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
2020-02-05.15:12:18.328,0.123487,0.0669633,0.336826,-0.548823,-0.19812,0.716456,0.382402,-0.000781725,-0.00117273,-0.000694038,0.0250762,0.0596891,-0.0349944,-6.19957e-06,0.00713853,-0.0123969,9.71523e-05,4.94619e-05,2.45448e-06,0.156782,0.14801,0.081232,-1.57329,0.177638,0.174678,-0.106583,0.00154549,0.00483441,-0.00540963,0.00153052,0.0288216,0.0595523,-0.0315553,-0.00376508,0.00205545,-0.000423083,-7.59979e-05,-3.23829e-05,0.000273752,-2.88818e-05,-0.00726674,0.0225891,0.375266,0.239145,0.357582,0.202625,0.879709,0.020846,-0.0662788,-0.0040615,0.598971,0.19118,0.0955798,0.00869132,0.00896317,-0.00659392,0.000219508,-0.000113008,0.000134272,-0.429918,0.212536,-0.156495,1.44021,0.811215,0.287182,-0.242772,0.0140468,0.160834,-0.270825,-0.00123937,0.00278879,0.527067,0.526378,-0.00137592,0.0034127,0.0053664,-0.000117248,0.000233515,0.000313476,-5.79846e-06,-0.0785984,0.0075444,0.026621,0.23601,0.353507,0.203794,0.88193,0.00880445,-0.0237859,-0.00350407,0.607989,0.171658,0.226135,-0.350283,-1.04809,1.67116,0.0016866,0.0424654,0.00907884,1.45779,0.165429,0.132749,1.68884,0.650116,0.0233288,-0.242772,-0.0830244,-0.157636,0.00505035,0.79331,-0.260228,0.212198,0.526378,-0.0947516,-0.134444,1.13735,0.013014,-0.039478,-0.0016866,-5.79846e-06,0.0902105,0.0425887,0.0386294,-0.547596,-0.198896,0.717341,0.382101,-2.0257e-05,-0.00012944,3.38813e-05,0.00529351,0.0171042,-0.00268104,3.90031,-0.577745,-1.08073,0.0127667,-0.0233284,0.00246743,-1.47417,0.47457,0.130564,-1.8805,0.175168,0.145243,-0.242772,0,-0.000525997,0,-0.00209262,0.0108596,-0.0150858,0.526378,-0.369846,0.24142,-0.290941,0.0091082,-0.0127671,-0.0127667,-5.79846e-06
2020-02-05.15:12:18.341,0.123482,0.0669335,0.336814,-0.548839,-0.198133,0.716457,0.382372,-0.000435101,-0.000557999,-0.000454787,0.0243845,0.0521246,-0.0307937,-0.0303936,-0.00956446,0.0013877,-0.000260743,-0.000201522,-9.91818e-05,0.156782,0.148105,0.0811375,-1.57337,0.177638,0.174678,-0.106583,0.000887754,0.00280587,-0.00326708,0.00147975,0.0256917,0.0526339,-0.0297165,0.000472907,-0.00510044,-0.00532298,0.000803712,0.000186774,-0.000101945,3.54422e-05,-0.00671627,0.0205286,0.375147,0.247228,0.359513,0.204158,0.876327,0.01655,-0.0713257,-0.00350187,0.47668,0.281495,-0.0737542,0.00924287,0.00210298,0.00656347,-0.000531947,6.47105e-07,-3.45566e-05,-0.429274,0.217386,-0.164763,1.44037,0.811215,0.304946,-0.23093,0.0273575,0.162865,-0.282066,0.0145465,0.0027231,0.568899,0.332273,-0.00508415,0.000506231,0.00025854,-0.00029319,-0.000142182,-0.000563151,1.56429e-05,-0.078339,0.00685386,0.0265832,0.242868,0.354302,0.206856,0.879031,0.00820123,-0.0228712,-6.91778e-05,0.437738,0.163132,0.0582896,-0.616014,-1.56554,1.71305,0.0107642,0.0531547,-0.00298914,1.45508,0.160857,0.132925,1.70625,0.644514,0.0252832,-0.23093,-0.0990573,-0.149916,0.00568277,0.499839,-0.204381,0.0516368,0.332273,-0.102304,-0.217048,1.03049,0.0113243,-0.0474565,-0.0107642,1.56429e-05,0.0902116,0.042589,0.0386324,-0.547586,-0.19889,0.717348,0.382104,7.39123e-05,-2.79568e-05,0.000199835,0.00418754,0.0152075,-0.00274364,3.90272,-0.453075,-1.07447,0.0143733,-0.0212078,0.00217866,-1.47415,0.474585,0.130564,-1.8805,0.175168,0.145243,-0.23093,0.00108593,0.000955067,0,-0.00175448,0.00869515,-0.0119679,0.332273,-0.375982,0.229147,-0.30219,0.00860754,-0.0148456,-0.0143733,1.56429e-05
