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 0.008 0.0204308 -3.05173e-05 -0.001 0 0 0 -0.011632 0.00472832 0.0225739 -3.3569e-05 -0.00243478 -4.81205e-05 0.252064 -0.001 0 0.25202 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.00050663 -0.0450004 0.000256163 -7.03325e-06 -0.00146381 0.000206102 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00387901 0.00362551 1.46659 0.104801 -0.959024 -0.0921666 1.46658 -0.104663 0.958997 0.0922055 -0.501263 -0.0254146 0.539054 -0.136234 0.0254585 -0.507232 0.0258894 0.546635 -0.139132 -0.0261186 0.00394419 0.00389938 1.46707 0.107025 -0.959084 -0.0924345 1.46706 -0.106857 0.959079 0.0924798 -0.503633 -0.0254817 0.534231 -0.138523 0.0255826 -0.503653 0.0257296 0.534357 -0.138598 -0.0259203 1.82093 1.8104 32.6248 -0.201426 0.203949 -0.0408845 1.13703 -1.85655 34.2103 0.446154 0.590048 0.0265712 0 0 0 0 -2.02737e-06 -2.36567e-06 0.0263098 -0.0155386 0.240192 0.018 0.0194765 0.00046133 -0.001 0 0 0 -0.0117808 0.00132021 0.0215242 0.000507463 -0.00243708 -5.05523e-05 0.252065 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0.547555 -0.140589 -0.0257804 0.00374641 0.0036223 1.46676 0.113261 -0.959178 -0.0924749 1.46676 -0.113002 0.95917 0.0925363 -0.500716 -0.0259061 0.537412 -0.138021 0.0261364 -0.500501 0.0253749 0.537187 -0.137921 -0.0254011 1.93616 1.91905 33.2444 -0.115021 0.201571 0.0185785 1.87905 -1.5951 33.3875 0.400491 0.59157 -0.0126339 0 0 0 0 -0.297916 -0.332443 0.000701359 -0.0153018 0.221418 0.048 0.00779604 0.000233285 -0.001 0 0 0 -0.0116207 0.0025248 0.00867565 0.000256614 -0.00247078 2.77282e-05 0.251899 -0.001 0 0.25202 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 3.64645e-05 -0.0450018 5.11357e-06 -8.55003e-06 -6.18194e-05 7.60494e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00367563 0.00355886 1.4671 0.110705 -0.959082 -0.092577 1.46679 -0.111049 0.959065 0.0924113 -0.504733 -0.0257688 0.547412 -0.140512 0.0259872 -0.504682 0.0255924 0.547207 -0.140336 -0.0256301 0.00369432 0.00354343 1.46665 0.115097 -0.959205 -0.0924978 1.46665 -0.114804 0.959196 0.0925653 -0.499742 -0.0260636 0.538519 -0.138287 0.0263445 -0.499442 0.025236 0.538164 -0.138122 -0.0252023 1.83753 1.93418 33.4042 -0.155472 0.142877 0.0554787 1.97421 -1.49487 33.1905 0.3333 0.632227 -0.0258631 0 0 0 0 -0.295675 -0.324163 0.000696574 -0.0152664 0.221435 0.058 0.00748165 0.000199942 -0.001 0 0 0 -0.0081044 0.000315092 0.00832982 0.000219936 -0.00254658 6.41058e-05 0.251912 -0.001 0 0.25202 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 4.99323e-06 -0.0450022 8.88374e-06 -4.3553e-06 -4.06444e-05 -2.81827e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00357726 0.00342909 1.46702 0.112712 -0.959103 -0.0925231 1.4667 -0.112966 0.959088 0.0923856 -0.503736 -0.0259438 0.547707 -0.140681 0.0262184 -0.503586 0.0254453 0.547608 -0.140666 -0.0254071 0.00363485 0.00347967 1.46655 0.116808 -0.95923 -0.0925242 1.46654 -0.116513 0.959221 0.0925915 -0.498755 -0.0261244 0.539558 -0.138598 0.0264196 -0.498431 0.0251923 0.539159 -0.138411 -0.0251357 1.94297 1.93219 33.5487 -0.207891 0.0150804 0.0846045 2.10062 -1.4379 33.0795 0.250073 0.525063 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-0.00277011 