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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0.0258352 0.541329 -0.140406 -0.0260502 0.00383636 0.00381012 1.46607 0.112623 -0.959173 -0.0926872 1.46607 -0.112499 0.959169 0.0927216 -0.499863 -0.0254389 0.540045 -0.145344 0.0255128 -0.499918 0.025803 0.540211 -0.145438 -0.0260061 1.98235 3.2817 33.9104 -0.437676 0.665659 -0.0994312 2.67021 -3.24308 33.9832 0.489589 0.570907 0.0674681 0 0 0 0 -0.717904 -0.801246 -0.0117803 -0.000483407 0.221414 0.047 -0.0114442 0.00193008 -0.001 0 0 0 -0.0256424 0.000944076 -0.0124887 0.00212309 -0.00193585 3.42765e-07 0.252056 -0.001 0 0.251838 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000152403 -0.04496 -1.78294e-06 1.37107e-05 0.000373647 0.000562829 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00392458 0.00403463 1.46754 0.110431 -0.959179 -0.0933172 1.46589 -0.109159 0.959067 0.0924986 -0.497963 -0.0255542 0.541193 -0.141595 0.0256552 -0.497621 0.0258379 0.541943 -0.142392 -0.0260195 0.00377535 0.00376264 1.46592 0.114373 -0.959199 -0.0927286 1.46591 -0.114274 0.959196 0.0927574 -0.498794 -0.0253938 0.541396 -0.146244 0.025444 -0.498882 0.0258644 0.541606 -0.146359 -0.0260832 0.648146 3.27939 34.0721 -0.438354 0.914225 -0.157856 1.47834 -3.24444 34.1182 0.499808 0.829394 0.142023 0 0 0 0 -0.715582 -0.784862 -0.0115293 -0.000469876 0.221432 0.057 -0.0125257 0.00194159 -0.001 0 0 0 -0.0188324 0.00145251 -0.0136783 0.00213575 -0.00154566 -7.0563e-06 0.252046 -0.001 0 0.251838 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -4.09799e-05 -0.0449642 5.76449e-06 2.25635e-05 6.5801e-05 0.000501275 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00391533 0.00397171 1.46751 0.11227 -0.959194 -0.0932721 1.46568 -0.111061 0.959125 0.0925369 -0.496992 -0.0254875 0.544021 -0.145477 0.0256047 -0.496981 0.0258983 0.544517 -0.14596 -0.0260501 0.00371662 0.00371384 1.46579 0.116032 -0.959223 -0.0927644 1.46578 -0.115953 0.959221 0.0927888 -0.497764 -0.0253614 0.542671 -0.147046 0.025393 -0.497876 0.0259127 0.542914 -0.147176 -0.0261423 -0.618643 3.20731 33.9812 -0.447989 0.687565 -0.156342 0.0824962 -3.26523 34.1632 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0.0011857 -0.00117394 -3.28573e-05 0.252101 -0.001 0 0.251838 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 4.79495e-07 -0.0449597 -9.59071e-06 2.73343e-05 0.000147816 0.000326016 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.0038105 0.00388291 1.46506 0.115736 -0.959179 -0.0926966 1.46505 -0.114679 0.959175 0.092644 -0.494948 -0.0254232 0.542776 -0.147002 0.0254549 -0.494923 0.0259965 0.542705 -0.14686 -0.0262161 0.00364927 0.00362663 1.46546 0.119006 -0.959267 -0.0928588 1.46545 -0.118907 0.959265 0.0928863 -0.495641 -0.0254725 0.545575 -0.149925 0.0255384 -0.49569 0.0258241 0.545721 -0.150008 -0.0260083 -1.34397 3.08718 33.6844 -0.312308 0.0781707 0.065092 -0.681143 -3.25978 33.8475 0.574439 -0.147433 0.0741039 0 0 0 0 -0.718192 -0.759314 -0.0110457 -0.000495418 0.221474 0.087 -0.00653641 0.00108704 -0.001 0 0 0 0.00403189 0.00218267 -0.00709006 0.00119575 -0.00102863 -4.00648e-05 0.25211 -0.001 0 0.251838 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -5.59345e-06 -0.0449651 -1.19173e-05 1.39837e-05 -3.42865e-05 0.000212866 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00373119 0.00379119 1.46514 0.117258 -0.959192 -0.092638 1.46512 -0.116274 0.959186 0.092601 -0.493886 -0.0254664 0.543375 -0.148439 0.0254434 -0.493874 0.0259513 0.543437 -0.14859 -0.0262272 0.00362692 0.0035857 1.46529 0.120355 -0.959287 -0.0929071 1.46529 -0.120232 0.959284 0.092939 -0.494587 -0.0255707 0.547048 -0.151578 0.0256709 -0.494578 0.0257348 0.547108 -0.151618 -0.0258804 -1.19793 3.14079 33.6337 -0.392251 -0.0452227 0.161957 -0.579839 -3.18666 33.6805 0.535885 -0.226285 0.0250711 0 0 0 0 -0.719353 -0.754127 -0.0109636 -0.000505617 0.22149 0.097 -0.00737542 0.00121517 -0.001 0 0 0 0.0161968 -0.000450762 -0.00801297 0.00133669 -0.000920192 -2.57108e-05 0.252112 -0.001 0 0.251838 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -1.35928e-05 -0.0449723 -1.41436e-05 -6.01296e-06 -9.11176e-05 9.63602e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00363821 0.00367589 1.46512 0.118712 -0.9592 -0.0926023 1.46518 -0.117742 0.959189 0.0925556 -0.49281 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