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 0.018 -0.0160784 -0.000508688 -0.001 0 0 0 0.0386818 -0.00103075 -0.0175862 -0.000559557 -0.00254689 6.27686e-06 0.252021 -0.001 0 0.252042 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -4.91804e-05 -0.0499864 1.15048e-06 6.87841e-07 0.000320686 -0.000184236 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000100023 -0.000145514 1.46656 0.105016 -0.959091 -0.0931065 1.46657 -0.105017 0.959107 0.0931067 -0.507355 -6.09962e-05 0.536433 -0.131449 4.52587e-05 -0.507292 5.19467e-05 0.536638 -0.131366 -4.86579e-05 -1.25746e-06 1.25746e-06 1.46526 0.106733 -0.959098 -0.0930245 1.46526 -0.106737 0.959099 0.0930238 -0.509247 1.13376e-05 0.532708 -0.136651 -1.53665e-05 -0.509257 1.13376e-05 0.532723 -0.136659 -1.53665e-05 -9.91576 2.8437 43.8959 -0.602612 -1.77093 0.152184 -9.53448 -2.88632 43.8453 0.514429 -1.62533 -0.155162 0 0 0 0 0.000164756 0.000253757 -0.00543965 0.0252084 0.239214 2.6083 -12.2485 1.17526 -2.22727 -316.883 0.0348548 390.775 -149.566 -0.0415649 0 -57.5506 0.440884 30 -21.7543 -0.0933493 0 348.744 -0.108498 -420.587 158.526 0.106646 0 64.479 -0.399583 -30 24 0.0535601 0 82.059 -8.22577 -1.31121 4.75834 13.807 -1.10556 -0.252863 0.577924 -82.0673 7.14123 -1.33313 -3.77619 -14.8892 1.03133 -0.241351 -0.42773 0.023 0.00971472 0.000227098 -0.001 0 0 0 0.0389437 -0.000948357 0.0107862 0.000249808 -0.00246972 1.04206e-05 0.252067 -0.001 0 0.252042 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000424033 -0.0499851 0.000249523 -7.23433e-07 -0.00111932 -0.000184949 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -9.94918e-05 -0.000145804 1.46693 0.10539 -0.959088 -0.0933086 1.46693 -0.104919 0.959107 0.0931066 -0.507355 -6.1528e-05 0.536432 -0.13145 4.47029e-05 -0.513127 5.92664e-05 0.543725 -0.134057 -5.84528e-05 -6.46378e-06 6.46395e-06 1.46473 0.108542 -0.959129 -0.0931584 1.46473 -0.108559 0.959129 0.093155 -0.507541 5.42931e-05 0.535471 -0.141159 -7.06374e-05 -0.507581 5.42933e-05 0.535532 -0.141189 -7.06376e-05 -9.83827 2.83562 43.6024 -0.638969 -1.76327 0.144721 -9.56453 -2.88401 43.9171 0.539912 -1.62669 -0.150164 0 0 0 0 -0.0225521 -0.0347485 -0.037495 0.0252589 0.220523 -3.82561 -5.87608 -1.10758 -1.41973 325.996 0.439175 -397.264 151.629 -0.550575 0 60.5278 0.326697 -30 23.5737 -0.401302 0 -334.336 0.493482 406.047 -154.191 -0.635355 0 -61.5987 -0.159042 29.106 -24 0.18242 0 110.973 28.8551 -2.82043 -35.722 12.5671 10.3336 -0.675977 -5.03925 111.025 -2.01972 4.84688 24.1459 15.7463 -1.44772 0.851137 4.22984 0.033 0.00972396 -0.000789342 -0.001 0 0 0 0.0317261 -0.00052116 0.0107964 -0.000868277 -0.00202617 7.8008e-06 0.252063 -0.001 0 0.252042 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000157844 -0.0499699 0.000164295 2.00012e-05 -0.000915158 2.09398e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 4.28835e-05 8.32174e-06 1.46587 0.106599 -0.959098 -0.0934885 1.46588 -0.106574 0.959113 0.0934944 -0.506353 -6.48863e-05 0.53777 -0.134857 3.7656e-05 -0.50985 8.01447e-05 0.543346 -0.137827 -9.03367e-05 -9.09873e-06 9.099e-06 1.46435 0.110362 -0.959158 -0.0932527 1.46435 -0.110386 0.959159 0.093248 -0.505967 7.72473e-05 0.537766 -0.144468 -0.000100066 -0.506023 7.72477e-05 0.537851 -0.144509 -0.000100066 -9.11494 2.78249 