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 0.012 0.00713948 0.000403971 -0.001 0 0 0 -0.178041 0.0155428 0.00795343 0.000444368 -0.0017628 -7.09996e-05 0.252102 -0.001 0 0.251926 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000118701 -0.0450131 0.000183567 -3.44424e-05 -0.000261948 0.000229897 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00392518 0.00395079 1.4678 0.104888 -0.959036 -0.092459 1.46698 -0.104715 0.958952 0.0923007 -0.502113 -0.0253909 0.535568 -0.137288 0.0253412 -0.506236 0.0257767 0.542448 -0.140325 -0.0261548 0.00387882 0.0037779 1.46754 0.107414 -0.959086 -0.0922897 1.46754 -0.107171 0.959079 0.0923498 -0.504334 -0.0257342 0.532677 -0.133676 0.0259171 -0.504208 0.0255058 0.532594 -0.133647 -0.0256004 52.3878 -0.290379 -2.7441 -0.177611 -0.138453 0.101654 49.8806 -0.140945 22.3753 -0.701766 3.49516 0.0650665 0 0 0 0 0 0 0.017 0.00788982 0.00096579 -0.001 0 0 0 -0.0795646 -0.00519673 0.0087788 0.00106237 -0.00180293 -5.21993e-05 0.252107 -0.001 0 0.251926 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000243657 -0.0450142 0.000185859 -2.6039e-05 -0.000642691 0.000255829 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00389752 0.0039963 1.46774 0.104985 -0.95906 -0.092441 1.46629 -0.105667 0.959149 0.0925963 -0.502077 -0.0252653 0.535929 -0.137231 0.0254241 -0.506197 0.0258899 0.541649 -0.139545 -0.0260523 0.00368719 0.00353778 1.46811 0.110117 -0.959122 -0.0921052 1.4681 -0.109818 0.959113 0.0921759 -0.504226 -0.0259816 0.531368 -0.126462 0.0262292 -0.503967 0.0253235 0.531094 -0.126338 -0.0253211 47.7361 1.36573 12.4934 -0.253589 -0.76304 0.280571 52.3135 0.189302 28.2354 -0.666476 4.00672 -0.114135 0 0 0 0 0 0 0.027 0.014783 0.000245884 -0.001 0 0 0 -0.00764269 -0.0256416 0.0163613 0.000270472 -0.00208249 1.79179e-05 0.252176 -0.001 0 0.251926 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000280326 -0.0449978 0.000158382 9.88523e-06 -0.00116502 -4.34219e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00385336 0.00374319 1.46744 0.106231 -0.959198 -0.0926593 1.46647 -0.107513 0.959136 0.0929111 -0.502688 -0.0257636 0.529791 -0.131844 0.0259426 -0.50625 0.0254953 0.534504 -0.134082 -0.0255799 0.00348945 0.00350515 1.46817 0.112212 -0.959149 -0.0920979 1.46817 -0.112157 0.959148 0.0921194 -0.503199 -0.0252685 0.531301 -0.12415 0.0252347 -0.503392 0.0260701 0.531671 -0.124341 -0.0263326 31.9168 4.15424 27.0457 -0.542083 -3.13488 0.605513 46.3015 0.273642 21.2045 -0.432195 3.5112 -0.19261 0 0 0 0 0 0 0.037 0.00280401 -0.000213922 -0.001 0 0 0 0.0198379 -0.0385439 0.00318441 -0.000235314 -0.00254403 6.36889e-05 0.252253 -0.001 0 0.251926 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 6.46217e-05 -0.0450274 0.000173998 -2.19295e-05 -7.83743e-05 -0.000863742 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00307257 0.00337558 1.46769 0.108779 -0.959062 -0.0922177 1.46828 -0.109974 0.959084 0.092293 -0.503025 -0.0259387 0.523305 -0.125606 0.0262476 -0.506615 0.0253474 0.528619 -0.127621 -0.0252503 0.00328535 0.00361716 1.46791 0.113797 -0.95917 -0.0922131 1.46791 -0.114215 0.959184 0.0921393 -0.5017 -0.0237973 0.53216 -0.125111 0.0232088 -0.50279 0.0275544 0.533831 -0.125936 -0.0283652 23.8167 5.04636 26.4554 -0.600304 -3.71921 0.685791 36.1829 0.106035 13.5855 -0.359944 2.92608 -0.145095 0 0 0 0 0 0 0.047 0.00115721 -0.00263905 -0.001 0 0 0 0.0351187 7.72178e-06 0.00137293 -0.00290295 -0.00302925 -0.000123995 0.252245 -0.001 0 0.251926 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000103606 -0.0450457 0.00017038 -0.000128936 1.42054e-05 -0.00188048 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00229519 0.00250846 1.46893 0.110869 -0.959144 -0.0917353 1.47005 -0.112188 0.95911 0.0915402 -0.501868 -0.0252366 0.523292 -0.123694 0.0251541 -0.505965 0.0262523 0.52892 -0.125365 -0.0265385 