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 0.015 0.0106255 0.000589394 -0.001 0 0 0 -0.00238872 0.000965338 0.011788 0.000648333 -0.00246167 -3.91038e-05 0.252065 -0.001 0 0.251822 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000538206 -0.0449766 0.00025729 9.77586e-06 -0.0014139 0.000469169 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.0041093 0.00377286 1.46812 0.104936 -0.959068 -0.0925767 1.46812 -0.104801 0.959087 0.0926159 -0.501246 -0.0254433 0.539056 -0.136247 0.0254901 -0.50725 0.0259198 0.546627 -0.138992 -0.0261545 0.00394473 0.00392379 1.467 0.106955 -0.959083 -0.092456 1.467 -0.106819 0.95908 0.0924948 -0.503556 -0.0253776 0.534452 -0.139159 0.0254413 -0.50364 0.0258302 0.534668 -0.139278 -0.0260601 3.54079 3.46175 32.5534 -0.621936 -0.0679157 0.0095307 1.64322 -3.39876 34.063 0.617514 0.244856 -0.0671012 0 0 0 0 2.92434e-06 3.41231e-06 0.0205786 -0.0109365 0.240213 0.025 0.0104089 0.000722228 -0.001 0 0 0 -0.00264604 0.00283501 0.0115498 0.000794451 -0.00240161 -3.32702e-05 0.252062 -0.001 0 0.251822 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000584606 -0.0449779 0.000234978 3.77494e-06 -0.00142542 0.000420796 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00406892 0.0037295 1.46815 0.105375 -0.959067 -0.0927071 1.46812 -0.104802 0.959087 0.0926155 -0.500791 -0.0254617 0.539542 -0.136972 0.0255072 -0.506495 0.0259056 0.546077 -0.13899 -0.0261419 0.00388822 0.00385438 1.46679 0.109036 -0.959115 -0.0924994 1.46679 -0.108889 0.959111 0.0925397 -0.502496 -0.0254481 0.535957 -0.139969 0.0255306 -0.502541 0.0257792 0.536115 -0.140059 -0.0259808 3.5297 3.44299 32.6671 -0.526415 0.0244928 -0.00979858 1.6215 -3.40788 34.137 0.648949 0.171592 -0.0744733 0 0 0 0 -0.433087 -0.505355 0.00142062 -0.0101243 0.221405 0.035 0.00220264 1.51885e-05 -0.001 0 0 0 -0.00740564 0.00325932 0.0025229 1.67073e-05 -0.00222998 -1.63451e-05 0.251879 -0.001 0 0.251822 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000285027 -0.0449818 1.92048e-05 -5.30609e-06 -0.00044403 0.000379541 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00401339 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0.548016 -0.142029 -0.0259178 0.003795 0.00370756 1.46643 0.112933 -0.959175 -0.0925756 1.46643 -0.112724 0.959169 0.092627 -0.500475 -0.0257212 0.538876 -0.141575 0.0258917 -0.500364 0.0255426 0.538803 -0.141551 -0.0256384 4.40457 3.45754 32.8659 -0.488136 0.481566 -0.0214503 3.18981 -3.3201 33.3985 0.59343 0.513912 -0.0452448 0 0 0 0 -0.431111 -0.481176 0.00155676 -0.0101155 0.221412 0.055 0.00611289 -0.000152165 -0.001 0 0 0 -0.0186342 3.47607e-05 0.00682418 -0.000167382 -0.0021168 4.31485e-05 0.251888 -0.001 0 0.251822 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000109366 -0.0449876 5.52531e-07 -5.76323e-05 -0.000173356 0.000305568 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00386108 0.00371568 1.46792 0.11111 -0.959137 -0.0928921 1.46791 -0.109691 0.959136 0.0926993 -0.503459 -0.0258327 0.549532 -0.144021 0.0259878 -0.503596 0.0255602 0.549166 -0.143587 -0.025733 0.00373078 0.00363486 1.46634 0.114753 -0.959202 -0.0925949 1.46634 -0.114538 0.959195 0.092647 -0.499556 -0.0257868 0.539999 -0.14171 0.0259731 -0.499414 0.0254974 0.539876 -0.14166 -0.0255675 5.07874 3.58682 32.9385 -0.511936 0.713799 -0.0408628 4.02254 -3.21363 33.1221 0.505778 0.520943 -0.0519822 0 0 0 0 -0.428496 -0.46991 0.00168687 -0.0100918 0.221422 0.065 0.00239553 9.83764e-05 -0.001 0 0 0 -0.0199266 -0.00284199 0.00273508 0.000108214 -0.00210311 6.55438e-05 0.251908 -0.001 0 0.251822 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 8.36808e-05 -0.0449854 1.33523e-05 -4.32119e-05 -0.00020914 0.000255264 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00384331 0.003622 1.46771 0.113044 -0.959177 -0.0929111 1.46767 -0.111634 0.959191 0.0927427 -0.502537 -0.0258546 0.549601 -0.144437 0.0261003 -0.502634 0.025559 0.54953 -0.144322 -0.0256192 0.00365141 0.00357431 1.46628 0.116468 -0.959226 -0.0926106 1.46628 -0.116285 0.959221 0.0926556 -0.498649 -0.0257304 0.540941 -0.141601 0.0258861 -0.498552 0.0255743 0.540878 -0.14158 -0.0256651 5.02665 3.68206 33.0027 -0.545883 0.800052 -0.0321173 3.8497 -3.08414 32.9444 0.36081 0.51695 