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 2020-02-05.10:36:19.752,0.137751,0.0546848,0.362819,-0.400923,-0.53459,0.383869,0.637275,-0.000674367,-0.000624998,0.000134834,-0.000567246,0.00456957,0.0019014,-0.0674508,-0.51544,-0.810947,0.0233213,0.0113692,-0.00556691,0.11841,0.070352,0.0791274,-1.53309,0.0384883,-0.00888192,-1.28492,0.00171586,0.00100554,-0.00233396,-0.000349882,0.00491708,0,0,-0.282942,-0.166828,-0.161731,0.0317695,0.0192221,0.00340456,-0.00502471,-0.10106,0.0526876,0.346298,-0.54608,0.285529,-0.523809,0.588128,0.000660577,0.000232658,-0.000493556,0.00115191,0.00333265,-0.00302339,-0.179903,0.998541,-0.170154,0.00680617,-0.0104033,0.00243293,-0.212915,0.151915,0.0297798,1.3438,-0.00296064,0.00592128,-2.48101,-0.00170274,0.00176308,-0.000346742,0.0060876,0,0,0,-0.00508415,0.360157,0.171104,-0.0208784,-0.00402439,-0.00262949,0.00245995,-0.073631,0.00725807,0.0170919,-0.540961,0.292083,-0.508235,0.603114,-0.000291527,0.000145231,4.94207e-05,-0.000142523,-0.000696758,0.00120682,-1.44361,2.34118,1.00964,-0.0143799,0.041755,-0.00963028,1.46887,0.0995924,0.134626,-0.681912,0.308662,-0.168707,-2.48101,0,0.00140078,-0.000273627,0,0,0,0,0.335258,-0.0372082,0.884262,-0.0126448,-0.0296423,0.0143799,0.00245995,0.0789031,0.00160679,0.0137986,-0.385037,-0.536645,0.376874,0.649403,-3.91417e-06,2.12619e-05,-3.68268e-05,-2.03288e-20,-0.00030411,-0.000175578,-0.227317,2.82879,0.126247,-0.00731652,0.00435669,0.00727064,-1.47845,0.0615579,0.128423,-3.05539,-0.0877206,0.0212162,-2.48101,-0.000351156,0,0,0,0,0,0,-0.347189,-0.0526486,0.0858779,0.0100469,-0.00244134,0.00731652,0.00245995 2020-02-05.10:36:19.757,0.137765,0.0546504,0.362818,-0.400925,-0.534621,0.383903,0.637227,0.000489128,0.000211145,2.42713e-05,0.000626695,-0.0105308,0.0208917,-0.0715647,-0.498735,-0.806967,0.0234202,0.0107093,-0.00567466,0.118361,0.070415,0.0790118,-1.53316,0.0384883,-0.00888192,-1.28492,-0.00129358,-0.00069034,0.000980958,-0.0218893,0.00466566,0,0,-0.278175,-0.158252,-0.157327,0.0323853,0.0196917,0.00365503,-0.00501399,-0.101012,0.0525838,0.346214,-0.546114,0.285699,-0.523829,0.587996,-0.00017818,-0.000802454,-0.00120993,0.00119981,0.00129278,-0.0014551,-0.30988,0.829884,-0.110349,0.00775047,-0.0109389,0.00245156,-0.212965,0.152419,0.0292759,1.34429,-0.00296064,0.00592128,-2.48101,0.00120123,0.00543723,-0.00418167,0.000717123,0,0,0,-0.0103816,0.331665,0.20418,-0.0229017,-0.00386785,-0.00275472,0.00248139,-0.073631,0.00725807,0.0170919,-0.540961,0.292083,-0.508235,0.603114,-0.000242936,-8.70832e-06,-3.37179e-05,0,0,0,-1.38876,2.34441,0.961408,-0.0150226,0.039606,-0.00928969,1.46