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
2020-02-04.17:36:03.523,0.152572,0.0809246,0.285609,0.286989,-0.186851,-0.340741,0.875568,-0.0181423,-0.102629,0.0346579,1.24744,2.09796,0.424353,-0.0189072,-0.0490569,-0.0924101,6.72328e-05,-0.00109076,0.000562654,0.0737957,0.309593,0.0548485,-1.71807,1.02734,0.408568,2.69418,0.0344534,-0.0115799,-0.267964,-0.0108413,2.33864,-0.632878,-2.18102,-0.00694357,0.0363484,0.0204172,-0.00025194,-0.000345464,0.0012443,4.61628e-05,-0.0110937,0.0837281,0.31784,0.632987,-0.228384,0.667901,-0.317926,-0.000766637,-0.00366586,0.00722295,-0.018547,-0.0118794,-0.000952583,-0.00152945,-0.00340365,-0.00731511,-0.000110743,-0.000141742,1.17032e-05,-0.446862,0.297437,-0.0186229,1.71946,0.118426,0.145071,-3.15604,0.00128594,-0.0215041,0.00102564,0.00102002,0,-0.00769315,0,0.00233232,0.000254097,0.00172786,0.000410578,-0.000142182,-0.000187454,4.78048e-05,-0.090515,0.00827577,0.0120561,0.634481,-0.229756,0.666006,-0.317935,-0.000232213,-0.000659024,0.0032159,-0.00553526,-0.0222077,0.0011983,-1.09513,-0.43871,0.62854,0.0207254,0.0358407,-0.018271,1.51068,0.119007,0.116962,-1.29148,0.0326561,-0.00147183,-3.15604,-0.0294163,0.00912303,7.46682e-05,-0.00348474,0.011757,-9.1375e-05,0,0.0619589,0.0911812,0.591805,-0.0174011,-0.025902,-0.0207254,4.78048e-05,0.110768,-0.00406542,0.00320833,0.290822,-0.205161,-0.343995,0.868907,-0.00914481,-0.0219075,-0.000654456,0.948922,1.63517,0.0717017,8.17878,-7.89375,5.72182,-0.0686104,-0.0348121,-0.0767147,-1.56558,0.029663,0.098194,0.760965,-0.764754,0.677024,-3.15604,0.222763,-0.0916879,0.0116269,-2.34669,-0.256883,2.06642,0,0.595435,-0.84753,1.12354,0.00391385,0.000766855,0.0686104,4.78048e-05
2020-02-04.17:36:03.538,0.152011,0.0778073,0.286901,0.294565,-0.150841,-0.351067,0.875917,-0.0187938,-0.106734,0.0494261,1.58281,2.33058,-0.00950787,-0.0170083,-0.0411224,-0.0828337,-0.000288572,-0.000474626,0.000232586,0.0748609,0.308428,0.0471249,-1.71826,1.0984,0.381922,2.62313,0.0368706,-0.057765,-0.257199,-0.019992,2.33564,-0.913328,-2.7128,-0.00111634,0.0269391,0.0167787,0.000275886,6.15414e-05,0.000492909,0.000153369,-0.0111051,0.0836476,0.317983,0.633013,-0.228316,0.667993,-0.317729,0.000103355,-0.00175042,0.00260042,-0.00760207,-0.0077632,0.00258322,0.0138266,-0.0122873,-0.0114679,7.05885e-05,-5.15765e-05,1.01758e-05,-0.446837,0.297028,-0.0186343,1.71962,0.118426,0.145071,-3.15604,0,-0.00674565,-0.00158755,0.00106319,0,-0.0074418,0,0.00339182,-0.00657263,-0.00217756,-0.000205219,-4.82581e-05,6.30108e-05,-5.79846e-06,-0.0905209,0.00824591,0.01214,0.634459,-0.22936,0.666328,-0.317588,-0.000128816,-0.00134735,0.00243813,0.0465298,-0.0122886,0.00392275,-0.908004,-0.629593,0.611789,0.0191188,0.0314848,-0.018089,1.50985,0.119146,0.116963,-