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 0.007 0.0029093 -0.00106947 -0.001 0 0 0 -0.00731062 -0.00188299 0.00330023 -0.00117642 -0.00248544 -4.51294e-05 0.251867 -0.001 0 0.252015 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 5.63266e-06 -0.0449928 9.23511e-06 -1.23112e-05 -1.42907e-05 0.000235286 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00385836 0.00375376 1.46812 0.104921 -0.959075 -0.0925878 1.46812 -0.104784 0.959083 0.0926278 -0.507037 -0.025444 0.546041 -0.138922 0.0254962 -0.507218 0.0259162 0.546638 -0.139279 -0.0261498 0.00394402 0.00392846 1.46699 0.10695 -0.959083 -0.0924597 1.46699 -0.106821 0.95908 0.0924971 -0.5035 -0.0253542 0.534436 -0.139254 0.0254093 -0.503598 0.0258527 0.534673 -0.139383 -0.0260914 2.66098 3.33776 32.6508 -0.666022 0.227114 0.0181043 3.09166 -3.32093 33.1609 0.518966 0.254351 -0.0398752 0 0 0 0 0.000142015 0.000165713 0.0500057 -0.0097029 0.240207 0.017 0.00288221 -0.00101501 -0.001 0 0 0 -0.00595685 -0.00114999 0.00327043 -0.00111651 -0.00248528 -4.53971e-05 0.251867 -0.001 0 0.252015 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 1.66879e-06 -0.0449952 9.44213e-06 -1.78684e-05 -2.40334e-05 0.000194179 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00382019 0.00373401 1.46813 0.104921 -0.959071 -0.0925837 1.46813 -0.104785 0.959085 0.0926228 -0.507033 -0.025443 0.546038 -0.138922 0.0254971 -0.507218 0.0259154 0.546637 -0.139299 -0.0261488 0.00388441 0.00387199 1.46676 0.109014 -0.959115 -0.0925126 1.46676 -0.108897 0.959112 0.092547 -0.502314 -0.0253538 0.535918 -0.140299 0.0254021 -0.502416 0.0258702 0.536158 -0.14043 -0.0261071 2.85994 3.3164 32.7367 -0.618812 0.230131 0.0329115 3.18117 -3.32591 33.2679 0.518892 0.163223 -0.0661491 0 0 0 0 -0.224705 -0.262204 0.0306166 -0.00938894 0.221405 0.027 0.00688056 -0.00109546 -0.001 0 0 0 -0.00601034 -5.0365e-05 0.00766862 -0.001205 -0.00239407 -4.77677e-05 0.251873 -0.001 0 0.252015 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 6.4589e-05 -0.0449954 1.10355e-05 -2.20409e-05 -0.000127249 0.000141142 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00377512 0.00368305 1.46668 0.105617 -0.959015 -0.0922028 1.46821 -0.105663 0.959101 0.0926364 -0.506323 -0.0254344 0.54664 -0.139875 0.0254884 -0.506688 0.0259372 0.546996 -0.139931 -0.0261681 0.00382898 0.00380979 1.46655 0.111009 -0.959146 -0.0925582 1.46655 -0.110888 0.959142 0.0925926 -0.501177 -0.0253961 0.53733 -0.141209 0.0254535 -0.501257 0.0258452 0.537536 -0.141322 -0.0260641 3.19439 3.26175 33.0285 -0.582616 0.368609 0.0453093 3.43254 -3.32863 33.5936 0.553731 0.0340285 -0.112035 0 0 0 0 -0.224994 -0.256344 0.0306358 -0.00938975 0.221408 0.037 0.00881249 -0.00116669 -0.001 0 0 0 -0.0115868 -0.000508011 0.00979373 -0.00128336 -0.00226866 -5.00435e-05 0.251876 -0.001 0 0.252015 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000145395 -0.0449936 3.10505e-07 -2.02468e-05 -0.000287102 0.000115137 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00374007 0.00363362 1.46669 0.107479 -0.959048 -0.092246 1.46821 -0.107584 0.959136 0.0926644 -0.505089 -0.0254348 0.547976 -0.141686 0.0254797 -0.50545 0.0259557 