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
2020-02-05.12:07:40.743,0.132087,0.0371129,0.335821,-0.170884,-0.134411,0.945618,0.241949,0.00969453,-0.0115515,0.0151597,0.228181,0.259256,-0.155222,-0.00235943,0.00130605,0.0117257,-2.16195e-05,0.000220225,0.000281476,0.124182,0.197924,-0.0190958,-1.23102,0.988853,0.242772,0.18356,-0.0256442,-0.0353465,-0.015761,0.0050643,0.291509,0,-0.383491,0.00100266,-0.00468899,-0.00371167,-0.000515853,-9.49992e-05,5.45953e-05,9.97661e-05,-0.0775987,0.0732243,0.355515,0.321098,-0.165624,0.86402,-0.350619,-0.00141189,0.000949917,0.000734767,0.000205194,-0.00100619,0.0003692,0.0195191,-0.00199512,-0.00218388,9.65851e-05,-0.000182635,0.000193178,-0.290328,0.104111,0.0896811,1.44525,0.698711,-0.145071,-3.1442,0.00282949,-0.0055577,0.0055577,-0.00372199,0,0,0,0.00339182,0.00151476,-0.00355674,-2.92769e-05,4.56663e-05,0.000156935,3.70842e-05,-0.0744327,0.0366664,0.0480022,0.317776,-0.166351,0.865925,-0.348596,-0.00102019,-4.99853e-05,-0.000424533,0.0185104,0.0244035,-0.0125117,-3.72753,-1.17614,-3.76408,7.99461e-05,0.016356,0.00436332,1.4273,0.420132,0.147356,-1.34873,-0.604207,-0.105198,-3.1442,0.00151335,0.00145266,-0.0010795,0.000132773,0,0.0335103,0,0.611862,0.265356,-1.06451,0.000935585,0.0181131,-7.99461e-05,3.70842e-05,0.0926716,0.0462322,0.050125,-0.178679,-0.128344,0.945024,0.241934,0.00325798,-0.00108866,0.00825734,-0.379396,0.257594,0.110743,0.792854,-3.60155,-0.528803,-0.0223387,-0.0687686,-0.01047,-1.44934,0.526768,0.137105,-1.36655,0.929401,0.142725,-3.1442,0.0781688,0.01009,0.000109444,0.329077,0,-0.116964,0,-0.0715293,0.440612,0.62861,0.00829463,0.0623437,0.0223387,3.70842e-05
2020-02-05.12:07:40.756,0.13264,0.0364385,0.336417,-0.162322,-0.138567,0.944749,0.248796,0.0120584,-0.0167502,0.00976582,0.209262,0.281384,0.021479,-0.0175438,-0.00137333,-0.00591918,-0.000539943,0.000475309,0.000876684,0.122671,0.196853,-0.0204183,-1.23103,1.00662,0.242772,0.159874,-0.0339624,-0.0086503,-0.0405658,-0.00417376,0.368122,0,-0.251899,-0.00800307,-0.000861543,-0.00183702,-0.0021873,6.15414e-05,-3.93291e-05,-5.03231e-05,-0.0776448,0.0733107,0.355488,0.321052,-0.165689,0.863989,-0.350709,-0.000462866,0.0014152,-0.00151525,0.00579741,0.000434001,0.00180465,-0.0145771,0.00278683,0.0111275,-0.00018189,-0.000126395,-0.000320536,-0.290253,0.104016,0.0899859,1.44505,0.698711,-0.145071,-3.1442,0.000865603,0.0025554,0.00336532,-0.00225375,0,0,0,-0.00614365,0.00100523,0.0014056,0.000674491,-4.82581e-05,-6.22216e-05,-0.000113005,-0.0744496,0.0366821,0.047982,0.317897,-0.166481,0.865853,-0.348602,-0.000113132,0.000214888,-0.000188724,0.00121656,0.00293124,0.000834009,-3.75022,-1.25265,-3.71706,-0.000884046,0.0153805,0.00340417,1.42748,0.420217,0.147338,-1.34873,-0.604207,-0.104872,-3.1442,0.00197485,0.00107222,-0.000110443,0,0,0.00246866,0,0.609974,0.275269,-1.01952,0.000184593,0.0191873,0.000884046,-0.000113005,0.0928379,0.0459679,0.0504935,-0.171529,-0.131476,0.944933,0.245751,0.00401826,-0.00789062,0.00637842,0.517362,0.411692,-0.233178,0.847071,-3.43252,-1.13429,-0.0212944,-0.0706613,-0.022655,-1.44583,0.527563,0.1371,-1.38186,0.941562,0.133054,-3.1442,0.0580055,0.0213108,-0.000239249,-0.712181,0.49324,-0.391259,0,-0.123924,0.429284,0.29116,0.00122279,0.0653338,0.0212944,-0.000113005
