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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-0.00101591 -0.00119052 6.21245e-05 0.251939 -0.001 0 0.251869 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -3.9799e-06 -0.0450074 -9.8975e-07 -1.57082e-05 -2.71764e-05 -0.000187991 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00354754 0.00340205 1.46677 0.116786 -0.959246 -0.0929123 1.46687 -0.114986 0.959245 0.0929403 -0.499689 -0.0259744 0.551481 -0.150884 0.0261257 -0.499568 0.025387 0.551438 -0.150885 -0.0254795 0.00370018 0.00357907 1.46545 0.119085 -0.95927 -0.092847 1.46545 -0.118847 0.959263 0.0929017 -0.495687 -0.025994 0.545732 -0.15012 0.0262505 -0.495442 0.0253011 0.545437 -0.149983 -0.0252951 -7.77237 0.877071 45.3526 -0.13114 -0.27041 0.0996868 -8.19518 -0.881014 44.8461 0.264636 -0.532733 -0.0483134 0 0 0 0 -0.241235 -0.254862 -0.0045453 0.00155294 0.221453 0.09 0.00440628 -0.00070325 -0.001 0 0 0 0.00929643 0.00112581 0.00494691 -0.000773575 -0.00114307 7.89108e-05 0.25194 -0.001 0 0.251869 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -1.03386e-05 -0.0450104 -3.1003e-06 -1.75971e-05 -2.52232e-05 -0.000325239 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00342961 0.00326439 1.46676 0.1183 -0.95926 -0.0928911 1.46677 -0.116574 0.959263 0.0929585 -0.498651 -0.0260981 0.552533 -0.152112 0.0262564 -0.498471 0.0252851 0.552403 -0.152068 -0.0253552 0.00367059 0.00353663 1.46531 0.120448 -0.95929 -0.0928897 1.46531 -0.120196 0.959282 0.092947 -0.494652 -0.0260875 0.547111 -0.151536 0.0263743 -0.494359 0.0252178 0.54674 -0.15136 -0.0251764 -8.56052 0.809706 45.5431 -0.032261 -0.452652 0.168971 -8.89233 -0.800327 44.9682 0.160652 -0.389261 -0.0885967 0 0 0 0 -0.241782 -0.253334 -0.00451003 0.00154674 0.221467 0.1 -0.0196131 0.000586669 -0.001 0 0 0 0.0112677 -0.000284244 -0.0214744 0.000645336 -0.00119929 0.000104611 0.25189 -0.001 0 0.251869 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000538379 -0.0449962 -0.000243437 1.46557e-05 0.00157488 -0.000206125 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00343058 0.00329165 1.46673 0.119713 -0.959271 -0.0928772 1.46519 -0.11796 0.959187 0.0925123 -0.497616 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