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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0.677877 -0.269188 -0.167543 -5.10689 10.5867 71.7872 2.43095 -2.45807 0.675911 2.79166 1.78343 -0.568221 -0.0505001 0.160054 0.0740972 2 0 0 0 -12.9354 -19.5396 0.578479 0.0904666 0.220845 31.078 0.605838 -0.0132813 0.59907 -0.00944122 0.0309821 0.190665 0.618099 -0.0190296 0.601549 -0.0442241 0.599657 -0.0242578 0.251212 0.59625 -0.0216583 0.252072 0.0187414 0.0810605 0 0.607969 0.0431011 0.00988838 -0.00980215 -0.00897422 -0.00188559 0.595105 -0.045 6.93889e-18 0 -0 0 0.606884 0.045 0.00312582 0 -0 0 0.595105 -0.045 0 0 -0 0 -0.0156832 0.0231718 1.46942 0.129729 -0.958743 -0.0929822 1.47051 -0.141512 0.960074 0.0908791 -0.575718 0.0531149 0.815901 -0.274227 -0.123603 -0.483748 0.109417 0.70462 -0.273585 -0.17035 -0.014908 0.0222304 1.47016 0.136169 -0.959273 -0.0937311 1.47018 -0.157631 0.959944 0.0894606 -0.482878 0.0637127 0.635013 -0.191622 -0.109525 -0.460749 0.117133 0.656373 -0.261745 -0.163146 -4.76778 10.3257 73.3932 1.92051 -1.21799 0.413406 3.07633 1.78906 -0.75981 -0.0396701 0.169067 0.0515554 2 0 0 0 -13.0212 -19.6346 0.578308 0.0907564 0.220634 31.088 0.603736 -0.0104579 0.59939 -0.00747384 0.0329768 0.20294 0.604639 -0.0334689 0.598886 -0.0432825 0.600201 -0.0231471 0.251178 0.596442 -0.0208105 0.252072 0.0195909 0.0885005 0 0.608338 0.0431179 0.00720342 -0.00988689 -0.00906176 -0.00095589 0.595105 -0.045 6.93889e-18 0 -0 0 0.607179 0.045 0.00147541 0 -0 0 0.595105 -0.045 0 0 -0 0 -0.0151826 0.0217391 1.46836 0.133637 -0.958865 -0.0933693 1.46935 -0.147875 0.960125 0.090898 -0.542225 0.0568327 0.748856 -0.244436 -0.118456 -0.470418 0.11437 0.682117 -0.266812 -0.166311 -0.0146181 0.0221599 1.46942 0.139432 -0.959317 -0.0940384 1.46945 -0.163274 0.96006 0.0892725 -0.457536 0.0672729 0.586418 -0.169345 -0.104736 -0.449623 0.121203 0.637894 -0.255138 -0.158867 -3.68672 10.5651 75.2015 0.894894 -0.215941 0.199142 3.19231 1.90981 -0.828681 -0.0331953 0.180336 0.0430006 2 0 0 0 -13.0825 -19.6999 0.578176 0.0910647 0.220607 31.098 0.591459 -0.00801 0.59973 -0.00537979 0.0350998 0.216005 0.601304 -0.0443181 0.585007 -0.0428932 0.600619 -0.0219502 0.251165 0.596642 -0.0198866 0.252072 0.0205181 0.0962762 0 0.608454 0.0432541 0.00478809 -0.00909524 -0.0090209 -0.000292686 0.595105 -0.045 6.93889e-18 0 -0 0 0.607363 0.045 0.000390391 0 -0 0 0.595105 -0.045 0 0 -0 0 -0.0143198 0.020258 1.46848 0.137399 -0.95967 -0.0937823 1.469 -0.154485 0.95983 0.0906835 -0.510042 0.0610743 0.68468 -0.216377 -0.112753 -0.457497 0.119089 0.659298 -0.259295 -0.161839 -0.0143519 0.0220052 1.46887 0.141848 -0.959353 -0.094217 1.46892 -0.166833 0.96013 0.08921 -0.440635 0.0691764 0.554392 -0.155118 -0.100048 -0.441659 0.123299 0.62509 -0.250911 -0.154373 -1.61087 11.5574 75.2019 0.124246 0.523775 0.0750044 3.92322 2.30733 -1.64642 -0.0387777 0.231555 0.0580977 2 0 0 0 -13.1461 -19.7679 0.578096 0.0915404 0.220661 31.108 0.629973 -0.0136438 0.600092 -0.00315093 0.0373596 0.229912 0.603471 -0.0530998 0.626973 -0.0515421 0.601243 -0.0208254 0.251151 0.596852 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-0.045 6.93889e-18 0 -0 0 0.607425 0.045 0 0 -0 0 0.595105 -0.045 0 0 -0 0 -0.0162137 0.0222466 1.46776 0.14169 -0.960077 -0.0944593 1.46786 -0.16632 0.959749 0.0896618 -0.454988 0.0692867 0.576099 -0.167619 -0.102268 -0.438828 0.123934 0.624722 -0.248129 -0.153602 -0.0130877 0.0202762 1.46902 0.14299 -0.9594 -0.0938081 1.46906 -0.163146 0.960027 0.0897913 -0.44342 0.0629512 0.554472 -0.154278 -0.0877542 -0.440943 0.116966 0.623821 -0.250066 -0.141948 2.09471 12.5433 71.23 -0.857343 1.42545 -0.0129422 4.58075 2.87257 -3.06589 -0.0449885 0.28269 0.0750923 2 0 0 0 -13.198 -19.8161 0.577971 0.0929922 0.221259 31.128 0.63001 -0.0185308 0.600852 0.00151705 0.0384958 0.236051 0.564049 -0.0622672 0.626756 -0.0583686 0.601778 -0.0188703 0.251243 0.597304 -0.0166322 0.252072 0.0235795 0.120511 0 0.610088 0.045225 0.00066581 -0.00125436 -0.0123866 -0.000376994 0.595105 -0.045 6.93889e-18 0 -0 0 0.607425 0.045 0 0 -0 0 0.595105 -0.045 0 0 -0 0 -0.0160131 0.0222262 1.46752 0.142295 -0.960063 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