Date,MTML_position_x,MTML_position_y,MTML_position_z,MTML_orientation_x,MTML_orientation_y,MTML_orientation_z,MTML_orientation_w,MTML_velocity_linear_x,MTML_velocity_linear_y,MTML_velocity_linear_z,MTML_velocity_angular_x,MTML_velocity_angular_y,MTML_velocity_angular_z,MTML_wrench_force_x,MTML_wrench_force_y,MTML_wrench_force_z,MTML_wrench_torque_x,MTML_wrench_torque_y,MTML_wrench_torque_z,MTML_joint_position_1,MTML_joint_position_2,MTML_joint_position_3,MTML_joint_position_4,MTML_joint_position_5,MTML_joint_position_6,MTML_joint_position_7,MTML_joint_velocity_1,MTML_joint_velocity_2,MTML_joint_velocity_3,MTML_joint_velocity_4,MTML_joint_velocity_5,MTML_joint_velocity_6,MTML_joint_velocity_7,MTML_joint_effort_1,MTML_joint_effort_2,MTML_joint_effort_3,MTML_joint_effort_4,MTML_joint_effort_5,MTML_joint_effort_6,MTML_joint_effort_7,MTMR_position_x,MTMR_position_y,MTMR_position_z,MTMR_orientation_x,MTMR_orientation_y,MTMR_orientation_z,MTMR_orientation_w,MTMR_velocity_linear_x,MTMR_velocity_linear_y,MTMR_velocity_linear_z,MTMR_velocity_angular_x,MTMR_velocity_angular_y,MTMR_velocity_angular_z,MTMR_wrench_force_x,MTMR_wrench_force_y,MTMR_wrench_force_z,MTMR_wrench_torque_x,MTMR_wrench_torque_y,MTMR_wrench_torque_z,MTMR_joint_position_1,MTMR_joint_position_2,MTMR_joint_position_3,MTMR_joint_position_4,MTMR_joint_position_5,MTMR_joint_position_6,MTMR_joint_position_7,MTMR_joint_velocity_1,MTMR_joint_velocity_2,MTMR_joint_velocity_3,MTMR_joint_velocity_4,MTMR_joint_velocity_5,MTMR_joint_velocity_6,MTMR_joint_velocity_7,MTMR_joint_effort_1,MTMR_joint_effort_2,MTMR_joint_effort_3,MTMR_joint_effort_4,MTMR_joint_effort_5,MTMR_joint_effort_6,MTMR_joint_effort_7,PSM1_position_x,PSM1_position_y,PSM1_position_z,PSM1_orientation_x,PSM1_orientation_y,PSM1_orientation_z,PSM1_orientation_w,PSM1_velocity_linear_x,PSM1_velocity_linear_y,PSM1_velocity_linear_z,PSM1_velocity_angular_x,PSM1_velocity_angular_y,PSM1_velocity_angular_z,PSM1_wrench_force_x,PSM1_wrench_force_y,PSM1_wrench_force_z,PSM1_wrench_torque_x,PSM1_wrench_torque_y,PSM1_wrench_torque_z,PSM1_joint_position_1,PSM1_joint_position_2,PSM1_joint_position_3,PSM1_joint_position_4,PSM1_joint_position_5,PSM1_joint_position_6,PSM1_joint_position_7,PSM1_joint_velocity_1,PSM1_joint_velocity_2,PSM1_joint_velocity_3,PSM1_joint_velocity_4,PSM1_joint_velocity_5,PSM1_joint_velocity_6,PSM1_joint_velocity_7,PSM1_joint_effort_1,PSM1_joint_effort_2,PSM1_joint_effort_3,PSM1_joint_effort_4,PSM1_joint_effort_5,PSM1_joint_effort_6,PSM1_joint_effort_7,PSM2_position_x,PSM2_position_y,PSM2_position_z,PSM2_orientation_x,PSM2_orientation_y,PSM2_orientation_z,PSM2_orientation_w,PSM2_velocity_linear_x,PSM2_velocity_linear_y,PSM2_velocity_linear_z,PSM2_velocity_angular_x,PSM2_velocity_angular_y,PSM2_velocity_angular_z,PSM2_wrench_force_x,PSM2_wrench_force_y,PSM2_wrench_force_z,PSM2_wrench_torque_x,PSM2_wrench_torque_y,PSM2_wrench_torque_z,PSM2_joint_position_1,PSM2_joint_position_2,PSM2_joint_position_3,PSM2_joint_position_4,PSM2_joint_position_5,PSM2_joint_position_6,PSM2_joint_position_7,PSM2_joint_velocity_1,PSM2_joint_velocity_2,PSM2_joint_velocity_3,PSM2_joint_velocity_4,PSM2_joint_velocity_5,PSM2_joint_velocity_6,PSM2_joint_velocity_7,PSM2_joint_effort_1,PSM2_joint_effort_2,PSM2_joint_effort_3,PSM2_joint_effort_4,PSM2_joint_effort_5,PSM2_joint_effort_6,PSM2_joint_effort_7
2020-02-04.18:35:00.323,0.0578075,0.060824,0.338436,-0.536462,-0.269245,0.628932,0.494126,-0.039458,-0.0178763,-0.01814,-1.51141,0.0918229,0.708349,0.000508528,-0.000180852,-0.00436229,7.02335e-06,-9.40706e-05,-0.000212804,0.325529,0.203057,0.004068,-1.38407,0.148032,-0.165796,-0.378962,0.0772976,0.129768,-0.131426,-0.00447018,0.0422634,-0.40537,1.65356,-0.00164609,0.000553177,0.000633838,1.19731e-05,0.000124158,-3.93291e-05,-0.000211133,-0.0359397,0.0625796,0.348683,0.507956,-0.293276,0.730057,-0.350693,0.0426742,-0.0197161,-0.0669892,-1.17725,-0.573916,-1.07718,-0.0209092,0.0111064,-0.0199622,0.000106288,0.00011448,1.85079e-05,-0.38513,0.190335,-0.00545777,1.60205,0.364159,0.180599,3.30407,-0.0535912,0.305179,-0.208311,-0.000733546,0.990302,0,-1.69301,0.00445132,0.0108207,0.00979852,-0.000205219,0.000139591,3.17027e-05,-2.72398e-05,-0.0815994,0.0266652,0.0351269,0.510072,-0.291844,0.726074,-0.35703,0.0181552,-0.00173412,-0.0355776,-1.25514,-0.600769,-1.08893,-4.53563,5.00283,0.430386,0.0383183,0.107496,0.000113959,1.44513,0.33478,0.133121,-1.1686,-0.255237,0.137803,3.30407,0.34383,-0.182144,0.00876654,-1.69518,-0.940084,-0.0784423,-1.69301,0.61611,-0.372814,0.892698,-0.0123319,-0.0652189,-0.0383183,-2.72398e-05,0.0863689,0.0185393,0.0331717,-0.531066,-0.264054,0.625163,0.50736,-0.0171346,-0.0066543,-0.00661667,-1.3896,0.189416,0.61916,0.777031,5.26622,1.41887,-0.0415382,-0.0356045,0.0170061,-1.39836,0.273694,0.126326,-2.25354,-0.0464564,-0.0415913,3.30407,-0.0517432,-0.0986455,0.0133295,1.53282,0.151218,0.00318427,-1.69301,-0.446785,-0.474162,1.59878,0.0196221,0.0292099,0.0415382,-2.72398e-05
