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{
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        "left_joint_pos6",
        "left_cart_pos0",
        "left_cart_pos1",
        "left_cart_pos2",
        "left_cart_pos3",
        "left_cart_pos4",
        "left_cart_pos5",
        "left_psi",
        "left_gripper_pos",
        "right_joint_pos0",
        "right_joint_pos1",
        "right_joint_pos2",
        "right_joint_pos3",
        "right_joint_pos4",
        "right_joint_pos5",
        "right_joint_pos6",
        "right_cart_pos0",
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        "progress_cos(2pi)",
        "progress_sin(3pi)",
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        "progress_cos(4pi)",
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        "progress_cos(5pi)"
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}