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 0.006 0.015391 -0.000309209 -0.001 0 0 0 0.0251903 -0.000759147 0.0170301 -0.00034013 -0.00244724 7.25532e-06 0.252068 -0.001 0 0.251828 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000443238 -0.0499786 0.000245447 1.22704e-05 -0.00109704 0.000118646 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000150355 2.98681e-05 1.4664 0.104988 -0.959102 -0.0932174 1.46475 -0.104821 0.959017 0.092712 -0.507353 -3.74956e-05 0.536382 -0.131428 2.71899e-05 -0.513023 4.1326e-05 0.543557 -0.133945 -5.19678e-05 -1.10817e-06 1.10817e-06 1.46541 0.106838 -0.959099 -0.0929804 1.46541 -0.106841 0.959099 0.0929798 -0.509476 1.01111e-05 0.532227 -0.135132 -1.37869e-05 -0.509485 1.01111e-05 0.532241 -0.135139 -1.37869e-05 -9.3087 1.92523 44.733 -0.373349 -1.21683 -0.0700524 -8.30542 -1.98421 43.9869 0.3422 -0.998185 0.0974551 0 0 0 0 3.78454e-05 5.1982e-05 -0.00425918 0.0252153 0.239191 -1.94172 11.6009 0.307674 2.19813 -319.246 0.0426721 393.358 -150.574 -0.00688193 0 -58.1868 0.21514 30 -22.1075 -0.260894 0 -346.01 0.0307713 417.21 -157.097 -0.0756023 0 -63.8482 -0.168869 30 -23.519 0.212002 0 82.0603 -7.56632 -1.18331 4.61925 13.8253 -1.2513 -0.210856 0.719961 -82.1541 4.82799 -1.23508 0.162893 -14.8905 1.04251 -0.211704 -0.481065 0.021 0.015254 -0.000450643 -0.001 0 0 0 0.0211387 -0.000826762 0.0168794 -0.000495707 -0.00242785 5.14863e-06 0.25207 -0.001 0 0.251828 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000459847 -0.0499763 0.000251018 4.73428e-06 -0.00117229 0.000266058 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.00023502 0.00015164 1.46654 0.104966 -0.959101 -0.093177 1.46489 -0.105342 0.959009 0.0928384 -0.507363 -3.14071e-05 0.536506 -0.131604 3.35024e-05 -0.513172 2.59086e-05 0.543826 -0.134228 -4.67177e-05 -3.48533e-06 3.48536e-06 1.46511 0.108799 -0.959129 -0.0930486 1.46511 -0.108808 0.95913 0.0930468 -0.508156 2.98398e-05 0.534314 -0.137374 -3.91416e-05 -0.508179 2.98398e-05 0.534349 -0.137391 -3.91417e-05 -9.09153 1.92701 44.6636 -0.350031 -1.04746 -0.0986533 -8.14628 -1.98736 43.9463 0.3113 -0.805011 0.103878 0 0 0 0 -0.0229336 -0.0315021 -0.0318814 0.0252509 0.220474 -3.14949 -5.68512 -0.934814 -1.39607 327.785 0.454147 -399.372 152.148 -0.5653 0 60.9 0.152634 -30 24 -0.314529 0 -320.456 0.675305 402.694 -161.08 -0.767465 0 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0.000303728 0.00241409 0.168843 0.599939 -0.0220619 6.93889e-18 0 -0 0.159431 0.609933 0.0809569 0 0 -0 0.167704 0.599939 -0.0220619 0 0 -0 0.159431 -0.0242959 0.00954204 1.46679 0.155345 -0.959543 -0.0904425 1.46701 -0.124374 0.959521 0.0969615 -0.524203 -0.0463811 0.643186 -0.177879 0.079161 -0.388707 -0.0431175 0.589898 -0.286135 0.07617 -0.0244099 0.00896869 1.46476 0.160781 -0.960116 -0.0901164 1.46475 -0.12387 0.958946 0.097495 -0.522987 -0.0634022 0.643841 -0.185967 0.1009 -0.371096 -0.059459 0.563303 -0.280535 0.09765 0.753812 3.99234 39.8569 0.39227 0.569962 -0.123778 -3.10582 2.74045 32.8958 0.0915302 -0.295941 -0.0613322 2 0 0 0 -1.90507 -1.83262 0.579494 0.0352316 0.22036 102.292 -90.498 20.556 -18.1791 316.199 5.2233 -360.924 114.509 29.5359 0 59.5614 11.0883 -30 24 -10.4419 0 -302.233 4.96409 356.261 -145.498 27.4704 0 -59.6202 11.3274 30 -24 -9.27927 