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 0.012 0.0157878 0.000105957 -0.001 0 0 0 -0.00374414 0.00133485 0.0174666 0.000116553 -0.00244151 -4.49179e-05 0.252065 -0.001 0 0.25183 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000556368 -0.0449942 0.000258857 -5.34149e-06 -0.00146753 0.000218656 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00399286 0.00352737 1.46817 0.104956 -0.959071 -0.0926043 1.46662 -0.10469 0.958999 0.0922298 -0.50123 -0.0254276 0.539071 -0.136272 0.025471 -0.507225 0.0259057 0.546577 -0.138924 -0.0261346 0.00394286 0.00391701 1.46702 0.106975 -0.959083 -0.092449 1.46702 -0.106832 0.959079 0.0924891 -0.503589 -0.0253993 0.534382 -0.138937 0.0254705 -0.50366 0.0258098 0.534579 -0.139046 -0.0260316 4.31832 2.43337 33.2254 -0.505258 0.198129 -0.0581953 0.744196 -2.49035 33.7732 0.569889 0.0713184 -0.143053 0 0 0 0 0.000179056 0.000208935 0.0206347 -0.0109142 0.240186 0.022 0.0155843 0.000113883 -0.001 0 0 0 -0.0025289 3.58898e-05 0.0172428 0.000125272 -0.00246406 -4.57057e-05 0.252063 -0.001 0 0.25183 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000362899 -0.0450022 0.000254396 -8.52952e-06 -0.00116107 0.000235381 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00399613 0.0035312 1.46816 0.10495 -0.95907 -0.0926036 1.46661 -0.104685 0.959 0.0922286 -0.501231 -0.0254257 0.539067 -0.136278 0.0254717 -0.506665 0.0258647 0.547272 -0.139883 -0.0260949 0.00387566 0.00384306 1.46685 0.109081 -0.959116 -0.0924821 1.46685 -0.108936 0.959111 0.092522 -0.502568 -0.0254443 0.535733 -0.139339 0.0255237 -0.502617 0.0257866 0.535897 -0.139432 -0.0259895 4.51481 2.41846 33.3383 -0.488768 0.177335 -0.0559121 1.04713 -2.44586 33.9912 0.461922 0.00514773 -0.133028 0 0 0 0 -0.305817 -0.356853 0.00128971 -0.0103516 0.221405 0.032 0.0147062 0.000115256 -0.001 0 0 0 -0.00739096 0.000750114 0.0162769 0.000126782 -0.00240005 -3.88382e-05 0.25206 -0.001 0 0.25183 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000407762 -0.0449973 0.000228657 7.9604e-06 -0.00112403 0.000224205 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00400915 0.00347991 1.46821 0.105875 -0.959076 -0.0926121 1.46669 -0.105566 0.959024 0.0922463 -0.500686 -0.0254709 0.53973 -0.137177 0.0255149 -0.505714 0.0258429 0.546807 -0.139977 -0.0260558 0.00380631 0.00377066 1.46671 0.111107 -0.959146 -0.0925109 1.46671 -0.110965 0.959142 0.0925496 -0.501574 -0.0254753 0.536992 -0.139612 0.0255576 -0.50161 0.0257772 0.537134 -0.139694 -0.0259666 4.70803 2.45022 33.5547 -0.420479 0.428496 -0.0634264 1.50396 -2.35362 34.1805 0.443135 0.0859089 -0.162055 0 0 0 0 -0.308812 -0.351912 0.00132668 -0.0103484 0.221407 0.042 0.022025 0.000736106 -0.001 0 0 0 -0.00765527 0.00122327 0.0243275 0.000809717 -0.00223493 -2.42164e-05 0.252064 -0.001 0 0.25183 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000742474 -0.0449957 0.000228961 -2.14052e-05 -0.00168365 0.000164069 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.0038722 0.00351124 1.4671 0.108483 -0.959066 -0.092662 1.46663 -0.107568 0.959012 0.0922725 -0.499771 -0.0255035 0.54133 -0.139014 0.0255695 -0.505714 