887,0.0995924,0.134626,-0.681912,0.308662,-0.168707,-2.48101,0,0,-0.000245419,0,0,0,0,0.332898,-0.0433445,0.856141,-0.0128952,-0.0279658,0.0150226,0.00248139,0.0789031,0.00160725,0.0137978,-0.385039,-0.536647,0.376871,0.649402,1.52813e-07,-8.30157e-07,1.43787e-06,-2.5411e-21,1.18737e-05,6.85531e-06,-0.2252,2.83573,0.103991,-0.00651319,0.00432147,0.00720971,-1.47846,0.0615579,0.128423,-3.05539,-0.0877206,0.0212162,-2.48101,1.37106e-05,0,0,0,0,0,0,-0.347189,-0.0526486,0.0633812,0.00992178,-0.0024241,0.00651319,0.00248139 2020-02-05.10:36:19.778,0.137765,0.0546504,0.362818,-0.400925,-0.534621,0.383903,0.637227,0.000489128,0.000211145,2.42713e-05,0.000626695,-0.0105308,0.0208917,-0.0715647,-0.498735,-0.806967,0.0234202,0.0107093,-0.00567466,0.118361,0.070415,0.0790118,-1.53316,0.0384883,-0.00888192,-1.28492,-0.00129358,-0.00069034,0.000980958,-0.0218893,0.00466566,0,0,-0.278175,-0.158252,-0.157327,0.0323853,0.0196917,0.00365503,-0.00501399,-0.101012,0.0525838,0.346214,-0.546114,0.285699,-0.523829,0.587996,-0.00017818,-0.000802454,-0.00120993,0.00119981,0.00129278,-0.0014551,-0.30988,0.829884,-0.110349,0.00775047,-0.0109389,0.00245156,-0.212965,0.152419,0.0292759,1.34429,-0.00296064,0.00592128,-2.48101,0.00120123,0.00543723,-0.00418167,0.000717123,0,0,0,-0.0103816,0.331665,0.20418,-0.0229017,-0.00386785,-0.00275472,0.00248139,-0.073631,0.00725807,0.0170919,-0.540961,0.292083,-0.508235,0.603114,-0.000242936,-8.70832e-06,-3.37179e-05,0,0,0,-1.38876,2.34441,0.961408,-0.0150226,0.039606,-0.00928969,1.46887,0.0995924,0.134626,-0.681912,0.308662,-0.168707,-2.48101,0,0,-0.000245419,0,0,0,0,0.332898,-0.0433445,0.856141,-0.0128952,-0.0279658,0.0150226,0.00248139,0.0789031,0.00160725,0.0137978,-0.385039,-0.536647,0.376871,0.649402,1.52813e-07,-8.30157e-07,1.43787e-06,-2.5411e-21,1.18737e-05,6.85531e-06,-0.2252,2.83573,0.103991,-0.00651319,0.00432147,0.00720971,-1.47846,0.0615579,0.128423,-3.05539,-0.0877206,0.0212162,-2.48101,1.37106e-05,0,0,0,0,0,0,-0.347189,-0.0526486,0.0633812,0.00992178,-0.0024241,0.00651319,0.00248139 2020-02-05.10:36:19.798,0.137775,0.0546567,0.362822,-0.400907,-0.534689,0.383929,0.637165,0.000982704,0.000246469,6.1072e-05,0.00120295,0.0102598,-0.00504044,-0.0621528,-0.505335,-0.79222,0.0232162,0.0114572,-0.0056296,0.118336,0.0703835,0.0790433,-1.53333,0.0384883,-0.00888192,-1.28492,-0.0026478,-0.00108774,0.00135907,0.0129696,0.00458602,0,0,-0.276056,-0.163587,-0.157417,0.0315056,0.0190969,0.00378026,-0.00509975,-0.101012,0.0525978,0.346189,-0.546096,0.285717,-0.523811,0.58802,-0.000615931,0.00167939,-0.000608968,0.00440032,-0.00234327,0.00389213,-0.257768,