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
2020-02-05.14:07:05.533,0.223677,0.109091,0.360284,-0.531985,-0.237868,0.789493,0.192644,2.57879e-05,-0.000256286,7.8671e-05,-0.000625521,0.000277636,-0.000411675,-0.0102306,-0.0057671,0.0117687,-0.000438994,-2.81121e-05,3.10523e-05,-0.140284,-0.0202805,0.261252,-1.54959,0.331592,0.207245,0.0769766,0,0.000147112,-0.000761649,0.000510077,0,0,0,0.0015324,-0.0046067,-0.00309484,-0.000339911,6.15414e-05,-0.000508951,5.68835e-05,-0.064414,-0.00840784,0.417703,0.323439,0.152914,0.0472179,0.932617,-0.00035974,1.43197e-05,0.000211349,-0.000368309,0.000703239,-0.00158509,0.00518587,0.00099246,0.0124041,-0.000501445,-0.000124386,3.80511e-05,-0.293573,0.0894044,-0.162172,0.841197,1.56914,0.402647,-1.0007,0.000776558,-0.000960547,0.000554889,0.000950305,0,0,0,-0.00349491,-0.00406709,-0.00467258,-0.000205219,-0.000298723,-0.000375303,4.9222e-06,-0.105754,-0.0419074,0.0397015,0.321002,0.153501,0.0475835,0.933344,-5.08196e-05,0.000138858,0.000142503,-0.000419707,-0.000932752,0.0041761,-1.886,0.693193,1.02468,0.031249,0.029548,-0.0235003,1.09624,-0.13931,0.119338,1.75238,0.758606,0.0925029,-1.0007,-0.000836855,0.00181929,-6.03363e-05,0.002658,-0.00262791,0.00214288,0,-0.211813,0.00338547,-0.597706,-0.00175547,-0.00934617,-0.0309277,4.9222e-06,0.124846,-0.0139549,0.0403403,-0.531791,-0.236086,0.789975,0.193395,-0.000255528,-7.83686e-05,0.000149213,0.000123182,7.53544e-05,0.000289878,0.886497,5.85993,2.07154,0.0338138,-0.0139955,0.00702322,-1.04722,0.0918696,0.0930127,-1.69346,-0.141965,0.0922397,-1.0007,0.000210198,-0.00024637,0.00030452,0,0,0,0,-0.136668,-0.472746,1.38225,0.0111734,0.00522197,-0.0338138,4.9222e-06
2020-02-05.14:07:05.548,0.223686,0.109084,0.36028,-0.531983,-0.237869,0.789495,0.192641,-6.8886e-05,-0.000219752,6.75987e-05,-0.000536546,0.000361034,-0.000580794,-0.00910259,-0.00343825,0.0238326,5.59693e-05,0.000173468,-5.73644e-05,-0.140308,-0.020249,0.26122,-1.54957,0.331592,0.207245,0.0769766,0.000288432,7.93091e-05,-0.000607468,0.000406821,0,0,0,0.00577039,-0.005687,-0.00429728,9.99441e-05,-0.000188923,-8.02096e-06,-3.96024e-05,-0.0644431,-0.00842365,0.417717,0.323423,0.152915,0.0471697,0.932625,-0.000781262,-0.000329477,-9.54455e-06,-0.000368309,0.00159568,-0.00321499,-0.000839738,-0.00162418,-0.000104516,-0.000293358,-3.49344e-05,0.000224751,-0.293498,0.0893729,-0.162193,0.841211,1.56914,0.402647,-1.0007,0.00208244,0,-0.000417827,0.00150365,0,0,0,0.000213329,7.22755e-06,-0.000358292,-0.000469132,-4.82581e-05,-0.000187454,3.70842e-05,-0.10576,-0.041904,0.0397069,0.321028,0.153477,0.0475912,0.933339,-0.000101824,1.9277e-05,9.44397e-05,0.000221487,-0.000776701,0.00266841,-1.98903,0.628487,1.05054,0.031008,0.0294435,-0.0247734,