time,x_shoulder,y_shoulder,z_shoulder,Rw_shoulder,Rx_shoulder,Ry_shoulder,Rz_shoulder,x_hand,y_hand,z_hand,Rw_hand,Rx_hand,Ry_hand,Rz_hand,x_obstacle,y_obstacle,z_obstacle,Rw_obstacle,Rx_obstacle,Ry_obstacle,Rz_obstacle,x_goal,y_goal,z_goal,Rw_goal,Rx_goal,Ry_goal,Rz_goal,x_hand_wrt_shldr,y_hand_wrt_shldr,z_hand_wrt_shldr
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