43.381 -0.648685 -1.43587 0.123739 -9.1498 -2.88557 43.9413 0.573823 -1.32766 -0.120756 0 0 0 0 -0.0226414 -0.0330089 -0.0374596 0.025259 0.22054 4.21762 6.9345 0.143535 0.831836 319.619 1.28826 -382.626 137.682 -1.48159 0 61.417 0.461552 -30 24 -0.556786 0 -200.968 1.70576 301.74 -157.816 -1.01972 0 -40.0892 0.550285 30 -24 -0.671375 0 56.4078 18.9474 -1.13686 -10.0438 10.7695 -4.44592 -0.500411 -0.0516606 56.629 -19.6147 3.70034 10.3481 10.8186 4.20274 0.906649 0.0416793 0.043 0.0114095 -0.000237706 -0.001 0 0 0 0.0188714 0.000468749 0.0126504 -0.000261477 -0.00132092 4.12116e-06 0.252075 -0.001 0 0.252042 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000177485 -0.049968 0.000174724 7.53466e-06 -0.00109707 0.000266179 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000182025 0.000211652 1.46531 0.108405 -0.95914 -0.0936358 1.46532 -0.108412 0.95916 0.0936357 -0.504508 1.80819e-05 0.540418 -0.140449 -1.33868e-05 -0.508205 0.000118857 0.546286 -0.143738 -0.000135109 -5.71674e-06 5.71646e-06 1.46408 0.112143 -0.959186 -0.0933164 1.46408 -0.112158 0.959186 0.0933135 -0.504523 5.17805e-05 0.539737 -0.146932 -6.69728e-05 -0.504559 5.17813e-05 0.539794 -0.14696 -6.69736e-05 -8.11591 2.71101 43.2763 -0.576468 -0.858339 0.0878797 -8.33649 -2.9052 43.9191 0.583593 -0.779328 -0.0784203 0 0 0 0 -0.0225302 -0.0312666 -0.0373152 0.0252528 0.220569 3.63848 6.47602 0.405373 0.840455 308.74 1.20669 -379.447 136.268 -1.11038 0 55.9549 0.671385 -30 24 -0.834898 0 -209.012 0.479417 312.481 -164.642 -0.434188 0 -41.2629 0.164126 30 -24 -0.233531 0 54.1413 19.9849 -1.48927 -9.99114 10.8224 -4.64702 -0.467426 0.190338 54.2974 -20.4613 3.58783 10.0051 10.8514 4.6056 0.818696 -0.207412 0.058 0.0147253 -0.000311163 -0.001 0 0 0 0.00996846 0.0014837 0.0162978 -0.00034228 -0.000740466 -3.5479e-06 0.252083 -0.001 0 0.252042 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000202366 -0.049976 0.000167515 -7.78435e-06 -0.000918342 0.000371256 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000238457 0.000295692 1.46506 0.110235 -0.959172 -0.0936911 1.46506 -0.110278 0.959191 0.0936791 -0.503181 3.44547e-05 0.542149 -0.144713 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-0.000848985 0.000372793 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000251588 0.000277835 1.4649 0.112052 -0.959209 -0.0937285 1.4649 -0.112088 0.959214 0.0937175 -0.501742 2.21582e-05 0.541482 -0.146403 -3.52383e-05 -0.505664 1.63524e-05 0.548195 -0.15006 -8.89594e-05 1.05072e-05 -1.05097e-05 1.46385 0.115582 -0.959236 -0.0933594 1.46385 -0.115552 0.959236 0.0933655 -0.50211 -8.3588e-05 0.542754 -0.149309 0.000108326 -0.502049 -8.35873e-05 0.542664 -0.149265 0.000108325 -7.55825 2.77957 42.8872 -0.499843 -0.4687 0.0350136 -7.78521 -2.88035 43.7215 0.50328 -0.399115 -0.0418943 0 0 0 0 -0.022874 -0.02943 -0.0367842 0.0252444 0.220615 2.97902 5.53863 0.619448 1.00958 329.55 0.593146 -386.256 133.179 -0.822943 0 61.5821 0.268227 -30 24 -0.325973 0 -226.625 -3.53352 335.191 -167.451 2.7746 0 -45.7609 -0.876801 30 -24 1.47844 0 62.2773 19.8823 -2.2974 -9.9807 10.618 -4.22965 -0.537337 -0.246424 62.2138 -19.5813 2.88155 9.69148 10.6362 4.45554 0.762528 0.239947 0.073 0.0106167 -0.000413339 -0.001 0 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