1.0962,-0.139264,0.119334,1.75238,0.758606,0.0924212,-1.0007,-0.00117553,0.000618551,-7.37704e-05,0.00238347,-0.0022883,0.00177615,0,-0.212285,-0.000390686,-0.651136,-0.0030697,-0.00893146,-0.031008,3.70842e-05,0.124846,-0.0139552,0.0403408,-0.531788,-0.236086,0.789977,0.193395,-8.6077e-05,-3.20559e-05,3.8876e-05,0.000100703,-8.72133e-05,0.000151058,0.834889,5.89108,2.07842,0.0343761,-0.0146657,0.00661967,-1.04721,0.0918696,0.0930127,-1.69346,-0.141965,0.0922397,-1.0007,0,-0.000201409,9.81783e-05,0,0,0,0,-0.131948,-0.475578,1.3935,0.0107979,0.00639615,-0.0343761,3.70842e-05
2020-02-05.14:07:05.566,0.223687,0.109077,0.360276,-0.531952,-0.237823,0.789515,0.192702,-7.86827e-05,-0.00013832,0.000105525,-0.000510154,0.000208508,-0.000414163,-0.00466184,0.000973728,-0.0163611,0.00036742,-0.000412139,-5.26373e-05,-0.140308,-0.0202175,0.261189,-1.5494,0.331592,0.207245,0.0769766,0.000279414,-0.000226667,-0.00028218,0.000188976,0,0,0,-0.00482458,0.00072302,-0.000391858,0.000715741,0.000343314,0.000117212,4.61628e-05,-0.0644421,-0.00843127,0.417724,0.323413,0.152913,0.0471585,0.932629,-0.000774161,-0.000387045,4.31318e-05,-0.000556137,0.00159454,-0.00334352,-0.00379532,-0.00878351,-0.00513383,-0.000262094,-1.76323e-05,3.13661e-05,-0.293498,0.0893729,-0.162219,0.841229,1.56914,0.402647,-1.0007,0.00208244,0,-0.0006165,0.00161469,0,0,0,0.00286207,0.00267209,0.000816457,-0.000205219,-0.000142182,-0.000156146,-7.01224e-05,-0.105762,-0.0419046,0.0397073,0.321105,0.153441,0.0476502,0.933315,-0.000150922,3.6749e-05,0.000104338,-0.00179501,-0.000140385,0.00173279,-2.00783,0.609534,1.07836,0.0292407,0.0302688,-0.0224632,1.09618,-0.139256,0.119333,1.75259,0.758606,0.0924212,-1.0007,-0.00135055,0.000619782,-0.000118322,0,-0.0022143,0.00169153,0,-0.209924,0.00385749,-0.642699,-0.00169289,-0.00908415,-0.0306064,-7.01224e-05,0.124846,-0.0139552,0.0403408,-0.531788,-0.236086,0.789977,0.193395,-7.20842e-05,-2.86559e-05,3.15107e-05,9.63806e-05,-8.34698e-05,0.000144574,0.809524,5.92728,2.06387,0.0338138,-0.0146289,0.00687795,-1.04721,0.0918696,0.0930127,-1.69346,-0.141965,0.0922397,-1.0007,0,-0.000192764,8.20226e-05,0,0,0,0,-0.13006,-0.479354,1.37944,0.0111734,0.00656657,-0.0338138,-7.01224e-05
2020-02-05.14:07:05.586,0.223687,0.109077,0.360276,-0.531952,-0.237823,0.789515,0.192702,-7.23684e-05,-0.00012593,0.000100926,-0.00047775,0.000185697,-0.000375831,-0.00912226,0.00152767,-0.00957025,-0.000147605,-0.00012826,-4.91926e-05,-0.140308,-0.0202175,0.261189,-1.5494,0.331592,0.207245,0.0769766,0.000255625,-0.000226667,-0.000250177,0.000167543,0,0,0,-0.00376508,-0.0011907,-0.0024191,-7.59979e-05,0.000124158,-0.000164562,-3.96024e-05,-0.0644564,-0.00847433,0.417756,0.323366,0.152908,0.0470783,0.932651,-0.000335577