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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1.47841 0.117012 -0.959136 -0.0894531 1.47849 -0.110194 0.958908 0.0907043 -0.576468 -0.0175257 0.862817 -0.326774 0.0874282 -0.71064 0.0335185 1.1062 -0.399097 0.03613 -2.72741 0.570002 6.1727 0.0162331 -0.170802 0.113296 9.43346 -14.4961 65.6066 0.399619 1.37797 0.60386 2 0 0 0 12.0528 10.0843 1.40577 0.0240289 0.221793 56.941 1.52129 0.000905437 1.52591 0.0105149 0.033174 -0.183965 1.49713 0.0523125 1.51551 0.0294295 1.5215 0.0135571 0.249249 1.52229 0.0188757 0.252015 0.0240685 -0.055355 0 1.5216 0.045 6.93889e-18 0 -0 0 1.52735 -0.0461007 0.0221015 -0.00635173 0.00247162 0.00209879 1.5216 0.045 0 0 -0 0 1.53085 -0.045 0.0149555 0 -0 0 0.0273585 -0.0241505 1.48056 0.108066 -0.959452 -0.0910744 1.47827 -0.108047 0.958343 0.0907144 -0.597193 -0.00661126 0.904839 -0.340089 0.0867873 -0.735412 0.0382556 1.18365 -0.441962 0.0352098 0.0259686 -0.0238753 1.47782 0.122035 -0.959227 -0.0894012 1.47789 -0.113987 0.958962 0.0909054 -0.563877 -0.0262987 0.838935 -0.316327 0.0893597 -0.681431 0.0251053 1.03749 -0.362078 0.0377251 -1.54107 0.31069 4.55588 0.00610177 -0.0769142 0.0941122 7.23716 -14.2601 65.9238 0.924166 1.82757 0.685288 2 0 0 0 12.1046 10.1539 1.40611 0.0234209 0.221761 56.951 1.5139 -0.00388429 1.52626 0.00861669 0.0353098 -0.195809 1.50533 0.0585371 1.50701 0.0262489 1.52173 0.0130198 0.249192 1.52254 0.0182789 0.252015 0.0247198 -0.0640089 0 1.5216 0.045 6.93889e-18 0 -0 0 1.52845 -0.0465885 0.0198892 -0.00671186 0.000513208 0.00196075 1.5216 0.045 0 0 -0 0 1.53183 -0.045 0.0115899 0 -0 0 0.0266388 -0.023444 1.47918 0.110772 -0.959917 -0.0915972 1.4764 -0.111292 0.958871 0.0909002 -0.589609 -0.0109637 0.892509 -0.335596 0.0859781 -0.717882 0.0317224 1.14077 -0.419808 0.0362399 0.0248647 -0.0220601 1.47705 0.12792 -0.959335 -0.0893451 1.47711 -0.118297 0.959023 0.0911734 -0.549255 -0.0367118 0.811226 -0.304763 0.0919498 -0.646224 0.015073 0.958372 -0.321745 0.0399629 -1.94024 0.0461049 4.66637 -0.00520007 -0.0529325 0.0594169 4.63064 -11.758 66.9141 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0.0400026 -0.221833 1.54639 0.0661212 1.50109 0.0308703 1.5226 0.0125111 0.249481 1.52305 0.0168197 0.252015 0.0263249 -0.0820385 0 1.5216 0.045 6.93889e-18 0 -0 0 1.53122 -0.0467524 0.0137942 -0.00574693 -0.00326802 0.0015604 1.5216 0.045 0 0 -0 0 1.53335 -0.045 0.00503934 0 -0 0 0.0238148 -0.020281 1.47772 0.120459 -0.959392 -0.0913326 1.47475 -0.119973 0.958803 0.0912349 -0.561501 -0.0267483 0.840412 -0.315962 0.0887475 -0.65994 0.0158907 0.999608 -0.348886 0.0400854 0.0228704 -0.0185683 1.475 0.141259 -0.959589 -0.089234 1.47504 -0.127683 0.959158 0.0918784 -0.515957 -0.0591913 0.751824 -0.283888 0.0965967 -0.567239 -0.00662541 0.792775 -0.244193 0.0438725 -4.9016 -0.909778 7.13745 0.000738837 -0.118108 -0.0600678 0.0206679 -4.84879 72.3498 2.33282 -1.7837 0.999145 2 0 0 0 12.3239 10.4207 1.40719 0.0225484 0.221218 56.981 1.50424 -0.00709605 1.52742 0.00215668 0.042578 -0.236115 1.5604 0.0677385 1.49509 0.029822 1.52283 0.0123226 0.249621 1.52332 0.0159521 0.252015 0.0272844 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0.151354 -0.959773 -0.0898622 1.47181 -0.137187 0.959329 0.0926434 -0.478633 -0.0741295 0.696403 -0.276568 0.0902605 -0.495224 -0.0211369 0.655845 -0.193875 0.0371289 -8.76146 -1.7663 11.0598 0.0487121 -0.265804 -0.209476 -6.99137 -0.0619866 77.1573 3.37839 -0.48667 1.02242 2 0 0 0 12.4236 10.5331 1.40844 0.0222351 0.219248 57.021 1.55335 0.00932528 1.52929 -0.00818724 0.0481552 -0.262656 1.51874 0.0701279 1.54804 