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2.00735e-05 0.251943 -0.001 0 0.251822 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000113266 -0.0449715 1.64695e-05 7.46764e-05 -0.000428843 0.000150952 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00368594 0.00353122 1.46756 0.116548 -0.959234 -0.0928995 1.4674 -0.115322 0.959238 0.0927683 -0.500731 -0.025555 0.549294 -0.144305 0.0257812 -0.500953 0.0259305 0.549141 -0.144251 -0.0258752 0.00349957 0.003487 1.46614 0.119542 -0.959269 -0.0926615 1.46614 -0.119465 0.959267 0.0926843 -0.496781 -0.0254741 0.542856 -0.142029 0.0255173 -0.496855 0.025865 0.543035 -0.142126 -0.0260518 3.75157 3.41331 33.2062 -0.466618 0.230333 0.0964272 2.48693 -3.17782 32.8985 0.478731 0.447951 -0.156724 0 0 0 0 -0.428674 -0.453082 0.00167995 -0.01004 0.221456 0.095 0.0015853 -0.000292956 -0.001 0 0 0 -0.00777445 0.00547346 0.00184383 -0.000322252 -0.00230122 -2.38656e-05 0.251937 -0.001 0 0.251822 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000153608 -0.0449691 -2.20589e-06 9.66625e-05 -0.000567219 9.08317e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00358339 0.00345984 1.46763 0.118082 -0.959247 -0.0928589 1.46747 -0.117046 0.959251 0.0927119 -0.49981 -0.0255295 0.550017 -0.144606 0.0255736 -0.500093 0.0259869 0.549573 -0.144359 -0.02608 0.00346377 0.00342614 1.46605 0.120959 -0.95929 -0.092688 1.46605 -0.120847 0.959287 0.0927175 -0.495914 -0.0256126 0.544019 -0.142723 0.0257032 -0.495909 0.0257402 0.544078 -0.142761 -0.025873 3.5729 3.07222 33.2062 -0.230683 0.0746649 0.133747 2.31205 -3.40868 32.9537 0.603152 0.444814 -0.176949 0 0 0 0 -0.429277 -0.449904 0.00160081 -0.0100783 0.221468 0.105 0.00233933 -0.000751692 -0.001 0 0 0 -0.0071823 0.00854547 0.00267326 -0.000826862 -0.00242366 -2.56554e-05 0.251919 -0.001 0 0.251822 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000174326 -0.0449762 -2.51157e-05 3.88556e-05 -0.000687948 4.56275e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00350632 0.00335374 1.4677 0.119524 -0.959255 -0.0928216 1.46755 -0.118627 0.959261 0.0926583 -0.498941 -0.0258024 0.551401 -0.145182 0.0256733 -0.499156 0.0257184 0.550685 -0.144831 -0.0260306 0.0034523 0.00334655 1.46597 0.122327 -0.95931 -0.092707 1.46597 -0.12211 0.959304 0.092757 -0.495131 -0.0259696 0.545253 -0.143498 0.0261915 -0.494916 0.0253957 0.544997 -0.143381 -0.0253913 3.59013 2.86642 33.2288 -0.0914973 0.0312097 0.158311 2.38868 -3.53552 32.9612 0.668374 0.449984 -0.202421 0 0 0 0 -0.430221 -0.447768 0.00151687 -0.0101316 0.221469 0.115 -0.0294163 0.000107581 -0.001 0 0 0 -0.00897388 0.00612356 -0.032258 0.000118339 -0.00266707 4.17735e-05 0.25185 -0.001 0 0.251822 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.00037868 -0.0449957 -0.00029552 -8.36975e-05 0.000986925 6.65054e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.0034543 0.00321796 1.46772 0.120942 -0.959262 -0.0927857 1.4676 -0.120026 0.959273 0.0926393 -0.498151 -0.0262412 0.553388 -0.145995 0.0261582 -0.491869 0.0252024 0.545088 -0.142821 -0.0255794 0.00346136 0.00329015 1.4658 0.123532 -0.959328 -0.0927541 1.4658 -0.123214 0.959319 0.092824 -0.494243 -0.0263259 0.546838 -0.145337 0.0266805 -0.49382 0.025046 0.546267 -0.145065 -0.0249057 3.76015 3.02104 32.9156 -0.205431 0.132534 0.175074 2.4499 -3.28368 32.9031 0.608905 0.445665 -0.233691 0 0 0 0 -0.430747 -0.445673 0.00142508 -0.0101511 0.221458 0.125 -0.0355778 0.000619578 -0.001 0 0 0 -0.00967759 -0.000654481 -0.0390356 0.000681536 -0.00277571 0.000137393 0.251816 -0.001 0 0.251822 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000379071 -0.0450038 -0.000280558 -0.000116406 0.000743398 5.39765e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00338726 0.00309185 1.46777 0.122291 -0.959269 -0.0927234 1.4676 -0.121267 0.959288 0.0926567 -0.497238 -0.0265562 0.557119 -0.148132 0.0267273 -0.490808 0.0248915 0.548728 -0.145214 -0.0250352 0.00346976 0.00328549 1.46553 0.124524 -0.959344 -0.0928427 1.46553 -0.124188 0.959333 0.0929156 -0.493136 -0.0264256 0.548733 -0.148395 0.0268168 -0.492662 0.0249457 0.548078 -0.148081 -0.024769 3.85495 3.56988 32.6077 -0.445692 0.190535 0.185816 2.72568 -2.78696 32.8363 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