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
2020-02-05.17:07:26.109,0.0827183,0.0707908,0.340463,-0.415574,-0.41629,0.563563,0.579998,0.000220884,-0.000182342,0.000125773,-0.000555395,-0.000222791,0.000672569,-0.0112038,-0.000702149,-0.00867437,0.00031996,2.19451e-05,-0.000124036,0.269371,0.156922,0.0672969,-1.59051,0.2783,-0.0148032,-0.805294,-0.000651634,-0.00035465,-0.000218864,-4.33077e-05,0,0,0,-0.00376508,-0.000938569,-0.00306362,0.000451828,0.000218082,5.45953e-05,-7.17644e-05,0.0136411,0.0575331,0.359132,0.199806,0.401571,0.520007,0.726919,0.00992198,-0.0113972,0.00891974,0.0506069,-0.0815754,-0.0651614,-0.00484477,0.00648677,0.00460727,7.81863e-05,2.66579e-05,5.21443e-05,-0.499923,0.233321,-0.0905209,1.33173,0.476663,0.168756,0.248694,-0.0151358,0.00501876,-0.0455292,0.00158035,0.123099,0.0141138,0,-0.000316419,-0.00365564,-0.00217756,-0.000205219,-1.695e-05,0.000282168,-5.94017e-05,-0.0843077,-0.0241864,0.026161,0.199485,0.405773,0.521338,0.723714,0.00370999,-0.00424075,0.00476136,0.0585415,-0.0984904,-0.0214368,-2.60065,-1.56585,0.0843159,-0.010765,0.00391548,0.0181694,1.26967,-0.0720377,0.127656,2.21642,-0.155766,0.515562,0.248694,-0.0379588,-0.00663672,0.00538136,0.0616579,0.0313363,0.0474351,0,-0.136761,-0.292099,1.23858,0.0135147,0.0113015,0.010765,-5.94017e-05,0.0764555,-0.00218942,0.0399958,-0.41132,-0.412014,0.566649,0.583069,-1.3946e-05,2.79787e-05,-4.15468e-05,-1.19888e-05,-0.000581816,-0.000227554,-2.86345,0.784885,0.0220782,-0.0449926,0.0555246,0.00144552,-1.28821,0.137843,0.13638,-2.65992,-0.0321096,-0.0143294,0.248694,-0.000403371,2.6879e-05,0,0,0,0.00024546,0,0.0167384,-0.348133,0.125247,0.00391385,-0.0294408,0.0449926,-5.94017e-05
2020-02-05.17:07:26.115,0.0827183,0.0707908,0.340463,-0.415574,-0.41629,0.563563,0.579998,0.000173898,-0.000147841,0.000122042,-0.000496582,-0.000193991,0.000570555,-0.00265417,0.00306206,-0.00888519,-0.000110649,-2.65706e-05,9.6317e-05,0.269371,0.156922,0.0672969,-1.59051,0.2783,-0.0148032,-0.805294,-0.000507342,-0.00035465,-0.000155235,-8.59196e-05,0,0,0,-0.00323533,0.0013866,0.000398181,-0.000339911,-6.3691e-05,0.000117212,3.54422e-05,0.0140401,0.0570599,0.359452,0.199637,0.400351,0.519873,0.727734,0.0100157,-0.0127821,0.00744891,0.0160362,-0.0499981,-0.0435191,0.00613553,-0.0143247,0.00621009,-7.44038e-05,0.000195162,4.30383e-05,-0.500493,0.233667,-0.0924452,1.33182,0.479623,0.168756,0.248694,-0.0130142,0.0118516,-0.0519157,0.00435939,0.071246,0.0134938,0,-0.00455441,0.00392223,0.000698629,-0.000381161,-0.000142182,9.43189e-05,-7.01224e-05,-0.0841256,-0.0243503,0.0263506,0.199499,0.404199,0.521478,0.724489,0.00399373,-0.00347606,0.00416506,0.0298506,-0.109121,0.0199648,-2.57688,-1.78108,-0.162848,-0.0118896,0.000851639,0.0175421,1.26826,