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
2020-02-04.17:26:09.903,0.156764,0.113974,0.352807,0.213432,-0.319668,-0.233008,0.893289,0.000300993,-0.000532266,-0.000369617,0.0182651,-0.0170599,-0.0281195,0.0240073,0.00402236,0.0107201,9.53694e-05,0.000146514,-9.36365e-05,0.0751086,-0.00563698,0.275115,-1.71327,0.817136,0.393765,3.03169,-0.00112569,0.00238471,-0.00219925,0.00147284,-0.0267309,-0.00619172,-0.017539,-0.00323533,-0.00743087,-0.00735021,1.19731e-05,9.28496e-05,-0.000101945,-0.000103926,-0.00699102,0.0941818,0.381297,0.0233352,-0.178248,0.831898,-0.525003,-0.00588404,-0.0106439,0.0425138,-0.0679858,-0.0654603,-0.7754,-0.0215229,-0.000916458,0.0334322,0.000265193,0.000315147,0.000152777,-0.506711,0.0742255,0.0861414,1.43822,1.21682,-0.201323,-2.77708,-0.00195778,-0.13502,0.0178507,-0.0100495,0.300994,0,-0.637388,-0.00985189,-0.00998336,-0.00528941,-0.000381161,0.000327439,-9.35298e-05,3.70842e-05,-0.049554,-0.0197958,0.0468207,0.0314081,-0.184737,0.824606,-0.53377,-0.00386287,-0.00994323,0.0186565,-0.237784,0.184507,-0.909704,-2.14894,-0.368847,1.50061,0.0563128,0.0703839,-0.0657843,1.25682,0.0575421,0.165867,-0.486271,-0.364546,-0.954872,-2.77708,-0.103826,0.0347353,0.00548135,-0.595762,-0.781652,0.245775,-0.637388,-0.162722,0.30831,1.29483,-0.00657433,-0.074802,-0.0563128,3.70842e-05,0.0930307,-0.00338556,0.051962,0.221743,-0.314971,-0.228898,0.893996,2.69337e-05,-0.000149963,0.000110624,-0.00273896,0.00329034,-0.000706148,-0.0360346,0.180267,1.56544,-0.0504552,-0.056784,-0.0166262,-1.19296,0.201077,0.12633,1.39171,-0.455273,0.0317059,-2.77708,0.00144599,-0.000687769,2.83836e-05,0,0,0.00429491,-0.637388,0.0299549,0.0752688,1.41599,0.00979661,0.0576104,0.0504552,3.70842e-05
2020-02-04.17:26:09.914,0.156763,0.113969,0.352794,0.21344,-0.31966,-0.233023,0.893287,0.000305046,-0.000319004,-0.000192396,0.01744,-0.016545,-0.0264454,0.010869,-0.00140455,0.00618464,-0.000115213,-0.00063717,0.0003553,0.0751086,-0.005574,0.275079,-1.71325,0.817136,0.393765,3.03169,-0.00107248,0.00127277,-0.00124353,0.000832794,-0.0253581,-0.00595983,-0.0169511,-0.00111634,-0.00402014,-0.00482751,-0.000691795,-0.000314156,0.000461601,3.54422e-05,-0.007424,0.0937909,0.38288,0.0198637,-0.175649,0.840015,-0.51296,-0.014294,-0.00940922,0.0377998,-0.0226719,-0.0821898,-0.725862,-0.00877851,0.00561899,0.0134981,-0.00049461,0.000417954,0.000305429,-0.506265,0.0688404,0.0871872,1.43782,1.22866,-0.204284,-2.80076,0.0204768,-0.134879,0.0313705,-0.0184912,0.316831,0,-0.565186,-0.00508415,-0.00282221,-0.00241322,-0.000557103,7.69744e-05,0.000751789,-0.000113005,-0.0496908,-0.0200882,0.047554,0.027478,-0.182265,0.833365,-0.521083,-0.00575827,-0.00556368,0.0183599,-0.281423,-0.177973,-0.864832,-2.29094,-0.251164,1.22505,0.0574375,0.0713703,-0.065731,1.25281,0.0594419,0.166083,-0.497804,-0.39324,-0.957121,-2.80076,-0.0955659,0.0570637,0.00320887,-0.451651,-0.744233,-0.131359,-0.565186,-0.1108,0.305478,1.33982,-0.00707499,-0.0739903,-0.0574375,-0.000113005,0.0930293,-0.00339331,0.0519615,0.221727,-0.314956,-0.228886,0.894008,-3.68399e-05,-8.15505e-05,-8.1166e-05,0.00134591,-0.00153078,0.00125017,-0.00743721,0.258911,1.54751,-0.0496519,-0.0575525,-0.0162616,-1.19294,0.201015,0.126331,1.39171,-0.455273,0.0317876,-2.80076,-0.000351693,-0.000953326,0,0,0,-0.00142675,-0.565186,0.032787,0.0832931,1.38506,0.0101095,0.0581079,0.0496519,-0.000113005