0.868211,-0.139322,0.00771014,-0.0111853,0.00247283,-0.212965,0.152482,0.0292918,1.34428,-0.00296064,0.00592128,-2.48101,0.000960559,-0.00122191,0.00550522,-0.00559506,0,0,0,-0.00508415,0.33395,0.187595,-0.0230777,-0.00408701,-0.00281734,0.00250284,-0.0736322,0.00725802,0.0170918,-0.540961,0.292083,-0.508235,0.603114,0.000265554,6.51446e-05,6.89726e-05,-5.09243e-05,-0.000248956,0.000431205,-1.40755,2.34457,0.997398,-0.0139783,0.0421077,-0.00927133,1.46887,0.0995924,0.134625,-0.681912,0.308662,-0.168707,-2.48101,0,0.00050051,0.000275729,0,0,0,0,0.332426,-0.0414564,0.884262,-0.0121442,-0.030258,0.0139783,0.00250284,0.0789031,0.00160679,0.0137986,-0.385037,-0.536645,0.376874,0.649403,-1.27805e-06,6.94242e-06,-1.20246e-05,-6.77626e-21,-9.92976e-05,-5.73295e-05,-0.183913,2.80644,0.0928842,-0.00643286,0.00428942,0.00767959,-1.47845,0.0615579,0.128423,-3.05539,-0.0877206,0.0212162,-2.48101,-0.000114659,0,0,0,0,0,0,-0.343885,-0.0474563,0.0493208,0.0103599,-0.00277774,0.00643286,0.00250284 2020-02-05.10:36:19.818,0.137784,0.0546558,0.362822,-0.400916,-0.534645,0.383914,0.637206,-6.73082e-05,0.000329031,0.000116088,0.000832815,-0.000234257,0.0073388,-0.0733699,-0.498107,-0.791901,0.0230719,0.0111848,-0.0055133,0.118311,0.0703835,0.0790433,-1.53318,0.0384883,-0.00888192,-1.28492,0.000300061,-0.00101265,0.00126079,-0.00617021,0.00451261,0,0,-0.276056,-0.160753,-0.158093,0.0312417,0.0190343,0.00343587,-0.00498183,-0.101024,0.0526495,0.346206,-0.546074,0.285677,-0.523792,0.588077,-0.000907829,0.00268149,0.00103225,0.0027781,-0.00517649,0.00671616,-0.219525,0.913157,-0.148646,0.00765631,-0.0107062,0.00232383,-0.212965,0.152324,0.0295019,1.34414,-0.00296064,0.00592128,-2.48101,0.000769156,-0.00882025,0.0112978,-0.00932753,0,0,0,-0.00614365,0.340556,0.177587,-0.0223739,-0.00374262,-0.00284864,0.00235275,-0.073631,0.00725807,0.0170919,-0.540961,0.292083,-0.508235,0.603114,-0.00025518,0.000121995,4.02977e-05,-0.000120057,-0.000586932,0.0010166,-1.44809,2.34415,1.0016,-0.0144603,0.0403563,-0.00968665,1.46887,0.0995924,0.134626,-0.681912,0.308662,-0.168707,-2.48101,0,0.00117999,-0.0002402,0,0,0,0,0.336674,-0.0362642,0.875826,-0.0129578,-0.0282322,0.0144603,0.00235275,0.0789031,0.00160679,0.0137986,-0.385037,-0.536645,0.376874,0.649403,-1.27805e-06,6.94242e-06,-1.20246e-05,-6.77626e-21,-9.92976e-05,-5.73295e-05,-0.22323,2.83932,0.107064,-0.00643286,0.00457032,0.00677926,-1.47845,0.0615579,0.128423,-3.05539,-0.0877206,0.0212162,-2.48101,-0.000114659,0,0,0,0,0,0,-0.347661,-0.0521765,0.0661933,0.0094837,-0.00268169,0.00643286,0.00235275 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