-0.0722384,0.127902,2.21789,-0.154536,0.516683,0.248694,-0.0320381,-0.00481188,0.00541796,0.040965,0,0.0818255,0,-0.116465,-0.323252,1.1261,0.0142031,0.0140434,0.0118896,-7.01224e-05,0.0764556,-0.00218854,0.0399962,-0.411321,-0.412011,0.566648,0.583071,-1.25199e-05,5.91587e-06,-3.8349e-05,2.61155e-05,-0.000547345,-6.11479e-05,-2.87017,0.807793,0.0412306,-0.0434662,0.0575937,0.00108255,-1.28821,0.137851,0.13638,-2.65992,-0.0321096,-0.0143294,0.248694,-0.000297226,-0.000109256,0,0,0,0.000237542,0,0.0148503,-0.347661,0.144932,0.00353835,-0.0314537,0.0434662,-7.01224e-05
2020-02-05.17:07:26.134,0.0827183,0.0707908,0.340463,-0.415574,-0.41629,0.563563,0.579998,0.000164706,-0.000140257,0.000120946,-0.000482968,-0.000189715,0.000551081,-0.00130799,-0.00146249,-0.00208156,0.000267918,0.000237248,-4.72616e-05,0.269371,0.156922,0.0672969,-1.59051,0.2783,-0.0148032,-0.805294,-0.00048104,-0.00035465,-0.00014173,-9.49642e-05,0,0,0,-0.00164609,-0.00785285,-0.00479628,9.99441e-05,0.000155466,0.000367676,-2.88818e-05,0.0141498,0.0569275,0.359531,0.200025,0.399103,0.519852,0.728328,0.0101334,-0.0134852,0.00729067,0.0236095,-0.0563739,-0.0516897,0.0038518,0.00366199,0.0134818,6.71992e-05,-0.000180152,3.12605e-05,-0.500642,0.233793,-0.0929919,1.33189,0.482584,0.168756,0.248694,-0.0124452,0.0136001,-0.0546198,0.00613534,0.0839983,0.0133411,0,-0.00508415,-0.00215863,-0.000562724,-2.92769e-05,0.000170899,0.000219551,-2.72398e-05,-0.0840925,-0.0243908,0.0263919,0.199554,0.403734,0.521464,0.724743,0.00272946,-0.00387845,0.00371958,0.063626,-0.084452,-0.0530164,-2.63471,-1.86631,-0.171528,-0.0118093,-9.67414e-05,0.0172898,1.26793,-0.0723079,0.12795,2.21831,-0.153989,0.516972,0.248694,-0.0299265,-0.0077019,0.00411704,0.0602359,0.0609496,0.0278765,0,-0.116465,-0.335525,1.16828,0.0143283,0.0155145,0.0118093,-2.72398e-05,0.0764556,-0.00218854,0.0399962,-0.411321,-0.412011,0.566648,0.583071,-1.18142e-05,4.69592e-06,-3.6236e-05,2.61533e-05,-0.000528181,-5.12438e-05,-2.87017,0.807793,0.0412306,-0.0434662,0.0575937,0.00108255,-1.28821,0.137851,0.13638,-2.65992,-0.0321096,-0.0143294,0.248694,-0.000277477,-0.000109256,0,0,0,0.000235481,0,0.0172104,-0.351909,0.133683,0.00428934,-0.0301308,0.0440286,-2.72398e-05
2020-02-05.17:07:26.154,0.0827271,0.0707887,0.340462,-0.415573,-0.416298,0.563566,0.57999,-3.22311e-06,-9.55347e-05,0.000142119,-0.000471413,4.11172e-05,0.000140999,-0.0122391,-0.00229637,-0.00424627,-0.00016724,-7.89875e-05,-0.000156941,0.269346,0.156922,0.0672969,-1.59051,0.2783,-0.0148032,-0.805294,0,-0.00035465,-0.000128002,-0.000104158,0,0,0,-0.00694357,0.00305872,-0.00162552,0.000363857,3.02333e-05,-0.000101945,8.90455e-05,0.014251,0.0567643,0.35961,0.199852,0.399138,0.519738,0.728437,0.00997031,-0.014914,0.0071472,0.0211531,