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
2020-02-06.14:42:04.902,0.106468,0.022188,0.3159,-0.325603,-0.00333234,0.902648,0.28142,0.00717352,-0.00178833,-0.00194473,0.016614,-0.0384487,0.0398168,-0.597783,0.775978,-0.856744,0.0186535,-0.026739,-0.0175735,0.178854,0.302066,-0.115401,-0.908006,0.526994,0.00592128,0.503309,-0.0181633,0.0053597,-0.00431637,0.0166564,0.00808991,-0.054302,0.013013,-0.255396,0.00448358,-0.274355,0.0707407,0.0142128,-0.00238744,0.000828771,-0.0978227,0.0545536,0.309363,0.0517197,0.420596,0.388551,0.818201,-0.00640388,0.00372638,-0.0089265,0.0207874,0.00464685,-0.00901339,-0.564897,-1.01989,-0.321788,-0.0349084,-0.019645,0.0114036,-0.2119,0.279928,-0.0199169,1.0856,0.331592,-0.0266457,-0.23093,0.0166886,0.0219356,0.00326283,-0.0284742,0,0.0178641,-0.0122887,-0.00932214,-0.102807,-0.384664,-0.0810506,0.0104713,0.000156935,-0.00190335,-0.084157,0.00269209,0.0432949,0.0428451,0.41522,0.376398,0.827092,2.92107e-05,-2.64361e-06,-4.87673e-05,-0.00134222,0.000420031,-0.000526999,1.34564,-0.688636,0.0831236,-0.00465968,-0.0334597,-0.0110862,1.27885,0.197439,0.130286,1.79369,0.144425,0.415512,-0.23093,0.000395765,-0.000251898,1.023e-05,-0.0015065,0,0,-0.0122887,0.134178,-0.0395683,0.544,0.00343889,0.0228424,0.00465968,-0.00190335,0.0715105,0.0134305,0.056963,-0.307195,0.0106207,0.911099,0.274623,-0.000269014,0.000121692,-2.45657e-05,-0.00130287,-0.000767345,-0.000967296,2.24423,1.804,-0.466152,-0.0103692,-0.0570166,0.04672,-1.28051,0.288799,0.148586,-1.59176,0.461968,-0.360695,-0.23093,-0.00112998,0.000147191,0.000245245,0.000741482,-0.000349742,-0.000730113,-0.0122887,-0.200391,-0.276858,1.17978,0.00898304,0.0494139,0.0103692,-0.00190335
2020-02-06.14:42:04.919,0.106652,0.0221413,0.315835,-0.325545,-0.00334768,0.902665,0.281434,0.00479426,-0.00110413,-0.00229206,0.0149163,-0.02891,0.0314822,-0.583795,0.758379,-0.812647,0.0192567,-0.0266456,-0.0178044,0.178383,0.302255,-0.115538,-0.907468,0.526994,0.00592128,0.503309,-0.0123161,0.00670923,-0.00405963,0.0139645,0.00761692,-0.0437942,0.0123501,-0.241092,-0.00210681,-0.270654,0.0717963,0.0138371,-0.00235613,0.000860933,-0.0979706,0.0546698,0.309064,0.0519657,0.420363,0.388849,0.818163,-0.00335909,0.00328,-0.00959056,0.0203631,0.00599279,-0.00774557,-0.593912,-0.916855,-0.220747,-0.0342404,-0.0196053,0.011166,-0.211503,0.280715,-0.019889,1.08483,0.331592,-0.0266457,-0.23093,0.00945538,0.0268844,-0.00178445,-0.02004,0,0.0165842,-0.011767,-0.0204469,-0.134159,-0.376853,-0.079819,0.0105965,0.000313476,-0.00196768,-0.0841568,0.00269125,0.0432945,0.0428481,0.415221,0.376396,0.827092,-1.56118e-05,-3.74036e-05,7.2452e-05,-0.00141472,-0.000628957,-0.000854075,1.31774,-0.701937,0.0537364,-0.00506135,-0.0338383,-0.0113623,1.27885,0.197432,0.130286,1.79369,0.144425,0.415512,-0.23093,-0.000676234,0,9.92459e-06,-0.0015065,0,0,-0.011767,0.131346,-0.0428725,0.518691,0.00331372,0.0235541,0.00506135,-0.00196768,0.0715102,0.013431,0.0569621,-0.307186,0.0106576,0.911097,0.274637,-0.000276264,9.652e-05,2.79661e-05,-0.000894505,-0.00071258,-0.000434881,2.23984,1.75596,-0.435778,-0.0100478,-0.0568334,0.0468888,-1.28051,0.288799,0.148586,-1.59176,0.461968,-0.360777,-0.23093,-0.000734525,0.00012743,0.000270685,0.00071734,-0.000341353,-0.000157461,-0.011767,-0.198975,-0.268834,1.18821,0.00954628,0.0493439,0.0100478,-0.00196768
