float64 time float64[] q_target float64[] qd_target float64[] qdd_target float64[] i_target float64[] m_target float64[] q_actual float64[] qd_actual float64[] i_actual float64[] tool_acc_values float64[] tcp_force float64[] tool_vector float64[] tcp_speed float64 digital_input_bits float64[] motor_temperatures float64 controller_timer float64 test_value float64 robot_mode float64[] joint_modes