2020-02-04.18:35:00.335,0.0559104,0.0599402,0.337585,-0.544227,-0.26096,0.647826,0.464799,-0.0375981,-0.0174365,-0.0170707,-1.22599,-0.0848496,0.993816,-0.0092544,0.000243879,0.00462112,-8.02908e-05,-0.000267299,9.38374e-05,0.32922,0.209261,-0.00231991,-1.38457,0.159874,-0.192442,-0.307906,0.0727877,0.123553,-0.126947,-0.00405793,0.243,-0.729583,1.4709,0.00100266,-0.00302214,-0.00394733,-0.000867737,0.000186774,0.000524217,-1.81611e-05,-0.0338518,0.0614952,0.345815,0.501844,-0.284785,0.748803,-0.326103,0.048017,-0.0280865,-0.0563358,-0.813587,-0.399226,-0.795801,-0.0234613,0.026341,-0.0127255,0.000108009,0.000207544,-6.31432e-05,-0.38783,0.204065,-0.0155852,1.60227,0.402647,0.18356,3.23894,-0.063655,0.288137,-0.232257,0.0143579,0.728565,0,-1.18808,0.013457,0.0191392,0.0175192,0.000146665,0.000515288,-0.000124838,-9.15637e-05,-0.0808854,0.0265348,0.0337949,0.507337,-0.284674,0.74159,-0.334086,0.0210105,-0.00465925,-0.0350371,-0.928835,-0.177021,-0.769282,-2.97297,3.28936,0.60167,0.0383183,0.0950445,0.00488081,1.45723,0.327259,0.133466,-1.22501,-0.283931,0.142987,3.25078,0.296553,-0.215186,0.0106977,-1.22699,-0.530486,0.0816485,-1.1071,0.356971,-0.27605,0.954564,-0.0105796,-0.067716,-0.0383183,-5.94017e-05,0.0857531,0.0182883,0.0328518,-0.539256,-0.250616,0.639867,0.486791,-0.0144985,-0.00835987,-0.00936102,-1.24217,0.226424,0.645537,1.58448,4.46837,1.34292,-0.0508568,-0.0586491,0.0162367,-1.40072,0.269732,0.126782,-2.19357,-0.0419474,-0.0431445,3.25078,-0.0675904,-0.111251,0.00985694,1.41033,0.246584,-0.0319475,-1.1071,-0.429792,-0.390615,1.46661,0.0174943,0.0448761,0.0508568,-5.94017e-05
2020-02-04.18:35:00.345,0.0559104,0.0599402,0.337585,-0.544227,-0.26096,0.647826,0.464799,-0.0375981,-0.0174365,-0.0170707,-1.22599,-0.0848496,0.993816,-0.0092544,0.000243879,0.00462112,-8.02908e-05,-0.000267299,9.38374e-05,0.32922,0.209261,-0.00231991,-1.38457,0.159874,-0.192442,-0.307906,0.0727877,0.123553,-0.126947,-0.00405793,0.243,-0.729583,1.4709,0.00100266,-0.00302214,-0.00394733,-0.000867737,0.000186774,0.000524217,-1.81611e-05,-0.0338518,0.0614952,0.345815,0.501844,-0.284785,0.748803,-0.326103,0.048017,-0.0280865,-0.0563358,-0.813587,-0.399226,-0.795801,-0.0316544,0.0185372,-0.0494513,9.2769e-05,0.000548474,-0.000128739,-0.38783,0.204065,-0.0155852,1.60227,0.402647,0.18356,3.23894,-0.063655,0.288137,-0.232257,0.0143579,0.728565,0,-1.18808,0.013457,0.0191392,0.0175192,0.000146665,0.000515288,-0.000124838,-9.15637e-05,-0.0806618,0.026473,0.0334175,0.506965,-0.283871,0.743871,-0.330242,0.0208907,-0.00647451,-0.0349232,-0.423854,-0.0973007,-0.550433,-2.71618,2.82179,0.570068,0.039925,0.0957457,0.00495809,1.46031,0.324942,0.133576,-1.23382,-0.289259,0.14333,Inf,0.279932,-0.217155,0.0102833,-0.648545,-0.484138,0.00161831,0,0.305521,-0.233568,0.929255,-0.0123319,-0.0707549,-0.039925,Inf,0.0855963,0.0181963,0.0327497,-0.541254,-0.247771,0.643881,0.480699,-0.0145245,-0.00849651,-0.00979743,-1.34873,0.0789994,0.752942,1.83607,4.2352,1.47192,-0.0542308,-0.0641891,0.0161706,-1.40144,0.268512,0.126889,-2.17763,-0.0393513,-0.042321,Inf,-0.070242,-0.113922,0.00977228,1.51213,0.245502,0.149308,0,-0.430264,-0.363238,1.57628,0.0170562,0.0481076,0.0542308,Inf