2020-02-04.17:26:09.934,0.156763,0.113969,0.352794,0.21344,-0.31966,-0.233023,0.893287,0.000305046,-0.000319004,-0.000192396,0.01744,-0.016545,-0.0264454,0.010869,-0.00140455,0.00618464,-0.000115213,-0.00063717,0.0003553,0.0751086,-0.005574,0.275079,-1.71325,0.817136,0.393765,3.03169,-0.00107248,0.00127277,-0.00124353,0.000832794,-0.0253581,-0.00595983,-0.0169511,-0.00111634,-0.00402014,-0.00482751,-0.000691795,-0.000314156,0.000461601,3.54422e-05,-0.007424,0.0937909,0.38288,0.0198637,-0.175649,0.840015,-0.51296,-0.014294,-0.00940922,0.0377998,-0.0226719,-0.0821898,-0.725862,-0.00877851,0.00561899,0.0134981,-0.00049461,0.000417954,0.000305429,-0.506265,0.0688404,0.0871872,1.43782,1.22866,-0.204284,-2.80076,0.0204768,-0.134879,0.0313705,-0.0184912,0.316831,0,-0.565186,-0.00508415,-0.00282221,-0.00241322,-0.000557103,7.69744e-05,0.000751789,-0.000113005,-0.0496908,-0.0200882,0.047554,0.027478,-0.182265,0.833365,-0.521083,-0.00575827,-0.00556368,0.0183599,-0.281423,-0.177973,-0.864832,-2.29094,-0.251164,1.22505,0.0574375,0.0713703,-0.065731,1.25281,0.0594419,0.166083,-0.497804,-0.39324,-0.957121,-2.80076,-0.0955659,0.0570637,0.00320887,-0.451651,-0.744233,-0.131359,-0.565186,-0.1108,0.305478,1.33982,-0.00707499,-0.0739903,-0.0574375,-0.000113005,0.0930293,-0.00339331,0.0519615,0.221727,-0.314956,-0.228886,0.894008,-3.68399e-05,-8.15505e-05,-8.1166e-05,0.00134591,-0.00153078,0.00125017,-0.00743721,0.258911,1.54751,-0.0496519,-0.0575525,-0.0162616,-1.19294,0.201015,0.126331,1.39171,-0.455273,0.0317876,-2.80076,-0.000351693,-0.000953326,0,0,0,-0.00142675,-0.565186,0.032787,0.0832931,1.38506,0.0101095,0.0581079,0.0496519,-0.000113005
2020-02-04.17:26:09.954,0.156771,0.113978,0.35279,0.21346,-0.319665,-0.233009,0.893284,-0.00023709,3.02769e-06,-0.000224207,0.0177411,-0.0156897,-0.0270704,0.00218793,-0.00579598,0.0153407,-1.32521e-05,-9.2803e-05,2.58198e-05,0.0750839,-0.005574,0.275105,-1.71327,0.817136,0.393765,3.03169,0.000736922,0.00100383,-0.000370077,0.000247841,-0.0247615,-0.00585686,-0.0166885,0.00312165,-0.00368572,-0.00497303,-0.000163969,-3.23829e-05,0.000117212,-8.24851e-05,-0.00770525,0.0936368,0.383616,0.0176673,-0.172363,0.844355,-0.506994,-0.0146924,-0.00714759,0.0370362,-0.028564,-0.124958,-0.768824,0.00221604,-0.00462887,-0.00296977,-0.000531535,0.000431354,0.000152511,-0.505893,0.0661636,0.0878916,1.43765,1.23459,-0.210205,-2.81261,0.0193448,-0.1364,0.0381177,-0.0189741,0.351956,-0.0421336,-0.591353,0.00180257,0.00116981,0.00187338,-0.000117248,0.000170899,0.000689173,1.56429e-05,-0.0498203,-0.0201844,0.0478945,0.0256196,-0.180464,0.838198,-0.514004,-0.00641831,-0.00384072,0.0164747,-0.176248,-0.169038,-0.865602,-2.23054,-0.198807,1.09876,0.0588031,0.0707748,-0.0628845,1.25105,0.0606466,0.166129,-0.505143,-0.40909,-0.958572,-2.81261,-0.082233,0.0634762,0.00209204,-0.360424,-0.788628,-0.114077,-0.591353,-0.0952236,0.290374,1.31732,-0.00707499,-0.0718384,-0.0588031,1.56429e-05,0.0930277,-0.00339043,0.0519584,0.221689,-0.314963,-0.228906,0.89401,-9.51985e-05,0.000201399,-0.000182854,0.00116941,-0.00284568,-0.000806566,0.011021,0.185974,1.55739,-0.0503748,-0.0586868,-0.0164731,-1.19298,0.201023,0.126331,1.39171,-0.455273,0.0318693,-2.81261,-0.00236517,0.000711428,0,0,0,-0.0020549,-0.591353,0.032787,0.0752688,1.38787,0.00998436,0.0590816,0.0503748,1.56429e-05