1.29253,0.033066,-0.00139769,-3.15604,-0.0263969,2.33396e-06,4.37785e-05,-0.0522565,0.0134318,-0.0031214,0,0.0459103,0.101566,0.586181,-0.0167753,-0.0230946,-0.0195205,-5.79846e-06,0.110573,-0.00493036,0.0032076,0.30178,-0.172321,-0.349203,0.870225,-0.00574445,-0.0330235,0.00268092,1.64741,1.68621,0.653226,10.1662,-7.29322,9.36267,-0.0739927,-0.0245387,-0.127433,-1.55719,0.0263114,0.0985349,0.67604,-0.78279,0.739758,-3.15604,0.34508,-0.135567,0.011281,-3.00662,-0.62277,1.97206,0,0.938121,-0.875851,1.19665,0.00360093,0.0112803,0.0727877,-5.79846e-06
2020-02-04.17:36:03.558,0.151691,0.0757122,0.287957,0.300957,-0.122125,-0.371051,0.869961,-0.0143855,-0.107686,0.0572023,2.31501,3.17758,-1.35601,-0.00872677,-0.0397101,-0.0433221,-0.000720851,5.92136e-05,8.72594e-05,0.0754802,0.306948,0.0421093,-1.71863,1.14281,0.364159,2.54615,0.0252215,-0.084417,-0.246344,-0.00862645,2.3693,-1.00141,-4.42752,0.00312165,0.0191249,0.00753328,0.00062777,0.000343314,0.000430293,0.000399945,-0.0110801,0.0836237,0.318009,0.633017,-0.228282,0.668016,-0.317696,0.000306033,-0.000698672,0.000982665,-0.00304082,-0.00626178,0.00426771,0.0311194,-0.0246645,-0.0102339,-7.08486e-06,-0.000160975,0.000114809,-0.446887,0.296996,-0.018708,1.71967,0.118426,0.145071,-3.15604,-0.000580311,-0.00215793,-0.00115455,0.000773203,0,-0.00728421,0,0.000213329,-0.00415464,-0.00291222,-0.000557103,-0.000110874,-0.000156146,-5.79846e-06,-0.0905221,0.00821649,0.0121827,0.634362,-0.229402,0.666498,-0.317394,-0.000164803,-0.00131721,0.00192389,0.0246433,-0.00834775,-0.00316115,-1.0439,-0.659828,0.61335,0.0175925,0.0321537,-0.017978,1.50938,0.119108,0.116964,-1.29274,0.033066,-0.00115265,-3.15604,-0.0220537,-0.00187848,-4.6283e-05,0.0261193,0.0103183,0.00107461,0,0.0544066,0.111006,0.577745,-0.0171508,-0.022675,-0.0175925,-5.79846e-06,0.110412,-0.00566575,0.00324671,0.315392,-0.146461,-0.353961,0.86821,-0.00926274,-0.03714,-0.00186871,2.9514,2.08792,0.22516,11.727,-6.31071,12.4586,-0.0946382,0.00341443,-0.204118,-1.54853,0.0230369,0.0987967,0.598665,-0.791535,0.785686,-3.15604,0.467473,-0.174764,0.0119406,-4.754,-0.0660883,2.55637,0,1.27184,-0.870187,0.982933,-0.00760136,0.0352447,0.0946382,-5.79846e-06
2020-02-04.17:36:03.578,0.151443,0.0734662,0.28925,0.306268,-0.0904489,-0.392781,0.862405,-0.0103434,-0.106659,0.0666349,1.64571,2.69217,-0.653497,-0.00488184,-0.0582972,-0.0688393,0.000378666,0.000190869,0.000203236,0.0758766,0.304838,0.037145,-1.71874,1.19018,0.343434,2.46325,0.0154945,-0.118266,-0.226983,-0.000480807,2.17699,-0.94265,-3.25957,0.00312165,0.0306125,0.0130777,-0.000779766,0.000124158,-0.000258486,-0.000211133,-0.0110586,0.0835986,0.318008,0.633028,-0.228281,0.668023,-0.317661,0.000425427,-0.00105642,-0.000673328,-0.00117366,-0.00297278,0