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
2020-02-05.14:10:32.816,0.191985,0.0696405,0.355923,-0.199161,-0.254586,0.941585,-0.0945402,0.00400127,-0.0204385,0.0358131,0.099597,0.173579,0.0442053,-0.00144252,0.000799448,0.0019494,0.000295961,-0.000101618,-0.000151605,-0.034656,0.0588576,0.131542,-1.56282,1.23163,0.136189,0.319749,-0.0115832,-0.0939242,-0.0265655,-0.000115136,0.178262,-0.181656,-0.162171,-5.68415e-05,-0.00102612,-0.00112652,0.000363857,-3.23829e-05,0.000273752,-3.96024e-05,-0.00705495,0.0753472,0.344657,0.0864489,0.677421,0.276809,0.676021,-7.53658e-05,-0.000259907,-0.000219771,-6.06719e-05,0.000705389,-0.000978774,0.00648903,-0.00668755,-0.00300312,-0.000552595,7.52286e-05,-3.44911e-05,-0.463137,0.22318,-0.0139512,1.22645,-0.032567,0.5566,-0.177638,0.000560768,0.000976302,-0.000976302,0.000653829,0,0,0,0.00127283,0.00275438,0.000785233,-0.000996958,-0.000173491,-6.22216e-05,-1.65191e-05,-0.0828768,-0.00873895,0.0106654,0.0891444,0.681228,0.275118,0.672526,2.22923e-05,0.000109083,-0.000155425,-0.00281874,0.00174971,0.000298548,2.52864,1.37201,-0.172303,-0.0366321,-0.0704261,-0.0291461,1.43896,-0.0187585,0.124619,1.55863,-0.21124,0.272309,-0.177638,0.00161582,0.000187175,0,-0.002784,0,-0.000437364,0,0.206869,0.185585,-1.05326,0.00118592,0.0526594,0.0366321,-2.72398e-05,0.111743,-0.0296755,0.0377656,-0.204193,-0.248601,0.942147,-0.09414,0.007497,-0.00801371,0.0140686,-0.0454703,0.188582,0.0803268,-0.0310099,-0.0990071,0.952588,-0.0192058,-0.0123,0.0214066,-1.13684,-0.087514,0.109349,-1.25709,0.770357,0.202662,-0.177638,0.175735,0.00103291,0.00131664,0,0.0413594,-0.0406612,0,0.080461,-0.015359,0.662355,0.00284994,0.00802188,0.0192058,-2.72398e-05
2020-02-05.14:10:32.832,0.192036,0.0691993,0.356675,-0.198382,-0.256379,0.94114,-0.0957612,0.00115753,-0.0221698,0.0363659,0.165324,0.169445,0.0532256,-0.0259747,0.0155213,-0.0180853,6.17395e-05,8.25481e-06,0.000173748,-0.0348046,0.0569051,0.130943,-1.56272,1.23459,0.130268,0.319749,-0.00324255,-0.0926868,-0.0318903,0.00523016,0.180156,-0.255903,-0.161972,-0.0117113,0.00313575,0.00083827,-0.000427882,3.02333e-05,0.00014852,-9.32057e-05,-0.0070597,0.0753378,0.34465,0.0864645,0.677428,0.276795,0.676017,-0.000697798,-5.73094e-05,4.18929e-05,6.52434e-05,0.000365836,-0.000894967,0.0118584,-0.00988634,0.0028812,0.000221101,0.000170345,4.65742e-05,-0.463112,0.223212,-0.0139827,1.22647,-0.032567,0.5566,-0.177638,0.00164578,-0.00104992,0.00104992,-0.000703129,0,0,0,0.000213329,0.00525466,0.00178677,0.000498549,-7.95662e-05,3.94597e-07,3.70842e-05,-0.0828797,-0.00873958,0.0106702,0.0891828,0.681189,0.275062,0.672583,-2.72351e-05,2.88098e-06,-9.90524e-05,-0.0025459,0.00123377,-0.000640718,2.61875,1.36148,-0.161656,-0.0376764,-0.0717352,-0.0292482,1.43893,-0.0187431,0.124616,1.55863,-0.211103,0.272197,-0.177638,0.000703554,-0.000362992,-3.62286e-05,-0.00257881,0,-0.000474429,0,0.216309,0.185585,-1.05889,0.00162399,0.0531268,0.0376764,3.70842e-05,0.11188,-0.029916,0.0381428,-0.202387,-0.250845,0.941941,-0.0941424,0.00285577,-0.00998605,0.0132439,0.308279,0.24156,-0.0310413,0.287331,-0.473436,1.15881,-0.0200894,-0.0147206,0.0150683,-1.13219,-0.0874522,0.109435,-1.25961,0.769127,0.204318,-0.177638,0.153804,0.00472018,0.00555398,-0.339259,0.0087933,0.00679362,0,0.0672445,0.0176824,1.08417,0.000221472,0.00874244,0.0200894,3.70842e-05
