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
2020-02-05.15:23:08.508,0.0904507,0.0455125,0.354726,-0.512778,-0.269742,0.780337,0.235313,-0.000683773,0.000356913,0.000989344,-0.00123537,0.00856025,0.00323645,-0.0040299,0.00272203,0.00823626,5.09636e-05,0.000104766,0.000135583,0.239248,0.143759,0.00640444,-1.66414,0.414489,-0.0680947,-0.0296064,0.00226191,-0.00341721,0.00181434,-0.00163736,0.0086285,0.00232749,0,0.00206215,-0.00210642,-0.00321267,-0.000515853,-0.000126307,0.000524217,-7.17644e-05,-0.0381179,0.0883139,0.31729,0.0265907,0.48988,0.153218,0.857808,0.0601235,-0.0647476,-0.0497469,0.386385,-0.715105,-2.14052,0.0512236,0.0662174,-0.0444068,-0.000380792,0.00129712,-1.27869e-05,-0.386344,0.260907,0.0361056,1.31256,0.390804,0.118426,-0.710553,-0.0669007,0.323281,-0.364637,0.0147611,2.09159,0.614369,-1.08708,0.00498106,0.0301015,0.0363947,0.000762462,-0.00123797,0.000282168,0.000101408,-0.0725825,0.000751575,0.0248941,0.0150596,0.488804,0.164409,0.856629,0.0230061,-0.00389328,-0.028911,0.381988,-0.20788,-1.60166,5.46868,-2.45217,-1.2148,0.0159055,-0.0733128,-0.0376622,1.42833,0.0965033,0.136783,1.36697,0.328884,0.233651,-0.710553,0.265818,-0.172854,0.0197628,-0.39696,1.00059,-1.46099,-1.08708,0.530675,-0.485627,1.18515,-0.00563559,0.0302756,-0.0159055,0.000101408,0.0883842,0.0122242,0.0278493,-0.512957,-0.266125,0.780812,0.237455,-7.82364e-05,4.68386e-05,3.87191e-05,0.000102077,-9.82782e-05,-2.80804e-05,3.13733,-0.324263,-0.719748,-0.0238651,-0.0466521,0.0110685,-1.43264,0.217256,0.122508,-1.74315,0.278329,0.148519,-0.710553,-6.70973e-06,0.000358943,8.97755e-05,0,0,0.000419717,-1.08708,-0.307539,0.0771569,0.22367,0.0116741,0.0159511,0.0238651,0.000101408
2020-02-05.15:23:08.519,0.0903821,0.0455413,0.354746,-0.512768,-0.269697,0.78034,0.235377,-0.0019258,0.000138551,0.000117946,0.000132952,0.0106843,-0.00109522,-0.00260029,0.0165598,-0.00150967,0.000180254,0.000123743,6.746e-05,0.239446,0.143696,0.00646742,-1.66418,0.414489,-0.0680947,-0.0296064,0.00506328,0.000875147,-0.00107606,0.000298345,0.00833525,0.00238719,0,-0.00164609,0.001644,-0.00285918,1.19731e-05,-0.000126307,0.00030506,1.40009e-05,-0.0347946,0.0836591,0.315299,0.0582125,0.459541,0.113112,0.878999,0.0690892,-0.118271,-0.0274187,0.763925,-1.31811,-2.13792,0.0918707,0.056948,-0.0357694,0.000184888,0.000470009,4.91059e-05,-0.38944,0.277314,0.0137288,1.31353,0.51219,0.127307,-0.763845,-0.0518301,0.316927,-0.511832,0.0230385,2.62255,0.140964,-0.773463,-0.00826264,0.0418465,0.0387996,-0.000117248,-0.000173491,0.000877022,-0.00018805,-0.0712673,7.16212e-05,0.0237132,0.0477867,0.466679,0.126721,0.873996,0.0321126,-0.0225718,-0.0203329,0.480117,-1.17352,-1.79894,3.1,-5.35962,-0.797611,0.0131742,-0.0581881,-0.0408864,1.44034,0.0848806,0.138122,1.34327,0.415785,0.148414,-0.763845,0.196882,-0.283274,0.0344779,-0.362452,1.91229,-1.31665,-0.773463,0.137482,-0.78536,1.25546,-0.00388328,0.0353841,-0.0131742,-0.00018805,0.0883813,0.0122188,0.0278577,-0.512253,-0.266004,0.781278,0.237579,-0.000135327,7.85647e-05,-7.52869e-08,-0.00077528,-0.00378158,0.00362281,3.31392,-0.471109,-0.691067,-0.0270784,-0.0528498,0.0117094,-1.43268,0.217264,0.122516,-1.74315,0.279832,0.14762,-0.763845,-0.000492494,0.000273417,0.000138037,0.00273599,-0.000361526,0.00550134,-0.773463,-0.31698,0.0917895,0.324905,0.0125502,0.0203961,0.0270784,-0.00018805