2020-02-04.17:26:09.974,0.156772,0.113997,0.352782,0.21349,-0.31967,-0.233004,0.893276,-0.000205594,0.000253492,-0.000279753,0.0179588,-0.0156646,-0.0260706,-0.00565678,0.00171319,0.0186682,0.00031117,-1.95806e-05,0.000179697,0.0750839,-0.005574,0.275158,-1.7133,0.817136,0.393765,3.03169,0.000681344,0.000802396,0.00038732,-0.000259388,-0.0241001,-0.00574111,-0.0163922,0.00471089,-0.00310969,-0.00183349,-0.000691795,0.000124158,-7.06372e-05,-9.32057e-05,-0.00802021,0.0935191,0.384376,0.0137341,-0.167946,0.849077,-0.500673,-0.0146733,-0.00468385,0.0361024,-0.258645,-0.442241,-0.555424,0.00640101,-0.00825065,0.015174,-0.000204033,0.000256911,4.90565e-05,-0.505497,0.0632979,0.088785,1.4372,1.24347,-0.219087,-2.82445,0.0170666,-0.137028,0.0446195,-0.0171068,0.343048,-0.426387,-0.352295,0.00180257,-0.00606836,-0.00411466,-0.000117248,0.000139591,0.000313476,-7.01224e-05,-0.0499235,-0.0202172,0.0482254,0.0217459,-0.176818,0.841893,-0.50939,-0.00467018,0.000189476,0.0162196,-0.374263,-0.513748,-0.554079,-1.95458,-0.153514,1.13687,0.0586425,0.067189,-0.0608463,1.24939,0.0619981,0.166175,-0.508288,-0.420567,-0.966529,-2.82445,-0.0761002,0.0692173,0.00204714,-0.258552,-0.442888,-0.504992,-0.352295,-0.11552,0.2545,1.27233,-0.0088273,-0.0704589,-0.0586425,-7.01224e-05,0.0930262,-0.00338863,0.0519554,0.221758,-0.314963,-0.228982,0.893974,-4.23459e-05,0.000137589,-7.82145e-05,0.00100705,-0.00170018,-0.000373422,0.00486999,0.27158,1.52891,-0.0479649,-0.0579491,-0.0153676,-1.19301,0.20103,0.126331,1.3915,-0.455273,0.0318693,-2.82445,-0.00127139,0.000701718,0,-4.36446e-05,0,-0.00176456,-0.352295,0.0346751,0.0865973,1.37662,0.010485,0.0597583,0.0506158,-7.01224e-05
2020-02-04.17:26:09.994,0.156765,0.114007,0.352778,0.2135,-0.319669,-0.233013,0.893272,-0.000131869,0.00066508,-0.000410157,0.0185363,-0.0158105,-0.0246087,-0.00233553,0.00990818,0.00391328,-0.000307038,0.000513874,-0.000172823,0.0751086,-0.005574,0.275184,-1.71332,0.817136,0.393765,3.03169,0.000514522,0.000630409,0.00158259,-0.00105986,-0.0232533,-0.00559041,-0.0160046,0.00100266,-0.000949096,0.00198533,0.000539799,0.000405931,0.000179828,-9.32057e-05,-0.00842204,0.0933708,0.385468,0.00913665,-0.16466,0.850689,-0.499131,-0.0124985,-0.00326359,0.035328,-0.0731659,-0.4155,-0.480464,0.0291337,-0.016059,0.00655153,0.000409051,9.88825e-05,0.000330418,-0.505076,0.0592355,0.0900335,1.43681,1.25235,-0.225009,-2.82445,0.0105989,-0.132933,0.0441057,-0.0179116,0.41927,-0.271092,-0.243582,0.0102785,-0.00573394,-0.00514389,-0.000908987,4.56663e-05,-0.000218762,-0.000102284,-0.0500854,-0.0202055,0.0486879,0.0163654,-0.171003,0.846596,-0.503751,-0.00534547,0.00159905,0.0138439,-0.0651436,-0.473601,-0.375046,-1.52445,-0.0588242,1.18253,0.0588835,0.0687863,-0.0536361,1.24716,0.0641218,0.166213,-0.512482,-0.434777,-0.97871,-2.82445,-0.0692678,0.070242,0.000345547,0.0574121,-0.371622,-0.429312,-0.243582,-0.147618,0.19833,1.1964,-0.00407103,-0.0690227,-0.0588835,-0.000102284,0.0930247,-0.00338698,0.0519526,0.221759,-0.314977,-0.228986,0.893968,9.12597e-06,-5.65591e-05,1.51039e-05,0.00113511,-0.000613901,0.00108533,-0.0887522,0.290869,1.48366,-0.0478042,-0.0554951,-0.0132684,-1.19304,0.20103,0.126331,1.3915,-0.455273,0.0318693,-2.82445,0.000358681,-0.000353711,0,-4.36446e-05,0,-0.00138493,-0.243582,0.0238186,0.0856532,1.36256,0.0120496,0.0566973,0.0478042,-0.000102284
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