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
2020-02-05.14:03:25.256,0.166327,0.0631397,0.263942,-0.146062,-0.349882,0.9224,-0.0736675,9.44065e-06,-0.000137752,0.000139101,-0.000482434,0.0024742,-0.00197538,-0.000477727,0.0103164,0.0179448,-0.000179028,-0.000192123,0.000197445,0.0344083,0.407815,-0.0426371,-1.53478,1.35301,0.118426,0.343434,-2.80412e-05,-0.00035851,-0.000163369,0.00318595,0,0,0,-5.68415e-05,-0.00626303,-0.00808487,-0.000339911,0.000280698,-7.06372e-05,4.61628e-05,-0.127259,0.0949055,0.318705,0.109859,0.444051,0.174628,0.871926,-0.000724012,0.00307056,0.0027398,0.000128146,-0.00730469,0.00633566,0.0183924,-0.00689975,-0.00539778,0.000532677,0.000119798,-0.00025075,-0.152843,0.173172,0.148219,1.36517,0.473702,-0.112504,-0.485545,0.000294839,-0.0152013,0.0148472,-0.00994314,0,0,0,-0.00137592,0.00617037,0.00275709,0.00120232,0.000202207,-3.09135e-05,3.70842e-05,-0.13795,0.0282885,0.0332014,0.111533,0.446834,0.171477,0.870917,-3.16749e-05,5.58838e-05,3.96959e-05,-0.000463104,-0.00172386,-0.00196429,7.30589,1.73894,-1.83673,-0.0326958,-0.0975761,0.0598124,1.38161,0.564624,0.082724,1.33635,0.307569,-0.350776,-0.485545,-4.37074e-05,0.000849915,1.55111e-05,-0.00243626,0.00131026,-0.00204036,0,0.409366,0.100622,1.13735,0.00544153,0.0457039,0.0326958,3.70842e-05,0.0743016,0.0156512,0.0428819,-0.144628,-0.350457,0.922488,-0.0726553,1.88396e-05,-5.23729e-06,4.12939e-05,-0.00368338,0.00394947,-0.00158133,1.31613,-0.651134,0.84266,0.0285922,0.0291397,0.00205505,-1.38483,0.227967,0.143892,-0.844002,0.958368,0.963989,-0.485545,0.000233206,0,2.26286e-05,0.000811485,0.00387402,-0.00324348,0,-0.0082787,-0.0196072,1.66064,0.00791913,-0.0302819,-0.0285922,3.70842e-05
2020-02-05.14:03:25.267,0.166338,0.0631604,0.26397,-0.146084,-0.349884,0.922392,-0.0737156,-0.000148382,0.000577588,0.00106333,-0.000467128,0.000281093,-0.000421593,-0.018235,0.00124547,0.00707564,0.000140449,5.15735e-05,0.000113477,0.0343835,0.407689,-0.0425111,-1.53487,1.35301,0.118426,0.343434,0.000462341,-0.00449476,0.00402678,4.63735e-05,0,0,0,-0.00641382,-0.0046067,-0.00303593,-0.00025194,-6.3691e-05,0.00014852,-3.96024e-05,-0.127293,0.094952,0.318837,0.10976,0.444032,0.174594,0.871955,-0.00117483,0.000516094,0.00430771,-0.00831432,-0.00475243,0.00163171,0.00726339,-0.00908644,-0.00350728,0.000110433,7.52261e-05,-0.00016,-0.152794,0.172573,0.148607,1.36506,0.473702,-0.112504,-0.485545,0.00220994,-0.0181606,0.00944092,-0.00632258,0,0,0,-0.000316419,0.00234293,-0.000767156,0.000410578,1.43582e-05,-6.22216e-05,-5.94017e-05,-0.137948,0.0282916,0.0332065,0.111522,0.446812,0.171484,0.870928,-1.2702e-06,0.000111566,0.000210922,-0.000539424,-0.00375504,-0.00168506,6.34743,2.31917,-1.66516,-0.0325351,-0.0874891,0.058262,1.38157,0.564663,0.0827292,1.33635,0.307569,-0.350776,-0.485545,-0.00180855,0.00194656,0.000136194,-0.0021722,0.00131026,-0.00187564,0,0.361692,0.152544,1.19078,0.00606736,0.0444204,0.0325351,-5.94017e-05,0.0743016,0.0156512,0.0428819,-0.14463,-0.350419,0.922502,-0.0726494,1.48814e-05,7.34461e-06,2.49588e-05,-0.00333915,0.00330181,-0.00145596,1.30275,-0.622531,0.84858,0.0287529,0.0291927,0.00220678,-1.38483,0.227967,0.143892,-0.844002,0.958368,0.963908,-0.485545,8.72456e-05,3.74429e-05,1.85603e-05,0.00077046,0.00331169,-0.00288878,0,-0.00733466,-0.0224393,1.63815,0.00791913,-0.0303168,-0.0287529,-5.94017e-05