2020-02-05.15:23:08.531,0.0903821,0.0455413,0.354746,-0.512768,-0.269697,0.78034,0.235377,-0.0019258,0.000138551,0.000117946,0.000132952,0.0106843,-0.00109522,-0.00260029,0.0165598,-0.00150967,0.000180254,0.000123743,6.746e-05,0.239446,0.143696,0.00646742,-1.66418,0.414489,-0.0680947,-0.0296064,0.00506328,0.000875147,-0.00107606,0.000298345,0.00833525,0.00238719,0,-0.00164609,0.001644,-0.00285918,1.19731e-05,-0.000126307,0.00030506,1.40009e-05,-0.0347946,0.0836591,0.315299,0.0582125,0.459541,0.113112,0.878999,0.0690892,-0.118271,-0.0274187,0.763925,-1.31811,-2.13792,0.0918707,0.056948,-0.0357694,0.000184888,0.000470009,4.91059e-05,-0.38944,0.277314,0.0137288,1.31353,0.51219,0.127307,-0.763845,-0.0518301,0.316927,-0.511832,0.0230385,2.62255,0.140964,-0.773463,-0.00826264,0.0418465,0.0387996,-0.000117248,-0.000173491,0.000877022,-0.00018805,-0.0712673,7.16212e-05,0.0237132,0.0477867,0.466679,0.126721,0.873996,0.0321126,-0.0225718,-0.0203329,0.480117,-1.17352,-1.79894,3.1,-5.35962,-0.797611,0.0131742,-0.0581881,-0.0408864,1.44034,0.0848806,0.138122,1.34327,0.415785,0.148414,-0.763845,0.196882,-0.283274,0.0344779,-0.362452,1.91229,-1.31665,-0.773463,0.137482,-0.78536,1.25546,-0.00388328,0.0353841,-0.0131742,-0.00018805,0.0883813,0.0122188,0.0278577,-0.512253,-0.266004,0.781278,0.237579,-0.000135327,7.85647e-05,-7.52869e-08,-0.00077528,-0.00378158,0.00362281,3.31392,-0.471109,-0.691067,-0.0270784,-0.0528498,0.0117094,-1.43268,0.217264,0.122516,-1.74315,0.279832,0.14762,-0.763845,-0.000492494,0.000273417,0.000138037,0.00273599,-0.000361526,0.00550134,-0.773463,-0.31698,0.0917895,0.324905,0.0125502,0.0203961,0.0270784,-0.00018805
2020-02-05.15:23:08.551,0.0903333,0.0455352,0.354751,-0.512754,-0.269642,0.78035,0.235435,-0.00228383,0.000357899,0.000373103,-0.000128215,0.0108225,-0.00178675,-0.00501169,0.00165196,0.00410024,-2.58236e-05,-4.76453e-05,9.6214e-05,0.23957,0.143727,0.00640963,-1.66415,0.414489,-0.0680947,-0.0296064,0.00618277,-9.0516e-05,-0.000325454,-0.000204337,0.00812382,0.0024024,0,0.000472907,-0.00202413,-0.00265475,-0.000427882,3.02333e-05,0.00030506,-5.03231e-05,-0.0333479,0.0810156,0.314889,0.0720758,0.444638,0.0975176,0.887464,0.0742699,-0.140075,-0.0138159,0.615059,-1.37573,-2.3187,0.110676,0.0517119,-0.0673805,0.000356338,0.000501113,-9.50025e-05,-0.390456,0.283581,0.00272834,1.31418,0.565482,0.127307,-0.781609,-0.0515929,0.302082,-0.568052,0.043158,2.71468,0.102553,-0.952347,-0.00296516,0.0535862,0.0449956,0.000938404,-0.000142182,0.000282168,0.000112129,-0.0706245,-0.000532061,0.0233162,0.0616731,0.453262,0.114106,0.88189,0.029284,-0.0339952,-0.0165108,0.871712,-1.37248,-2.04987,2.30645,-5.97109,-0.667291,0.00321292,-0.0659576,-0.0429883,1.44382,0.0783317,0.138834,1.34013,0.457186,0.120372,-0.781609,0.136936,-0.337712,0.0341088,-0.137777,2.14157,-1.5369,-0.952347,0.0119248,-0.832562,1.06705,-0.00563559,0.0496536,-0.00321292,0.000112129,0.0883784,0.0122204,0.027856,-0.512262,-0.266003,0.781271,0.237581,-0.000225837,0.000213039,-0.000218459,-0.0008403,-0.00674002,0.00222967,3.38086,-0.482392,-0.644156,-0.0269177,-0.0543688,0.0114914,-1.4327,0.217264,0.122519,-1.74315,0.279832,0.14762,-0.781609,-0.00277895,0.000232085,0.000184863,0.00273599,-0.00128072,0.00590006,-0.952347,-0.321228,0.0932056,0.389583,0.0126128,0.0213216,0.0269177,0.000112129