,-0.00219189,0.00175235,-0.00656033,0.00159907,-0.00762997,-0.000450031,-0.0044479,-0.00180007,-0.00014353,1.78066e-05,9.64418e-05,-0.293449,0.0893729,-0.162351,0.841317,1.56914,0.402647,-1.0007,0.00154432,6.49255e-05,-0.00704775,0.00587862,0,0,0,0.000743077,0.00133966,0.00025854,-0.00029319,-1.695e-05,-6.22216e-05,-7.01224e-05,-0.105765,-0.041905,0.0397109,0.321026,0.15345,0.0475891,0.933344,-0.000216404,-4.34178e-05,0.000203177,-0.00219048,-0.000984756,0.000580064,-2.0654,0.549231,1.15091,0.029321,0.0298053,-0.0235643,1.09614,-0.139256,0.119331,1.75238,0.758606,0.0924212,-1.0007,-0.00263443,0.000404574,-0.000107459,-0.000701586,-0.00208142,0.00154851,0,-0.224557,-0.00841502,-0.625827,-0.00294454,-0.00870835,-0.029321,-7.01224e-05,0.124846,-0.0139552,0.0403408,-0.531788,-0.236086,0.789977,0.193395,-5.47984e-05,-2.4145e-05,2.25914e-05,8.89733e-05,-7.70548e-05,0.000133463,0.809353,5.9181,2.05158,0.0322072,-0.0159902,0.00634436,-1.04721,0.0918696,0.0930127,-1.69346,-0.141965,0.0922397,-1.0007,0,-0.000178319,6.25093e-05,0,0,0,0,-0.13006,-0.482659,1.36256,0.0116741,0.00712115,-0.0332515,-7.01224e-05
2020-02-05.14:07:05.606,0.223687,0.109077,0.360276,-0.531952,-0.237823,0.789515,0.192702,-6.70007e-05,-0.000114955,9.6824e-05,-0.000448969,0.000165826,-0.000342459,0.00606186,0.00226357,0.00418224,5.74821e-05,-0.00010064,-9.83574e-05,-0.140308,-0.0202175,0.261189,-1.5494,0.331592,0.207245,0.0769766,0.000235274,-0.000226667,-0.000221752,0.000148507,0,0,0,0.00206215,0.00146889,0.00130958,0.000275886,6.15414e-05,-0.000101945,-3.96024e-05,-0.0644662,-0.00853949,0.417797,0.323315,0.152908,0.0468925,0.932678,-0.000379603,-0.00334874,0.00276588,-0.0102531,0.00136155,-0.0096271,-0.000827802,-0.0107157,-0.00405839,0.000640939,-0.000187021,-0.00011047,-0.293399,0.0894044,-0.162566,0.841611,1.56914,0.402647,-1.0007,0.00200802,0,-0.010866,0.00702887,0,0,0,0.00233232,0.00392223,0.00128777,0.000498549,0.00048398,0.000188243,4.78048e-05,-0.105769,-0.0419048,0.0397178,0.320905,0.153477,0.0474653,0.933387,-0.000144807,-0.000202948,0.000359563,-0.00336071,-0.00162995,-0.000998269,-2.14552,0.544348,1.26947,0.0304457,0.032859,-0.0241293,1.09608,-0.139249,0.11933,1.75196,0.758606,0.0923396,-1.0007,-0.0040661,0,7.13231e-05,-0.00218387,-0.00195723,0.00159599,0,-0.236358,-0.0112471,-0.594894,-0.00281937,-0.01097,-0.0304457,4.78048e-05,0.124846,-0.0139558,0.0403405,-0.531788,-0.236089,0.789976,0.193393,-4.32993e-05,-8.51057e-06,2.3952e-05,0,0,0,0.832101,5.94266,2.06283,0.0334122,-0.0148224,0.00735391,-1.04721,0.0918619,0.0930127,-1.69346,-0.141965,0.0922397,-1.0007,0,0,5.02092e-05,0,0,0,0,-0.131948,-0.48077,1.37381,0.0117367,0.00650992,-0.0334122,4.78048e-05
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