2020-02-04.18:35:00.365,0.0555653,0.0597822,0.337428,-0.545296,-0.26024,0.651004,0.45948,-0.0369966,-0.0166399,-0.0162482,-1.10732,-0.142761,0.966249,0.0137968,-0.000660852,0.000838691,4.84049e-05,-0.000314307,6.70279e-05,0.329888,0.210395,-0.0034799,-1.38454,0.162835,-0.198363,-0.296064,0.0721152,0.118921,-0.122566,0.000601797,0.22946,-0.760684,1.34129,0.00100266,0.00387636,0.00527039,-0.000515853,0.000280698,0.000398985,-7.44046e-06,-0.0332567,0.0611309,0.345156,0.499872,-0.283341,0.752592,-0.321637,0.0493928,-0.0316045,-0.0523387,-0.726771,-0.399256,-0.756759,-0.0328746,0.0204714,-0.0245205,8.59068e-05,9.8745e-05,3.57824e-05,-0.388623,0.207529,-0.0184707,1.60241,0.411529,0.18356,3.2271,-0.0656455,0.281636,-0.241262,0.0139015,0.713462,0,-1.07811,0.00445132,0.017313,0.0136138,-0.000469132,0.000139591,0.000282168,-0.000123726,-0.0804522,0.0263988,0.0330918,0.506432,-0.282854,0.746223,-0.326606,0.0213857,-0.00867709,-0.0307644,-0.809488,-0.251508,-0.743542,-2.41522,2.49858,0.619663,0.0390413,0.094486,-0.000450095,1.46292,0.322748,0.133685,-1.24241,-0.294315,0.143287,3.2271,0.249073,-0.225945,0.0117038,-1.08904,-0.559663,0.0238103,-1.07811,0.256431,-0.213744,0.946128,-0.0179018,-0.071475,-0.0390413,-0.000123726,0.0854419,0.0181152,0.0326485,-0.543661,-0.245877,0.647212,0.474442,-0.0154117,-0.00731649,-0.0093944,-1.19273,-0.158592,0.778147,1.94822,3.93704,1.55258,-0.0612198,-0.0740539,0.0155967,-1.40219,0.267361,0.126995,-2.16295,-0.0370285,-0.0392327,3.2271,-0.072165,-0.107837,0.0109401,1.3275,0.216281,0.378457,-1.07811,-0.413272,-0.344357,1.63252,0.0162426,0.05688,0.0612198,-0.000123726
2020-02-04.18:35:00.386,0.0548314,0.0594692,0.337097,-0.547831,-0.259919,0.657041,0.447906,-0.0336954,-0.0148354,-0.0149368,-0.873321,-0.228521,0.843659,0.0107449,0.015159,-0.00401216,0.000240277,-0.00012385,0.000118022,0.331325,0.212757,-0.00586806,-1.38458,0.168756,-0.213166,-0.272379,0.0656313,0.108303,-0.110978,-0.007693,0.173474,-0.734011,1.06416,-0.00058659,0.0068809,0.00374569,0.000187915,0.000155466,0.000179828,0.000121207,-0.0322217,0.0604191,0.34418,0.498324,-0.279325,0.758878,-0.312659,0.0517633,-0.0383959,-0.0451036,-0.763012,-0.317408,-0.681448,-0.0348227,0.0327729,-0.0202767,0.000203543,0.000125445,-0.000109527,-0.39001,0.213103,-0.023545