0.0531737 1.52491 0.010947 0.249645 1.5245 0.0114994 0.252015 0.0318739 -0.130697 0 1.5216 0.045 6.93889e-18 0 -0 0 1.53703 -0.0446875 0.000171641 0.00046191 -0.0160933 0.000806702 1.5216 0.045 0 0 -0 0 1.53428 -0.045 0 0 -0 0 0.0232721 -0.0186065 1.47085 0.153122 -0.959813 -0.0894909 1.47026 -0.136785 0.958834 0.0931976 -0.482323 -0.0783133 0.708349 -0.271132 0.0961882 -0.485941 -0.024132 0.63797 -0.183499 0.0422348 0.0199882 -0.0144948 1.47168 0.149348 -0.959721 -0.0902015 1.4717 -0.137579 0.959352 0.0924949 -0.477812 -0.0701138 0.695766 -0.277342 0.0841876 -0.498061 -0.0171596 0.659771 -0.196598 0.0311042 -8.17201 -2.52205 16.2845 0.346883 0.229772 -0.0899974 -4.5927 -2.38552 78.2014 3.48805 0.291225 0.91698 2 0 0 0 12.477 10.595 1.40862 0.0217304 0.219812 57.031 1.52981 0.0114094 1.52977 -0.0107889 0.0477188 -0.257353 1.51042 0.0639141 1.52216 0.0548765 1.52623 0.0105091 0.249588 1.52482 0.0101506 0.252015 0.0329128 -0.139063 0 1.5216 0.045 6.93889e-18 0 -0 0 1.53724 -0.0439425 5.57676e-05 0.0024212 -0.016162 0.00121515 1.5216 0.045 0 0 -0 0 1.53428 -0.045 0 0 -0 0 0.022833 -0.0169036 1.4698 0.15521 -0.959461 -0.0894151 1.46975 -0.135998 0.958551 0.0935698 -0.482471 -0.0786828 0.707927 -0.276852 0.0935946 -0.492745 -0.0211945 0.644411 -0.190992 0.0382813 0.0191526 -0.0138541 1.47164 0.14728 -0.959666 -0.0905339 1.47167 -0.138102 0.959377 0.0923027 -0.47718 -0.0651199 0.694888 -0.27725 0.0766411 -0.501466 -0.0122039 0.664215 -0.198852 0.0236065 -7.46254 -3.65526 24.4636 0.71648 0.770683 0.0300742 -1.86957 -3.96839 74.143 3.32537 0.713384 0.785355 2 0 0 0 12.5185 10.642 1.40893 0.0210126 0.220535 57.041 1.5259 0.0143266 1.53025 -0.0133279 0.0470187 -0.250128 1.50747 0.060391 1.51792 0.0571814 1.52715 0.00995599 0.249758 1.52516 0.00872289 0.252015 0.0338485 -0.146489 0 1.5216 0.045 6.93889e-18 0 -0 0 1.53735 -0.0437753 0.000289111 0.00264397 -0.0174835 0.0018346 1.5216 0.045 0 0 -0 0 1.53428 -0.045 0 0 -0 0 0.0224799 -0.0153929 1.46962 0.153891 -0.959249 -0.0895767 1.47 -0.136446 0.958909 0.0934456 -0.481346 -0.0747183 0.704275 -0.27918 0.0894549 -0.497467 -0.0166386 0.648344 -0.197706 0.0337478 0.0183484 -0.0132387 1.47156 0.145158 -0.95961 -0.0908882 1.47158 -0.138692 0.959406 0.0921095 -0.476243 -0.0593196 0.693798 -0.277496 0.0679707 -0.504908 -0.00643872 0.669224 -0.20184 0.01498 -5.95828 -4.05062 25.6461 0.780311 0.877123 0.101101 -0.466995 -3.9734 63.8283 2.87514 0.789833 0.686048 2 0 0 0 12.4838 10.5996 1.40928 0.0202449 0.22068 57.051 1.51738 0.0112938 1.53071 -0.015785 0.0460548 -0.240982 1.50426 0.0546663 1.50866 0.052625 1.52777 0.00916062 0.249924 1.5255 0.00722588 0.252015 0.0346707 -0.152912 0 1.5216 0.045 6.93889e-18 0 -0 0 1.53745 -0.0436973 0.00061283 0.00211081 -0.0168705 0.001526 1.5216 0.045 0 0 -0 0 1.53428 -0.045 0 0 -0 0 0.0229633 -0.0159954 1.47074 0.151402 -0.958877 -0.0896921 1.47127 -0.137729 0.960072 0.0925283 -0.480487 -0.0699792 0.700802 -0.280165 0.0840453 -0.502072 -0.0114684 0.655766 -0.202744 0.0273581 0.0175798 -0.0126528 1.47145 0.143081 -0.959554 -0.0912472 1.47147 -0.139349 0.959436 0.0919181 -0.475028 -0.0529215 0.692315 -0.277739 0.0584717 -0.508257 -6.6519e-05 0.674338 -0.205094 0.00551441 -6.43891 -4.24326 25.4236 0.546509 0.936053 0.178349 -0.635978 -3.98261 54.5855 2.48332 0.853018 0.651763 2 0 0 0 12.4759 10.5902 1.40953 0.0194295 0.220475 57.061 1.51314 0.0073835 1.53117 -0.0181411 0.0448272 -0.229913 1.4989 0.0400301 1.50415 0.0467853 1.52783 0.00795449 0.249939 1.52585 0.00566996 0.252015 0.0353697 -0.158272 0 1.5216 0.045 6.93889e-18 0 -0 0 1.5376 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