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
2020-02-04.18:56:38.61,0.0884181,0.0747939,0.348996,0.468323,0.584936,-0.498857,-0.435507,0.149169,0.0101112,-0.00854981,0.0350432,0.239084,-0.103629,-0.0230243,-0.00795227,0.00244655,-0.000854723,-0.000494816,-4.92162e-05,0.259734,0.114975,0.0974883,-1.70456,0.0828979,-0.334552,-0.88227,-0.401052,-0.11358,0.163189,0.00978735,0.0339309,0.6225,0,-0.00270558,-0.00509518,-0.00905519,-0.00104368,-0.000314156,-0.000790724,-6.10438e-05,-0.0258954,0.0779131,0.38801,0.530621,-0.368951,0.544629,-0.534505,0.000671214,-0.00275803,-0.00162078,-0.000645422,0.00449552,-0.00679939,-0.00602317,0.0333128,0.00418617,-0.000317135,0.000305308,-9.91748e-05,-0.445846,0.0488118,0.0717921,1.50676,0.0888192,0.272379,3.86659,0.00216544,0.0111235,-0.011493,0.00601446,0,0,0,-0.000316419,0.0118293,0.00645455,0.000762462,-1.695e-05,0.000125627,-7.01224e-05,-0.0738394,0.0128003,0.0316876,0.531875,-0.36845,0.543392,-0.534864,-8.50602e-05,-0.000396365,-0.000202209,-0.000924436,-0.000730106,0.000761383,-0.294508,0.138647,-1.03268,0.0140578,0.025971,-0.00113604,1.40165,0.20266,0.137241,-0.663459,0.0886771,0.0678505,3.86659,-0.000461131,-0.00341222,-0.000167074,-0.000907343,0.00382455,-0.00255029,0,-0.0036518,0.00432951,-1.0617,-0.00169289,-0.0231542,-0.0140578,-7.01224e-05,0.0949224,0.0118853,0.031767,0.470715,0.579303,-0.500791,-0.438229,0.0580482,0.000413411,-0.00360426,0.0371839,0.00512771,0.0518237,4.57213,-2.44474,-3.38656,-0.0849179,-0.133498,-0.0285184,-1.38152,0.260997,0.117314,-2.60728,0.309755,0.408197,3.86659,0.0655366,0.131436,-0.0558906,0,0.141348,0.120299,0,0.0526119,0.515191,-0.642452,0.00960887,0.0922434,0.0849179,-7.01224e-05
2020-02-04.18:56:38.79,0.0914347,0.0750283,0.348855,0.466777,0.582904,-0.500003,-0.438564,0.14638,0.0111886,-0.00575066,0.0214296,0.341042,-0.218367,-0.0113046,0.0252779,-0.0124956,-4.49292e-05,-0.000587109,4.30769e-05,0.251634,0.112551,0.100886,-1.70444,0.0858585,-0.319749,-0.88227,-0.393788,-0.119361,0.163513,0.00629099,0.0309378,0.7722,0,-0.00800307,0.00671632,0.00239419,-0.000339911,0.000312006,-0.000634183,5.68835e-05,-0.025873,0.0778566,0.387973,0.530621,-0.368967,0.544633,-0.53449,0.00139429,-0.00250913,-0.00148893,-0.000419425,0.00104134,-0.00167499,0.00161905,-0.0112929,-0.0251753,-9.03566e-05,0.000167469,-1.90699e-05,-0.445821,0.0490638,0.0715401,1.50678,0.0888192,0.272379,3.86659,0,0.0113439,-0.0116946,0.00198568,0,0,0,0.00180257,0.0107437,0.00633318,-0.000908987,-1.695e-05,-3.09135e-05,0.000112129,-0.0738377,0.0127879,0.0316807,0.531907,-0.368447,0.543455,-0.534769,7.25993e-05,-0.000561343,-0.000285875,-0.000356291,0.000197398,-0.000484844,-0.240265,0.169089,-1.08355,0.0143792,0.0243755,-0.00232182,1.40165,0.202552,0.13724,-0.663669,0.0886771,0.0678505,3.86659,-0.000329482,-0.00503969,-5.1268e-05,-0.00060506,0.00382455,-0.00256807,0,-0.00506786,-0.00227877,-1.10951,-0.00275679,-0.0219756,-0.0143792,0.000112129,0.0961237,0.0119334,0.0317116,0.469263,0.578108,-0.502017,-0.439957,0.0569237,0.00331922,-0.00229686,-0.0197682,0.36527,-0.0720455,4.32249,-2.26285,-3.48442,-0.0708597,-0.11779,-0.0310652,-1.38012,0.264087,0.116166,-2.60812,0.311805,0.405137,3.86659,0.0677352,0.152813,-0.0543645,-0.0445138,0.0291359,-0.240924,0,0.055916,0.502447,-0.873043,0.00491517,0.081164,0.0708597,0.000112129
