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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0.548336 -0.141771 -0.0262426 0.00371112 0.00370438 1.46665 0.113089 -0.959175 -0.0925244 1.46664 -0.112993 0.959172 0.0925533 -0.500404 -0.0253541 0.537623 -0.139153 0.0253827 -0.500518 0.02592 0.537876 -0.139289 -0.0261513 1.82125 2.22067 32.9574 -0.240608 0.328455 -0.0331 2.1454 -2.34917 32.7788 0.17645 0.464545 0.0229122 0 0 0 0 -0.214003 -0.238828 -0.0120821 0.0151661 0.221422 0.054 0.0176204 -0.000629525 -0.001 0 0 0 -0.00867541 -0.000136893 0.0194824 -0.000692477 -0.00239185 -5.78903e-05 0.251908 -0.001 0 0.252015 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 3.07555e-05 -0.0449939 1.09177e-05 1.15523e-05 -3.52249e-06 0.000218557 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00367875 0.00368665 1.46659 0.111481 -0.959079 -0.0922571 1.4671 -0.110541 0.959066 0.0925925 -0.502899 -0.0254196 0.547827 -0.141753 0.0253876 -0.503388 0.0259505 0.548564 -0.14201 -0.026227 0.00363989 0.00362751 1.46658 0.114942 -0.959202 -0.0925371 1.46658 -0.114844 0.959199 0.0925658 -0.499449 -0.0253916 0.538531 -0.138955 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0.0505806 0.42139 0.0654709 0.46539 0.021003 0.249997 0.46513 0.0194248 0.252015 0.0231676 -0.0353241 0 0.465006 0.045 6.93889e-18 0 -0 0 0.468889 -0.0440037 0.0246024 0.00389027 0.00265367 0.00110814 0.465006 0.045 0 0 -0 0 0.471411 -0.045 0.0210304 0 -0 0 0.0249407 -0.0209901 1.4806 0.106093 -0.958918 -0.0895114 1.48058 -0.102949 0.958403 0.0896221 -0.588256 -0.0371633 0.88394 -0.333366 0.132723 -0.739205 0.012091 1.19701 -0.460451 0.0870643 0.0261068 -0.0236385 1.47963 0.113699 -0.959076 -0.0891313 1.47969 -0.105937 0.958823 0.0905899 -0.5852 -0.0403817 0.879794 -0.333641 0.131577 -0.727226 0.00664917 1.15128 -0.427903 0.0843375 1.85201 -2.66172 7.11099 0.137819 0.123175 -0.122522 -8.59141 -14.7767 80.9955 0.986915 -0.809454 -0.437051 2 0 0 0 10.3569 12.7801 0.386519 -0.0284055 0.221799 19.449 0.483198 0.0326777 0.46891 0.0124056 0.0305943 -0.172169 0.485533 0.0437437 0.479724 0.0622993 0.465454 0.0205934 0.249637 0.465364 0.0190292 0.252015 0.0235826 -0.0437947 0 0.465006 0.045 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