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
2020-02-05.11:04:00.277,0.124788,0.0391966,0.336914,-0.467988,-0.441422,0.573137,0.507591,8.11361e-05,4.69427e-05,-3.49439e-05,0.00015755,-0.000189942,0.00024418,0.260418,1.53842,-0.224342,-0.0214018,0.0020277,0.00164598,0.143727,0.193736,-0.0139344,-1.63516,0.177638,0.0118426,-0.769766,-0.000199696,0,0.000161999,-0.000108491,0,0,0,-0.029193,0.590732,0.327369,-0.0225086,-0.0163126,-0.00564348,0.000153369,-0.0864985,0.057523,0.320711,0.596961,-0.269218,0.522873,-0.545677,-0.000132798,-0.000187342,-0.000130844,-9.78555e-05,0.000548208,-0.0007651,-0.767034,1.83036,0.0366773,0.000577026,-0.015567,-0.00574584,-0.245144,0.243776,-0.00191049,1.43797,-0.0977011,-0.00592128,-2.63497,0.000477815,0.000633202,-0.000705752,0.000472642,0,0,0,-0.0352798,0.730765,0.377695,-0.0193829,-0.0131664,0.00172234,-0.0048837,-0.0776967,0.0381959,0.0499427,0.603586,-0.263345,0.523602,-0.540531,-2.89924e-06,-7.34021e-06,1.27136e-05,-2.03288e-20,-0.000103952,-6.00165e-05,-2.88748,1.84901,0.614049,-0.0335795,-0.00494698,0.0126146,1.36744,0.427492,0.144142,-0.739786,0.170932,0.197133,-2.63497,-0.000120033,0,0,0,0,0,0,0.449487,0.0921252,-0.254632,0.00444021,0.0286566,0.0335795,-0.0048837,0.0795871,0.0301376,0.0415863,-0.470145,-0.454646,0.562334,0.506005,5.08927e-06,-1.46284e-05,2.53372e-05,4.74338e-20,0.000210419,0.000121486,1.38919,1.59651,1.23068,-0.0263554,-0.0730944,-0.000595426,-1.41012,0.381557,0.137718,-2.52404,0.271087,0.208577,-2.63497,0.000242971,0,0,0,0,0,0,-0.241928,-0.0927702,1.21352,0.00253703,0.058992,0.0263554,-0.0048837
2020-02-05.11:04:00.288,0.124795,0.0391823,0.336902,-0.467986,-0.441416,0.573137,0.507598,0.000181269,8.72626e-05,6.94185e-06,0.000146729,-0.000416383,0.000578418,0.267159,1.52594,-0.223782,-0.0212806,0.0022251,0.00128251,0.143702,0.193799,-0.0139974,-1.63511,0.177638,0.0118426,-0.769766,-0.00043601,-0.000259045,0.000414485,-0.000277581,0,0,0,-0.0286632,0.587897,0.328339,-0.0218048,-0.0163752,-0.00583133,-0.000136088,-0.0864964,0.0575169,0.320705,0.596963,-0.269226,0.522873,-0.545671,-0.000196385,8.88035e-05,0.000134795,-3.9634e-05,-0.00012646,-2.65339e-05,-0.777542,1.87773,0.035673,0.000748717,-0.0156617,-0.00565479,-0.245144,0.243807,-0.00194198,1.43799,-0.0977011,-0.00592128,-2.63497,0.000403594,-0.00075087,0.000682621,-0.000457151,0,0,0,-0.0331608,0.736259,0.381101,-0.0187671,-0.0132916,0.00169103,-0.00468001,-0.0776967,0.0381959,0.0499427,0.603586,-0.263345,0.523602,-0.540531,-2.88788e-06,-7.31144e-06,1.26638e-05,-2.03288e-20,-0.000103544,-5.97812e-05,-2.86195,1.84544,0.582651,-0.0329368,-0.00548917,