2020-02-05.15:23:08.571,0.0902894,0.0455404,0.354778,-0.512746,-0.26959,0.780364,0.235469,-0.00247877,0.000299445,0.000996293,-0.00159544,0.0111537,-0.00213696,-0.0118293,0.0057372,-0.00643576,0.000546343,-2.02921e-05,-0.000167242,0.239694,0.143664,0.00642002,-1.66415,0.414489,-0.0680947,-0.0296064,0.00684793,-0.00191827,3.4911e-05,-0.000445674,0.00792037,0.00241408,0,0.00418115,-0.000856279,-0.00238787,0.000715741,-0.000157615,2.32872e-05,-0.000114647,-0.0318412,0.0780741,0.314735,0.0866728,0.428121,0.0780639,0.896162,0.0750183,-0.153858,-0.00261267,0.292197,-1.5997,-2.65967,0.0836706,0.0407865,-0.0607826,-0.000204457,0.00075821,3.35444e-05,-0.391472,0.289407,-0.00893581,1.31498,0.624695,0.127307,-0.805294,-0.0463668,0.282458,-0.597422,0.042287,2.91458,-0.106225,-1.3921,-0.00190566,0.0430196,0.0361591,0.000410578,-0.00067442,0.000282168,0.000122849,-0.0700621,-0.0013153,0.0230635,0.0760067,0.437411,0.0962925,0.890855,0.0274689,-0.0428871,-0.0105415,0.363624,-1.60524,-2.58988,2.01999,-6.57122,-0.158091,-0.00168737,-0.0667776,-0.0471342,1.44576,0.0708484,0.139534,1.32755,0.504052,0.0839525,-0.805294,0.0677352,-0.402106,0.0356349,-0.954676,2.41929,-1.94737,-1.3921,-0.0739828,-0.892508,1.32013,-0.00820148,0.0521128,0.00168737,0.000122849,0.0883742,0.0122229,0.0278557,-0.512333,-0.266023,0.781223,0.237566,-0.000229843,9.95469e-05,-6.5873e-05,-0.000976482,-0.00370329,0.00310825,3.32279,-0.464524,-0.541388,-0.0268374,-0.0539717,0.0115382,-1.43271,0.217271,0.122523,-1.74315,0.279695,0.147731,-0.805294,-0.00122628,0,0.000216464,0.00273599,0,0.00461062,-1.3921,-0.313203,0.0880133,0.468321,0.0125502,0.0214481,0.0268374,0.000122849
2020-02-05.15:23:08.591,0.0902464,0.0455432,0.354814,-0.512739,-0.269528,0.780382,0.235494,-0.00143434,1.28427e-05,0.0021113,-0.00437853,0.00982314,0.00087543,-0.0116123,0.00582219,-0.00727708,-0.000249617,0.000188764,0.000161078,0.239818,0.14357,0.0064356,-1.66416,0.414489,-0.0680947,-0.0296064,0.00435773,-0.0059624,0.00127561,-0.00127657,0.00771805,0.00242279,0,-0.00482458,-0.00210642,-0.00338941,-0.000779766,-0.000220232,0.000211136,-3.96024e-05,-0.0303359,0.0748048,0.314781,0.0986899,0.408341,0.059013,0.905558,0.072332,-0.164801,0.00685602,0.141936,-1.84349,-2.53561,0.0626152,0.0269109,-0.0490878,0.000427382,0.000265518,1.54856e-06,-0.392289,0.294981,-0.0213737,1.31585,0.683908,0.118426,-0.828979,-0.0347,0.262886,-0.616445,0.0481934,2.86419,-0.470161,-1.34935,-0.00137592,0.0331218,0.0266191,0.000322607,0.000139591,0.000532633,-3.79604e-05,-0.0694108,-0.00229141,0.0228889,0.0883034,0.420628,0.0756822,0.899748,0.034525,-0.0525719,-0.00771064,0.232986,-1.56172,-2.47888,1.86954,-6.74362,0.197147,-0.00345469,-0.0695098,-0.0461624,1.4464,0.0620522,0.140364,1.30658,0.551602,0.0452608,-0.828979,0.00325006,-0.460665,0.0437605,-1.06474,2.26279,-1.84221,-1.34935,-0.130625,-0.908557,1.40731,-0.006324,0.0545143,0.00345469,-3.79604e-05,0.0883679,0.0122237,0.0278572,-0.512343,-0.266055,0.781212,0.237545,-0.000376551,8.88016e-05,2.24583e-05,-0.00363155,0.00148296,-0.00156442,3.30581,-0.507282,-0.46596,-0.0235437,-0.0522749,0.0102869,-1.43271,0.217271,0.122529,-1.74315,0.279695,0.147813,-0.828979,-0.00068755,0,0.00037818,0.00273599,0,-0.00272072,-1.34935,-0.309427,0.0946216,0.541435,0.0121122,0.020107,0.0235437,-3.79604e-05
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