def METHOD_NAME(basePos,euler,q):
    (n1,dim)=shape(basePos)
    (n2,dim)=shape(euler)
    (n3,dim)=shape(q)
    n_steps=min([n1,n2,n3])
    dim=56
    config_vect=zeros((dim,n_steps))
    for i in range(n_steps):
        config_vect[0:3,i]=basePos[i,1:4]
        config_vect[3:6,i]=euler[i,1:4]
        config_vect[22:57,i]=q[i,1:35]
    return config_vect