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 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-0.00530656 -0.505797 0.0423704 0.665914 -0.213328 -0.0582317 7.97497 2.62049 29.7965 -0.0516528 1.49154 -0.123535 -12.2243 -1.61543 46.3326 -0.0584226 -1.77035 -0.217353 2 0 0 0 18.2415 20.2596 0.519121 -0.0633759 0.220465 22.006 0.464058 -0.0139662 0.497461 -0.0286995 0.0308593 -0.150981 0.504988 0.0173676 0.455772 0.0117056 0.4934 -0.00391643 0.250433 0.492545 -0.00311841 0.252064 0.0327127 -0.170252 0 0.486662 0.045 6.93889e-18 0 -0 0 0.499771 -0.0454579 0.000313261 0.00267334 0.000617923 0.000619896 0.486662 0.045 0 0 -0 0 0.499013 -0.045 0 0 -0 0 0.0132721 -0.00911114 1.47048 0.136611 -0.959716 -0.0928516 1.47054 -0.145111 0.960634 0.0912134 -0.449625 -0.0176859 0.65585 -0.264017 0.00518482 -0.502959 0.0315039 0.664944 -0.203335 -0.0414814 0.0120478 -0.00774551 1.46924 0.133285 -0.959248 -0.0939825 1.46925 -0.148733 0.959737 0.0908338 -0.439062 -0.00263642 0.633496 -0.264475 -0.0160801 -0.505513 0.0502738 0.667837 -0.218462 -0.0690873 9.38546 2.65073 28.9661 0.0995128 1.41591 -0.248149 -14.7715 -1.99457 48.2206 0.388724 -2.45075 -0.0810056 2 0 0 0 18.2115 20.23 0.518749 -0.0648054 0.220489 22.016 0.473427 -0.00582925 0.497758 -0.0301192 0.0285436 -0.132697 0.503034 0.0251777 0.466419 0.0178678 0.493695 -0.00587892 0.250583 0.492872 -0.004812 0.252064 0.0325244 -0.168465 0 0.486662 0.045 6.93889e-18 0 -0 0 0.499775 -0.0452231 0.00051816 0.00357802 0.00057297 0.000510433 0.486662 0.045 0 0 -0 0 0.499013 -0.045 0 0 -0 0 0.0126268 -0.00873943 1.46974 0.135243 -0.95966 -0.0932617 1.47021 -0.146035 0.960649 0.0910946 -0.440387 -0.0099982 0.643905 -0.260619 -0.00689837 -0.503151 0.0403553 0.669688 -0.20798 -0.0538132 0.0116899 -0.00732254 1.46872 0.132493 -0.959225 -0.0943054 1.46873 -0.149656 0.959768 0.0908201 -0.434186 0.00485958 0.627458 -0.265601 -0.0263267 -0.504685 0.057858 0.668829 -0.223149 -0.0794271 10.7352 3.09279 27.7023 0.201104 1.32535 -0.352989 -16.7551 -1.34838 49.6607 0.765444 -2.22878 0.0596704 2 0 0 0 18.1836 20.2035 0.51841 -0.0661917 0.220487 22.026 0.483086 -0.00605104 0.498031 -0.0313483 0.0260169 -0.112877 0.491507 0.0324179 0.477421 0.0145701 0.49442 -0.00750214 0.250601 0.493195 -0.00648217 0.252064 0.0321924 -0.165568 0 0.486662 0.045 6.93889e-18 0 -0 0 0.49948 -0.0451334 0.000566176 0.00350223 0.00195731 0.000663252 0.486662 0.045 0 0 -0 0 0.499013 -0.045 0 0 -0 0 0.012006 -0.00793289 1.46874 0.134107 -0.959719 -0.0938417 1.46942 -0.146928 0.960607 0.0911817 -0.435888 -0.00208197 0.638143 -0.261793 -0.0173663 -0.502793 0.0488655 0.672328 -0.213055 -0.0649561 0.0113488 -0.00693991 1.46829 0.131956 -0.959207 -0.0945797 1.4683 -0.150676 0.959799 0.0907895 -0.429384 0.0119324 0.620707 -0.265381 -0.0359998 -0.503579 0.0650284 0.668547 -0.226239 -0.0892013 11.5108 4.09444 26.3944 0.292133 1.24953 -0.461588 -18.0171 0.549558 50.9037 1.11514 -1.28588 0.160965 2 0 0 0 18.1296 20.1469 0.518194 -0.0675097 0.220475 22.036 0.481218 -0.000573304 0.498278 -0.0323716 0.0232791 -0.0915214 0.493191 0.0388512 0.475781 0.0172751 0.495515 -0.00904814 0.250469 0.493515 -0.00811766 0.252064 0.0317124 -0.161531 0 0.486662 0.045 6.93889e-18 0 -0 0 0.499006 -0.0457354 0.000405525 0.00237649 0.00358673 0.00130017 0.486662 0.045 0 0 -0 0 0.499013 -0.045 0 0 -0 0 0.0122918 -0.00747634 1.46677 0.133404 -0.95906 -0.0941638 1.46917 -0.147953 0.960116 0.0910631 -0.436032 0.00602558 0.637989 -0.266965 -0.0271147 -0.501732 0.0540581 0.674375 -0.220128 -0.0729568 0.0110293 -0.00658825 1.46793 0.131604 -0.959193 -0.0948142 1.46793 -0.151705 0.959829 0.0907542 -0.424739 0.0185362 0.613708 -0.264397 -0.0450062 -0.50229 0.0717358 0.667455 -0.228303 -0.0983142 12.1218 5.01156 25.2792 0.362094 1.17921 -0.545575 -18.2698 2.54547 52.5329 1.4547 -1.37566 0.308967 2 0 0 0 18.0891 20.1071 0.518192 -0.0688024 0.220475 22.046 0.476396 -0.000973662 0.498496 -0.0331737 0.0203302 -0.0686298 0.498689 0.0445465 0.470927 0.013246 0.496403 -0.0104381 0.25048 0.493829 -0.00970698 0.252064 0.0310804 -0.156331 0 0.486662 0.045 6.93889e-18 0 -0 0 0.499043 -0.0456452 0.000374628 0.00215227 0.00218172 0.00139834 0.486662 0.045 0 0 -0 0 0.499013 -0.045 0 0 -0 0 0.0119686 -0.00665995 1.46675 0.132518 -0.959071 -0.0943811 1.46856 -0.148931 0.960125 0.0913725 -0.432427 0.0134545 0.631876 -0.268351 -0.036306 -0.500516 0.0620471 0.671973 -0.225071 -0.0829556 0.0107344 -0.00623621 1.46755 0.131346 -0.959181 -0.0950338 1.46755 -0.152642 0.959856 0.0907411 -0.42007 0.0247183 0.606898 -0.263747 -0.0533391 -0.500734 0.0780214 0.666139 -0.230517 -0.106754 12.5294 5.63071 24.5948 0.428007 1.11698 -0.612852 -17.5766 4.2694 54.3543 1.76715 -1.76261 0.368068 2 0 0 0 18.0389 20.0564 0.51846 -0.0700998 0.220512 22.056 0.493209 -0.0121506 0.498684 -0.0337391 0.0171703 -0.0442023 0.493649 0.0477716 0.48991 -0.00290718 0.497124 -0.0117611 0.250761 0.494136 -0.0112383 0.252064 0.0302924 -0.149943 0 0.486662 0.045 6.93889e-18 0 -0 0 0.499518 -0.0456604 0.000642273 0.0012138 -3.31508e-06 0.00136501 0.486662 0.045 0 0 -0 0 0.499013 -0.045 0 0 -0 0 0.011598 -0.00597323 1.46619 0.131834 -0.959021 -0.0947349 1.46834 -0.150135 0.960183 0.0912126 -0.422144 0.0204072 0.615872 -0.264568 -0.0448885 -0.498875 0.0692525 0.667834 -0.227469 -0.0927442 0.0104853 -0.00593459 1.46723 0.131243 -0.959174 -0.0952036 1.46724 -0.153424 0.959877 0.0907405 -0.415912 0.0300413 0.600627 -0.262864 -0.0604339 -0.499144 0.0834377 0.664423 -0.232032 -0.113946 12.8561 5.01028 23.8783 0.443609 1.04462 -0.59452 -14.6302 4.72927 54.3306 