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 0.0145574 -0.000210489 -0.001 0 0 0 0.0391341 0.000132885 0.0161132 -0.000231538 -0.00245253 7.56236e-06 0.252067 -0.001 0 0.252067 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000420353 -0.0499787 0.000248323 8.89675e-06 -0.00108685 -6.67072e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -3.90367e-05 -3.78159e-05 1.46498 0.104864 -0.959038 -0.0926779 1.46656 -0.104995 0.959106 0.0930993 -0.507355 -6.26616e-05 0.53644 -0.131449 4.68375e-05 -0.513127 6.03759e-05 0.543732 -0.134057 -6.11053e-05 1.27559e-06 -1.27558e-06 1.46536 0.106815 -0.959099 -0.092993 1.46536 -0.106812 0.959099 0.0929937 -0.509382 -9.40491e-06 0.532346 -0.13559 1.1327e-05 -0.509376 -9.40491e-06 0.532339 -0.135587 1.1327e-05 -9.72019 2.91116 43.2635 -0.590305 -1.75913 0.156881 -9.47176 -2.95624 43.6287 0.582788 -1.62317 -0.137546 0 0 0 0 7.91308e-05 0.000135066 -0.00463497 0.0252136 0.239194 1.54665 -11.219 0.940257 -2.00941 319.666 -0.0200589 -393.419 150.545 -0.0194585 0 59.9922 0.141084 -28.1532 24 -0.174945 0 -345.958 0.0862787 417.683 -157.457 -0.0880391 0 -63.8785 -0.196831 30 -23.5912 0.208129 0 82.042 -7.33338 -1.19582 4.39772 13.8075 -1.16873 -0.213399 0.684838 -82.0753 4.8496 -1.23282 0.02354 -14.89 1.04121 -0.212251 -0.476269 0.018 0.0158677 -0.000793238 -0.001 0 0 0 0.0390216 -0.000178096 0.0175545 -0.000872561 -0.00231775 1.0329e-05 0.252068 -0.001 0 0.252067 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000199839 -0.0499768 0.00022502 1.61684e-05 -0.000757205 -3.21634e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000159969 0.000132121 1.46487 0.105589 -0.959116 -0.0927903 1.46641 -0.105605 0.959061 0.0931939 -0.5065 -9.39013e-05 0.537062 -0.132887 6.47325e-05 -0.511533 2.87336e-05 0.544492 -0.136247 -3.90891e-05 4.29684e-06 -4.29674e-06 1.46497 0.108729 -0.95913 -0.0930879 1.46497 -0.108718 0.959129 0.0930901 -0.507861 -3.44951e-05 0.534694 -0.138816 4.36394e-05 -0.507838 -3.44951e-05 0.53466 -0.138799 4.36394e-05 -9.63733 2.9202 43.1415 -0.607009 -1.75895 0.154321 -9.46989 -2.95293 43.6686 0.564254 -1.61992 -0.139485 0 0 0 0 -0.0236821 -0.040431 -0.0350529 0.0252486 0.220507 0.166459 10.729 0.528047 0.539667 325.991 0.448839 -397.251 151.623 -0.554093 0 60.5257 0.337829 -30 23.5716 -0.413442 0 -294.425 -7.00557 378.78 -170.594 0.897247 0 -69.8283 -1.37704 18.1907 -20.0773 0.164133 0 -90.0284 -7.46481 2.96033 24.1454 -15.7681 -1.19756 0.515462 4.21619 79.0444 -11.8576 6.60742 21.6393 15.0783 -0.312448 0.992628 3.86501 0.028 -0.0108291 -0.000130247 -0.001 0 0 0 0.0309913 -1.54498e-06 -0.011812 -0.000143272 -0.0018326 2.14173e-05 0.252052 -0.001 0 0.252067 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000411031 -0.0499622 2.63431e-05 1.53019e-05 0.000490202 0.000106846 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 1.84482e-05 0.000157543 1.46448 0.107369 -0.959053 -0.0929137 1.46611 -0.107374 0.959161 0.093346 -0.5047 -0.000129657 0.538833 -0.136861 0.000115907 -0.506477 3.58135e-05 0.537777 -0.133636 -4.61551e-05 6.44581e-06 -6.44582e-06 1.46453 0.110521 -0.959159 -0.0931952 1.46453 -0.110504 0.959159 0.0931985 -0.506253 -5.31446e-05 0.537157 -0.142571 6.7617e-05 -0.506216 -5.3145e-05 0.537103 -0.142545 6.76174e-05 -8.31846 2.95714 43.1607 -0.611219 -1.41689 0.139865 -7.65862 -2.93605 43.7564 0.579512 -1.25898 -0.127318 0 0 0 0 -0.0134378 -0.0203172 -0.0350293 0.0252508 0.220513 4.64824 7.03199 -0.684097 0.808015 314.553 0.447194 -388.142 147.837 -0.371266 0 60.2374 0.599912 -30 24 -0.735453 0 334.605 -0.768359 -404.94 152.473 1.04672 0 63.0235 -0.330502 -30 24 0.530773 0 -92.8906 -1.38121 2.55064 24.6819 -15.0364 -2.37799 0.449567 4.0958 86.1277 -14.9001 5.64999 23.5333 16.5691 0.0722739 0.78991 3.99906 0.038 -0.00575724 -6.15012e-05 -0.001 0 0 0 0.0164383 -0.000816652 -0.00623297 -6.76513e-05 -0.00130184 2.4115e-05 0.252043 -0.001 0 0.252067 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000430408 -0.0499663 7.84839e-06 1.23892e-05 0.000409727 0.000112048 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -4.91694e-05 0.000229523 1.4642 0.109225 -0.959082 -0.0929734 1.46576 -0.109222 0.959202 0.0933894 -0.503261 -0.000121758 0.541917 -0.141772 0.000128898 -0.504818 2.21155e-05 0.540053 -0.138139 -1.49668e-05 4.07767e-06 -4.0782e-06 1.46414 0.112207 -0.959186 -0.0932964 1.46414 -0.112197 0.959186 0.0932984 -0.504631 -3.49218e-05 0.53949 -0.14621 4.39815e-05 -0.504608 -3.49225e-05 0.539456 -0.146193 4.39822e-05 -5.73927 2.99807 43.2077 -0.641739 -0.767951 0.111869 -5.47158 -2.91335 43.8744 0.535747 -0.64486 -0.0943464 0 0 0 0 -0.0132832 -0.0190003 -0.0349012 0.0252527 0.220531 3.82978 6.64865 0.80187 0.796118 308.024 0.361501 -371.352 132.907 -0.221176 0 53.149 0.456628 -30 24 -0.538804 0 327.58 -0.669523 -403.632 150.764 0.882234 0 59.9762 -0.37646 -30 24 0.531989 0 -89.1763 -0.874405 2.03327 23.6476 -14.295 -2.27661 0.0959102 3.69431 81.9807 -14.217 7.69068 20.7228 15.0779 0.102742 0.756651 4.32722 0.048 0.0201975 -0.000116735 -0.001 0 0 0 0.00612749 -0.00156242 0.0223173 -0.000128408 -0.000748668 2.19589e-05 0.252073 -0.001 0 0.252067 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.00071469 -0.0499703 0.000156835 3.00916e-05 -0.000624091 0.000186345 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 9.38709e-05 0.00018617 1.46377 0.110981 -0.959123 -0.0930623 1.46534 -0.111009 0.959221 0.093513 -0.501873 -8.0264e-05 0.544241 -0.146074 0.000106266 -0.506787 2.21135e-05 0.546788 -0.144397 1.40333e-05 -2.89564e-06 2.89409e-06 1.46397 0.113923 -0.959212 -0.0933375 1.46397 -0.113933 0.959212 0.0933357 -0.503301 2.26121e-05 0.541097 -0.147829 -3.0459e-05 -0.50332 2.26112e-05 0.541126 -0.147842 -3.04582e-05 -4.17325 3.03518 43.2796 -0.656413 -0.241231 0.0794857 -4.85346 -2.9533 44.0646 0.479365 -0.262916 -0.0640298 0 0 0 0 -0.0149224 -0.0209382 -0.0346685 0.0252578 0.220551 4.26543 5.8757 0.513191 1.04421 325.508 0.440002 -355.063 109.796 -0.564615 0 60.6895 0.303067 -30 24 -0.553326 0 -205.648 1.25065 301.748 -152.791 -0.617115 0 -40.935 0.452983 30 -24 -0.108495 0 -89.4189 -2.1405 2.97823 25.88 -15.7574 -2.21397 0.598624 3.73573 90.0041 -13.8127 4.97546 21.306 15.2581 -0.0136873 0.770561 4.25651 0.058 0.0167959 -9.35292e-05 -0.001 0 0 0 0.00256515 -0.000935029 0.0185755 -0.000102882 -0.000508855 1.22388e-05 0.252117 -0.001 0 0.252067 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000415114 -0.0499813 0.0002091 -2.10178e-06 -0.000433376 0.000191008 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 6.21296e-05 0.000217377 1.46325 0.112743 -0.959179 -0.0931814 1.46485 -0.112786 0.959244 0.0936215 -0.500512 2.12034e-05 0.543343 -0.147221 3.24524e-05 -0.505617 7.42885e-05 0.54902 -0.148336 -4.30429e-05 -9.75612e-06 9.75414e-06 1.46395 0.115632 -0.959236 -0.0933376 1.46395 -0.11566 0.959237 0.0933319 -0.502202 8.16212e-05 0.542231 -0.148099 -0.000106748 -0.502263 8.16201e-05 0.542324 -0.148144 -0.000106747 -4.03749 3.04029 43.3477 -0.64563 0.0834424 0.0549136 -5.23418 -3.09147 44.2803 0.516268 -0.290103 -0.0604312 0 0 0 0 -0.0152454 -0.0205916 -0.0343672 0.0252599 0.220565 3.36608 6.38539 0.570189 0.97231 326.056 0.356365 -385.202 135.349 -0.703485 0 60.7035 0.157261 -30 24 -0.457055 0 -229.446 3.26727 323.126 -154.434 -2.53509 0 -45.4357 0.57308 30 -24 -1.16381 0 -91.8785 -2.35945 2.93199 25.1388 -15.3195 -2.24556 0.58522 3.90605 87.687 -14.1933 5.34496 22.326 15.908 -0.0197478 0.782747 4.21583 0.068 0.0135752 -9.90525e-05 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