,1.60268,0.423371,0.18356,3.20341,-0.068589,0.270418,-0.258634,0.015177,0.589907,0,-1.04789,0.00339182,0.0194841,0.0119124,-2.92769e-05,0.000108283,-0.000281378,-7.01224e-05,-0.0800513,0.0261844,0.0325165,0.504329,-0.278994,0.753404,-0.316539,0.0191861,-0.0126964,-0.0268351,-0.646331,-0.359139,-0.763869,-2.48271,2.06231,0.714036,0.040889,0.0946748,0.009743,1.46756,0.318123,0.133903,-1.26737,-0.307296,0.143743,3.20341,0.207199,-0.229775,0.0103367,-0.934253,-0.663895,-0.0168794,-1.04789,0.238022,-0.16607,1.14297,-0.0102041,-0.0725014,-0.040889,-7.01224e-05,0.0850972,0.0179476,0.0324747,-0.547621,-0.244104,0.653204,0.462437,-0.0173794,-0.0081739,-0.00748818,-0.979726,-0.142428,0.864818,2.25503,3.53143,1.5762,-0.0681284,-0.0879587,0.0159424,-1.40364,0.265106,0.127249,-2.13758,-0.0306066,-0.0311557,3.20341,-0.0668288,-0.106387,0.0132189,1.14979,0.351916,0.415526,-1.04789,-0.402887,-0.309899,1.61565,0.0162426,0.0678919,0.0681284,-7.01224e-05
2020-02-04.18:35:00.405,0.0541866,0.0592035,0.336801,-0.553136,-0.259659,0.661232,0.435189,-0.0310601,-0.0135688,-0.0141062,-0.771293,-0.417031,0.946602,-0.00817395,0.00792428,0.0118124,0.000339095,-0.000111633,7.49551e-05,0.332514,0.214709,-0.00782054,-1.38461,0.168756,-0.227969,-0.248694,0.0606854,0.101036,-0.10283,-0.00724199,0.161327,-0.881678,0.963333,0.00312165,0.000810574,-0.00309484,-0.000339911,-0.000126307,0.000649449,-7.44046e-06,-0.031221,0.0596341,0.343364,0.496735,-0.275235,0.76514,-0.303416,0.0518372,-0.0416806,-0.040191,-0.925184,-0.315338,-0.774838,-0.031227,0.018747,-0.030338,5.96437e-05,7.95637e-05,-6.05426e-05,-0.391323,0.218205,-0.0286204,1.60294,0.435214,0.18356,3.17973,-0.0679005,0.258841,-0.263967,0.0155729,0.620973,0,-1.2224,0.00657031,0.017313,0.0138495,-0.000117248,7.69744e-05,3.17027e-05,-0.000102284,-0.0796348,0.025919,0.03204,0.501387,-0.276633,0.759036,-0.309759,0.0226158,-0.0143816,-0.020876,-0.84722,-0.448373,-0.72229,-2.36439,1.89209,0.740733,0.0391216,0.0907872,0.00142461,1.47115,0.313597,0.134153,-1.28372,-0.319456,0.141652,3.17973,0.155314,-0.234313,0.0147763,-1.0895,-0.587059,-0.0938693,-1.2224,0.217725,-0.158045,1.18515,-0.0174637,-0.0685632,-0.0391216,-0.000102284,0.0847849,0.0177844,0.0323177,-0.550883,-0.243938,0.658333,0.451243,-0.0141734,-0.00813015,-0.00806368,-0.780056,-0.284904,0.868648,2.66,3.00427,1.473,-0.0754386,-0.100083,0.0140788,-1.405,0.263029,0.127478,-2.11619,-0.0233648,-0.0216236,3.17973,-0.0666879,-0.102591,0.0100815,0.938678,0.343844,0.553122,-1.2224,-0.400055,-0.254673,1.47505,0.0143026,0.0761579,0.0754386,-0.000102284
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