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 -0.0166981 -0.000114795 -0.001 0 0 0 -0.0537681 0.00015392 -0.0182679 -0.000126275 -0.00255379 6.88604e-06 0.25202 -0.001 0 0.251874 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -4.92927e-05 -0.0499811 6.70551e-09 1.54954e-05 0.00033993 -6.80919e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -3.47069e-05 -4.62165e-05 1.46658 0.104925 -0.959081 -0.0930998 1.46658 -0.104926 0.959109 0.0931 -0.507353 -5.93324e-05 0.536463 -0.131445 4.2082e-05 -0.507294 5.02147e-05 0.536669 -0.131362 -4.55505e-05 1.02437e-06 -1.02436e-06 1.46555 0.106942 -0.959099 -0.09294 1.46555 -0.10694 0.959099 0.0929406 -0.509644 -7.353e-06 0.531751 -0.133757 8.68822e-06 -0.50964 -7.353e-06 0.531746 -0.133754 8.68822e-06 1.076 2.68938 33.2848 -0.352041 1.77049 -0.154892 1.32351 -2.60243 33.537 0.348969 1.82073 0.143367 0 0 0 0 0 0 0.00102618 0.0253937 0.2391 219.84 -220.468 40 -40 -462.507 0.520929 457.84 -154.517 0.275546 0 -81.8883 0.721963 30 -21.7293 0.140682 0 472.302 0.49883 -474.415 162.844 0.341284 0 84 -0.521046 -29.9447 24 -0.062784 0 -0.603905 230.808 -2.58156 -115.211 -0.643931 40.3658 -0.411757 -20 -0.534531 230.755 -2.99203 -115.59 -0.630163 40.35 -0.535653 -20 0.027 -0.0167004 -0.000132452 -0.001 0 0 0 -0.0540237 0.000791105 -0.0182705 -0.000145697 -0.00255378 6.89791e-06 0.25202 -0.001 0 0.251874 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -4.94167e-05 -0.0499814 3.27401e-08 1.24389e-05 0.000340453 -6.78182e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -3.48825e-05 -4.57991e-05 1.46658 0.104926 -0.959081 -0.0930999 1.46658 -0.104927 0.959109 0.0931 -0.507353 -5.91263e-05 0.536463 -0.131445 4.22259e-05 -0.507294 4.9403e-05 0.536669 -0.131362 -4.7468e-05 4.54371e-06 -4.5436e-06 1.46551 0.109107 -0.959131 -0.0929308 1.46551 -0.109096 0.95913 0.0929332 -0.508654 -3.66763e-05 0.532927 -0.133358 4.64502e-05 -0.508629 -3.66762e-05 0.53289 -0.133341 4.64502e-05 1.22612 2.68421 32.9482 -0.348773 1.78138 -0.154633 1.25171 -2.59403 33.6697 0.364666 1.81592 0.142953 0 0 0 0 -0.0225221 -0.0609643 -0.0234292 0.0252746 0.220498 3.24566 6.03957 0.746467 1.22964 339.245 0.293883 -405.797 152.194 -0.414277 0 64.7577 0.310732 -30 24 -0.376727 0 -358.189 0.234865 423.952 -157.033 -0.448533 0 -69.3267 -0.096938 30 -24 0.109747 0 95.5126 15.1038 -3.43387 -25.4261 18.0258 0.349573 -0.587737 -5.516 104.874 -27.3741 5.13758 39.0798 15.5251 -12.4482 1.00883 4.19487 0.037 0.0119719 -0.000237146 -0.001 0 0 0 -0.0543301 0.0012526 0.0132691 -0.000260861 -0.00245627 1.01622e-05 0.252082 -0.001 0 0.251874 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000452451 -0.0499823 0.000256232 6.38692e-06 -0.0011864 -8.65457e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -5.02102e-05 -5.67831e-05 1.4667 0.105514 -0.959087 -0.0932525 1.46683 -0.105272 0.959114 0.0933607 -0.506775 -6.63397e-05 0.535978 -0.131397 4.91276e-05 -0.512771 4.36684e-05 0.543428 -0.134033 -4.62003e-05 1.15191e-05 -1.15182e-05 1.46559 0.111274 -0.959161 -0.092889 1.46559 -0.111243 0.95916 0.0928952 -0.507811 -9.66362e-05 0.533673 -0.131877 0.000123643 -0.507743 -9.66357e-05 0.533573 -0.131828 0.000123642 1.60952 2.69491 32.4933 -0.337002 1.80199 -0.152588 1.26412 -2.60186 33.83 0.352512 1.81604 0.142425 0 0 0 0 -0.0221603 -0.0537334 -0.023441 0.0252752 0.220503 3.23791 5.92977 0.858251 1.26553 319.808 0.0421609 -379.724 142.176 -0.231104 0 58.2785 0.405242 -30 24 -0.437561 0 -319.106 1.28153 411.334 -165.049 -1.18583 0 -55.9207 0.269072 30 -24 -0.134687 0 84.8545 18.0982 -2.8147 -18.002 14.3752 -1.32828 -0.381955 -4.00192 67.0906 -21.9861 3.06938 8.64074 10.5935 5.50323 0.731508 -0.713554 0.047 0.00984592 2.65225e-05 -0.001 0 0 0 -0.0543569 0.00115878 0.0109305 2.91748e-05 -0.00239807 1.70559e-05 0.25208 -0.001 0 0.251874 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000422018 -0.0499802 0.000238092 1.19823e-05 -0.0011237 -0.00013839 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -9.85097e-05 -7.92699e-05 1.46688 0.107299 -0.959088 -0.0932386 1.46684 -0.106835 0.959096 0.0933232 -0.505915 -0.000111295 0.537121 -0.132719 8.74873e-05 -0.511524 1.98866e-05 0.544036 -0.135162 -1.8293e-05 1.8547e-05 -1.85442e-05 1.46579 0.11341 -0.959191 -0.0928173 1.46579 -0.11336 0.959189 0.0928275 -0.507092 -0.000160902 0.533959 -0.129357 0.000206313 -0.506979 -0.0001609 0.53379 -0.129275 0.000206311 1.79672 2.72504 32.503 -0.344352 1.81092 -0.155079 1.29621 -2.58552 33.9989 0.345727 1.81759 0.144119 0 0 0 0 -0.0209925 -0.0454636 -0.0234206 0.0252788 0.22051 3.51817 5.85172 0.865655 1.25755 315.101 0.227213 -400.205 159.128 -0.0965625 0 57.7595 0.556282 -30 15.0142 -0.471278 0 297.276 -1.4997 -451.45 218.325 1.7611 0 46.9425 0.458502 -30 20.2238 -0.0592228 0 79.0829 19.5075 -3.07522 -19.7228 15.5459 -1.5551 -0.391609 -3.72677 60.1472 -23.0921 3.0555 9.09559 11.1501 5.91273 0.587891 -0.893633 0.057 -0.0135965 -5.97065e-05 -0.001 0 0 0 -0.0480598 0.000973565 -0.0148561 -6.56772e-05 -0.00279413 2.79063e-05 0.252097 -0.001 0 0.251874 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -0.000177429 -0.0499858 1.14354e-05 4.92365e-06 0.00037514 -0.000166729 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000130164 -9.0988e-05 1.46663 0.109508 -0.959123 -0.0932517 1.46681 -0.108989 0.959113 0.0932795 -0.504991 -0.000187956 0.53327 -0.129192 0.000167891 -0.50488 -7.75617e-05 0.534472 -0.130157 7.87433e-05 2.35357e-05 -2.35307e-05 1.46589 0.115358 -0.959217 -0.0927775 1.46589 -0.115293 0.959215 0.0927906 -0.50626 -0.000212249 0.534529 -0.127885 0.000272197 -0.506113 -0.000212247 0.534306 -0.127776 0.000272195 0.946986 2.75425 32.9636 -0.387364 1.6301 -0.153871 0.459581 -2.49851 34.3677 0.381974 1.59991 0.134242 0 0 0 0 -0.0214219 -0.042694 -0.0234621 0.0252875 0.22055 3.47206 5.88663 0.899544 1.30622 317.188 0.365257 -388.711 149.148 -0.0800368 0 58.3169 0.55743 -30 17.9414 -0.519665 0 299.02 -1.96676 -418.141 185.525 2.20892 0 48.6624 0.195678 -30 11.0509 0.130656 0 83.5352 19.1952 -3.18419 -18.4877 14.8389 -1.48054 -0.415573 -3.96603 65.3961 -22.9091 3.05804 8.59472 10.823 5.76502 0.652773 -0.640036 0.067 -0.013548 -5.15904e-05 -0.001 0 0 0 -0.0407286 0.00104642 -0.0148028 -5.67494e-05 -0.00300347 4.14063e-05 0.252143 -0.001 0 0.251874 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 -9.17607e-05 -0.0499865 4.73572e-06 2.13678e-06 0.000270323 -0.000209738 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000139449 -0.000141806 1.46668 0.111708 -0.95916 -0.0932318 1.4667 -0.111184 0.959169 0.0933094 -0.504338 -0.000252057 0.530467 -0.12662 0.00025459 -0.504234 -0.000134217 0.530931 -0.126916 0.000159442 2.78144e-05 -2.78065e-05 1.46587 0.117105 -0.959242 -0.0927753 1.46587 -0.117026 0.95924 0.092791 -0.505318 -0.000261246 0.535494 -0.127672 0.000334911 -0.505139 -0.000261243 0.53522 -0.127538 0.000334909 -0.137154 2.79438 33.1446 -0.372149 1.42213 -0.143905 -0.72445 -2.41401 34.7316 0.363079 1.33925 0.111057 0 0 0 0 -0.0216388 -0.0398858 -0.0235969 0.0253006 0.220602 3.28678 5.811 0.934672 1.2904 347.508 -0.248873 -401.602 148.597 1.10584 0 67.2889 0.411301 -30 24 -0.532026 0 -366.9 -1.11211 438.81 -161.101 1.46703 0 -74.5099 -2.17322 30 -24 0.562053 0 100.221 23.2633 -4.51993 -24.7717 19.2239 -0.553148 -0.86415 -7.53722 106.7 -8.13609 3.25001 10.9344 13.7078 7.11894 0.668261 -0.163168 0.077 0.011006 0.00111774 -0.001 0 0 0 -0.0407866 0.000964648 0.0122066 0.00122952 -0.00294131 5.2721e-05 0.252197 -0.001 0 0.251874 -0 -0 0 0 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10.7727 12.6496 6.48584 -0.435629 0.378685 0.087 0.00751467 0.00109186 -0.001 0 0 0 -0.042468 0.00123876 0.00836613 0.00120104 -0.00308982 6.37022e-05 0.252198 -0.001 0 0.251874 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000476368 -0.0499905 0.000242253 -3.77589e-07 -0.00125986 -0.00031686 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 -0.000238535 -0.000195159 1.46751 0.115549 -0.959236 -0.0929487 1.46758 -0.115125 0.959044 0.0929621 -0.502362 -0.000288945 0.532289 -0.127668 0.00038274 -0.507983 -0.000165682 0.538606 -0.129655 0.000289642 2.50703e-05 -2.5063e-05 1.46608 0.120496 -0.959288 -0.092709 1.46608 -0.120423 0.959285 0.0927235 -0.503619 -0.000262542 0.536271 -0.124978 0.000335435 -0.503444 -0.000262538 0.535999 -0.124845 0.00033543 0.38688 2.69786 32.5013 -0.254308 1.46053 -0.134988 -0.338422 -2.53891 34.4393 0.239557 1.3977 0.128872 0 0 0 0 -0.0205495 -0.0312285 -0.0238167 0.0253217 0.220598 3.55808 5.94807 0.941214 1.41715 318.246 0.17083 -407.749 171.25 -0.39291 0 57.9828 0.363257 -30 19.6339 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