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 neck_pitch neck_roll neck_yaw torso_pitch torso_roll torso_yaw l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_prosup r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll neck_pitch_des neck_roll_des neck_yaw_des torso_pitch_des torso_roll_des torso_yaw_des l_shoulder_pitch_des l_shoulder_roll_des l_shoulder_yaw_des l_elbow_des l_wrist_prosup_des r_shoulder_pitch_des r_shoulder_roll_des r_shoulder_yaw_des r_elbow_des r_wrist_prosup_des l_hip_pitch_des l_hip_roll_des l_hip_yaw_des l_knee_des l_ankle_pitch_des l_ankle_roll_des r_hip_pitch_des r_hip_roll_des r_hip_yaw_des r_knee_des r_ankle_pitch_des r_ankle_roll_des frx fry frz mrx mry mrz flx fly flz mlx mly mlz