2020-02-05.12:07:40.763,0.132753,0.0362643,0.336513,-0.161218,-0.138902,0.945107,0.247969,0.0114751,-0.0182664,0.00969211,0.201674,0.278365,0.0118065,-0.0213566,-0.0145694,0.00962778,-8.4481e-05,0.000142745,8.90109e-05,0.122349,0.19679,-0.0208549,-1.23118,1.00958,0.242772,0.159874,-0.032878,-0.00546451,-0.0463478,-0.000456341,0.358153,0,-0.251899,-0.00747332,-0.00710698,-0.00309484,-0.000339911,-6.3691e-05,-8.02096e-06,-7.17644e-05,-0.0776626,0.0733177,0.355471,0.321053,-0.16572,0.863984,-0.350704,-0.000822447,0.00149911,-0.00195532,0.00694472,0.00121835,0.00109851,0.0058918,-0.00560124,0.00283379,0.000282826,0.000476993,0.000240408,-0.290204,0.104048,0.090007,1.44503,0.698711,-0.145071,-3.1442,0.00194698,0.00303928,0.00361969,-0.00242411,0,0,0,-0.00137592,0.00291896,0.00231347,-0.000205219,-0.000142182,0.000188243,-2.72398e-05,-0.0744499,0.0366853,0.0479803,0.317905,-0.166479,0.865847,-0.348612,-0.000103332,0.000302351,-0.000217335,0.00662064,0.0101839,-0.00281994,-3.70962,-1.2644,-3.70826,-3.86632e-07,0.0160645,0.00471339,1.4275,0.420233,0.147338,-1.34873,-0.604207,-0.104872,-3.1442,0.00251736,0.00148338,-8.84122e-05,0,0,0.0123149,0,0.60431,0.277157,-1.03639,0.000747837,0.0182747,3.86632e-07,-2.72398e-05,0.0928797,0.0459047,0.0505514,-0.169381,-0.132764,0.944757,0.24722,0.00433028,-0.00533772,0.00567854,0.31795,0.360545,-0.142762,0.757325,-3.3936,-1.16407,-0.0222584,-0.0709858,-0.0173036,-1.44532,0.527787,0.137094,-1.38752,0.945798,0.129682,-3.1442,0.0502632,0.0224661,-0.000635779,-0.448897,0.380551,-0.295329,0,-0.117315,0.421259,0.195549,0.00322544,0.0657357,0.0222584,-2.72398e-05
2020-02-05.12:07:40.784,0.132866,0.0360901,0.336608,-0.159625,-0.139671,0.944712,0.250061,0.0109022,-0.0192313,0.0100145,0.292737,0.331942,-0.205179,0.0064902,-0.0199572,0.00407485,-0.000138166,-0.000202417,-0.000176011,0.122027,0.196727,-0.0212916,-1.23104,1.01254,0.242772,0.153953,-0.0316061,-0.00458994,-0.0496395,0.00139451,0.36774,0,-0.493571,-0.00058659,0.00037807,0.00486152,0.000363857,6.15414e-05,0.000336368,-8.24851e-05,-0.0776795,0.0733269,0.355444,0.321054,-0.165763,0.863976,-0.350703,-0.00167093,0.000502861,-0.00254769,0.00662111,0.00414608,-0.00331195,-0.0117143,0.0173133,0.00567071,-3.98447e-05,0.000232602,9.41259e-05,-0.290154,0.104111,0.090023,1.44502,0.698711,-0.145071,-3.1442,0.00514754,0.00658395,0.000313893,-0.000210214,0,0,0,-0.0056139,0.00325864,-0.000680552,-0.000205219,0.000202207,0.000156935,-5.79846e-06,-0.0744514,0.0366881,0.0479783,0.317898,-0.166441,0.865848,-0.348634,-7.15134e-05,0.000262048,-0.00010316,0.00232366,0.00392294,9.35331e-05,-3.7782,-1.24244,-3.78559,0.000883273,0.017454,0.0041469,1.42752,0.420248,0.147336,-1.34873,-0.604207,-0.104953,-3.1442,0.00162958,0.00147365,-3.09841e-05,0,0,0.00456762,0,0.615638,0.276213,-1.05889,5.94282e-05,0.0174581,-0.000883273,-5.79846e-06,0.092921,0.0458735,0.0506075,-0.167963,-0.133131,0.944842,0.247665,0.00423798,-0.0022931,0.00548724,0.0987515,0.237411,-0.00373783,0.679361,-3.24789,-1.20578,-0.0239454,-0.0715845,-0.0186981,-1.44482,0.527988,0.137088,-1.3892,0.948257,0.128411,-3.1442,0.0477349,0.0212013,-0.000770271,-0.0907233,0.204456,-0.0879519,0,-0.114955,0.404267,0.0971262,3.37242e-05,0.0672074,0.0239454,-5.79846e-06