2020-02-04.18:56:38.99,0.0943408,0.075194,0.348792,0.466495,0.580605,-0.500413,-0.441437,0.146721,0.00502698,-0.00053089,-0.00106872,0.291147,-0.153012,0.0242708,0.0284543,0.00524377,0.000139142,0.000171781,-2.07224e-05,0.243781,0.110126,0.103968,-1.70427,0.0858585,-0.304946,-0.88227,-0.398427,-0.124828,0.145823,-0.00974847,0.0309378,0.709587,0,0.00312165,0.0126115,0.0131089,1.19731e-05,-1.0748e-06,0.000430293,-3.96024e-05,-0.0258385,0.0778134,0.387945,0.530625,-0.369011,0.544641,-0.534448,0.00150179,-0.00230507,-0.00136931,-0.000383202,0.000530764,-0.000863862,0.0116681,-0.00938036,0.000528618,0.000231376,2.8524e-05,1.25745e-05,-0.445846,0.0492842,0.0713197,1.50692,0.0888192,0.272379,3.86659,-0.000556399,0.0107572,-0.011091,0.00158139,0,0,0,0.000213329,-0.00506509,-0.00561167,-0.000117248,0.000170899,-0.000187454,1.56429e-05,-0.0738354,0.0127737,0.0316774,0.531951,-0.368464,0.543514,-0.534654,7.08964e-05,-0.000521812,-0.000235621,0.00106653,-0.000495491,0.000246547,-0.236428,0.255733,-1.03554,0.0156645,0.0255958,-0.00108217,1.40161,0.202444,0.13724,-0.663878,0.0886771,0.0679322,3.86659,-0.000507461,-0.00460387,-3.67994e-05,0.000877107,0.00382455,-0.00304147,0,0.00248445,-0.00983108,-1.06732,-0.00156772,-0.0233118,-0.0156645,1.56429e-05,0.0972809,0.0120105,0.0316703,0.467955,0.576283,-0.502755,-0.442893,0.0596416,0.00379219,-0.00218238,0.0279996,0.295077,-0.127042,4.23779,-1.91008,-3.27286,-0.0560785,-0.104074,-0.0286354,-1.37867,0.267315,0.115063,-2.61085,0.311941,0.400533,3.86659,0.0754348,0.165038,-0.0568886,-0.0935067,-0.00392738,-0.164089,0,0.0299549,0.483566,-0.858982,0.00479,0.0684386,0.0560785,1.56429e-05
2020-02-04.18:56:38.119,0.0973716,0.0752292,0.348824,0.466043,0.57941,-0.501013,-0.442801,0.148608,0.00013823,0.00315288,-0.0138781,0.18993,-0.034035,0.0281249,0.0558241,0.0271806,5.71867e-05,0.000416239,-6.85954e-05,0.235507,0.107543,0.106761,-1.7045,0.0858585,-0.293103,-0.88227,-0.406949,-0.127839,0.131456,-0.0071248,0.0305965,0.558222,0,0.00894888,0.0229366,0.0178945,0.000451828,-0.000188923,0.000273752,-6.10438e-05,-0.0258098,0.0777583,0.38792,0.530632,-0.369063,0.54466,-0.534385,0.00142518,-0.00217256,-0.00142333,-8.06316e-05,0.000683304,-0.000846109,-0.0106182,0.00258569,0.0219282,0.000278771,-0.000370167,0.000126066,-0.445846,0.0495046,0.0710729,1.50709,0.0888192,0.272379,3.86659,-0.0004688,0.0105865,-0.0105865,0.00155449,0,0,0,-0.00879239,0.00266682,0.00295799,-0.000733045,-4.82581e-05,-0.000187454,0.000101408,-0.0738351,0.0127634,0.031675,0.531938,-0.368493,0.543528,-0.534633,7.97381e-05,-0.000327247,-0.000197577,0.000829591,-0.000751559,0.00170267,-0.172393,0.388969,-0.955784,0.0156645,0.0235055,-0.000167574,1.40159,0.202366,0.137238,-0.663878,0.0886771,0.0679322,3.86659,0,-0.00319563,0,0.000877107,0.00382455,-0.0030429,0,0.0133409,-0.0254077,-0.991398,-0.000628981,-0.0218712,-0.0156645,0.000101408,0.0985319,0.0121052,0.031651,0.467636,0.57469,-0.503089,-0.444916,0.0595358,0.00465079,-0.000410693,0.0250994,0.181465,-0.131989,3.60125,-1.82306,-2.94706,-0.0498929,-0.0890699,-0.0246641,-1.37693,0.271022,0.113879,-2.61211,0.311668,0.399286,3.86659,0.086902,0.182494,-0.0560874,-0.0688211,-0.00122522,-0.0266457,0,0.0450595,0.418899,-0.805553,0.00391385,0.0588806,0.0498929,0.000101408