0.0258429 0.546807 -0.139977 -0.0260558 0.00373186 0.00369115 1.46663 0.113056 -0.959175 -0.0925245 1.46663 -0.112913 0.959171 0.0925628 -0.500663 -0.025517 0.538034 -0.139418 0.0256056 -0.50068 0.0257586 0.538147 -0.139485 -0.0259304 4.75111 2.48241 33.7926 -0.476352 0.47845 -0.0236155 1.76071 -2.26749 34.3044 0.536555 0.0680199 -0.221872 0 0 0 0 -0.302097 -0.336977 0.00138655 -0.0103407 0.22142 0.052 0.0189482 0.000732023 -0.001 0 0 0 -0.00174684 -0.000765219 0.020943 0.000805225 -0.00226948 -1.66816e-05 0.252075 -0.001 0 0.25183 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000607114 -0.0449956 0.000251215 -1.92241e-05 -0.00175741 9.58403e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.0037501 0.00346653 1.46703 0.110546 -0.959069 -0.0926109 1.46663 -0.109663 0.959058 0.0922174 -0.498716 -0.0255263 0.542042 -0.139716 0.0256162 -0.504729 0.0258458 0.548853 -0.142071 -0.0260213 0.0036537 0.00361942 1.46657 0.114892 -0.959201 -0.0925374 1.46657 -0.114764 0.959198 0.0925721 -0.499762 -0.0255068 0.538984 -0.139176 0.0255824 -0.499793 0.0257909 0.539113 -0.13925 -0.025965 4.08114 2.46086 33.8379 -0.603439 0.349021 0.046809 1.13469 -2.22915 34.2838 0.531131 -0.209421 -0.26051 0 0 0 0 -0.303576 -0.33298 0.0014592 -0.0103322 0.221426 0.062 0.0199473 -2.93138e-05 -0.001 0 0 0 0.00354202 -0.00247897 0.022042 -3.22452e-05 -0.00232115 -1.379e-05 0.252094 -0.001 0 0.25183 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000606535 -0.044993 0.000249959 -1.30903e-05 -0.00168946 4.1919e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00371552 0.0033692 1.46631 0.11196 -0.959104 -0.092194 1.46633 -0.111695 0.959091 0.0922615 -0.497825 -0.025567 0.541688 -0.139509 0.0256657 -0.503766 0.0258303 0.548416 -0.141741 -0.025982 0.00357856 0.00356478 1.46648 0.116586 -0.959226 -0.0925622 1.46648 -0.116494 0.959223 0.0925891 -0.498819 -0.0254288 0.539988 -0.139306 0.0254671 -0.498904 0.0258878 0.540193 -0.139417 -0.0260901 3.39001 2.37176 33.8473 -0.646202 0.285853 0.112827 0.180783 -2.26761 34.3075 0.456313 -0.506701 -0.323697 0 0 0 0 -0.304128 -0.328825 0.00143278 -0.0103258 0.221433 0.072 0.0190524 0.000539066 -0.001 0 0 0 0.00259769 0.000529227 0.0210577 0.000592972 -0.00242289 -1.22874e-05 0.252113 -0.001 0 0.25183 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000572815 -0.0449898 0.000259309 -1.64151e-06 -0.0017745 -1.55756e-06 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00367031 0.00328827 1.46667 0.114353 -0.959146 -0.0926175 1.46625 -0.113542 0.959123 0.0922716 -0.496931 -0.0255507 0.541446 -0.139199 0.025644 -0.502923 0.0258752 0.548684 -0.14195 -0.0260124 0.0035119 0.0035107 1.4664 0.118182 -0.959248 -0.0925874 1.4664 -0.118114 0.959247 0.0926091 -0.497898 -0.0253835 0.540995 -0.139548 0.0253978 -0.498016 0.0259504 0.541245 -0.139681 -0.0261684 3.52504 2.19886 33.8602 -0.521079 0.306154 0.151933 0.155161 -2.36201 34.3999 0.532571 -0.464078 -0.37726 0 0 0 0 -0.30515 -0.326013 0.00134693 -0.0103272 0.221443 0.082 -0.0108297 0.00139166 -0.001 0 0 0 0.00136334 0.00445148 -0.0118126 0.00153083 -0.00262632 -2.90282e-05 0.25207 -0.001 0 0.25183 