2020-02-05.12:07:40.804,0.132976,0.035882,0.336712,-0.158506,-0.139954,0.945071,0.249257,0.0109869,-0.0197106,0.0100274,0.296414,0.340768,-0.196797,0.00424504,-0.00145902,0.00493552,-0.000256898,0.000325742,0.000358308,0.121705,0.196696,-0.0218387,-1.23112,1.0155,0.242772,0.153953,-0.0319335,-0.00376645,-0.0513321,0.000184503,0.380647,0,-0.493571,0.0015324,-0.00111368,-1.42183e-05,-0.000955708,-9.49992e-05,-7.06372e-05,-2.88818e-05,-0.0776879,0.0733384,0.355419,0.321051,-0.165801,0.863966,-0.350712,-0.00170046,0.000694291,-0.00214068,0.00606743,0.00337399,-0.002621,-0.0104414,0.0075527,-0.00584415,1.95002e-05,-3.26723e-05,-0.000180626,-0.290129,0.104174,0.0900389,1.44501,0.698711,-0.145071,-3.1442,0.00493122,0.00479203,0.00148282,-0.000993047,0,0,0,-0.00137592,0.00458581,0.00266695,0.000322607,1.43582e-05,-0.000187454,-3.79604e-05,-0.074455,0.0366942,0.0479754,0.31791,-0.166432,0.865837,-0.348655,-0.000260175,0.00075574,-0.000329558,0.000801331,0.00388181,0.00501632,-3.77782,-1.25506,-3.81836,0.000561942,0.0178652,0.00324995,1.42756,0.420287,0.147334,-1.34873,-0.604207,-0.104953,-3.1442,0.00485491,0.00431526,-0.000148992,0,0,0.00255485,0,0.617054,0.277157,-1.08701,-0.000503815,0.0169518,-0.000561942,-3.79604e-05,0.0929594,0.0458348,0.0506563,-0.166731,-0.133962,0.944737,0.248449,0.00403724,-0.0043131,0.004613,0.255096,0.215345,-0.0925238,0.519922,-3.06643,-1.15151,-0.0217764,-0.0698575,-0.019054,-1.44437,0.528196,0.137077,-1.39234,0.95058,0.126844,-3.1442,0.0452753,0.0185636,-0.00140761,-0.322922,0.242034,-0.161906,0,-0.0989065,0.385386,-0.0153571,3.37242e-05,0.0669754,0.0217764,-3.79604e-05
2020-02-05.12:07:40.823,0.133323,0.0352168,0.337054,-0.152208,-0.14217,0.945959,0.248558,0.0116965,-0.023865,0.0118895,0.190769,0.342795,0.193924,0.00976849,-0.00231207,-0.00299974,-4.33421e-05,0.000493751,0.000446142,0.120689,0.19657,-0.0235799,-1.23115,1.0303,0.242772,0.148032,-0.0345209,-0.00284452,-0.0634161,0.00423549,0.47783,0,-0.125461,0.00206215,0.00229706,0.00292089,-0.00104368,-0.00025154,0.00014852,-7.44046e-06,-0.0777302,0.073341,0.355388,0.321063,-0.165861,0.863963,-0.35068,-0.00157089,0.000914463,-0.000172017,0.00214043,0.000373869,-0.000582801,-0.0069133,0.0255743,-0.0155507,-2.86823e-05,-7.3945e-05,0.000262852,-0.290006,0.104237,0.0900548,1.445,0.698711,-0.145071,-3.1442,0.00364455,-0.00243352,0.00449383,-0.00300952,0,0,0,0.000213329,0.00808936,0.000639715,-0.000469132,-0.000142182,0.000282168,4.78048e-05,-0.0744689,0.0367152,0.0479542,0.317885,-0.166486,0.865823,-0.348685,-0.000511916,0.000832454,-0.0013092,-0.00282921,0.00516698,0.0100386,-3.65813,-1.18677,-3.78549,-8.07193e-05,0.0164429,0.00331641,1.42779,0.420395,0.147321,-1.34873,-0.60448,-0.104894,-3.1442,0.0114651,0.00274279,-0.000692225,8.65845e-05,-0.000170332,-0.00466711,0,0.605254,0.264412,-1.12075,0.000122011,0.0172837,8.07193e-05,4.78048e-05,0.0930775,0.045785,0.0508016,-0.164366,-0.133481,0.945619,0.246924,0.00478143,-0.00263734,0.00479053,0.0179805,0.231306,0.172913,0.11802,-2.45837,-1.0549,-0.0281227,-0.0808121,0.0125447,-1.44295,0.52842,0.137041,-1.3871,0.953859,0.129887,-3.1442,0.0485406,0.00150893,-0.00162947,0.215339,0.202091,0.131033,0,-0.0436802,0.28579,-0.324686,0.00942112,0.0774327,0.0281227,4.78048e-05
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