395 -0.000174874 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -9.04841e-05 -0.00014153 1.46654 0.105148 -0.959093 -0.0931114 1.46497 -0.105015 0.959025 0.0926901 -0.506457 -1.75007e-05 0.537194 -0.133067 -8.64353e-06 -0.512119 9.58255e-05 0.542935 -0.134071 -8.7261e-05 -8.45578e-06 8.45488e-06 1.46462 0.110561 -0.959159 -0.0931747 1.46462 -0.110583 0.959159 0.0931703 -0.50633 7.35382e-05 0.53681 -0.141687 -9.50566e-05 -0.506383 7.35378e-05 0.53689 -0.141727 -9.50561e-05 -8.90478 3.01082 44.5332 -0.594304 -1.19786 0.108032 -9.12503 -3.15609 44.4349 0.662973 -1.4799 -0.119121 0 0 0 0 -0.0689114 -0.0819466 -0.0180215 -0.00759973 0.220619 -8.47414 -9.23736 -0.633044 -0.866287 323.527 0.214158 -388.255 141.907 -0.778932 0 61.7746 0.113367 -30 24 -0.432852 0 -265.179 1.19681 306.766 -131.031 -1.68159 0 -79.003 -0.436666 9.91146 -2.72178 0.143284 0 -89.8141 -5.50166 3.08078 24.2134 -15.46 -1.53205 0.568909 4.032 -89.9515 5.5613 -4.51554 -24.2514 -15.478 1.57946 -0.826147 -4.02652 0.042 0.021279 -0.000730236 -0.001 0 0 0 0.0202502 0.000218516 0.0235069 -0.00080326 -0.00182929 -4.82069e-06 0.252066 -0.001 0 0.252065 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000207625 -0.049983 0.000197045 1.37872e-06 -0.000272158 -0.000254256 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000176229 -0.000163876 1.46489 0.105857 -0.959054 -0.0927461 1.46489 -0.105865 0.959046 0.0927443 -0.504907 1.64443e-05 0.539122 -0.136983 -3.46674e-05 -0.509262 0.000162592 0.545351 -0.139138 -0.000153978 -2.26287e-06 2.25987e-06 1.46438 0.112367 -0.959187 -0.0932297 1.46438 -0.112372 0.959187 0.0932288 -0.504968 2.49707e-05 0.538679 -0.143794 -3.21411e-05 -0.504985 2.49691e-05 0.538706 -0.143807 -3.21394e-05 -8.47481 2.98298 44.6629 -0.633249 -0.739046 0.0626705 -8.21642 -3.16579 44.5757 0.656538 -1.05894 -0.0951861 0 0 0 0 -0.0681592 -0.0794514 -0.0178943 -0.00760795 0.220639 -6.65637 -10.5161 -0.662852 -1.18345 318.418 0.717865 -412.894 164.705 -0.822504 0 57.3772 0.773679 -30 24 -0.47896 0 -348.184 -0.115382 432.532 -183.825 -0.454535 0 -80.8872 0.181729 24.3187 -6.42016 -0.0348766 0 -92.1367 -4.18342 3.09166 25.1627 -15.7673 -1.86969 0.588218 4.12874 -92.2693 4.40403 -4.65904 -25.233 -15.7972 1.93854 -0.869482 -4.13499 0.052 0.020033 -0.000773573 -0.001 0 0 0 0.0118674 -0.00042482 0.0221363 -0.000850931 -0.00128773 -9.45792e-06 0.252082 -0.001 0 0.252065 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000383685 -0.0499823 0.000248056 1.63888e-06 -0.000662449 -0.000121154 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -8.2984e-05 -7.17445e-05 1.46436 0.107715 -0.959098 -0.0928996 1.46435 -0.107751 0.959086 0.0928909 -0.503273 -1.53454e-05 0.541308 -0.141316 -4.73779e-05 -0.509108 0.000103231 0.548865 -0.14371 -0.0001524 2.3323e-06 -2.33645e-06 1.46426 0.114135 -0.959213 -0.0932537 1.46426 -0.114128 0.959212 0.0932552 -0.50376 -1.20988e-05 0.540158 -0.144893 1.58747e-05 -0.50375 -1.21011e-05 0.540145 -0.144887 1.58771e-05 -8.24822 3.00575 44.7644 -0.659137 -0.432619 0.0143463 -7.71117 -3.12651 44.6037 0.628469 -0.610856 -0.0532065 0 0 0 0 -0.067875 -0.0778121 -0.0176676 -0.00761348 0.220655 -6.76346 -10.2703 -0.778184 -1.27014 332.053 0.690592 -410.736 156.9 -0.723198 0 61.9309 0.346465 -30 24 -0.220222 0 -384.416 -0.7461 471.454 -194.154 0.483711 0 -81.3267 0.340363 30 -18.2559 -0.0266376 0 -94.4854 -4.00873 2.99303 23.92 -14.9518 -1.96771 0.683491 4.21932 -94.5772 3.81489 -4.65776 -23.8214 -14.9769 1.93586 -0.753443 -4.23939 0.062 0.0244084 -0.000764621 -0.001 0 0 0 0.012404 -0.00146054 0.0269493 -0.000841083 -0.000920898 -5.59811e-06 0.252099 -0.001 0 0.252065 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000484915 -0.0499805 0.000251464 7.18352e-06 -0.00104055 -3.96733e-06 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 4.23764e-05 -3.3231e-05 1.46385 0.10963 -0.959118 -0.0929991 1.46385 -0.109663 0.959129 0.09299 -0.502116 -5.3906e-05 0.54224 -0.14395 -1.9476e-05 -0.508208 4.52641e-05 0.549665 -0.14627 -0.0001116 1.95794e-06 -1.96229e-06 1.4642 0.11583 -0.959237 -0.0932631 1.4642 -0.115824 0.959237 0.0932644 -0.502634 -8.61888e-06 0.541405 -0.145486 1.13773e-05 -0.502626 -8.62122e-06 0.541396 -0.145481 1.13798e-05 -8.59678 3.04825 44.8786 -0.696957 -0.516947 0.00795452 -7.78394 -3.05341 44.5282 0.583019 -0.570297 -0.021353 0 0 0 0 -0.0692106 -0.0783695 -0.0174004 -0.00760929 0.220671 -6.51028 -10.0645 -0.668565 -1.24348 332.315 0.753681 -396.459 143.596 -0.544418 0 62.3103 0.395669 -30 24 -0.427074 0 -383.636 -0.738226 436.085 -160.89 0.517356 0 -80.8612 0.0619433 30 -24 0.0532378 0 -94.1547 -4.07343 3.13828 24.9136 -15.5698 -1.95621 0.596471 4.22001 -94.2891 4.39719 -4.7459 -24.8587 -15.5957 1.9461 -0.898793 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0.441631 433.053 -158.285 -0.385643 0 -79.3795 -0.228644 30 -24 0.128931 0 -92.7449 -4.30293 3.26589 25.3808 -15.8537 -1.91782 0.580511 4.13886 -92.8713 4.51016 -4.8442 -25.3577 -15.8835 1.91849 -0.906389 -4.14347 0.082 0.0283025 -0.00050179 -0.001 0 0 0 0.0263677 -0.000953701 0.0312327 -0.000551969 -0.000535089 1.4593e-05 0.252168 -0.001 0 0.252065 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000471883 -0.0499842 0.000251737 -2.05817e-05 -0.000972581 -6.7222e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -3.69562e-05 -4.35638e-05 1.46342 0.11331 -0.959186 -0.0930648 1.46343 -0.113283 0.959184 0.0930723 -0.499833 -6.25473e-05 0.540652 -0.145534 7.96619e-05 -0.505812 3.87034e-05 0.547818 -0.14769 -3.5664e-05 -7.34636e-06 7.34176e-06 1.46413 0.118931 -0.95928 -0.093279 1.46413 -0.118952 0.959281 0.0932749 -0.500437 7.4144e-05 0.543674 -0.146551 -9.57389e-05 -0.500488 7.41417e-05 0.543754 -0.14659 -9.57365e-05 -9.89817 2.97828 44.9596 -0.721116 -1.21003 0.0860949 -8.99474 -2.97828 44.4865 0.658835 -1.1273 -0.0572421 0 0 0 0 -0.0689383 -0.0763623 -0.0170764 -0.00758532 0.220726 -7.44725 -8.66774 -0.619873 -0.979353 332.272 0.467209 -397.469 146.586 -0.726029 0 62.4182 0.177413 -30 24 -0.515231 0 -378.742 1.71005 433.029 -157.953 -1.52146 0 -78.5123 -0.502729 30 -24 0.0796156 0 -92.1667 -4.49223 3.29113 25.4847 -15.9506 -1.87869 0.607779 4.12624 -92.3312 4.58493 -4.95157 -25.5031 -15.9728 1.91644 -0.885914 -4.12497 0.092 0.0271874 -0.000567484 -0.001 0 0 0 0.0312884 3.48822e-05 0.0300062 -0.000624232 -0.000415119 9.3511e-06 0.252202 -0.001 0 0.252065 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.00047185 -0.049989 0.000256417 -1.4495e-05 -0.00108611 -0.00016431 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.0001124 -0.000106741 1.46336 0.115048 -0.95921 -0.0930616 1.46336 -0.115024 0.959204 0.0930683 -0.498749 2.30075e-05 0.539808 -0.145934 3.05723e-05 -0.504756 0.000119983 0.547021 -0.14823 -6.41383e-05 -6.67697e-06 6.67193e-06 1.46407 0.120326 -0.9593 -0.0932973 1.46407 -0.120345 0.9593 0.0932936 -0.499317 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