.00201204,0.0098115,-0.00450467,0.00870316,0.000213256,8.34456e-05,-1.7039e-05,-0.446911,0.297059,-0.0188236,1.71975,0.118426,0.145071,-3.15604,0.000402298,0.00408481,-0.00498788,0.00334039,0,-0.00713101,0,-0.00349491,-0.00431922,-0.00367457,-0.000205219,7.69744e-05,-0.000218762,-1.65191e-05,-0.0905258,0.00817959,0.0122284,0.634208,-0.229387,0.666657,-0.317381,-8.71492e-05,-0.00180696,0.00235714,0.0162229,-0.0141386,-0.0156185,-1.6408,-0.585383,0.683944,0.0190385,0.0384748,-0.0177054,1.50884,0.119023,0.116963,-1.29274,0.0332027,-0.00126407,-3.15604,-0.0271522,-0.00369957,4.18624e-05,0.0166901,0.00394541,0.00502799,0,0.113409,0.120918,0.628362,-0.0168379,-0.0235659,-0.0190385,-1.65191e-05,0.110239,-0.00635903,0.00326637,0.332692,-0.116575,-0.370094,0.85951,-0.00907476,-0.0320277,0.00932905,2.17229,2.74737,-1.10188,12.6373,-4.61258,14.6874,-0.103234,-0.00220161,-0.245863,-1.53771,0.0192373,0.0989225,0.496546,-0.775685,0.842842,-3.15604,0.596836,-0.207199,0.0024692,-4.47339,1.5575,3.21243,0,1.48,-0.850362,0.586429,0.0069804,0.0700102,0.103234,-1.65191e-05
2020-02-04.17:36:03.598,0.151342,0.072394,0.289949,0.307313,-0.0774878,-0.399522,0.860195,-0.00963553,-0.106773,0.071588,1.35969,2.50925,-0.53629,0.00217511,-0.0511799,-0.0555571,6.66196e-05,0.000753625,3.55657e-05,0.0760252,0.303547,0.0349122,-1.71874,1.2109,0.334552,2.43364,0.0140544,-0.13441,-0.219536,-4.23115e-05,2.03112,-0.831083,-2.83867,0.00735964,0.0211262,0.00644513,-0.00025194,0.000437239,-0.000477643,-0.000382663,-0.0110688,0.0835808,0.317991,0.633039,-0.228311,0.668018,-0.317628,0.000244768,-0.00220648,-0.00184544,-0.00151143,0.00053717,-0.00229233,0.00944231,0.00620643,0.00484192,0.000237062,0.000232164,4.34495e-05,-0.446862,0.297122,-0.0188866,1.71979,0.118426,0.145071,-3.15604,0.00256775,0.00919751,-0.0100302,0.0067172,0,-0.00705778,0,-0.000846168,-0.00281695,-0.00473149,-0.00029319,0.000233515,-0.000187454,3.70842e-05,-0.0905259,0.00816083,0.0122534,0.63415,-0.229376,0.666719,-0.317374,-6.27126e-05,-0.00177936,0.00219733,0.0132925,-0.0111458,-0.0135455,-1.84219,-0.470324,0.758283,0.0197615,0.0412819,-0.0167636,1.50854,0.118984,0.116964,-1.29274,0.0333393,-0.00129381,-3.15604,-0.025992,-0.0042809,5.20658e-05,0.0140874,0.00692477,0.00477881,0,0.135594,0.114782,0.695852,-0.0158991,-0.0245397,-0.0197615,3.70842e-05,0.110145,-0.00669444,0.00343933,0.332203,-0.102408,-0.381844,0.856358,-0.00950765,-0.0314458,0.0224374,0.759077,3.28065,-1.42026,12.8784,-4.3695,14.9459,-0.100181,-0.00370514,-0.256187,-1.53106,0.0170055,0.0989354,0.456076,-0.756556,0.879273,-3.15604,0.663615,-0.215186,0.000610609,-3.3726,2.0883,3.67874,0,1.50124,-0.862634,0.538623,0.00654232,0.0825036,0.100181,3.70842e-05
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