2020-02-05.14:03:25.287,0.166338,0.063161,0.263987,-0.146089,-0.349872,0.922395,-0.0737281,-0.000120227,0.00101558,0.00142259,-0.000116036,-0.00093312,0.000559813,-0.00859345,0.00176056,0.0124831,8.08143e-05,-4.70915e-06,0.000389974,0.0343835,0.407626,-0.0424745,-1.53489,1.35301,0.118426,0.343434,0.000439895,-0.00628531,0.0061875,-0.00148947,0,0,0,-0.00270558,-0.005687,-0.00482751,-0.000691795,6.15414e-05,0.00014852,6.76041e-05,-0.127305,0.094955,0.318875,0.109722,0.444023,0.174583,0.871967,0.000314527,0.000469287,0.0043557,-0.00865439,-0.00646436,0.00488013,0.013493,-0.00172249,0.00194928,-0.000433337,2.02883e-05,5.81664e-05,-0.152769,0.172416,0.148686,1.36501,0.473702,-0.112504,-0.485545,-0.00203347,-0.0175712,0.00853703,-0.00571725,0,0,0,-0.00349491,0.00333567,0.00207781,-0.000557103,-0.000236107,-0.000187454,-3.79604e-05,-0.137948,0.0282921,0.0332092,0.111588,0.446755,0.171475,0.87095,6.97904e-05,0.000117759,0.000196388,-0.00368943,-0.00160028,0.000642662,6.04056,2.5047,-1.63993,-0.0317318,-0.0843007,0.0563758,1.38156,0.564678,0.0827305,1.33635,0.307705,-0.350888,-0.485545,-0.00183065,0.00155045,0.000181572,-0.0021075,-0.00227213,0.00108296,0,0.345643,0.167648,1.23015,0.00619253,0.0425562,0.0321335,-3.79604e-05,0.0743006,0.0156522,0.0428827,-0.14463,-0.350418,0.922503,-0.0726458,-3.98172e-05,8.77984e-06,3.67962e-05,-0.00321527,0.00314363,-0.00135756,1.28888,-0.647688,0.829809,0.0305202,0.0311461,0.00088783,-1.38483,0.227975,0.143893,-0.844002,0.958368,0.963908,-0.485545,8.54106e-05,0,7.29875e-05,0.00075865,0.00316689,-0.0027707,0,-0.0101668,-0.015831,1.63252,0.00823205,-0.0302213,-0.0305202,-3.79604e-05
2020-02-05.14:03:25.307,0.166339,0.0631773,0.264026,-0.146073,-0.349859,0.922404,-0.0737039,-7.38458e-05,0.00145766,0.00245441,-0.000882165,-0.00483483,0.00377673,0.00366258,0.00658369,-0.00439962,0.000375442,-2.57405e-05,-9.27609e-05,0.0343835,0.407468,-0.0423433,-1.53483,1.35301,0.118426,0.343434,0.000401028,-0.0105367,0.00973409,-0.00651892,0,0,0,0.000472907,0.00205545,-0.000187426,0.000275886,-0.000126307,0.000336368,2.47215e-05,-0.127312,0.0949633,0.318952,0.109635,0.443996,0.17458,0.871992,0.000208114,0.000478146,0.00350656,-0.00676821,-0.00530641,0.00402026,-0.0198381,0.00163763,-0.0146913,-0.000396033,-0.000194898,6.765e-06,-0.152769,0.172101,0.148843,1.3649,0.473702,-0.112504,-0.485545,-0.00154673,-0.0143025,0.00721967,-0.00483501,0,0,0,0.00762981,-0.00323893,-0.0023543,-0.000469132,-1.695e-05,-0.000375303,-2.72398e-05,-0.137942,0.0282985,0.0332184,0.111571,0.446724,0.171488,0.870966,0.000453678,0.000347482,0.000500818,-0.00381666,-0.00309126,0.00104837,5.27365,2.64524,-1.39727,-0.0311695,-0.0742629,0.0532203,1.3815,0.56474,0.0827422,1.33635,0.307705,-0.350888,-0.485545,-0.00298909,0.0025861,0.000714947,-0.0019795,-0.00227213,0.00115386,0,0.305521,0.183697,1.21328,0.00569186,0.0400414,0.0311695,-2.72398e-05,0.0743016,0.015653,0.0428853,-0.144621,-0.350417,0.922505,-0.0726399,-2.5599e-05,4.82017e-05,6.95515e-05,-0.00308848,0.00318405,-0.00153403,1.27337,-0.724429,0.886636,0.0293955,0.0297578,0.00347933,-1.38482,0.227991,0.143893,-0.844002,0.958368,0.963908,-0.485545,0.000178376,0.000395913,7.29875e-05,0.000736923,0.00292126,-0.00257041,0,-0.00072638,-0.0115828,1.67471,0.00879529,-0.0314171,-0.0293955,-2.72398e-05