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 7.75875e-05 -0.0449748 5.43388e-06 2.81341e-05 -0.000242166 0.000188588 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00369349 0.00338145 1.46672 0.116083 -0.959163 -0.0925452 1.4663 -0.115386 0.959136 0.0922106 -0.496 -0.0254711 0.542019 -0.139326 0.0255289 -0.496083 0.0259703 0.542154 -0.139401 -0.0261205 0.00347963 0.00346497 1.46624 0.119626 -0.95927 -0.0926354 1.46624 -0.119541 0.959267 0.0926598 -0.49693 -0.0254582 0.542388 -0.140828 0.025497 -0.497004 0.0258868 0.542572 -0.140928 -0.0260751 3.976 2.1021 33.5553 -0.326611 0.200192 0.162214 0.458874 -2.43102 34.3758 0.591274 -0.29014 -0.366915 0 0 0 0 -0.305826 -0.323446 0.00124752 -0.0103424 0.221454 0.092 -0.0118305 0.00128789 -0.001 0 0 0 0.000475031 0.00256514 -0.0129135 0.00141668 -0.0027768 -5.07767e-05 0.252063 -0.001 0 0.25183 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 8.40594e-05 -0.0449756 -6.93349e-07 3.5317e-05 -0.000304333 0.000148849 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00359366 0.00330339 1.46674 0.117637 -0.959167 -0.0924701 1.46635 -0.117069 0.959148 0.0921606 -0.495072 -0.0254515 0.54307 -0.139575 0.0254278 -0.495191 0.0260099 0.543188 -0.139674 -0.0262228 0.00347183 0.00343773 1.46599 0.120907 -0.959289 -0.092709 1.46599 -0.120796 0.959286 0.0927384 -0.495879 -0.0255607 0.544134 -0.143145 0.025637 -0.495892 0.0257893 0.544226 -0.1432 -0.0259376 4.31774 2.23135 33.1902 -0.321282 0.118896 0.178869 0.717586 -2.29226 34.3094 0.44327 -0.148123 -0.355124 0 0 0 0 -0.30653 -0.321464 0.00114075 -0.0103645 0.221453 0.102 -0.0122905 0.00139531 -0.001 0 0 0 0.00124541 -0.00137148 -0.0134196 0.00153484 -0.00287961 -4.77688e-05 0.252035 -0.001 0 0.25183 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000167778 -0.0449816 -2.26698e-05 1.22696e-05 -0.000395155 0.000114449 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00347055 0.00322849 1.46673 0.119074 -0.959179 -0.0924026 1.46634 -0.118537 0.95915 0.0921461 -0.494126 -0.025558 0.545586 -0.14093 0.0254886 -0.494168 0.0259093 0.544672 -0.140198 -0.0261782 0.00345317 0.00342653 1.46576 0.122085 -0.959307 -0.0927852 1.46576 -0.12199 0.959304 0.092811 -0.494791 -0.0255319 0.545793 -0.145474 0.025596 -0.494822 0.0258222 0.54591 -0.145541 -0.0259808 4.62693 2.52247 33.1093 -0.454938 0.0894491 0.19847 1.00499 -2.02945 34.2997 0.308322 -0.167794 -0.371971 0 0 0 0 -0.305585 -0.318015 0.00102828 -0.0103723 0.221441 0.112 -0.0078915 -1.08727e-05 -0.001 0 0 0 0.00275693 -0.00080009 -0.00858065 -1.196e-05 -0.00293277 -2.9628e-05 0.251832 -0.001 0 0.25183 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 2.96006e-05 -0.0450015 -0.000229267 -2.11042e-05 0.000259216 8.43685e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00335972 0.00313487 1.4667 0.120413 -0.959192 -0.092368 1.46631 -0.119813 0.95916 0.0921471 -0.497318 -0.0256181 0.555845 -0.146169 0.0256279 -0.493057 0.0258182 0.547757 -0.141924 -0.0260287 0.00342987 0.00342005 1.46555 0.123191 -0.959323 -0.0928573 1.46555 -0.123126 0.959321 0.0928766 -0.493701 -0.0254572 0.547356 -0.147706 0.0254912 -0.493779 