0.547618 -0.141181 -0.0261878 0.00376953 0.0037394 1.46641 0.112926 -0.959174 -0.0925881 1.46641 -0.112797 0.959171 0.0926237 -0.500126 -0.0254582 0.538541 -0.141662 0.0255315 -0.500173 0.0258019 0.538696 -0.14175 -0.0259954 3.51069 3.26512 33.2867 -0.57349 0.561835 0.0352321 3.71081 -3.26473 33.8028 0.516035 0.220426 -0.101919 0 0 0 0 -0.224879 -0.251046 0.0307016 -0.0093915 0.221416 0.047 0.00309613 -0.00115307 -0.001 0 0 0 -0.0149644 -0.000616904 0.00350574 -0.00126838 -0.00222316 -4.48745e-05 0.251887 -0.001 0 0.252015 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -1.94113e-05 -0.0449918 1.94098e-05 -8.75485e-06 -0.000142502 8.67483e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00374931 0.00351964 1.46647 0.109615 -0.959046 -0.0922353 1.46795 -0.109717 0.959159 0.0926651 -0.503914 -0.0254956 0.54882 -0.142903 0.0255239 -0.504153 0.0259164 0.549972 -0.143798 -0.0261464 0.00370692 0.003669 1.46631 0.11475 -0.959201 -0.0926103 1.46631 -0.114615 0.959198 0.0926463 -0.499124 -0.025509 0.539619 -0.14189 0.0255937 -0.499145 0.0257702 0.539734 -0.141959 -0.0259427 3.39387 3.32835 33.3741 -0.551654 0.703511 0.0219164 3.35615 -3.15429 33.8158 0.490115 0.301342 -0.102389 0 0 0 0 -0.226983 -0.249207 0.0308212 -0.00938941 0.22142 0.057 0.0101884 -0.00123386 -0.001 0 0 0 -0.0118089 0.000380767 0.0113072 -0.00135725 -0.00215104 -3.46647e-05 0.251888 -0.001 0 0.252015 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 5.01011e-06 -0.0449978 5.43442e-06 -2.99507e-05 -0.000103842 2.49809e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00363092 0.00350746 1.46613 0.111631 -0.95911 -0.0922919 1.46769 -0.1117 0.959177 0.0927337 -0.503157 -0.025547 0.549843 -0.144098 0.0255943 -0.503259 0.0258568 0.550268 -0.144438 -0.0260802 0.00364658 0.00359708 1.46624 0.116483 -0.959227 -0.0926271 1.46623 -0.116337 0.959222 0.0926649 -0.498166 -0.0255806 0.540614 -0.142005 0.0256845 -0.49815 0.0257173 0.540672 -0.142044 -0.0258611 2.88432 3.37792 33.4044 -0.555135 0.612295 0.0586825 2.67999 -3.03372 33.811 0.562374 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-0.00122218 -0.0022087 -3.98048e-06 0.251917 -0.001 0 0.252015 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 2.69002e-05 -0.0449972 3.98447e-06 -3.44294e-05 -0.000232052 -0.000105512 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00345698 0.00337919 1.46587 0.115316 -0.959163 -0.0923101 1.46744 -0.11535 0.959236 0.0927602 -0.501192 -0.0256538 0.550193 -0.144667 0.0257761 -0.501233 0.025789 0.550203 -0.144813 -0.0259217 0.00354821 0.00348516 1.46603 0.119579 -0.959272 -0.092687 1.46602 -0.119422 0.959267 0.0927259 -0.496183 -0.0256835 0.542816 -0.143267 0.0258138 -0.496117 0.0256433 0.542793 -0.143266 -0.0257461 2.32368 3.41323 33.6486 -0.645654 0.224925 0.169283 2.249 -2.92071 33.6775 0.52857 -0.317186 -0.206512 0 0 0 0 -0.223006 -0.235548 0.0308162 -0.00935325 0.221449 0.087 0.00457043 -0.00115847 -0.001 0 0 0 0.00124811 -0.00187494 0.00512747 -0.00127431 -0.00228045 1.12898e-05 0.251922 -0.001 0 0.252015 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 4.1828e-05 -0.0449986 1.69865e-06 -3.06881e-05 -0.00029763 -0.000178711 