2020-02-05.15:12:18.361,0.123472,0.0669279,0.33681,-0.548833,-0.198118,0.716458,0.382388,-8.56007e-05,-0.000427993,-0.000341555,0.0239451,0.0492426,-0.0286081,0.00975589,0.0106892,-0.0182861,0.000313441,2.84395e-06,-0.000109353,0.156807,0.148136,0.0810797,-1.57333,0.177638,0.174678,-0.106583,0,0.00198363,-0.00198363,0.000611752,0.0246844,0.0504361,-0.0290809,-0.00482458,0.00629961,0.00310116,0.000715741,-1.0748e-06,-7.06372e-05,-3.96024e-05,-0.00654695,0.019777,0.375114,0.250279,0.359898,0.205398,0.875012,0.015705,-0.0744756,-0.00267176,0.554516,0.350378,-0.108744,0.0256239,-0.00414994,-0.00830725,-0.000229795,3.32049e-05,-0.000134378,-0.428976,0.219086,-0.167726,1.44057,0.811215,0.310867,-0.225009,0.0314168,0.16523,-0.291412,0.0154624,0.00270113,0.679074,0.355845,-0.00455441,0.0104916,0.00786142,-0.000117248,-0.000110874,-0.000187454,-0.000166608,-0.0782672,0.00662587,0.026589,0.24472,0.354579,0.207206,0.878323,0.00654348,-0.0232769,0.000912209,0.367139,0.171131,-0.105873,-0.696553,-1.90476,1.6884,0.0161465,0.0563544,-0.0106397,1.45407,0.159351,0.132976,1.71002,0.642875,0.0250683,-0.225009,-0.103374,-0.153555,0.00471267,0.294601,-0.131483,-0.100864,0.355845,-0.0985278,-0.26661,0.971437,0.00957199,-0.0477589,-0.0150218,-0.000166608,0.0902117,0.0425886,0.0386331,-0.547584,-0.198889,0.717351,0.382103,7.06498e-05,-1.02314e-05,0.000175799,0.00375784,0.013547,-0.00270653,3.85661,-0.424896,-1.07364,0.0142126,-0.0211015,0.00278236,-1.47414,0.474585,0.130564,-1.8805,0.175168,0.145243,-0.225009,0.00089344,0.000955067,0,-0.00165164,0.0076823,-0.0107677,0.355845,-0.372206,0.223955,-0.313438,0.0091082,-0.0146185,-0.0142126,-0.000166608
2020-02-05.15:12:18.381,0.123473,0.0669373,0.336805,-0.548832,-0.198133,0.716453,0.382389,-7.75699e-05,-0.000513263,-9.22731e-05,0.0221093,0.0442524,-0.0260009,0.0103949,0.011957,-0.00136819,-0.000582667,0.000430614,0.000147677,0.156807,0.148136,0.081106,-1.57335,0.177638,0.174678,-0.106583,0,0.0012107,-0.00191733,0.00057844,0.0223044,0.045296,-0.0274831,0.000472907,0.00513176,0.00236297,-0.00113165,-0.000439388,2.32872e-05,4.61628e-05,-0.00615416,0.0174208,0.375081,0.260752,0.358371,0.208949,0.871733,0.011409,-0.0801715,-0.000330635,0.714427,0.200662,0.0834718,0.0239715,-0.0043499,-0.00297659,6.12674e-05,0.000208884,2.59181e-05,-0.427787,0.224031,-0.176746,1.44079,0.817136,0.328631,-0.207245,0.0441285,0.163692,-0.303646,-0.00318092,0.00774185,0.614382,0.634711,-0.0056139,0.00899455,0.00636441,-0.000117248,-0.000142182,0.000188243,-7.01224e-05,-0.0780709,0.00582605,0.0265618,0.256471,0.355616,0.212572,0.873254,0.00570657,-0.0273698,-0.000665383,0.95339,0.224282,0.0825656,-0.867945,-2.44727,1.7895,0.0159055,0.0555931,-0.0140936,1.45068,0.154686,0.13308,1.73686,0.63536,0.0248253,-0.207245,-0.11877,-0.16057,0.00309357,1.02127,-0.213694,-0.0273629,0.634711,-0.105136,-0.348741,0.954564,0.0105733,-0.0478899,-0.0151825,-7.01224e-05,0.0902105,0.0425834,0.0386352,-0.547572,-0.1989,0.717364,0.382089,-0.000119933,-0.000372676,4.24541e-05,0.00328243,0.00950012,0.00091303,3.87791,-0.43909,-1.08242,0.014534,-0.0212184,0.00338941,-1.4741,0.474554,0.130564,-1.8805,0.175168,0.145243,-0.207245,0.0014617,-0.00254622,0,-0.00142251,0.00582615,-0.00847239,0.634711,-0.373622,0.226787,-0.31625,0.00979661,-0.0147845,-0.014534,-7.01224e-05