0.025901 0.547539 -0.147806 -0.0260877 4.94748 2.67172 33.116 -0.403616 0.0469921 0.189264 1.72268 -1.99169 33.9709 0.311523 -0.230932 -0.381639 0 0 0 0 -0.30377 -0.313978 0.000934902 -0.0103533 0.221415 0.122 -0.0155039 -0.00108567 -0.001 0 0 0 -0.00330352 0.00145625 -0.0169543 -0.00119424 -0.00318332 -2.41039e-05 0.251836 -0.001 0 0.25183 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000194038 -0.0450092 -0.000176721 -2.86095e-05 0.000562685 0.000145808 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00337211 0.00301987 1.46622 0.121618 -0.959194 -0.092482 1.46746 -0.12121 0.95928 0.0926255 -0.495971 -0.0255033 0.556943 -0.146258 0.0256248 -0.49182 0.025911 0.551373 -0.144027 -0.0260112 0.0034198 0.00340206 1.46536 0.124252 -0.959339 -0.0929213 1.46536 -0.124177 0.959337 0.0929421 -0.492654 -0.0255063 0.548917 -0.149927 0.0255581 -0.492703 0.0258555 0.549056 -0.150005 -0.0260227 5.33869 2.5292 33.253 -0.319371 0.256756 0.14676 2.80132 -2.241 33.659 0.398885 -0.0421164 -0.334413 0 0 0 0 -0.3072 -0.316442 0.000859239 -0.010328 0.221377 0.132 -0.0117861 0.000812783 -0.001 0 0 0 -0.0128177 0.00189483 -0.0128647 0.000894061 -0.00316595 -1.96346e-05 0.251822 -0.001 0 0.25183 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000167793 -0.0449728 -0.00018375 3.98831e-05 0.000764358 0.00030165 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00343796 0.00308327 1.4656 0.122663 -0.959249 -0.0927017 1.46676 -0.122378 0.959325 0.0928353 -0.494919 -0.0255403 0.558869 -0.147833 0.0256403 -0.490754 0.0260296 0.552998 -0.145112 -0.0260895 0.00340835 0.00337467 1.46522 0.125284 -0.959353 -0.0929708 1.46521 -0.125186 0.959351 0.092996 -0.491675 -0.0255966 0.550328 -0.151783 0.0256813 -0.491672 0.0257704 0.550385 -0.151821 -0.0259021 6.00624 2.39371 33.6971 -0.35195 0.549361 0.10749 3.77041 -2.55217 33.7412 0.477001 0.309497 -0.26033 0 0 0 0 -0.308021 -0.316032 0.000773156 -0.0103222 0.221364 0.142 -0.0181954 -0.000477981 -0.001 0 0 0 -0.0204372 0.00139687 -0.019915 -0.000525779 -0.00298943 -2.15595e-05 0.251794 -0.001 0 0.25183 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.00039144 -0.0449687 -0.000231975 3.33708e-05 0.00150226 0.000669622 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00368668 0.00335153 1.46454 0.123391 -0.959316 -0.0926885 1.46604 -0.123448 0.959379 0.0930758 -0.495097 -0.0255634 0.56068 -0.149843 0.0256441 -0.489536 0.0259562 0.55414 -0.147125 -0.0260719 0.00338708 0.0033413 1.46513 0.126289 -0.959367 -0.0930047 1.46513 -0.126174 0.959364 0.0930329 -0.49077 -0.0256717 0.551521 -0.153127 0.0257824 -0.490724 0.0257026 0.551513 -0.153132 -0.0258047 7.02593 2.50641 34.0299 -0.377648 0.784218 0.0672367 5.01617 -2.6408 33.794 0.482467 0.588843 -0.199806 0 0 0 0 -0.308491 -0.315429 0.000802741 -0.0103311 0.22138 0.152 -0.00905015 0.00024706 -0.001 0 0 0 -0.0264229 0.000311922 -0.00985516 0.000271766 -0.0025639 -6.36108e-06 0.251811 -0.001 0 0.25183 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000254053 -0.0449227 -0.000222076 0.000135653 0.00130805 0.00109012 0 0.045 0 0 -0 0 0 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