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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0.0263141 0.549145 -0.143529 -0.0267275 0.00371366 0.00376287 1.4665 0.112901 -0.959172 -0.092575 1.46649 -0.11288 0.959172 0.092589 -0.500307 -0.0250865 0.538294 -0.140749 0.0250203 -0.500576 0.0261805 0.538773 -0.140998 -0.0265111 -8.38285 1.72804 44.2525 -0.278486 0.290161 -0.0460046 -7.31667 -2.49822 43.8448 0.476173 -0.148312 -0.00955148 0 0 0 0 -0.245523 -0.274045 -0.0100136 0.0149621 0.221425 0.053 0.0183452 0.00149436 -0.001 0 0 0 -0.00107832 -0.00145768 0.0202797 0.0016438 -0.00203806 -0.0001402 0.252097 -0.001 0 0.251871 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 0.000429436 -0.0449868 0.00023359 1.22917e-05 -0.00125994 0.000285432 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.0037782 0.00375526 1.46643 0.11088 -0.959094 -0.0924907 1.46628 -0.111268 0.959071 0.0923815 -0.497602 -0.0252064 0.540948 -0.140564 0.0249611 -0.503578 0.0261446 0.548882 -0.143769 -0.0266451 0.00364649 0.0036926 1.46641 0.114721 -0.959199 -0.0925951 1.4664 -0.114703 0.959199 0.092608 -0.499361 -0.0250955 0.539365 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6.28842e-05 0.014478 0.000529869 0.887642 0.045 0 0 -0 0 0.896645 -0.045 0.0157257 0 -0 0 0.0242578 -0.0217542 1.47681 0.109406 -0.959513 -0.0912085 1.47585 -0.105348 0.958338 0.0910539 -0.598012 -0.00520087 0.899723 -0.346476 0.0815127 -0.743758 0.0453811 1.19927 -0.453345 0.0306912 0.0260578 -0.0236491 1.47545 0.120091 -0.959217 -0.0900974 1.47552 -0.111881 0.958948 0.0916476 -0.570778 -0.0184726 0.852775 -0.330563 0.0812812 -0.694229 0.0332075 1.06484 -0.384041 0.0293695 -2.06063 -0.804531 11.6799 -0.128156 -0.0331899 -0.0281756 -7.27025 -10.4262 80.4819 -3.24137 -0.510317 -0.0290583 2 0 0 0 11.3115 12.4756 0.754686 0.0222417 0.221917 33.167 0.891557 -0.0101248 0.892128 0.00958062 0.0342252 -0.189795 0.886082 -0.00143271 0.886015 0.0183241 0.88981 0.0122565 0.249485 0.887875 0.0162474 0.251871 0.0282913 -0.0440438 0 0.887642 0.045 6.93889e-18 0 -0 0 0.892682 -0.0448376 0.0208986 0.000985571 0.0117808 0.000722007 0.887642 0.045 0 0 -0 0 0.897689 -0.045 0.0122751 0 -0 0 0.0248572 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