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
2020-02-04.17:15:24.186,0.0842104,0.112372,0.364896,0.247474,-0.599593,-0.280696,0.707428,-0.00122345,-0.00421885,0.00178925,-0.131892,0.00761326,0.0140815,-0.00241235,0.01195,0.00484691,-0.000174126,-0.000188554,-2.87882e-05,0.305117,-0.0029602,0.236726,-1.71397,0.195402,-0.0532915,3.1442,0.00106042,0.00127702,-0.0127187,0.00851769,0,0,0.123139,0.0025919,-0.000866806,0.00213085,1.19731e-05,-0.000188923,0.000336368,-6.10438e-05,-0.046135,0.0844633,0.349586,0.543193,-0.228853,0.772525,-0.236164,0.0244332,-0.00382596,-0.0102675,-0.64562,-0.782716,-1.17474,0.0198739,0.00203808,-0.0361441,0.000243815,-0.00122838,0.000235554,-0.37916,0.141712,0.0811661,1.63697,0.381922,0.150993,-3.28631,-0.0541152,0.0716607,-0.0587768,0.00313924,1.30076,0.0447378,-1.11723,0.0139868,-0.00249305,-0.000122635,-0.000117248,-0.00120666,-0.000156146,0.000272939,-0.0860302,0.00918629,0.0244757,0.553782,-0.230588,0.762369,-0.242794,0.00483637,-0.0040572,-0.000451506,-0.479548,-0.518819,-0.871,-5.14382,2.16786,0.19336,0.0297227,0.131075,-0.0143386,1.43948,0.175584,0.123553,-1.42002,-0.171752,0.0800184,-3.28631,0.0611056,-0.0383887,0.00557341,-0.742128,-0.88601,0.26319,-1.11723,0.481113,-0.157101,0.898322,-0.0261001,-0.0827007,-0.0297227,0.000272939,0.0874779,0.0148627,0.0276273,0.255068,-0.598453,-0.275202,0.707855,0.000349006,-0.00110255,0.00142456,0.0308739,0.288107,0.00834097,-2.00359,0.162183,-0.0772875,-0.0545521,-0.0110007,0.0215569,-1.42934,0.231481,0.123325,1.32524,-0.0527417,-0.174585,-3.28631,-0.0011069,0.00233119,-4.20623e-05,0,-0.22034,0.188243,-1.11723,-0.212191,0.131911,0.057757,0.0222506,0.0328107,0.0545521,0.000272939
2020-02-04.17:15:24.202,0.0841293,0.112187,0.364965,0.248133,-0.597424,-0.280063,0.709281,-0.00300981,-0.00623902,0.00230347,-0.111244,0.0407587,0.0316811,0.0170419,0.00601604,-0.00137334,0.000485522,0.000252428,-4.22523e-06,0.30524,-0.00283423,0.236126,-1.71371,0.201323,-0.0532915,3.1442,0.00499363,0.00455013,-0.0205308,0.0126174,0.0381061,0,0.104139,-0.00164609,-0.005687,-0.00494534,-0.000867737,0.00024939,-0.000101945,-8.24851e-05,-0.0451372,0.0844742,0.349212,0.528747,-0.228294,0.789297,-0.212881,0.0371607,0.00279483,-0.0130521,-0.867579,-1.23353,-1.63695,0.0576884,-0.0102031,-0.0369887,-0.000307752,-0.00145134,-9.02838e-06,-0.381538,0.144231,0.0793568,1.63714,0.435214,0.153953,-3.33368,-0.0910009,0.0873319,-0.0587826,0.00438729,1.92534,-0.104319,-1.54398,0.0187545,-0.0154777,-0.00792994,0.000146665,-0.00133189,0.000845714,-0.000134446,-0.0858357,0.00902802,0.0245726,0.542385,-0.227025,0.777197,-0.22415,0.00899782,-0.00805719,0.00942782,-0.80719,-1.24367,-2.1521,-7.36192,2.35596,-0.114297,0.0287587,0.160747,-0.0105103,1.44139,0.174356,0.123814,-1.45839,-0.211103,0.088665,-3.33368,0.0715663,-0.0407108,0.0138874,-1.5148,-2.1334,0.872133,-1.54398,0.70249,-0.171262,1.22734,-0.0257246,-0.0921912,-0.0287587,-0.000134446,0.0874814,0.0148271,0.0276467,0.254552,-0.596443,-0.275781,0.70951,-0.000228202,-0.000962404,-0.00041261,0.00145931,-0.0131821,0.0183776,-1.8904,0.236796,0.028405,-0.0464385,-0.00911778,0.0231654,-1.42936,0.231381,0.123324,1.32566,-0.0569774,-0.171131,-3.33368,0.000793513,-0.00915048,0,0.0017734,0,-0.0137704,-1.54398,-0.197559,0.126247,0.175865,0.0240029,0.0301323,0.0464385,-0.000134446
