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 0.01 0.0149356 0.000753788 -0.001 0 0 0 -0.00220168 -0.000341384 0.0165292 0.000829167 -0.00246248 -3.7131e-05 0.252063 -0.001 0 0.252016 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000485077 -0.0449722 0.000252433 1.31572e-05 -0.00138432 0.000450745 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00398247 0.00387946 1.46813 0.104915 -0.95906 -0.0925773 1.46659 -0.104653 0.958998 0.0921974 -0.501261 -0.0254579 0.539054 -0.136194 0.0255006 -0.507215 0.0259307 0.546637 -0.139136 -0.0261647 0.00393776 0.00392475 1.46702 0.106967 -0.959083 -0.0924527 1.46701 -0.106842 0.95908 0.0924894 -0.503529 -0.0253438 0.534342 -0.13899 0.0253944 -0.503634 0.0258646 0.534588 -0.139124 -0.0261071 2.27433 4.01997 33.3587 -0.513787 -0.122269 0.0256698 2.61525 -3.93627 33.8761 0.466569 0.286712 0.0200302 0 0 0 0 0.000137804 0.000160799 0.00925195 0.00806275 0.240187 0.02 0.0159853 0.000288353 -0.001 0 0 0 -0.00251837 0.000636483 0.0176839 0.000317189 -0.00246036 -3.37042e-05 0.252064 -0.001 0 0.252016 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000501575 -0.0449821 0.000255333 -1.05925e-05 -0.00145744 0.000265269 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00391277 0.00368419 1.46826 0.105494 -0.95908 -0.0927286 1.46658 -0.104652 0.958996 0.0922028 -0.501257 -0.0254574 0.539049 -0.136187 0.0255014 -0.507213 0.025928 0.546637 -0.139116 -0.0261666 0.00386606 0.00385697 1.46684 0.109076 -0.959115 -0.0924886 1.46684 -0.108963 0.959112 0.0925221 -0.502418 -0.0253412 0.535609 -0.139418 0.0253826 -0.50253 0.0258879 0.535863 -0.139556 -0.0261291 2.27156 4.00037 33.4052 -0.486221 -0.153259 0.00110633 2.70532 -3.92541 34.0354 0.500148 0.339984 0.0392767 0 0 0 0 -0.655379 -0.764743 -0.00997541 0.00848855 0.221405 0.03 0.01252 0.000423809 -0.001 0 0 0 -0.00147768 0.00129142 0.013872 0.00046619 -0.00240557 -2.93506e-05 0.252051 -0.001 0 0.252016 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.00029728 -0.0449784 0.000188817 -2.63951e-06 -0.000972977 0.000267592 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.0038376 0.00372746 1.46817 0.107241 -0.959094 -0.0927865 1.46664 -0.105546 0.959005 0.0922315 -0.500721 -0.025428 0.539994 -0.137364 0.0254717 -0.505002 0.0259719 0.545989 -0.139974 -0.0262004 0.00380286 0.00378713 1.46668 0.111099 -0.959146 -0.0925233 1.46667 -0.110984 0.959143 0.0925567 -0.501333 -0.0253831 0.536877 -0.139916 0.0254324 -0.501423 0.0258656 0.537098 -0.140037 -0.0260889 2.24609 3.97619 33.4334 -0.491718 -0.10967 -0.0240983 2.6054 -3.90067 34.2148 0.543167 0.219703 0.057694 0 0 0 0 -0.654663 -0.745834 -0.0099321 0.00848699 0.221407 0.04 0.0114487 0.000119462 -0.001 0 0 0 -0.00345913 0.00095846 0.0126936 0.000131408 -0.00241646 -3.18147e-05 0.252078 -0.001 0 0.252016 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.0001017 -0.0449882 0.000211164 -1.76464e-05 -0.000668462 0.000205864 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00370424 0.00372578 1.46823 0.109306 -0.959107 -0.0927404 1.46659 -0.107576 0.959023 0.0922509 -0.499641 -0.0254276 0.539474 -0.137445 0.0254634 -0.503979 0.0259408 0.547108 -0.141427 -0.0261831 0.00374499 0.00372022 1.46652 0.113006 -0.959175 -0.0925578 1.46652 -0.112884 0.959171 0.0925919 -0.500266 -0.0254359 0.538121 -0.14049 0.025498 -0.500328 0.0258308 0.538299 -0.140589 -0.0260322 2.28254 3.97141 33.3537 -0.518546 -0.011672 -0.0446127 2.526 -3.88981 34.1926 0.54514 0.248822 0.0775081 0 0 0 0 -0.651508 -0.727132 -0.00986959 0.00848393 0.221422 0.05 -0.00696032 0.000464841 -0.001 0 0 0 -0.0026748 0.0015114 -0.00755636 0.000511325 -0.00236378 -2.84425e-05 0.252024 -0.001 0 0.252016 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000214953 -0.0449861 -3.11968e-05 -5.96332e-06 0.00058151 0.000193881 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00364432 0.00364358 1.46805 0.111337 -0.959125 -0.0927296 1.46659 -0.109671 0.959057 0.0921997 -0.498554 -0.0254901 0.541851 -0.139844 0.0255051 -0.497571 0.0258788 0.541929 -0.140324 -0.0261206 0.00370113 0.00366708 1.46633 0.114759 -0.959201 -0.092607 1.46633 -0.11463 0.959198 0.092642 -0.499152 -0.0254907 0.539526 -0.14166 0.025568 -0.499185 0.0257897 0.539658 -0.141736 -0.0259689 2.10291 3.99045 32.8523 -0.463248 0.0724682 0.000137269 2.15394 -3.88672 33.8779 0.517508 0.09905 0.0559026 0 0 0 0 -0.651158 -0.714315 -0.00978712 0.00848566 0.221428 0.06 -0.0050639 0.000316198 -0.001 0 0 0 0.00334445 0.00241271 -0.00547028 0.000347817 -0.00234769 -1.83879e-05 0.252034 -0.001 0 0.252016 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000198183 -0.044985 -3.54197e-05 4.76749e-06 0.000596759 0.000148867 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.0035718 0.00358278 1.46621 0.113244 -0.959108 -0.0923332 1.46634 -0.111653 0.959082 0.0922318 -0.49745 -0.0255453 0.54245 -0.140569 0.0255716 -0.496429 0.0258425 0.54224 -0.140791 -0.0260532 0.00367647 0.00362801 1.46608 0.116357 -0.959226 -0.0926742 1.46608 -0.116212 0.959222 0.0927118 -0.497977 -0.0255703 0.54116 -0.143588 0.0256744 -0.497963 0.0257188 0.541222 -0.14363 -0.0258667 1.4127 4.02177 32.2998 -0.447539 -0.0971353 0.0849963 1.33842 -3.84697 33.6067 0.547241 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-0.00240503 9.13086e-06 0.252044 -0.001 0 0.252016 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000446523 -0.0450061 -6.1785e-06 -4.58805e-06 0.00116248 0.000112736 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00344836 0.00344717 1.46611 0.116493 -0.959141 -0.0922953 1.46606 -0.115105 0.959123 0.0922647 -0.495186 -0.025676 0.544491 -0.142451 0.025772 -0.493999 0.0256407 0.546137 -0.144121 -0.0257744 0.00366055 0.00355301 1.46558 0.119251 -0.959271 -0.092813 1.46558 -0.119026 0.959264 0.0928655 -0.495628 -0.0258842 0.544577 -0.148111 0.0261025 -0.495431 0.0254165 0.544363 -0.148016 -0.025444 1.56155 3.93468 31.609 -0.384731 -0.550684 0.177109 1.60613 -3.8609 33.3147 0.645756 -0.0963003 -0.0432778 0 0 0 0 -0.649567 -0.686486 -0.00982562 0.0085237 0.221431 0.09 -0.00401356 0.000152792 -0.001 0 0 0 0.00378062 0.00507333 -0.00431492 0.000168071 -0.00236448 3.21905e-05 0.252011 -0.001 0 0.252016 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000273073 -0.0450206 -3.33318e-05 -1.10771e-05 0.000924363 0.00015666 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00345272 0.00335837 1.46573 0.117965 -0.959174 -0.0923814 1.46596 -0.116623 0.959137 0.0922709 -0.494017 -0.0258156 0.547991 -0.145128 0.025946 -0.492655 0.025442 0.547871 -0.145378 -0.0255425 0.00365959 0.00351023 1.46537 0.120588 -0.959291 -0.0928728 1.46537 -0.120303 0.959283 0.0929368 -0.494498 -0.0261117 0.54621 -0.150281 0.0264134 -0.494171 0.0251945 0.545796 -0.150087 -0.0251355 1.5718 3.85375 31.5017 -0.380535 -0.359634 0.165161 1.6218 -3.88298 33.1152 0.63634 0.106799 0.00228395 0 0 0 0 -0.649109 -0.680081 -0.00982547 0.00854391 0.221414 0.1 -0.00543575 0.000100111 -0.001 0 0 0 0.000207191 0.00640424 -0.00587932 0.000110122 -0.00236713 6.99577e-05 0.252003 -0.001 0 0.252016 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000247102 -0.0450239 -3.16459e-05 1.6445e-05 0.000784003 0.000209359 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00346919 0.00330164 1.46533 0.119351 -0.959203 -0.0925012 1.46553 -0.118017 0.959179 0.0923941 -0.492776 -0.0260269 0.549903 -0.14669 0.0262025 -0.491401 0.0252126 0.549699 -0.146956 -0.0252377 0.00365563 0.00346117 1.4652 0.121876 -0.959311 -0.0929196 1.4652 -0.121526 0.9593 0.0929962 -0.493431 -0.0263676 0.547693 -0.152111 0.0267626 -0.492958 0.0249454 0.547058 -0.151806 -0.0247894 0.96143 3.78679 31.6364 -0.355878 -0.10595 0.104498 0.910416 -3.91182 33.2705 0.698759 0.0847585 0.0577403 0 0 0 0 -0.651146 -0.677599 -0.0098414 0.00857271 0.221399 0.11 -0.00811079 0.000652904 -0.001 0 0 0 -0.00427658 0.00617093 -0.00882187 0.000718194 -0.00234355 0.000123141 0.252005 -0.001 0 0.252016 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000234387 -0.0450231 -1.91289e-05 2.09258e-05 0.000659644 0.000386974 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00359208 0.00333959 1.46495 0.120672 -0.959243 -0.0926113 1.46509 -0.11931 0.959195 0.0925421 -0.49154 -0.026264 0.551288 -0.148062 0.0265322 -0.490232 0.0249536 0.551347 -0.148588 -0.0248911 0.00365005 0.00341162 1.46506 0.123101 -0.959329 -0.0929597 1.46506 -0.122685 0.959316 0.0930489 -0.492396 -0.0266306 0.549087 -0.153789 0.0271211 -0.491778 0.0246893 0.548226 -0.153372 -0.0244342 0.784936 3.70314 31.9171 -0.361308 0.0844358 0.00865313 0.813143 -3.96902 33.1186 0.709345 0.186353 0.106586 0 0 0 0 -0.649705 -0.671834 -0.00983604 0.00861235 0.221396 0.128 -0.0145152 -0.00134098 -0.001 0 0 0 -0.0100429 0.00505107 -0.0158667 -0.00147508 -0.0021439 0.000248074 0.251813 -0.001 0 0.252016 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000308104 -0.0449498 -0.000249962 7.59843e-05 0.00124559 0.000453061 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00367614 0.00335915 1.46443 0.123104 -0.959303 -0.0927601 1.46453 -0.121552 0.959241 0.0927906 -0.495125 -0.0268002 0.561093 -0.154049 0.027273 -0.48903 0.024807 0.552608 -0.150184 -0.0244894 0.0036355 0.00332831 1.46482 0.125325 -0.959361 -0.0930377 1.46482 -0.124806 0.959345 0.0931466 -0.49033 -0.027098 0.551746 -0.157177 0.0277555 -0.489466 0.024234 0.550493 -0.156563 -0.0238053 0.78764 3.25165 32.352 -0.374784 0.124836 -0.205299 1.34477 -4.3817 32.5178 0.69342 0.516849 0.198002 0 0 0 0 -0.649051 -0.66497 -0.009692 0.00871842 0.221403 0.138 -0.0121916 -0.000671992 -0.001 0 0 0 -0.0120316 0.00509677 -0.0133107 -0.000739191 -0.00202026 0.00029392 0.251814 -0.001 0 0.252016 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000609629 -0.0450241 -0.000253803 1.4209e-05 0.00157393 0.000535565 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00372562 0.00333352 1.46427 0.124203 -0.959328 -0.0928023 1.46428 -0.122762 0.959275 0.0928408 -0.493997 -0.0269491 0.562429 -0.156043 0.027595 -0.486706 0.0242787 0.554616 -0.153664 -0.0238525 0.00362572 0.00328348 1.46474 0.126363 -0.959376 -0.0930656 1.46474 -0.12579 0.959358 0.093185 -0.489367 -0.0273531 0.552938 -0.158585 0.0281011 -0.488372 0.0239857 0.551473 -0.157865 -0.0234627 0.758368 3.06204 32.4038 -0.412164 0.239285 -0.247597 1.416 -4.59759 32.4546 0.741355 0.521533 0.224928 0 0 0 0 -0.647703 -0.661135 -0.00955888 0.00875607 0.221403 0.148 -0.0107727 -0.000683745 -0.001 0 0 0 -0.0136187 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