2020-02-06.14:42:04.939,0.106728,0.0221178,0.315786,-0.326442,-0.00427916,0.902432,0.281128,0.00320949,-0.00172639,-0.00272134,0.00119114,0.0175332,0.000833839,-0.580552,0.716184,-0.775666,0.019742,-0.0267897,-0.0178026,0.178185,0.302413,-0.115643,-0.90695,0.526994,0.00296064,0.503309,-0.00886493,0.0100202,-0.00802218,0.0255092,0.00732554,0,0.0119371,-0.236325,-0.00862543,-0.261759,0.0724121,0.0138371,-0.00204305,0.000968139,-0.0980098,0.0547243,0.308874,0.0520945,0.420224,0.389042,0.818134,-0.00121051,0.00254778,-0.00872055,0.0172391,0.000502749,-0.0012168,-0.621001,-0.83913,-0.155687,-0.0335793,-0.0193374,0.0108801,-0.211379,0.281282,-0.0199824,1.08445,0.331592,-0.0266457,-0.23093,0.00418516,0.0262537,-0.00457596,-0.0224562,0,0.0158358,-0.0114394,-0.0241551,-0.157752,-0.372241,-0.0781476,0.0105026,0.000156935,-0.00195696,-0.0841567,0.00269041,0.0432941,0.042851,0.415222,0.376394,0.827093,-1.67758e-05,3.43453e-07,7.26651e-05,-0.0014926,-0.000633169,-0.000557281,1.3884,-0.664474,0.040397,-0.00554334,-0.034878,-0.0120483,1.27885,0.197424,0.130286,1.79369,0.144425,0.415512,-0.23093,-0.000531496,0.000270588,9.73004e-06,-0.0015065,0,0,-0.0114394,0.137954,-0.0372082,0.501819,0.00300081,0.0241392,0.00554334,-0.00195696,0.0715102,0.013431,0.0569621,-0.307198,0.0106204,0.911097,0.274624,-0.000195228,1.33861e-05,0.000148966,-0.000599489,0.000122838,0.000413875,2.21912,1.81185,-0.469181,-0.00860184,-0.0550009,0.0446116,-1.28051,0.288799,0.148586,-1.59176,0.461968,-0.360695,-0.23093,0.000472948,0.000112057,0.000237854,0.000702232,-0.000336029,0.000259325,-0.0114394,-0.199919,-0.275914,1.16853,0.00860754,0.0470123,0.00860184,-0.00195696
2020-02-06.14:42:04.959,0.106777,0.0220708,0.315725,-0.326296,-0.00420249,0.902437,0.281284,0.00246639,-0.00239181,-0.00290205,0.000475507,0.0241447,-0.00768799,-0.593047,0.658538,-0.702298,0.0196653,-0.0264921,-0.0170038,0.178036,0.302665,-0.115868,-0.906351,0.526994,0.00296064,0.503309,-0.0073795,0.012116,-0.0111822,0.0346,0.00705569,0,0.0115511,-0.238444,-0.0225626,-0.253955,0.0706527,0.0135553,-0.000759416,0.00106463,-0.0980225,0.0547701,0.308728,0.0521554,0.42008,0.389241,0.81811,0.000404825,0.00121003,-0.00586978,0.00904645,-0.000934209,-0.000569275,-0.635038,-0.76206,-0.119035,-0.0330572,-0.0191731,0.0106923,-0.21133,0.281723,-0.0200551,1.08405,0.331592,-0.0266457,-0.23093,0,0.0191712,-0.0057608,-0.0186779,0,0.0151413,-0.0111203,-0.0209766,-0.171607,-0.362053,-0.0770919,0.0104713,0.00025086,-0.00198912,-0.0841571,0.0026908,0.0432953,0.0428476,0.415218,0.376394,0.827094,4.24843e-06,2.17164e-05,1.45382e-05,-0.00146766,-0.000131384,-0.000363428,1.34346,-0.729086,0.0656231,-0.00610567,-0.0343407,-0.0117235,1.27884,0.197432,0.130286,1.79369,0.144425,0.415512,-0.23093,0,0.000183921,9.54002e-06,-0.0015065,0,0,-0.0111203,0.133706,-0.0438165,0.544,0.00306339,0.0239254,0.00610567,-0.00198912,0.0715098,0.0134323,0.0569643,-0.307221,0.0106647,0.911112,0.274547,0.000254636,-5.62991e-05,-5.15412e-05,-8.61709e-05,-0.000284824,0.000850133,2.24055,1.76076,-0.457795,-0.0103692,-0.056854,0.0465172,-1.28051,0.288807,0.148587,-1.59155,0.461968,-0.360613,-0.23093,0.000441413,-2.67823e-05,-0.00025925,0.000642382,-0.000330786,0.000890854,-0.0111203,-0.200391,-0.270722,1.17134,0.00904562,0.0492218,0.0103692,-0.00198912
