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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0.0263186 0.544757 -0.144825 -0.0265796 0.00382453 0.00390046 1.46588 0.112412 -0.95917 -0.0927581 1.46587 -0.112426 0.959171 0.0927651 -0.499404 -0.0249666 0.540497 -0.147315 0.0248705 -0.499738 0.0262631 0.541068 -0.147609 -0.0266421 2.84605 3.31159 34.118 -0.297531 -0.244644 0.0642782 4.51962 -3.75137 33.65 0.301759 0.28243 -0.021042 0 0 0 0 -0.475418 -0.530698 -0.00875873 0.00756442 0.221413 0.047 -0.0205991 0.000829693 -0.001 0 0 0 -0.00932884 0.000503811 -0.022559 0.000912663 -0.00144803 -0.00013596 0.252039 -0.001 0 0.251861 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.00011951 -0.0449567 2.62653e-05 4.96798e-05 0.000200871 0.000657368 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00402588 0.00406239 1.46733 0.109531 -0.959156 -0.092841 1.46573 -0.110288 0.959082 0.0925965 -0.496207 -0.0250341 0.544531 -0.146561 0.0249116 -0.496676 0.0263563 0.546792 -0.148181 -0.026734 0.00379601 0.00387385 1.46559 0.114075 -0.959196 -0.0928359 1.46559 -0.114096 0.959197 0.0928409 -0.498121 -0.0249512 0.542319 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-0.000629421 -0.00014332 0.252084 -0.001 0 0.251861 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 2.41481e-05 -0.0449627 -1.80246e-05 -1.76055e-06 0.000120318 0.000433861 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00387503 0.00398443 1.46619 0.114719 -0.959254 -0.093109 1.4646 -0.115336 0.959156 0.0928452 -0.493003 -0.0249989 0.545752 -0.152133 0.02486 -0.493114 0.0263884 0.545741 -0.15197 -0.0268191 0.00365914 0.00375903 1.46512 0.118676 -0.959264 -0.092972 1.46512 -0.118746 0.959267 0.0929659 -0.494765 -0.0248204 0.54651 -0.153676 0.0246571 -0.495175 0.0264544 0.547198 -0.154029 -0.026878 5.19591 3.56784 33.9893 -0.571221 -0.394532 0.130445 6.40821 -3.66005 33.6767 0.347553 0.32644 -0.0258091 0 0 0 0 -0.47594 -0.503071 -0.00775692 0.00750825 0.221448 0.087 -0.00705934 0.000895167 -0.001 0 0 0 -0.00103945 -0.00529804 -0.00766527 0.000984684 -0.000440337 -0.000151972 0.2521 -0.001 0 0.251861 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 2.88762e-05 -0.0449598 -7.16848e-06 2.32654e-05 9.34837e-05 0.000281228 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00375368 0.00389211 1.46612 0.116329 -0.959273 -0.0931075 1.46455 -0.116894 0.959185 0.0928305 -0.491906 -0.0248262 0.546313 -0.153734 0.024757 -0.492105 0.0265994 0.546334 -0.153566 -0.0269206 0.00360254 0.00374674 1.46498 0.119994 -0.959283 -0.0930234 1.46498 -0.120135 0.959287 0.0930027 -0.493593 -0.0245966 0.547787 -0.155147 0.0243456 -0.494135 0.026688 0.548671 -0.155598 -0.0271945 3.96679 3.75154 34.2323 -0.617984 -0.434329 0.140024 5.1491 -3.42428 33.9966 0.265613 0.506412 -0.0675828 0 0 0 0 -0.473863 -0.496333 -0.00762645 0.00752358 0.221468 0.102 -0.0103524 0.000734449 -0.001 0 0 0 -0.000308829 -0.00423832 -0.0112877 0.000807893 -0.000296459 -0.000196507 0.252109 -0.001 0 0.251861 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -4.32958e-06 -0.0449582 6.43217e-06 5.50779e-05 -3.32084e-05 0.000129809 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00361091 0.00380128 1.46612 0.117781 -0.959282 -0.0930984 1.46455 -0.11837 0.959204 0.0927928 -0.490724 -0.0245505 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0.959324 0.0930753 -0.491327 -0.0242517 0.550273 -0.158132 0.0238669 -0.492059 0.0270505 0.55145 -0.158729 -0.0276819 3.47175 3.21523 34.1586 -0.525635 -0.506126 0.151663 4.41138 -3.78776 34.2016 0.425115 0.500453 -0.153258 0 0 0 0 -0.471137 -0.486737 -0.00741303 0.00749496 0.22148 0.117 -0.0121084 0.000252919 -0.001 0 0 0 -0.006865 -0.000626436 -0.0132193 0.00027821 -0.000102026 -0.000306203 0.252099 -0.001 0 0.251861 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 4.8665e-06 -0.0449637 -1.56592e-05 6.06392e-05 -0.000165 -9.25169e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00338042 0.00362348 1.466 0.120319 -0.959298 -0.0931551 1.4645 -0.121067 0.959216 0.0927459 -0.488465 -0.0243259 0.549283 -0.158338 0.0238721 -0.489032 0.0271627 0.550066 -0.158897 -0.0277874 0.00347984 0.00367955 1.46464 0.123555 -0.959332 -0.0931498 1.46464 -0.123792 0.95934 0.0931088 -0.490302 -0.0242389 0.551472 -0.159457 0.0238495 -0.491031 0.0270721 0.55265 -0.160055 -0.0277037 3.46568 2.73284 34.1811 -0.49047 -0.117109 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