-0.0542722,-0.0561453,0.0152924,0.0143712,-0.00585403,9.65986e-05,0.000194915,-0.000153353,-0.500741,0.23395,-0.0936228,1.33202,0.482584,0.168756,0.248694,-0.0105312,0.0159614,-0.059158,0.00938837,0.0835615,0.01319,0,0.000743077,0.00191042,0.00677681,0.000498549,-0.000267415,-0.000312687,3.70842e-05,-0.0840643,-0.0244342,0.026431,0.199727,0.403164,0.52128,0.725145,0.00233983,-0.00404014,0.00346114,0.0520147,-0.079381,-0.120307,-2.71259,-1.94207,-0.117576,-0.0134963,9.70262e-06,0.0165256,1.26763,-0.0723852,0.127993,2.21873,-0.152896,0.517143,0.248694,-0.0262872,-0.00720362,0.00364504,0.0370016,0.122026,0.00477839,0,-0.121185,-0.343077,1.26108,0.0138276,0.016506,0.0134963,3.70842e-05,0.0764552,-0.00218894,0.0399949,-0.411323,-0.412015,0.566646,0.583068,1.52097e-06,9.96561e-06,5.2437e-06,-2.86738e-05,-0.000191511,-7.61103e-05,-2.89274,0.839153,0.0231732,-0.0428236,0.0570756,0.001164,-1.28821,0.137843,0.13638,-2.65992,-0.0321096,-0.0143294,0.248694,0,8.74932e-05,0,0,0,0.000233586,0,0.0134342,-0.352381,0.128059,0.00360093,-0.0307292,0.0428236,3.70842e-05
2020-02-05.17:07:26.174,0.0827271,0.0707887,0.340462,-0.415573,-0.416298,0.563566,0.57999,-1.76419e-06,-8.70854e-05,0.000138055,-0.000449173,2.47271e-05,0.000149676,0.0127438,-9.49239e-05,0.0100252,-0.000145139,0.000263849,-0.000174873,0.269346,0.156922,0.0672969,-1.59051,0.2783,-0.0148032,-0.805294,0,-0.00035465,-0.000103942,-0.000120271,0,0,0,0.00471089,0.000964627,0.00354125,0.00062777,-0.000282848,-0.000383718,-3.96024e-05,0.0144414,0.0564273,0.359749,0.200109,0.397948,0.519531,0.729165,0.00866209,-0.0187247,0.0068063,0.0308153,-0.0611918,-0.0809909,0.00891587,-0.00113372,0.01387,1.28145e-05,0.000248308,-9.61064e-07,-0.500889,0.234328,-0.0949211,1.33229,0.485545,0.168756,0.248694,-0.00356895,0.0207642,-0.0695936,0.0178256,0.106286,0.0129102,0,-0.0066734,0.000171807,0.000875372,-0.000117248,-0.000236107,3.94597e-07,-2.72398e-05,-0.083996,-0.0245208,0.0264975,0.199849,0.401624,0.521345,0.725918,0.00492801,-0.00468902,0.00352875,0.092772,-0.156359,-0.0675422,-2.90579,-1.99593,-0.038089,-0.0126126,0.00146664,0.0185445,1.26714,-0.0725937,0.128088,2.2202,-0.150847,0.518575,0.248694,-0.0232762,-0.0110294,0.00628355,0.0917505,0.109191,0.0864918,0,-0.135345,-0.356766,1.382,0.0147038,0.0159775,0.0126126,-2.72398e-05,0.0764581,-0.00218849,0.0399954,-0.411321,-0.412011,0.566648,0.583071,-1.36833e-05,-3.37927e-06,-2.46833e-05,3.05253e-05,-0.000442648,1.19712e-05,-2.84989,0.793967,0.00831459,-0.0441089,0.057173,0.00107184,-1.28821,0.137851,0.136377,-2.65992,-0.0321096,-0.0143294,0.248694,-0.000176676,-0.000124568,5.47183e-06,0,0,0.000229891,0,0.0148503,-0.345301,0.111187,0.00353835,-0.0312178,0.0441089,-2.72398e-05
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