0.00319748 0.0036929 1.46748 0.115213 -0.959191 -0.0923598 1.46748 -0.115879 0.959213 0.0922361 -0.500336 -0.022982 0.534093 -0.128178 0.0220925 -0.501905 0.0283717 0.536468 -0.129349 -0.0294826 21.7277 4.47733 14.8719 -0.476274 -2.88463 0.576187 35.3496 -4.95147 26.0191 -0.0189297 1.44923 -0.401024 0 0 0 0 0 0 0.057 -0.00447078 -0.00442214 -0.001 0 0 0 0.0258885 0.0498894 -0.00481785 -0.00486435 -0.00368009 -0.000509638 0.252177 -0.001 0 0.251926 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000167749 -0.0450443 0.000180939 -8.37718e-05 -1.35106e-05 -0.00242693 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.0019582 0.00164053 1.46974 0.11239 -0.959035 -0.091477 1.47063 -0.114318 0.959028 0.0911148 -0.499702 -0.0240395 0.527164 -0.123683 0.0229573 -0.505233 0.0276514 0.535659 -0.126447 -0.0288215 0.00334901 0.00355247 1.46702 0.116826 -0.959221 -0.0924479 1.46702 -0.117039 0.959228 0.0924145 -0.499642 -0.0243305 0.537214 -0.132276 0.0239573 -0.500365 0.0270206 0.538361 -0.132851 -0.0276161 20.2894 4.05273 6.78881 -0.374543 -2.24878 0.472946 44.0987 -16.8901 57.9125 1.30765 0.573986 -1.3414 0 0 0 0 0 0 0.067 0.000620784 -0.000620868 -0.001 0 0 0 0.0188865 0.0745068 0.000782862 -0.000682955 -0.00399627 -0.000741136 0.252056 -0.001 0 0.251926 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000290076 -0.0450132 0.000155168 0.000268958 -0.000100274 -0.00195336 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00220787 0.00163871 1.46933 0.114088 -0.958965 -0.0915227 1.46881 -0.116115 0.958949 0.0914452 -0.498175 -0.0234143 0.535537 -0.12776 0.0216343 -0.504303 0.0283266 0.544672 -0.130479 -0.0298706 0.00366367 0.00323412 1.46663 0.118652 -0.959258 -0.0924651 1.46663 -0.117883 0.959234 0.0926278 -0.499485 -0.0273829 0.540859 -0.136293 0.0281677 -0.498343 0.0239669 0.539272 -0.135536 -0.0234042 17.7761 3.50253 0.223152 -0.28753 -1.73172 0.363026 48.7761 -24.5459 65.7492 2.25763 0.485233 -2.36358 0 0 0 0 0 0 0.077 0.00345649 0.00432668 -0.001 0 0 0 0.0135321 0.0601419 0.00390214 0.00475935 -0.00402136 -0.000292252 0.252037 -0.001 0 0.251926 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000590697 -0.0448444 0.000158478 0.000600402 -0.00186453 -0.000847061 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.0036284 0.0017093 1.46765 0.116429 -0.959092 -0.0918133 1.46741 -0.117245 0.959178 0.0919573 -0.497584 -0.024847 0.540622 -0.13095 0.0240763 -0.501749 0.0274531 0.546537 -0.133214 -0.0277505 0.00395684 0.00291594 1.46633 0.120453 -0.959294 -0.0924603 1.46633 -0.118734 0.95924 0.0928123 -0.499291 -0.0304518 0.544081 -0.139583 0.0323949 -0.496311 0.0209012 0.539772 -0.137494 -0.0191786 23.7212 13.9452 6.37168 -0.550029 -0.866497 0.1446 44.406 -23.0172 51.512 1.99969 0.0865058 -2.47277 0 0 0 0 0 0 0.087 0.0120194 0.00458649 -0.001 0 0 0 -0.0221743 -0.00974928 0.0133214 0.00504514 -0.00351154 0.000481024 0.252085 -0.001 0 0.251926 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.00101706 -0.0448208 0.000241504 0.000751858 -0.00307323 0.000549304 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00548562 0.00185747 1.46609 0.118429 -0.959146 -0.0921925 1.46634 -0.117776 0.959541 0.0924665 -0.497052 -0.0278538 0.543744 -0.135426 0.0286772 -0.500348 0.0242083 0.547621 -0.136507 -0.0228821 0.00398724 0.002795 1.46622 0.121971 -0.959318 -0.0924715 1.46622 -0.120013 0.959256 0.0928704 -0.498602 -0.0314015 0.54558 -0.140566 0.0336875 -0.495105 0.0199638 0.540467 -0.13808 -0.0178923 40.8382 33.0447 41.4991 -2.22861 1.57201 -0.0790501 37.6902 -19.022 37.5387 1.62969 0.224047 -2.03519 0 0 0 0 0 0 0.097 0.0136454 0.00764051 -0.001 0 0 0 -0.0423083 -0.0402907 0.01511 0.00840456 -0.00290002 0.0013486 0.252178 -0.001 0 0.251926 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000819643 -0.0448288 0.000335309 0.000526647 -0.0018719 0.00159962 