2020-02-06.14:42:04.979,0.10683,0.0220479,0.31566,-0.326119,-0.00413094,0.902439,0.281484,0.00205982,-0.00108341,-0.00284457,0.00284312,0.0245376,-0.0098169,-0.613675,0.599361,-0.661665,0.0193582,-0.0263182,-0.016313,0.177888,0.302885,-0.11601,-0.90566,0.526994,0.00296064,0.503309,-0.00591279,0.0100094,-0.0067154,0.034924,0.00679957,0,0.0111815,-0.231027,-0.0434088,-0.250556,0.0682775,0.013618,-0.000101945,0.0010003,-0.0979955,0.054777,0.308649,0.052111,0.419952,0.389414,0.818096,0.000983045,-0.00128195,-0.00239786,-0.00206834,-0.00483523,0.000566711,-0.620924,-0.728225,-0.101121,-0.0331248,-0.0190925,0.0107084,-0.211379,0.282006,-0.0201808,1.08369,0.331592,-0.0266457,-0.23093,-0.00121961,0.0108674,-0.00898085,-0.0197666,0,0.0145279,-0.010826,-0.0236253,-0.171047,-0.351075,-0.0770919,0.0103773,0.000156935,-0.00195696,-0.084157,0.00269209,0.0432949,0.0428451,0.41522,0.376398,0.827092,2.46538e-05,-7.0659e-07,-3.91586e-05,-0.001358,0.000334168,-0.00051596,1.36081,-0.689484,0.0865491,-0.00433835,-0.0333985,-0.0118697,1.27885,0.197439,0.130286,1.79369,0.144425,0.415512,-0.23093,0.000326926,-0.000197087,9.36767e-06,-0.0015065,0,0,-0.010826,0.135594,-0.0395683,0.549624,0.00275048,0.0229645,0.00433835,-0.00195696,0.0715114,0.0134317,0.0569646,-0.307218,0.010665,0.911114,0.274545,-0.000233809,2.23907e-05,0.000105829,-0.000105813,-0.000565558,0.000660846,2.25014,1.76883,-0.472658,-0.0101282,-0.0564883,0.0460888,-1.2805,0.288807,0.148586,-1.59155,0.461968,-0.360613,-0.23093,9.4322e-05,-2.70725e-05,0.000256463,0.000642382,-0.000325882,0.000858909,-0.010826,-0.202751,-0.272138,1.16572,0.00885787,0.0486411,0.0101282,-0.00195696
2020-02-06.14:42:04.999,0.106856,0.0220415,0.315611,-0.325982,-0.00408201,0.902438,0.281645,0.00144646,-0.000127715,-0.00261444,0.00382896,0.0178043,-0.00340518,-0.591977,0.604578,-0.654364,0.0193105,-0.0260405,-0.0160424,0.177813,0.303043,-0.116088,-0.90516,0.526994,0.00296064,0.503309,-0.00404905,0.0080253,-0.00338759,0.0237102,0.00656505,0,0.0108403,-0.222551,-0.0390823,-0.247416,0.0677497,0.0133988,-7.06372e-05,0.00115039,-0.0979582,0.0547526,0.308621,0.052,0.419843,0.389551,0.818094,0.00217884,-0.00113033,-0.000564025,-0.00553408,-0.00414603,0.000261138,-0.628522,-0.707592,-0.117506,-0.0317586,-0.0190349,0.0101817,-0.211454,0.282164,-0.0203382,1.08334,0.331592,-0.0266457,-0.23093,-0.00477287,0.00497466,-0.00645569,-0.0148018,0,0.0139471,-0.0105366,-0.0125006,-0.171299,-0.34825,-0.0743648,0.0106591,0.000282168,-0.00206416,-0.0841563,0.00269215,0.043293,0.042849,0.415227,0.376399,0.827088,9.41998e-06,-6.19565e-05,4.90214e-06,-0.00128453,-4.50008e-05,-0.00101716,1.36211,-0.663642,0.0449437,-0.00522201,-0.0334834,-0.0118259,1.27886,0.197432,0.130286,1.79369,0.144425,0.415512,-0.23093,-0.000252058,-0.000452379,9.18963e-06,-0.0015065,0,0,-0.0105366,0.136066,-0.0376802,0.501819,0.0026879,0.0230128,0.00522201,-0.00206416,0.0715117,0.0134312,0.0569655,-0.307215,0.0106653,0.911115,0.274543,-0.000206003,-8.41762e-06,0.000152497,-0.000125021,-0.000154296,0.000875072,2.23504,1.7824,-0.449599,-0.00940517,-0.0561339,0.044696,-1.28049,0.288807,0.148586,-1.59155,0.461968,-0.360613,-0.23093,0.000548108,-3.19912e-05,0.000247073,0.000642382,-0.000321006,0.000825628,-0.0105366,-0.200391,-0.271666,1.18259,0.00810688,0.0479555,0.00940517,-0.00206416
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