0.00010966 0.251918 -0.001 0 0.25202 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -1.05715e-05 -0.0450064 1.08553e-05 -1.30785e-06 -1.41218e-05 -0.000208622 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00334096 0.0031968 1.46691 0.116308 -0.959152 -0.0924459 1.4666 -0.116468 0.959127 0.0923343 -0.501783 -0.0261484 0.549298 -0.14126 0.0265096 -0.50152 0.0252847 0.549023 -0.141158 -0.0251264 0.00354954 0.00335358 1.46633 0.119931 -0.959276 -0.092582 1.46633 -0.119579 0.959265 0.0926596 -0.496847 -0.0264149 0.541775 -0.139795 0.0268044 -0.496374 0.0249305 0.541138 -0.139489 -0.0247651 2.06198 1.72882 33.7083 0.00321026 -0.0758386 0.117612 2.21419 -1.5598 33.1953 0.397885 0.445193 -0.0947542 0 0 0 0 -0.294743 -0.311384 0.000524217 -0.0151971 0.22145 0.088 0.00528397 -0.00010495 -0.001 0 0 0 -0.00599184 0.00345136 0.00591236 -0.000115445 -0.00291732 0.000117764 0.251907 -0.001 0 0.25202 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -3.78036e-06 -0.0450091 6.98037e-06 -1.90935e-06 -4.95916e-05 -0.000261518 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00325878 0.00306595 1.46687 0.117883 -0.959163 -0.092414 1.46657 -0.118057 0.959141 0.0923044 -0.500806 -0.0262533 0.550785 -0.141811 0.0265904 -0.500503 0.0251979 0.550435 -0.141674 -0.025051 0.00351692 0.0032899 1.46623 0.121365 -0.959297 -0.0926085 1.46623 -0.120967 0.959284 0.0926948 -0.495939 -0.0266207 0.542872 -0.140473 0.0270808 -0.495356 0.0247374 0.542064 -0.140082 -0.0244952 2.14574 1.79247 33.798 -0.156631 -0.0530458 0.118013 2.28216 -1.46894 33.2846 0.411585 0.454825 -0.103822 0 0 0 0 -0.295362 -0.30946 0.000428983 -0.015196 0.221443 0.098 0.00459245 -2.77795e-06 -0.001 0 0 0 -0.00330524 0.00149352 0.0051517 -3.05574e-06 -0.00309499 0.000148924 0.251887 -0.001 0 0.25202 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -7.05046e-06 -0.045011 -8.68838e-07 -4.89177e-06 -4.73593e-05 -0.000283822 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00317865 0.00295634 1.46683 0.119422 -0.959179 -0.0923822 1.46654 -0.119497 0.959153 0.0922993 -0.499878 -0.0264998 0.552708 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0.0927669 -0.494067 -0.0268044 0.545046 -0.142287 0.0273193 -0.493408 0.0245745 0.5441 -0.141825 -0.0242669 2.22492 2.19172 33.8737 -0.18497 -0.0315091 0.089718 2.33116 -1.1708 33.27 0.381957 -0.0148916 -0.0971901 0 0 0 0 -0.293848 -0.303657 0.000142921 -0.0151532 0.221413 0.118 -0.00155542 0.000237759 -0.001 0 0 0 0.00104863 0.003987 -0.00161096 0.000261535 -0.003588 0.000230499 0.251861 -0.001 0 0.25202 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -1.61065e-05 -0.0450102 1.17311e-05 -2.52926e-06 -1.34089e-05 -0.000183958 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00308301 0.00283554 1.46651 0.122232 -0.959216 -0.0923988 1.46765 -0.122352 0.959285 0.092738 -0.497835 -0.0267773 0.556062 -0.142958 0.0273112 -0.49729 0.0247291 0.555448 -0.142723 -0.0243627 0.00341978 0.0031703 1.4659 0.12504 -0.959349 -0.0927239 1.4659 -0.12461 0.959336 0.0928152 -0.493113 -0.0269227 0.546285 -0.143709 0.0274764 -0.492401 0.024463 0.545246 -0.143201 -0.0241131 2.07614 2.14718 33.8935 -0.136479 -0.254924 0.0799382 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