0.0128958,1.36744,0.427492,0.144142,-0.739786,0.170932,0.197133,-2.63497,-0.000119562,0,0,0,0,0,0,0.446183,0.0907091,-0.279941,0.00494087,0.0289009,0.0329368,-0.00468001,0.0795871,0.0301376,0.0415863,-0.470145,-0.454646,0.562334,0.506005,8.16739e-06,-2.34761e-05,4.06618e-05,6.77626e-20,0.000337686,0.000194963,1.45011,1.5696,1.21066,-0.026516,-0.0741205,-0.00137686,-1.41012,0.381557,0.137718,-2.52404,0.271087,0.208577,-2.63497,0.000389927,0,0,0,0,0,0,-0.242873,-0.0847459,1.21634,0.00203637,0.0596032,0.026516,-0.00468001
2020-02-05.11:04:00.298,0.124795,0.0391823,0.336902,-0.467986,-0.441416,0.573137,0.507598,0.000181269,8.72626e-05,6.94185e-06,0.000146729,-0.000416383,0.000578418,0.267159,1.52594,-0.223782,-0.0212806,0.0022251,0.00128251,0.143702,0.193799,-0.0139974,-1.63511,0.177638,0.0118426,-0.769766,-0.00043601,-0.000259045,0.000414485,-0.000277581,0,0,0,-0.0286632,0.587897,0.328339,-0.0218048,-0.0163752,-0.00583133,-0.000136088,-0.0864964,0.0575169,0.320705,0.596963,-0.269226,0.522873,-0.545671,-0.000196385,8.88035e-05,0.000134795,-3.9634e-05,-0.00012646,-2.65339e-05,-0.777542,1.87773,0.035673,0.000748717,-0.0156617,-0.00565479,-0.245144,0.243807,-0.00194198,1.43799,-0.0977011,-0.00592128,-2.63497,0.000403594,-0.00075087,0.000682621,-0.000457151,0,0,0,-0.0331608,0.736259,0.381101,-0.0187671,-0.0132916,0.00169103,-0.00468001,-0.0776967,0.0381959,0.0499427,0.603586,-0.263345,0.523602,-0.540531,-2.88788e-06,-7.31144e-06,1.26638e-05,-2.03288e-20,-0.000103544,-5.97812e-05,-2.86195,1.84544,0.582651,-0.0329368,-0.00548917,0.0128958,1.36744,0.427492,0.144142,-0.739786,0.170932,0.197133,-2.63497,-0.000119562,0,0,0,0,0,0,0.446183,0.0907091,-0.279941,0.00494087,0.0289009,0.0329368,-0.00468001,0.0795871,0.0301376,0.0415863,-0.470145,-0.454646,0.562334,0.506005,8.16739e-06,-2.34761e-05,4.06618e-05,6.77626e-20,0.000337686,0.000194963,1.45011,1.5696,1.21066,-0.026516,-0.0741205,-0.00137686,-1.41012,0.381557,0.137718,-2.52404,0.271087,0.208577,-2.63497,0.000389927,0,0,0,0,0,0,-0.242873,-0.0847459,1.21634,0.00203637,0.0596032,0.026516,-0.00468001
2020-02-05.11:04:00.318,0.124795,0.0391823,0.336902,-0.467986,-0.441416,0.573137,0.507598,0.000181228,8.67903e-05,7.18792e-06,0.000145412,-0.000415629,0.000577822,0.275818,1.53918,-0.233468,-0.0213765,0.00174549,0.0015687,0.143702,0.193799,-0.0139974,-1.63511,0.177638,0.0118426,-0.769766,-0.00043601,-0.000259045,0.00041313,-0.000276673,0,0,0,-0.0318417,0.594302,0.333797,-0.0225966,-0.0160934,-0.00589395,8.90455e-05,-0.086497,0.0575136,0.320715,0.596968,-0.269218,0.522879,-0.545664,-0.000100713,-0.000165242,-0.00014646,-3.15541e-05,0.000508674,-0.000670481,-0.761404,1.84657,0.0212011,0.000807104,-0.015802,-0.00572617,-0.245144,0.243776,-0.00193679,1.43799,-0.0977011,-0.00592128,-2.63497,0.000389878,0.000679509,-0.000684567,0.000458455,0,0,0,-0.0278633,0.722775,0.372559,-0.0188551,-0.0133855,0.00153449,-0.00475505,-0.0776967,0.0381959,0.0499427,0.603586,-0.263345,0.523602,-0.540531,-2.82135e-06,-7.14301e-06,1.23721e-05,-3.38813e-20,-0.000101159,-5.84041e-05,-2.86698,1.81405,0.615098,-0.0331778,-0.00568735,0.0131186,1.36744,0.427492,0.144142,-0.739786,0.170932,0.197133,-2.63497,-0.000116808,0,0,0,0,0,0,0.445711,0.0982614,-0.232135,0.00444021,0.0283113,0.0322138,-0.00475505,0.0795871,0.0301376,0.0415863,-0.470145,-0.454646,0.562334,0.506005,8.16739e-06,-2.34761e-05,4.06618e-05,6.77626e-20,0.000337686,0.000194963,1.39676,1.59346,1.23982,-0.0257127,-0.072558,-0.000468098,-1.41012,0.381557,0.137718,-2.52404,0.271087,0.208577,-2.63497,0.000389927,0,0,0,0,0,0,-0.241928,-0.0913542,1.22477,0.00272478,0.0583719,0.0257127,-0.00475505
2020-02-05.11:04:00.338,0.124795,0.0391823,0.336902,-0.467986,-0.441416,0.573137,0.507598,0.000181151,8.59147e-05,7.64411e-06,0.00014297,-0.000414233,0.000576718,0.276789,1.52804,-0.218123,-0.0210715,0.00190946,0.00150692,0.143702,0.193799,-0.0139974,-1.63511,0.177638,0.0118426,-0.769766,-0.00043601,-0.000259045,0.000410619,-0.000274992,0,0,0,-0.0260145,0.589723,0.331479,-0.0223327,-0.0159995,-0.00548694,1.40009e-05,-0.086497,0.0575136,0.320715,0.596968,-0.269218,0.522879,-0.545664,-9.23928e-05,-0.00016344,-0.000145419,-3.15541e-05,0.000497544,-0.000651203,-0.778394,1.86078,0.0272471,0.000774654,-0.0156754,-0.00557337,-0.245144,0.243776,-0.00193679,1.43799,-0.0977011,-0.00592128,-2.63497,0.000367617,0.000679509,-0.000684567,0.000458455,0,0,0,-0.0294526,0.731511,0.38028,-0.0185032,-0.0132916,0.00137795,-0.0046264,-0.0776967,0.0381959,0.0499427,0.603586,-0.263345,0.523602,-0.540531,-2.68993e-06,-6.81027e-06,1.17957e-05,-2.03288e-20,-9.64466e-05,-5.56835e-05,-2.88073,1.81846,0.62422,-0.0334188,-0.00578691,0.0127623,1.36744,0.427492,0.144142,-0.739786,0.170932,0.197133,-2.63497,-0.000111367,0,0,0,0,0,0,0.447127,0.0949573,-0.237759,0.00481571,0.02939,0.0334188,-0.0046264,0.0795871,0.0301376,0.0415863,-0.470145,-0.454646,0.562334,0.506005,1.23209e-05,-3.54149e-05,6.13404e-05,1.11808e-19,0.000509417,0.000294112,1.39663,1.60608,1.23656,-0.0251504,-0.0731692,-0.000926218,-1.41012,0.381557,0.137718,-2.52404,0.271087,0.208577,-2.63497,0.000588224,0,0,0,0,0,0,-0.242401,-0.0922982,1.21915,0.00253703,0.0590659,0.0251504,-0.0046264
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