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00596961 0.00299783 1.46516 0.120284 -0.959322 -0.0923565 1.4653 -0.118477 0.959177 0.0930918 -0.497005 -0.0301556 0.544785 -0.13916 0.0335124 -0.498371 0.0216518 0.54556 -0.138325 -0.0181193 0.00371578 0.00288876 1.46634 0.123183 -0.959329 -0.0924961 1.46634 -0.121787 0.959285 0.0927814 -0.497488 -0.0298696 0.545149 -0.138704 0.0315453 -0.494988 0.0215169 0.541459 -0.13691 -0.0200444 47.4039 37.6056 57.4205 -3.27111 3.23719 -0.129183 32.1832 -15.7587 25.9145 1.32661 0.340881 -1.67763 0 0 0 0 0 0 0.107 0.0107747 -0.000113254 -0.001 0 0 0 -0.0666722 -0.0512828 0.0119522 -0.000124579 -0.00265366 0.00161643 0.252261 -0.001 0 0.251926 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000525528 -0.0449523 0.000398047 -0.00016714 -0.00136861 0.00220299 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00569586 0.00417302 1.46529 0.121217 -0.959407 -0.0924448 1.46524 -0.12026 0.959212 0.0931409 -0.496483 -0.0302699 0.543386 -0.139808 0.0349151 -0.497256 0.0209005 0.543488 -0.139417 -0.0168356 0.00333219 0.00304025 1.4666 0.124304 -0.959335 -0.0925048 1.4666 -0.123746 0.959317 0.0926215 -0.496304 -0.027421 0.543705 -0.135102 0.0281361 -0.495338 0.0239926 0.542249 -0.134398 -0.0234662 43.2957 31.0639 38.3595 -2.66405 2.99824 -0.114188 28.6477 -13.5083 13.9417 1.08547 0.514832 -1.39491 0 0 0 0 0 0 0.117 0.0106997 -0.00910108 -0.001 0 0 0 -0.123392 -0.0811373 0.0118696 -0.0100112 -0.00264411 0.000984945 0.252263 -0.001 0 0.251926 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000680896 -0.0450189 0.000278497 -0.000621294 -0.00230547 0.002041 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00558156 0.00411712 1.46549 0.121516 -0.959321 -0.0927391 1.46555 -0.122117 0.959452 0.0929489 -0.495196 -0.029233 0.538769 -0.137282 0.0316655 -0.497657 0.0217027 0.540882 -0.138192 -0.0202968 0.00287403 0.00317166 1.46711 0.125592 -0.95934 -0.0924502 1.46711 -0.125995 0.959354 0.092374 -0.494941 -0.0244792 0.540529 -0.128593 0.0240481 -0.495764 0.0269723 0.541728 -0.129187 -0.027572 38.6549 25.0471 23.9713 -2.1914 2.74877 -0.096107 28.5837 -14.0712 4.58146 0.753307 0.795201 -0.981257 0 0 0 0 0 0 0.127 0.00643238 -0.00497483 -0.001 0 0 0 -0.184591 -0.11024 0.00717562 -0.00547232 -0.00285436 0.000210973 0.252217 -0.001 0 0.251926 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000774698 -0.0450441 0.000141198 -0.000667638 -0.0026613 0.000825683 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00485839 0.00312475 1.46618 0.122898 -0.959294 -0.092588 1.46658 -0.123677 0.959604 0.0928018 -0.494567 -0.0275522 0.535627 -0.134411 0.0274577 -0.498456 0.0235288 0.539752 -0.136073 -0.0245865 0.00227614 0.00330839 1.46797 0.127046 -0.959343 -0.0923219 1.46797 -0.12874 0.959397 0.091987 -0.493317 -0.0204097 0.534898 -0.117925 0.0184055 -0.496552 0.0310979 0.53975 -0.120298 -0.0332436 32.3623 19.6314 13.8753 -1.82008 2.45542 -0.048568 27.5045 -23.8884 8.11678 -0.342548 1.61639 0.0449716 0 0 0 0 0 0 0.137 -0.0145468 -0.00416294 -0.001 0 0 0 -0.189972 -0.0355296 -0.0159015 -0.00457923 -0.00386977 -0.000474916 0.252201 -0.001 0 0.251926 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000681794 -0.0451743 0.000134612 -0.000607338 -0.00211783 -0.00120901 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00330871 0.00143011 1.46807 0.124531 -0.959172 -0.0920053 1.46837 -0.125819 0.959629 0.0922806 -0.493791 -0.0245185 0.532905 -0.128102 0.0233071 -0.498637 0.0263823 0.539088 -0.130235 -0.0282959 0.00178203 0.003301 1.46894 0.12876 -0.959352 -0.0921253 1.46894 -0.131418 0.959437 0.0915969 -0.491924 -0.0173421 0.528881 -0.106147 0.0141538 -0.496943 0.0342278 0.536498 -0.109857 -0.0375297 25.6133 15.7933 4.56484 -1.49094 2.17014 -0.00963023 18.1403 -32.7519 23.9111 -0.39321 3.24078 1.22497 0 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