0 -3.6781 9.56065 71.4225 -7.612 1.15003 0.225035 13.1996 1.69511 24.6056 -101.091 73.6026 7.72018 -4.92223 -2.37731 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0 59.3205 10.9979 -30 24 -10.565 0 -298.334 6.19947 359.526 -149.278 27.8943 0 -59.3971 11.4046 30 -24 -9.07941 0 -2.66339 11.1367 68.3359 -8.57818 2.0491 0.106554 12.0564 1.35357 29.8932 -103.005 69.5353 9.40427 -5.24516 -3.47219 13.1539 2.73012 17.454 0.635644 0.0716709 0.611127 0.0732052 0.00839443 -0.0165653 0.602684 0.0413026 0.636751 0.0741724 0.60756 0.0469049 0.250506 0.607613 0.0504496 0.251828 0.0234141 0.15181 0 0.609933 0.0809569 6.93889e-18 0 -0 0.167704 0.59959 -0.0219372 -0.000120281 -0.000413617 -0.00224611 0.158134 0.609933 0.0809569 0 0 -0 0.167704 0.600019 -0.0220486 0.000102676 0 -0 0.159432 -0.0241514 0.00863793 1.46577 0.15876 -0.959588 -0.0903373 1.46614 -0.124144 0.959374 0.0975846 -0.520248 -0.0647889 0.643377 -0.185528 0.101832 -0.374039 -0.0611005 0.568802 -0.282268 0.0983362 -0.0238781 0.00815346 1.46404 0.163568 -0.960184 -0.0900419 1.46401 -0.124419 0.958943 0.0978602 -0.519281 -0.0781105 0.639444 -0.187476 0.119664 -0.360629 -0.0737701 0.544904 -0.273826 0.116038 -0.0388514 3.76923 39.1325 0.713009 0.506379 -0.131794 -3.86314 2.94511 34.7193 0.386528 -0.554099 -0.135093 2 0 0 0 -1.87105 -1.78686 0.580255 0.0380291 0.220323 104.891 -88.7334 21.2842 -17.6511 315.572 6.5343 -358.602 116.314 28.4994 0 59.1763 10.2971 -30 24 -11.1586 0 -295.1 7.14606 349.481 -140.683 26.5856 0 -59.362 10.6535 30 -24 -9.48363 0 -2.76347 14.6989 67.9639 -10.018 3.76899 -0.781375 11.4135 1.09462 36.7514 -108.613 68.278 12.1005 -3.46787 -5.72122 13.2018 2.04279 17.464 0.629904 0.069619 0.611213 0.0730342 0.00893486 -0.0176318 0.60372 0.0432629 0.630341 0.0721034 0.607601 0.0484846 0.250559 0.607843 0.0519133 0.251828 0.0224608 0.140911 0 0.609933 0.0809569 6.93889e-18 0 -0 0.167704 0.599434 -0.0219558 -6.06813e-05 -0.000376758 -0.00208823 0.157984 0.609933 0.0809569 0 0 -0 0.167704 0.600255 -0.0220096 0.000399752 0 -0 0.159436 -0.0240721 0.00816153 1.46506 0.160668 -0.959609 -0.0903433 1.4656 -0.124334 0.959338 0.0979312 -0.517722 -0.0728545 0.638709 -0.185235 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0.570226 -0.283691 0.137524 -0.0177464 0.00308649 1.46691 0.150317 -0.959869 -0.0905431 1.46698 -0.120736 0.958916 0.0963098 -0.531688 -0.0883131 0.665527 -0.204044 0.150931 -0.401444 -0.0849364 0.615643 -0.298545 0.148289 -3.48313 0.237557 33.8216 0.760862 0.108291 -0.141219 -6.29905 -0.263465 39.5731 1.34781 -1.34948 -0.140262 2 0 0 0 -1.91446 -1.85232 0.581478 0.0440301 0.219863 -108.188 87.5668 -18.7301 15.5997 -303.482 6.00617 359.184 -131.158 30.0963 0 -53.7249 6.0699 30 -23.3907 -5.00653 0 -257.51 18.6998 323.79 -123.308 17.1202 0 -50.0296 3.25175 30 -24 -5.34954 0 -0.714828 -30.0725 51.9399 15.4152 -17.3758 3.56016 3.33181 5.46228 -49.455 -7.65011 -46.464 -24.4824 6.51889 10.8562 -13.1016 -4.40322 17.514 0.572945 0.0670366 0.611737 0.0719996 0.012206 -0.0240868 0.620773 0.0681758 0.56711 0.0704008 0.608155 0.0546359 0.250622 0.608872 0.0577593 0.251828 0.0190823 0.0950333 0 0.609933 0.0809569 6.93889e-18 0 -0 0.167704 0.599738 -0.021748 0.0023326 0.000664182 0.00377566 0.15696 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