2020-02-04.17:15:24.222,0.0840734,0.112056,0.364996,0.248013,-0.597425,-0.280003,0.709346,-0.00278223,-0.00677937,0.00130251,-0.100424,0.0386036,0.0316375,0.00809693,0.00468431,-0.00367621,0.000351385,-0.000129199,-5.27092e-05,0.305315,-0.00267678,0.235679,-1.71371,0.201323,-0.0532915,3.1442,0.0033984,0.00916815,-0.0232699,0.0116293,0.0375878,0,0.0948418,-0.00164609,-0.00269298,-0.00165675,-0.000427882,-0.000126307,-0.000258486,-7.17644e-05,-0.0443706,0.0844883,0.348936,0.513222,-0.232068,0.801048,-0.202656,0.0383545,-0.00102401,-0.0145352,-0.249106,-1.46688,-1.67319,0.00449548,-0.0116669,-0.0105076,0.000430173,-0.000925691,-0.000205462,-0.383371,0.146121,0.0779933,1.6376,0.479623,0.150993,-3.35144,-0.0896871,0.0997853,-0.0748826,0.0366026,2.20467,-0.122106,-0.971747,0.00233232,-0.00116589,0.00287138,-0.000117248,-0.00101881,-0.000281378,-0.000177329,-0.0855997,0.0088787,0.0247763,0.526868,-0.230171,0.791928,-0.205625,0.013816,-0.00639248,0.00812715,-0.420297,-1.62895,-1.76331,-8.99287,2.56151,-0.754844,0.0355067,0.165154,0.00121927,1.44329,0.173545,0.124172,-1.48901,-0.260156,0.106121,-3.35144,0.104627,-0.0403131,0.0197139,-1.02697,-2.31585,0.440086,-0.971747,0.890826,-0.185894,1.32576,-0.0190909,-0.0825189,-0.0355067,-0.000177329,0.0874777,0.0148079,0.0276458,0.254396,-0.596108,-0.27561,0.709913,-0.000117719,-0.0014593,0.000288297,-0.0289507,0.0919158,0.0363882,-1.76666,0.144099,0.141656,-0.0448319,-0.00696266,0.0227743,-1.42935,0.231242,0.123325,1.32629,-0.0577972,-0.170626,-3.35144,0.00230321,-0.00856498,3.43257e-05,0.0450723,-0.0777421,0.0472484,-0.971747,-0.184814,0.107838,0.265851,0.0238777,0.0268053,0.0448319,-0.000177329
2020-02-04.17:15:24.242,0.08403,0.111913,0.36502,0.248366,-0.596359,-0.279618,0.710271,-0.00199514,-0.00650896,0.00128762,-0.0929489,0.0292366,0.0439033,0.00587082,0.00819504,0.00983261,-1.79537e-06,6.73403e-05,7.65671e-05,0.305339,-0.00248783,0.235201,-1.71369,0.204284,-0.0532915,3.1442,0.00125877,0.00793312,-0.0215732,-0.00240784,0.0394837,0,0.0870563,0.00312165,-0.00319198,-0.00197901,-0.000163969,6.15414e-05,0.00014852,4.61628e-05,-0.0435946,0.0843788,0.348645,0.494551,-0.238552,0.812232,-0.196955,0.0389556,-0.0101603,-0.0144855,0.307955,-1.69193,-1.73282,-0.00284315,-0.0385353,0.00589261,-0.000151641,-0.000694394,-0.000411523,-0.385105,0.148262,0.0761938,1.63851,0.526994,0.145071,-3.35736,-0.0828294,0.113847,-0.105253,0.0594178,2.48504,-0.0873455,-0.458956,-0.00614365,-0.00317243,0.00657237,0.000938404,-0.000737037,-0.000156146,-0.000145167,-0.085293,0.00873034,0.0249074,0.508703,-0.234447,0.804533,-0.19744,0.01392,-0.00878711,0.00560831,0.452834,-1.88317,-1.49382,-10.8289,2.61572,-1.90395,0.0322934,0.188032,0.00262112,1.44573,0.172588,0.124603,-1.49991,-0.309208,0.110099,-3.35736,0.126529,-0.0502632,0.0206599,-0.0866186,-2.55554,0.18373,-0.458956,1.10323,-0.176926,1.2189,-0.0204051,-0.0886386,-0.0322934,-0.000145167,0.087476,0.0147799,0.027656,0.254367,-0.595329,-0.275778,0.710511,6.39656e-05,-0.00198076,0.00118166,-0.00528391,0.158487,0.0379431,-1.74935,-0.0249087,0.303168,-0.0437876,-0.00543616,0.0220239,-1.42928,0.231103,0.123326,1.32629,-0.0594369,-0.169534,-3.35736,0.00769973,-0.00753625,3.1067e-05,0.0275264,-0.127447,0.0878163,-0.458956,-0.18623,0.0837652,0.398019,0.0233145,0.0249933,0.0437876,-0.000145167