1.9394 -1.28466 0.235192 2 0 0 0 17.9806 19.997 0.518833 -0.0714805 0.220508 22.066 0.494543 -0.0139273 0.498839 -0.0340526 0.0137992 -0.018239 0.485227 0.0495145 0.491902 -0.0089915 0.497998 -0.0130836 0.250642 0.494434 -0.0126998 0.252064 0.0293451 -0.142344 0 0.486662 0.045 6.93889e-18 0 -0 0 0.498985 -0.0451203 0.000416407 0.00138781 0.00201493 0.00119875 0.486662 0.045 0 0 -0 0 0.499013 -0.045 0 0 -0 0 0.0110275 -0.00521205 1.46589 0.131147 -0.959753 -0.0956178 1.46649 -0.151382 0.961158 0.091231 -0.422715 0.0263029 0.610161 -0.264926 -0.053494 -0.498089 0.0779942 0.662477 -0.228507 -0.10403 0.0102851 -0.00571494 1.46704 0.131287 -0.959171 -0.0953049 1.46705 -0.154034 0.959892 0.0907355 -0.412666 0.0344328 0.595126 -0.261262 -0.0662502 -0.497836 0.0879125 0.662382 -0.232265 -0.119847 11.6477 3.66188 23.0681 0.442031 1.0077 -0.490974 -11.9972 3.66138 52.7932 1.98056 -0.615087 0.214144 2 0 0 0 17.9347 19.9527 0.519024 -0.0729092 0.220502 22.076 0.494371 -0.0151387 0.498959 -0.0340988 0.0102171 0.00926009 0.477 0.0510741 0.492275 -0.0147268 0.498866 -0.0143713 0.250762 0.494722 -0.0140791 0.252064 0.0282349 -0.133514 0 0.486662 0.045 6.93889e-18 0 -0 0 0.499415 -0.0450285 0.00043123 0.00123773 0.000298494 0.000698719 0.486662 0.045 0 0 -0 0 0.499013 -0.045 0 0 -0 0 0.0102082 -0.0045238 1.46621 0.130835 -0.959908 -0.0956719 1.46629 -0.152518 0.960875 0.0911776 -0.41334 0.0307507 0.595548 -0.262453 -0.0610874 -0.496305 0.0831014 0.657063 -0.23047 -0.112421 0.0101265 -0.00555852 1.46695 0.131426 -0.959171 -0.0953579 1.46695 -0.154493 0.959902 0.0907315 -0.410105 0.0381178 0.590315 -0.259305 -0.0710873 -0.496738 0.0916706 0.660211 -0.231722 -0.124758 9.16912 3.25715 22.6297 0.486133 1.03967 -0.406038 -11.304 2.59414 51.1584 2.0001 -0.0384848 0.288595 2 0 0 0 17.8753 19.8931 0.519159 -0.0744072 0.220528 22.086 0.508099 -0.0607518 0.499042 -0.0338623 0.00642396 0.0382951 0.479037 0.0529773 0.507975 -0.0695785 0.499222 -0.015157 0.250375 0.494998 -0.0153638 0.252064 0.0269589 -0.123433 0 0.486485 0.0450126 -0.000459564 -0.000693904 -0.000575173 -0.000191067 0.499013 -0.045 6.93889e-18 0 -0 0 0.486662 0.045 0 0 -0 0 0.499013 -0.045 0 0 -0 0 0.00965165 -0.00437039 1.46606 0.130856 -0.959835 -0.095747 1.46631 -0.153361 0.960922 0.0910351 -0.410008 0.0347993 0.586429 -0.260982 -0.0670404 -0.494962 0.0875004 0.653105 -0.232442 -0.119246 0.0100682 -0.00552441 1.46698 0.131718 -0.959177 -0.0953112 1.46698 -0.15442 0.959898 0.0907662 -0.409103 0.0400265 0.58779 -0.257711 -0.0734023 -0.496076 0.0936084 0.658346 -0.230521 -0.127101 7.78423 4.6826 22.7649 0.59548 1.08964 -0.460405 -9.33201 2.24558 50.0553 2.03369 -0.261674 0.239126 2 0 0 0 17.8092 19.8262 0.519394 -0.0758515 0.220484 22.096 0.512758 -0.0642979 0.499109 -0.0334671 0.00683754 0.0407605 