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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8.17127e-05 0.251894 -0.001 0 0.251869 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -6.36367e-05 -0.0449973 -0.000205483 8.11276e-07 -3.6918e-05 -0.000125788 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00442445 0.00231473 1.46692 0.116707 -0.958479 -0.0924834 1.46706 -0.116609 0.959892 0.0925341 -0.501663 -0.0259851 0.549653 -0.143584 0.0262924 -0.495737 0.025431 0.54249 -0.14089 -0.025338 0.00361601 0.00350182 1.46581 0.119364 -0.95927 -0.0927457 1.46581 -0.119137 0.959264 0.0927984 -0.496405 -0.0259668 0.54417 -0.145586 0.026203 -0.496182 0.0253524 0.543909 -0.145465 -0.025355 1.48778 1.52283 32.6912 -0.590273 0.0312304 -0.186349 -10.0449 -1.98496 43.2608 0.340048 -0.781291 -0.0113838 0 0 0 0 -0.630785 -0.666666 -0.00979682 0.0085903 0.221456 0.093 -0.0103984 6.64814e-06 -0.001 0 0 0 0.0106207 0.00499382 -0.0113382 7.31295e-06 -0.00245734 7.39482e-05 0.251882 -0.001 0 0.251869 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000141804 -0.0450007 -0.000194361 6.15451e-06 8.19104e-05 -0.000166889 0 0.045 0 0 -0 0 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