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00336068 0.00328804 1.4659 0.116981 -0.959178 -0.0922843 1.46748 -0.117006 0.959253 0.0927301 -0.500246 -0.0257312 0.550801 -0.145018 0.025878 -0.500252 0.0257283 0.550579 -0.145037 -0.0258206 0.00350311 0.00344785 1.4659 0.120952 -0.959291 -0.0927286 1.4659 -0.120811 0.959287 0.0927638 -0.495154 -0.0256663 0.543974 -0.144306 0.025785 -0.495104 0.0256714 0.543971 -0.144314 -0.0257803 2.38028 3.33718 33.7308 -0.629853 0.103747 0.211171 2.29382 -2.88677 33.7133 0.504121 -0.186626 -0.216835 0 0 0 0 -0.222786 -0.233298 0.0307355 -0.00933969 0.221459 0.097 0.00627867 -0.00129779 -0.001 0 0 0 0.00358681 0.0013819 0.00700654 -0.00142757 -0.00237671 1.61479e-05 0.251918 -0.001 0 0.252015 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 6.76055e-05 -0.044999 -1.98574e-06 -2.40935e-05 -0.000360556 -0.00024328 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00324938 0.00319743 1.46593 0.118508 -0.959189 -0.0922541 1.46752 -0.118535 0.959263 0.0926981 -0.499239 -0.0257466 0.55199 -0.145628 0.0259098 -0.499224 0.025738 0.55144 -0.145418 -0.0257946 0.0034678 0.00340556 1.46579 0.122255 -0.95931 -0.0927664 1.46579 -0.122107 0.959306 0.0928027 -0.494166 -0.0257221 0.545133 -0.145377 0.0258575 -0.494088 0.0256257 0.545084 -0.145362 -0.0257128 2.5156 3.20197 33.7716 -0.494985 -0.019849 0.240899 2.47627 -2.99315 33.7828 0.587801 -0.220293 -0.247027 0 0 0 0 -0.222672 -0.231518 0.0306519 -0.00933374 0.221458 0.107 0.00303499 -0.00124114 -0.001 0 0 0 0.00154006 0.00316114 0.00343848 -0.00136525 -0.00247803 1.02364e-05 0.251896 -0.001 0 0.252015 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 9.29265e-05 -0.0449996 -4.16017e-06 -1.4545e-05 -0.000474193 -0.000284177 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00314698 0.00309693 1.466 0.119916 -0.959198 -0.0922188 1.46757 -0.119965 0.959268 0.0926591 -0.498195 -0.0257315 0.554379 -0.14698 0.0258826 -0.498207 0.0257813 0.553664 -0.146692 -0.0258281 0.00344677 0.00335467 1.46568 0.123496 -0.959328 -0.0927999 1.46568 -0.123304 0.959322 0.0928447 -0.493227 -0.0258944 0.546325 -0.14652 0.0260913 -0.493051 0.0254626 0.546126 -0.146431 -0.0254834 2.49449 3.13509 33.7562 -0.373752 -0.00427541 0.245748 2.58021 -3.03844 33.8131 0.584769 -0.0967549 -0.237252 0 0 0 0 -0.222444 -0.22989 0.030579 -0.009339 0.22144 0.117 0.00212579 -0.00133451 -0.001 0 0 0 0.00418686 0.0010611 0.00243837 -0.00146796 -0.0026251 1.01318e-05 0.25187 -0.001 0 0.252015 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000111743 -0.0450034 -1.14054e-05 -1.22761e-05 -0.000548041 -0.000282977 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00308697 0.00299431 1.46593 0.121247 -0.95921 -0.0922268 1.4675 -0.121294 0.959282 0.0926688 -0.497196 -0.025819 0.556763 -0.148092 0.0259191 -0.497178 0.0257 0.555908 -0.147736 -0.0257859 0.00342941 0.00330968 1.46557 0.124653 -0.959345 -0.0928361 1.46557 -0.124418 0.959337 0.0928889 -0.492284 -0.026061 0.547535 -0.147818 0.0263174 -0.492015 0.0253038 0.547192 -0.147657 -0.025261 2.25204 3.2273 33.8162 -0.442762 -0.0870279 0.258552 2.54881 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