0.489564 0.0548866 0.513027 -0.0739138 0.499805 -0.0157665 0.2505 0.495261 -0.0165457 0.252064 0.0256506 -0.112952 0 0.486275 0.0453073 -0.000270076 -0.000143334 0.000911987 0.000703762 0.499013 -0.045 6.93889e-18 0 -0 0 0.486743 0.045 0.000218119 0 -0 0 0.499013 -0.045 0 0 -0 0 0.00924382 -0.00500173 1.46572 0.131109 -0.95951 -0.0955207 1.46648 -0.153885 0.960771 0.0909727 -0.4088 0.0387721 0.581513 -0.259834 -0.0718715 -0.493384 0.0901135 0.647552 -0.232402 -0.123217 0.00994871 -0.00541666 1.46738 0.131601 -0.959184 -0.0950564 1.46738 -0.152506 0.959849 0.0908866 -0.413951 0.038788 0.595784 -0.26027 -0.0728404 -0.497527 0.0922942 0.660133 -0.230425 -0.126462 6.73496 7.50564 23.4199 0.745884 1.13806 -0.610999 -8.38958 2.97041 49.1897 2.06389 -1.07998 0.258809 2 0 0 0 17.7328 19.7482 0.519582 -0.0770823 0.220465 22.106 0.522261 -0.0526049 0.499179 -0.0330465 0.00727774 0.0433847 0.495446 0.0440835 0.523402 -0.0615142 0.499958 -0.0163668 0.250498 0.495511 -0.0176253 0.252064 0.0244496 -0.102953 0 0.486375 0.0448605 -0.00019382 -0.00100815 -0.000522202 0.00179847 0.499013 -0.045 6.93889e-18 0 -0 0 0.486977 0.045 0.000837922 0 -0 0 0.499013 -0.045 0 0 -0 0 0.00944282 -0.00665223 1.4658 0.130978 -0.958848 -0.0953696 1.46768 -0.154433 0.960225 0.0908675 -0.412148 0.0397374 0.582062 -0.260848 -0.0742873 -0.493261 0.0932964 0.645845 -0.23195 -0.126907 0.00953652 -0.00498482 1.46827 0.130513 -0.959179 -0.0945928 1.46824 -0.148345 0.959748 0.0910623 -0.426878 0.0349668 0.618626 -0.268871 -0.0715402 -0.502201 0.0883034 0.667677 -0.23256 -0.124987 4.6452 10.4816 26.0446 0.549602 1.37389 -0.778692 -9.55976 4.29238 48.4739 1.72978 -1.72378 0.336129 2 0 0 0 17.7459 19.7752 0.519664 -0.0780647 0.220528 22.116 0.486226 -0.00207612 0.499254 -0.0325989 0.00774628 0.0461778 0.497124 0.0277873 0.483681 -0.00642499 0.499629 -0.0164414 0.250325 0.49575 -0.0186071 0.252064 0.0233552 -0.0934244 0 0.485758 0.0446493 -0.000303495 -0.00120084 0.00142445 0.00345551 0.499013 -0.045 6.93889e-18 0 -0 0 0.487354 0.045 0.00180758 0 -0 0 0.499013 -0.045 0 0 -0 0 0.00788847 -0.0070256 1.46836 0.130784 -0.959669 -0.0950346 1.46692 -0.154578 0.960362 0.0904528 -0.412214 0.037897 0.585133 -0.260967 -0.0734262 -0.498634 0.0927843 0.652461 -0.233149 -0.127053 0.00874167 -0.00411142 1.46932 0.128536 -0.959158 -0.0941018 1.46928 -0.143199 0.95963 0.0912309 -0.444371 0.0309256 0.650869 -0.282163 -0.0721415 -0.508667 0.0840584 0.679265 -0.237389 -0.125377 2.46982 12.258 28.5079 0.132128 1.62803 -0.896165 -10.9852 5.04764 46.8504 1.14561 -2.11065 0.292981 2 0 0 0 17.6968 19.7281 0.519577 -0.0788342 0.220611 22.126 0.493926 0.0268992 0.499334 -0.0321224 0.00824499 0.0491507 0.497646 0.0172039 0.492064 0.0249238 0.499041 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