2020-02-05.15:12:18.401,0.123473,0.0669373,0.336805,-0.548832,-0.198133,0.716453,0.382389,-7.10463e-05,-0.000480646,-6.62436e-05,0.0217476,0.042729,-0.0251993,0.00284722,0.00759051,0.00216002,-0.000488814,0.000178539,0.000129846,0.156807,0.148136,0.081106,-1.57335,0.177638,0.174678,-0.106583,0,0.00105953,-0.00176616,0.000486696,0.0216117,0.0438132,-0.0269907,0.00100266,0.00180332,-1.42183e-05,-0.000955708,-0.000188923,-8.02096e-06,4.61628e-05,-0.00604262,0.0166204,0.375076,0.263387,0.358161,0.207569,0.871357,0.0100186,-0.0792109,-0.000342664,0.637359,0.136246,0.0912499,-0.0092354,0.0192766,0.00489262,0.000124335,0.000582612,0.000193749,-0.427341,0.225668,-0.179778,1.44073,0.820097,0.334552,-0.207245,0.0461839,0.160301,-0.298401,-0.0123432,0.0194647,0.525086,0.590957,-0.00455441,0.00483794,0.00196352,0.000762462,-0.000298723,0.000532633,0.000230056,-0.0780185,0.00556262,0.0265744,0.259351,0.355596,0.212916,0.872327,0.00443751,-0.0254609,0.00292779,0.259988,0.128327,-0.271952,-0.939852,-2.71204,1.81919,0.0180745,0.0564677,-0.022515,1.4495,0.153057,0.133115,1.74252,0.633993,0.0238159,-0.207245,-0.120734,-0.165904,0.00369835,0.182566,-0.0327883,-0.206235,0.590957,-0.107496,-0.376118,0.934879,0.00575445,-0.0465152,-0.0170301,0.000230056,0.0902088,0.0425799,0.0386344,-0.547572,-0.198911,0.717368,0.382078,-0.000214531,-0.000400571,-0.000193725,0.00322168,0.00668917,0.00123503,3.98032,-0.499173,-1.06623,0.01357,-0.0229971,0.00301601,-1.47409,0.474523,0.130564,-1.8805,0.175168,0.145243,-0.207245,-0.000306933,-0.00384652,0,-0.00136281,0.00541435,-0.00794369,0.590957,-0.380702,0.235756,-0.274069,0.00960887,-0.0139024,-0.01357,0.000230056
2020-02-05.15:12:18.421,0.123488,0.0669187,0.336803,-0.548834,-0.198128,0.71646,0.382377,-6.45134e-05,0.000340444,-0.000143121,0.0222506,0.0375227,-0.0222867,-0.0213845,-0.0178669,0.0073793,-0.000246338,-1.05807e-06,-4.70644e-05,0.156757,0.148168,0.0810482,-1.57331,0.177638,0.174678,-0.106583,0.00027232,0,0.000917132,-0.00127436,0.0197379,0.0398308,-0.0255901,-5.68415e-05,-0.010101,-0.00602995,-0.00025194,-3.23829e-05,-0.000227178,-5.03231e-05,-0.00575933,0.0141757,0.375092,0.26838,0.354549,0.204642,0.872002,0.0087977,-0.0791109,0.00104882,0.520093,-0.378227,-0.160398,0.00107271,-0.0156799,-0.00921084,0.000261255,0.000727055,0.000172799,-0.42588,0.230518,-0.18894,1.4406,0.831939,0.343434,-0.207245,0.0475994,0.155284,-0.29603,0.00127298,0.513686,0.187963,0.359074,0.00392157,0.00575366,0.00175555,-0.00029319,-0.000486572,0.000595249,-4.86811e-05,-0.077926,0.00473137,0.0266662,0.263513,0.354802,0.209217,0.872298,0.00285158,-0.0289085,0.00197125,0.293135,-0.000449995,-0.223024,-0.678623,-3.27412,1.69972,0.0209664,0.0471989,-0.0232589,1.44553,0.147388,0.133196,1.74315,0.634403,0.0178458,-0.207245,-0.126698,-0.186438,0.00227133,0.238959,0.0313042,-0.0456523,0.359074,-0.0669025,-0.454946,1.01362,0.0105107,-0.040601,-0.0209664,-4.86811e-05,0.0902063,0.0425778,0.0386295,-0.547586,-0.198926,0.717358,0.382068,3.94264e-05,-4.87046e-05,0.000144036,0.00234444,0.0084115,-0.00152462,3.84035,-0.474493,-1.08665,0.0151766,-0.0218605,0.00248021,-1.47412,0.474485,0.130564,-1.8805,0.175168,0.145243,-0.207245,0.0010426,0.000411762,-2.80909e-07,-0.0011998,0.00440804,-0.00661695,0.359074,-0.367958,0.230091,-0.321874,0.00917079,-0.0136758,-0.0151766,-4.86811e-05
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