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 0.005 0.0150757 0.000776608 -0.001 0 0 0 0.00254781 0.001244 0.0166832 0.000854269 -0.00245341 -3.648e-05 0.252063 -0.001 0 0.252014 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000484209 -0.0449716 0.000252251 1.56249e-05 -0.00141318 0.000471649 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00399537 0.00390124 1.46813 0.104946 -0.959069 -0.0925828 1.46658 -0.104679 0.958999 0.0922065 -0.501273 -0.0254547 0.539047 -0.13623 0.0255015 -0.507216 0.0259311 0.546626 -0.139215 -0.0261609 0.00394467 0.0039234 1.467 0.106962 -0.959083 -0.0924557 1.467 -0.106826 0.95908 0.0924946 -0.503522 -0.025379 0.534408 -0.139144 0.0254431 -0.503605 0.0258285 0.534623 -0.139262 -0.0260579 -11.7909 3.92382 44.7746 -0.604229 -0.554013 -0.097772 -10.0561 -3.85624 43.4488 0.772107 0.351201 0.195865 0 0 0 0 1.93474e-05 2.25758e-05 0.0218308 0.0186442 0.240191 0.015 0.0159631 0.000646588 -0.001 0 0 0 0.00112134 -0.000567489 0.0176595 0.000711247 -0.00246974 -3.47774e-05 0.252063 -0.001 0 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0.252007 -0.001 0 0.252014 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000350752 -0.0449916 -3.44281e-05 2.65476e-05 0.000852741 0.000256955 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00351574 0.00357707 1.46584 0.1165 -0.959148 -0.0923134 1.46743 -0.11625 0.959205 0.0928045 -0.494758 -0.0253668 0.547313 -0.145349 0.02524 -0.493601 0.0259953 0.548203 -0.146587 -0.026333 0.00364302 0.00365928 1.46537 0.118994 -0.959267 -0.0928921 1.46537 -0.118948 0.959266 0.0929091 -0.49509 -0.0252579 0.545131 -0.150396 0.0252486 -0.495255 0.0260299 0.545454 -0.150566 -0.0262911 -9.75059 3.68148 43.3202 -0.676574 -0.372924 0.0471701 -9.9376 -3.83283 43.8878 0.417676 0.0320017 0.0307357 0 0 0 0 -0.502993 -0.53166 0.00281751 0.0188873 0.221425 0.085 -0.0158372 0.00092991 -0.001 0 0 0 0.00326442 -0.00403409 -0.017321 0.0010229 -0.00221062 -5.80617e-05 0.25201 -0.001 0 0.252014 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000371304 -0.0449472 -1.23018e-05 7.28288e-05 0.000641572 0.000302074 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00353228 0.00354652 1.46527 0.117938 -0.959173 -0.0924784 1.46693 -0.117682 0.95926 0.0929408 -0.493381 -0.0254376 0.548771 -0.146633 0.0253787 -0.492384 0.0261483 0.550368 -0.148596 -0.0263696 0.00360894 0.00366332 1.46513 0.120249 -0.959286 -0.0929727 1.46512 -0.120264 0.959287 0.0929769 -0.493754 -0.0250763 0.546699 -0.152868 0.024997 -0.494028 0.026215 0.54718 -0.153117 -0.0265442 -9.53014 3.88615 43.2483 -0.758642 -0.193522 0.010954 -9.27641 -3.73093 43.9086 0.374988 -0.106824 0.00936453 0 0 0 0 -0.502933 -0.527029 0.00285342 0.0189098 0.221406 0.095 -0.0126356 0.000167111 -0.001 0 0 0 -0.00240216 -0.00281645 -0.0137992 0.000183822 -0.00213295 -4.829e-05 0.252012 -0.001 0 0.252014 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000364915 -0.0449178 -2.31386e-06 4.49398e-05 0.000417216 0.00022884 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00350607 0.00341831 1.46481 0.119209 -0.959218 -0.0926321 1.46643 -0.119042 0.959301 0.0930451 -0.492161 -0.0253294 0.550373 -0.148375 0.025373 -0.491042 0.0264393 0.551931 -0.150575 -0.0265754 0.00357437 0.00366387 1.46492 0.121442 -0.959303 -0.0930443 1.46492 -0.121515 0.959306 0.0930366 -0.492455 -0.0249024 0.548159 -0.155141 0.0247561 -0.492831 0.0263928 0.548791 -0.155465 -0.0267867 -9.05468 3.93855 43.2337 -0.789061 -0.0589223 -0.0167434 -8.07297 -3.93424 44.0718 0.501885 0.253048 0.0541767 0 0 0 0 -0.503999 -0.524492 0.00287777 0.0189315 0.221398 0.105 -0.0107875 -0.000175473 -0.001 0 0 0 -0.00966989 0.000899107 -0.0117663 -0.00019302 -0.00197259 -8.16767e-05 0.252013 -0.001 0 0.252014 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000323874 -0.0449214 -4.60473e-07 -2.74048e-07 0.000267469 0.000382244 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00360995 0.00347803 1.46444 0.120392 -0.959255 -0.0927646 1.46604 -0.120359 0.959321 0.0931317 -0.490841 -0.0251206 0.55193 -0.150516 0.0251469 -0.48979 0.0266144 0.553439 -0.152719 -0.0268229 0.00354478 0.00363867 1.46478 0.12263 -0.95932 -0.0930906 1.46478 -0.122714 0.959323 0.0930805 -0.491311 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0.012935 0.0796019 0.512322 -0.0759417 0.509197 -0.0434373 0.497826 -0.0279724 0.250569 0.495764 -0.0268467 0.252014 0.013717 -0.00281248 0 0.494223 0.0448955 0.0211315 0.00130144 0.00103951 -0.000634844 0.496751 -0.045 6.93889e-18 0 -0 0 0.496751 0.045 0.0218659 0 -0 0 0.496751 -0.045 0 0 -0 0 -0.0103749 0.0157933 1.47671 0.106224 -0.959532 -0.0911674 1.47596 -0.108167 0.959104 0.0918027 -0.674851 0.0255752 1.07844 -0.443271 -0.132774 -0.573944 0.0691471 0.820712 -0.306048 -0.17782 -0.0161961 0.0208249 1.47614 0.10548 -0.958854 -0.0913523 1.47606 -0.108693 0.958971 0.0908344 -0.695172 0.0271658 1.11169 -0.452439 -0.138942 -0.572776 0.069281 0.825124 -0.314601 -0.181221 -0.810071 12.4088 67.895 -3.38556 -0.763704 -0.0602754 -3.32985 1.59836 11.0474 -0.0498547 -0.493449 0.00418037 2 0 0 0 25.1992 31.4307 0.43558 -0.115854 0.222416 25.692 0.504393 -0.0281629 0.497958 -0.0264204 0.0137677 0.0847267 0.501898 -0.0757105 0.50283 -0.0419167 0.498398 -0.0284688 0.250576 0.495901 -0.0268475 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