rqt_plot /sot/dcmCtrl/zmpDes/data[0] /sot/dcmCtrl/zmpRef/data[0] /sot/robot_dynamic/zmp/data[0] &
rqt_plot /sot/dcmCtrl/zmpDes/data[1] /sot/dcmCtrl/zmpRef/data[1] /sot/robot_dynamic/zmp/data[1] &
rqt_plot /sot/dcmCtrl/zmpDes/data[2] /sot/dcmCtrl/zmpRef/data[2] /sot/robot_dynamic/zmp/data[2] &