2020-02-05.14:03:25.327,0.166331,0.0631898,0.264091,-0.146058,-0.349822,0.922422,-0.0736836,1.11964e-06,0.000995301,0.00340366,-0.00338882,-0.00346101,0.00284951,-0.00650133,0.00509616,0.00700572,-0.000104837,0.000328998,0.000360964,0.0344083,0.407217,-0.0421703,-1.5348,1.35301,0.118426,0.343434,0.000219111,-0.0135052,0.0101725,-0.00472896,0,0,0,-0.00270558,-0.00293985,-0.00338941,-0.000779766,-0.000188923,-0.000133253,1.40009e-05,-0.127318,0.0949777,0.31901,0.109571,0.44397,0.174588,0.872012,0.000165512,0.000445161,0.00247,-0.00455746,-0.00392731,0.00308091,-0.0104345,-0.00683479,0.00691899,-5.22409e-05,-0.000267123,1.80886e-05,-0.152769,0.171849,0.14899,1.36481,0.473702,-0.112504,-0.485545,-0.0011849,-0.0102112,0.00542369,-0.00363225,0,0,0,-0.000316419,-0.00456609,-0.0052305,-0.00029319,0.000202207,-6.22216e-05,-3.79604e-05,-0.137928,0.0283073,0.0332308,0.111487,0.446733,0.171506,0.870968,0.000845798,0.000510176,0.00074727,-0.00363612,-0.00390549,0.000632528,4.70802,2.67529,-1.31007,-0.0314105,-0.0680422,0.051909,1.38143,0.564794,0.0827616,1.33635,0.307569,-0.350776,-0.485545,-0.00384588,0.0026173,0.00120498,-0.00186887,-0.00213333,0.00109877,0,0.275784,0.192665,1.12891,0.00650544,0.0388933,0.0314105,-3.79604e-05,0.074303,0.0156544,0.0428899,-0.144556,-0.35037,0.922538,-0.0725847,3.86951e-05,7.37834e-05,0.000250041,-0.00114666,0.00203101,-0.000307735,1.1899,-0.810485,0.902462,0.0286725,0.0300075,0.00327602,-1.38479,0.228014,0.143895,-0.844002,0.958505,0.963796,-0.485545,0.0014506,0.00134164,5.28887e-05,0.000715056,4.87179e-05,-0.000228043,0,0.00729796,0.00210574,1.65221,0.00829463,-0.0306355,-0.0286725,-3.79604e-05
2020-02-05.14:03:25.347,0.166333,0.0632224,0.264168,-0.146062,-0.349798,0.922429,-0.0736989,2.43804e-05,0.00158155,0.00373905,-0.00268224,-0.00464216,0.00377965,0.00996367,0.00747002,-0.000446317,-5.0571e-05,-5.42592e-06,0.000285474,0.0344083,0.406902,-0.0419079,-1.53482,1.35301,0.118426,0.343434,0.000219111,-0.0153715,0.0127642,-0.00622342,0,0,0,0.00100266,-0.000856279,-0.00215221,0.00106763,3.02333e-05,-0.000101945,-2.88818e-05,-0.127323,0.0949916,0.319045,0.110315,0.442997,0.173955,0.872539,0.000162005,0.000456323,0.00147839,-0.00236013,-0.002718,0.00234694,-0.00739134,0.0142796,-0.00377272,-0.000404172,-0.000356957,5.04336e-05,-0.152769,0.171692,0.149095,1.36489,0.476663,-0.112504,-0.485545,-0.000961269,-0.0063362,0.00382392,-0.00256088,0,0,0,0.00233232,-0.0010836,0.00295799,-0.000733045,0.000108283,-0.000312687,-5.94017e-05,-0.137919,0.028315,0.033242,0.111469,0.446699,0.171517,0.870986,0.000531456,0.000353372,0.000461635,0.00550947,-0.00625986,-0.00574871,4.64227,2.77003,-1.33506,-0.0306071,-0.0689531,0.0513619,1.38137,0.564856,0.0827772,1.33635,0.307569,-0.350776,-0.485545,-0.000869756,0.0017154,0.000787939,-0.00177278,0.00767547,-0.00685151,0,0.272008,0.200218,1.11766,0.00569186,0.0401591,0.0306071,-5.94017e-05,0.0743009,0.0156575,0.0428968,-0.144637,-0.350459,0.922486,-0.0726586,9.12388e-05,0.000140798,0.000454329,0.00338248,-0.00229165,0.00238889,1.16868,-0.871429,1.01332,0.0293955,0.030063,0.0047811,-1.38476,0.22806,0.143897,-0.844002,0.958232,0.964019,-0.485545,0.00281605,0.00271057,3.02197e-05,0.000695104,-0.0064801,0.00509577,0,0.0214585,0.00446584,1.70001,0.00892046,-0.0317053,-0.0293955,-5.94017e-05
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