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 0.012 0.0151735 -0.000624307 -0.001 0 0 0 -0.0534537 -1.60232e-05 0.0167908 -0.000686738 -0.0024578 4.49953e-06 0.252066 -0.001 0 0.251873 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000430968 -0.0499881 0.000250483 -2.6182e-07 -0.0011473 -0.000194101 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -9.28045e-05 -0.000167479 1.46501 0.104733 -0.959036 -0.092677 1.46659 -0.104864 0.959103 0.0931002 -0.507353 -5.3154e-05 0.536485 -0.131443 3.75299e-05 -0.513134 5.4167e-05 0.543783 -0.134054 -5.06919e-05 2.2352e-06 -2.23519e-06 1.46566 0.107025 -0.959099 -0.0929076 1.46566 -0.107019 0.959099 0.0929088 -0.509785 -1.72699e-05 0.531373 -0.132647 2.14507e-05 -0.509774 -1.72699e-05 0.531357 -0.13264 2.14507e-05 1.46182 2.33769 32.7381 -0.316999 1.78891 -0.139251 0.931325 -2.32277 34.1728 0.243454 1.80177 0.129541 0 0 0 0 1.07605e-05 1.65733e-05 -0.00353914 0.0252173 0.239222 1.70731 -11.3527 0.986875 -2.05768 -320.49 0.0481337 394.362 -150.838 0.00890287 0 -58.4773 0.25543 30 -22.2427 -0.244093 0 -345.467 0.0725503 417.132 -157.42 -0.0243017 0 -63.7962 -0.145689 30 -23.6527 0.253458 0 82.031 -5.15083 -1.18731 0.016898 13.8083 -1.20512 -0.209156 0.699109 81.9986 -4.8481 1.25405 1.17314 13.8098 -0.767721 0.223431 -0.117711 0.022 0.0151862 -0.000589883 -0.001 0 0 0 -0.0534609 0.000254916 0.0168049 -0.000648872 -0.00247019 2.8522e-06 0.252067 -0.001 0 0.251873 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000345891 -0.0499944 0.000248023 -6.63066e-06 -0.000958369 -0.000207745 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000100961 -0.000182805 1.46512 0.105448 -0.959048 -0.0927714 1.46675 -0.105667 0.959108 0.0931808 -0.507353 -5.47846e-05 0.536484 -0.131443 3.87923e-05 -0.512887 2.47581e-05 0.544067 -0.134392 -2.64685e-05 6.86636e-06 -6.86612e-06 1.46584 0.109356 -0.959132 -0.0928342 1.46584 -0.109338 0.959131 0.0928378 -0.509062 -5.60616e-05 0.531768 -0.130022 7.13832e-05 -0.509023 -5.60615e-05 0.531711 -0.129994 7.13831e-05 1.45273 2.3512 32.7545 -0.316531 1.78858 -0.140244 0.923026 -2.34192 34.1881 0.261364 1.8015 0.130615 0 0 0 0 -0.005405 -0.00832567 -0.0313243 0.0252432 0.220454 -3.7328 -7.15536 -0.515534 -1.0444 325.882 0.455818 -397.122 151.575 -0.547672 0 60.4918 0.295265 -30 23.5595 -0.365374 0 -341.089 0.452633 421.717 -162.508 -0.522754 0 -62.4988 -0.174828 29.982 -24 0.158847 0 -93.5015 -2.36837 2.95821 27.687 -16.7312 -2.53105 0.567302 4.32426 93.5934 -12.4602 5.04229 23.4571 16.3488 -0.619341 0.871718 4.82523 0.032 0.0170541 -0.000119043 -0.001 0 0 0 -0.0532691 0.000722868 0.0188595 -0.000130947 -0.00242947 4.07398e-06 0.252065 -0.001 0 0.251873 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000621236 -0.0499938 0.000182533 5.11031e-06 -0.00100433 -0.000111605 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -7.05645e-05 -7.98268e-05 1.46523 0.107309 -0.959072 -0.0928437 1.46682 -0.107613 0.959144 0.0932544 -0.507047 -7.57027e-05 0.536867 -0.131858 5.38505e-05 -0.512082 -1.8534e-05 0.540745 -0.131699 1.29241e-05 1.17755e-05 -1.17744e-05 1.46605 0.11162 -0.959163 -0.0927574 1.46605 -0.111589 0.959162 0.0927638 -0.508332 -9.96408e-05 0.532006 -0.127248 0.000127422 -0.508262 -9.96401e-05 0.531903 -0.127197 0.000127421 1.4529 2.36389 32.774 -0.333527 1.78847 -0.140549 0.936809 -2.32473 34.204 0.310041 1.79972 0.128388 0 0 0 0 -0.00507102 -0.00736179 -0.0313392 0.0252446 0.220458 3.31839 6.72916 0.906847 1.57765 331.633 0.577869 -392.723 145.85 -0.624517 0 62.2521 0.316066 -30 24 -0.323546 0 -343.41 0.745551 394.043 -136.742 -0.707043 0 -63.0774 -0.078922 30 -24 0.127098 0 -99.8548 4.0632 2.98447 30.0812 -16.8099 -4.04743 0.580044 4.41462 91.0868 -18.2244 5.2658 23.4268 17.461 0.403865 0.833836 5.22884 0.042 0.010113 -9.48074e-05 -0.001 0 0 0 -0.0512154 0.00199604 0.0112243 -0.000104288 -0.00263725 1.27059e-05 0.25213 -0.001 0 0.251873 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000798328 -0.0499922 0.000170507 2.00906e-05 -0.00134446 -0.000123509 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -5.96034e-05 -0.000106689 1.46507 0.109777 -0.959115 -0.0928713 1.46667 -0.110027 0.95918 0.0932384 -0.506247 -0.000116656 0.53283 -0.128512 0.000106276 -0.511397 -5.17587e-05 0.535398 -0.127242 7.37723e-05 1.95543e-05 -1.95503e-05 1.46624 0.113772 -0.959192 -0.0926862 1.46624 -0.113718 0.95919 0.092697 -0.50757 -0.000172451 0.532191 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