2020-02-04.17:15:24.262,0.0840038,0.111799,0.365051,0.248253,-0.59635,-0.279571,0.710336,-0.000893611,-0.00531143,0.00143003,-0.0846953,0.0286206,0.0436864,0.00572665,-0.00314396,-0.0107547,0.000401484,0.000162822,7.83275e-05,0.305339,-0.00239335,0.234844,-1.7136,0.204284,-0.0532915,3.1442,-0.000988154,0.00418972,-0.0163501,-0.00130238,0.0394837,0,0.080201,-0.00429483,-0.000943833,-0.0013934,-0.000779766,0.000155466,-3.93291e-05,3.28019e-06,-0.0427366,0.0840503,0.348339,0.474788,-0.249094,0.822027,-0.191832,0.0416775,-0.0185005,-0.0148297,0.355378,-1.52074,-1.44536,-0.0214988,-0.024768,-0.0138469,2.97298e-05,0.000547236,6.92599e-05,-0.386839,0.150876,0.0735537,1.63924,0.577325,0.145071,-3.35736,-0.0817835,0.130644,-0.136528,0.0239545,2.16687,-0.0873455,-0.292132,-0.00243541,0.0068129,0.0132326,-0.00029319,0.000546596,3.94597e-07,-2.72398e-05,-0.0850192,0.00853569,0.0249945,0.486791,-0.244276,0.816176,-0.192928,0.0151854,-0.00875898,0.00273138,0.63518,-2.12651,-1.49517,-11.4512,2.73268,-2.77548,0.0328557,0.187843,0.00892151,1.44871,0.171491,0.125032,-1.4974,-0.365776,0.114162,-3.35736,0.164182,-0.0563187,0.0232877,0.1068,-2.82658,0.0468446,-0.292132,1.20189,-0.167486,1.23015,-0.0156488,-0.0834306,-0.0328557,-2.72398e-05,0.0874751,0.0147556,0.027669,0.254382,-0.594978,-0.275582,0.710877,1.47267e-05,-0.00131521,0.000979631,-0.00139724,0.0166292,0.032837,-1.55319,-0.147587,0.374711,-0.0409759,-0.00704986,0.0232728,-1.42915,0.230987,0.123328,1.32671,-0.0602567,-0.169355,-3.35736,0.0115077,-0.00546165,6.22084e-05,0.00910825,-0.0207504,-0.00954765,-0.292132,-0.170181,0.0606362,0.437388,0.0240655,0.0250056,0.0409759,-2.72398e-05
2020-02-04.17:15:24.282,0.0839866,0.111718,0.365082,0.24818,-0.596353,-0.279511,0.710383,-0.000629267,-0.00397168,0.00131679,-0.0768029,0.0285855,0.0417965,-0.000595643,-0.00737582,0.0165962,1.56623e-06,-0.000185898,1.11226e-05,0.305339,-0.00236186,0.234602,-1.71359,0.204284,-0.0532915,3.1442,-0.000738591,0.00211784,-0.0118813,-0.000786619,0.0394837,0,0.0745534,0.00471089,0.00047615,-0.00253692,-0.00025194,-0.000188923,0.000242444,-3.96024e-05,-0.0419091,0.0835927,0.348086,0.4573,-0.255652,0.83138,-0.185272,0.0438169,-0.027395,-0.0129863,0.530226,-1.65929,-1.27169,-0.0161517,-0.0301128,-0.00110887,6.89423e-05,0.000545973,4.55005e-06,-0.3884,0.153458,0.0706032,1.63987,0.621734,0.142111,-3.36329,-0.0798317,0.1398,-0.16596,0.0385831,2.15776,-0.205126,0,-0.00614365,0.00240416,0.00959408,0.000234636,0.00048398,-0.000469227,0.000208615,-0.0847269,0.00839393,0.0250026,0.46584,-0.25097,0.827387,-0.188249,0.0149162,-0.00631387,-0.00169106,0.323904,-2.03638,-1.55513,-10.892,3.07791,-3.25712,0.030526,0.178964,0.00153312,1.45221,0.170333,0.125482,-1.49844,-0.419337,0.114956,-3.36329,0.197702,-0.0662688,0.0232537,-0.229708,-2.7615,0.108363,0,1.17262,-0.211384,1.15703,-0.0198418,-0.0788417,-0.030526,0.000208615,0.087476,0.0147377,0.0276876,0.254481,-0.594871,-0.275502,0.710962,8.07971e-05,-0.000713454,0.00102841,-0.00584571,0.00571861,0.0122769,-1.4993,-0.39287,0.442675,-0.0425022,-0.00893962,0.0230677,-1.42894,0.230933,0.123329,1.32671,-0.0603933,-0.169489,-3.36329,0.0109485,-0.00109653,7.5916e-05,0.00709544,0,-0.00595888,0,-0.173014,0.0308989,0.485194,0.0248164,0.0271191,0.0427432,0.000208615
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