2020-02-04.18:56:38.139,0.100427,0.0751943,0.348913,0.465619,0.578131,-0.501716,-0.444123,0.151176,-0.00227822,0.00510548,-0.0202166,0.123467,0.0421964,0.0317322,0.0284876,0.0297271,5.32049e-05,-0.000201462,-1.86253e-06,0.22711,0.10493,0.109322,-1.70457,0.0858585,-0.281261,-0.88227,-0.416413,-0.128989,0.123479,-0.00173529,0.0290707,0.460491,0,0.0115976,0.013944,0.0133134,-0.000427882,0.000155466,0.000179828,-2.88818e-05,-0.0257909,0.0777251,0.387898,0.530631,-0.369047,0.544657,-0.5344,0.00106187,-0.00158651,-0.00104033,-6.64872e-05,0.000559192,-0.000690328,0.00800839,0.00863236,0.00419651,6.29696e-05,-0.000292213,-5.68143e-05,-0.445846,0.0496621,0.0709155,1.50704,0.0888192,0.272379,3.86659,-0.000396453,0.00799351,-0.00799351,0.00143483,0,0,0,0.00657031,-0.00481822,-0.00417357,-0.000205219,0.000108283,-9.35298e-05,-3.79604e-05,-0.0738327,0.0127543,0.031669,0.531891,-0.368483,0.543561,-0.534653,0.000103018,-0.000440766,-0.000243948,0.0011664,-0.00120835,0.000768266,-0.0538113,0.368113,-0.931033,0.0170301,0.0228124,-0.000796352,1.4016,0.202282,0.137238,-0.663878,0.0886771,0.0677688,3.86659,-8.61143e-05,-0.00413176,0,0.000877107,0.00356851,-0.00387149,0,0.00154041,-0.0343761,-0.954841,-0.00106706,-0.0222164,-0.0170301,-3.79604e-05,0.0997261,0.012202,0.0316522,0.467593,0.573246,-0.503427,-0.446438,0.0603136,0.0044883,-0.000158713,-0.00538021,0.176045,-0.124438,2.81251,-2.06055,-2.89906,-0.0476435,-0.0810064,-0.0218272,-1.37513,0.274767,0.112758,-2.61253,0.311531,0.399234,3.86659,0.0924921,0.187543,-0.0566862,-0.0349438,-0.00139935,-0.0090484,0,0.10123,0.359897,-0.918036,0.00466484,0.0575267,0.0476435,-3.79604e-05
2020-02-04.18:56:38.159,0.103299,0.0750244,0.349062,0.464993,0.578581,-0.502504,-0.443301,0.150676,-0.0118515,0.00878208,-0.0392002,0.00314625,0.180984,0.0198341,0.0363053,0.0070769,-0.000265371,0.000332554,7.30813e-05,0.219133,0.102536,0.111269,-1.70468,0.0858585,-0.275339,-0.88227,-0.420439,-0.122226,0.0912745,-0.00308367,0.0277658,0.280852,0,0.00471089,0.00578482,0.00973372,0.000187915,0.000155466,0.000586833,8.90455e-05,-0.0257677,0.0777018,0.387883,0.530634,-0.369068,0.544661,-0.534379,0.000412336,-0.000723274,-0.000472593,7.14342e-05,-0.000812981,0.00110922,0.00382194,0.0127706,-0.0081181,-9.85302e-05,-0.000291004,-0.000104839,-0.445871,0.0497881,0.0707895,1.50713,0.0888192,0.272379,3.86659,0,0.0034264,-0.0034264,-0.0013771,0,0,0,0.00339182,0.00350551,0.000816457,-0.000205219,-0.000298723,-3.09135e-05,-0.000113005,-0.0738288,0.0127417,0.0316637,0.531859,-0.368504,0.543586,-0.534645,0.00017666,-0.00073152,-0.000419754,0.00139767,0.00220823,-0.00205404,-0.0502416,0.408876,-0.897487,0.0166285,0.0216157,-0.00124947,1.40159,0.202173,0.13724,-0.663878,0.0886771,0.0676871,3.86659,7.60521e-05,-0.00677238,0,0.000877107,0.00328852,-0.00180065,0,0.00673263,-0.0372082,-0.923908,-0.00150514,-0.0210245,-0.0166285,-0.000113005,0.100891,0.0122913,0.0316555,0.467518,0.571763,-0.503954,-0.447822,0.0598817,0.00455571,0.000166248,-0.0397457,0.171248,-0.115846,1.81881,-2.57401,-2.68471,-0.0535882,-0.0790863,-0.0168179,-1.37329,0.278466,0.111666,-2.61253,0.311531,0.399152,3.86659,0.0952781,0.191711,-0.0560874,0.00279857,-0.00135932,0.00572515,0,0.181473,0.279181,-0.844922,0.00760622,0.0628543,0.0535882,-0.000113005
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