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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0.875751 -0.060309 0.220393 45.654 0.937033 -0.030963 0.920388 -0.033567 0.00661304 0.040137 0.956413 -0.0194801 0.937638 -0.0371356 0.920154 -0.022532 0.250508 0.917783 -0.0238534 0.252066 0.0173632 -0.064877 0 0.908849 0.0447671 0.00354604 -8.98492e-05 7.97283e-05 -0.0018531 0.920328 -0.045 6.93889e-18 0 -0 0 0.910402 0.045 0.00629738 0 -0 0 0.920328 -0.045 0 0 -0 0 0.00732061 0.000323446 1.47047 0.123077 -0.958576 -0.0946525 1.47057 -0.146011 0.960156 0.0898273 -0.447163 0.0431254 0.664406 -0.29206 -0.104226 -0.508109 0.0966585 0.681595 -0.24358 -0.157943 0.00297725 0.00216033 1.47242 0.119877 -0.959 -0.0932128 1.4723 -0.131246 0.959385 0.0911044 -0.489253 0.0354916 0.743669 -0.326572 -0.10808 -0.5194 0.0876016 0.703743 -0.256174 -0.160291 1.88886 14.7518 39.3084 -0.692112 -1.64281 0.610601 1.61676 11.2005 24.064 0.150921 -0.919933 0.4894 2 0 0 0 10.3897 13.901 0.875878 -0.0609534 0.219987 45.664 0.911989 -0.0306628 0.920456 -0.0331529 0.00703879 0.042721 0.968313 -0.0337867 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0.922309 1.62436 0.385265 2 0 0 0 15.8348 20.223 0.948953 -0.0484589 0.221639 48.958 0.971277 -0.0108847 0.990422 -0.0110555 0.039233 -0.233791 0.942808 0.0532548 0.963075 0.0266032 0.990278 0.0137781 0.25114 0.986291 0.0112901 0.252066 0.0274672 -0.148499 0 0.982994 0.045 6.93889e-18 0 -0 0 0.99547 -0.0451231 0.000473397 -0.0020386 0.00152326 -0.00373446 0.982994 0.045 0 0 -0 0 0.995527 -0.045 0 0 -0 0 0.0157385 -0.0144374 1.47343 0.156285 -0.959423 -0.0895005 1.47329 -0.143532 0.959469 0.092258 -0.443975 -0.0976083 0.63221 -0.256534 0.116183 -0.459962 -0.0451283 0.583667 -0.168796 0.0616748 0.0163409 -0.0105264 1.47051 0.149437 -0.959663 -0.0912835 1.47051 -0.144185 0.959503 0.0922679 -0.442684 -0.0885635 0.632339 -0.25585 0.100163 -0.467103 -0.0351948 0.592719 -0.172604 0.0466615 -1.05268 1.7925 15.2018 0.68647 0.977875 0.141262 -4.05862 -5.37763 49.7716 1.21626 1.82538 0.423089 2 0 0 0 15.7974 20.1816 0.949147 -0.0491815 0.221368 48.968 0.972352 -0.0104186 0.990813 -0.0133755 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