2020-02-05.14:10:32.852,0.192045,0.0687771,0.357377,-0.196522,-0.257456,0.941418,-0.0939538,3.7097e-05,-0.0218377,0.0356949,0.165857,0.115397,0.0802766,-0.0194506,0.0128573,-0.00293398,-0.000286621,-5.2768e-05,0.000367038,-0.0348294,0.0551101,0.130345,-1.56262,1.23755,0.127307,0.313828,0,-0.0905823,-0.0317779,0.00776805,0.149354,-0.274076,-0.101367,-0.00800307,-0.000773989,-0.0028315,-0.000691795,0.000218082,-0.000164562,9.97661e-05,-0.00706353,0.0753435,0.344655,0.0864579,0.677424,0.276802,0.67602,-0.000687113,-7.30981e-05,2.65056e-05,5.97944e-05,0.000404007,-0.000939258,0.0178242,-0.0226313,2.85556e-05,0.00010991,6.46845e-05,3.80546e-05,-0.463112,0.22318,-0.0139512,1.22645,-0.032567,0.5566,-0.177638,0.00164578,-0.00096223,0.00096223,-0.000644406,0,0,0,0.00233232,0.00808936,0.00105211,0.000146665,-1.695e-05,9.43189e-05,3.70842e-05,-0.0828821,-0.00873846,0.0106684,0.0891545,0.681183,0.275092,0.672581,-0.000139974,2.1186e-05,-0.000121632,-0.0024339,0.00128286,-0.000497473,2.50498,1.32217,-0.182907,-0.0364714,-0.0686919,-0.0287131,1.43895,-0.0187431,0.124614,1.55863,-0.211103,0.272279,-0.177638,0.000819222,-0.000344421,-0.000151607,-0.00246868,0,-0.000407632,0,0.205925,0.179449,-1.04483,0.000998168,0.0510877,0.0364714,3.70842e-05,0.111916,-0.0301062,0.0384523,-0.20118,-0.252558,0.941706,-0.0945021,0.000712132,-0.00809566,0.0136891,0.186254,0.00638367,0.139229,0.235429,-0.548726,1.43621,-0.0258734,-0.0163739,0.0287649,-1.1287,-0.0873518,0.109572,-1.26045,0.767897,0.206546,-0.177638,0.15608,0.0051126,0.00618115,0.0380942,-0.144889,0.214084,0,0.0908455,0.0124902,1.2557,0.0062294,0.00798443,0.0258734,3.70842e-05
2020-02-05.14:10:32.872,0.192012,0.0683313,0.358074,-0.196996,-0.259033,0.940843,-0.0943812,-0.00221043,-0.0223267,0.0350236,0.166275,0.105136,0.0685668,-0.0143137,-0.0120896,0.0184489,3.02483e-05,2.48185e-05,0.000240079,-0.0347303,0.0533781,0.129658,-1.56246,1.23755,0.121386,0.313828,0.00656951,-0.0870764,-0.0343641,0.00282844,0.134629,-0.273066,-0.101367,-0.00164609,-0.0085217,-0.00421068,-0.000515853,3.02333e-05,0.000117212,-3.96024e-05,-0.00707382,0.0753637,0.344661,0.0864465,0.677412,0.27683,0.676021,-0.000637078,4.56986e-05,0.000124858,8.57323e-05,7.68449e-05,-0.000476485,-0.000885892,-0.000840527,0.0143451,-0.000235027,9.70126e-05,6.94217e-05,-0.463112,0.223117,-0.0138619,1.22639,-0.032567,0.5566,-0.177638,0.00135474,-0.00137946,0.00137946,-0.000923823,0,0,0,-0.0056139,0.000341651,-0.000680552,-0.000205219,-7.95662e-05,-0.000218762,6.92461e-05,-0.0828834,-0.00873914,0.0106678,0.0891576,0.681184,0.27509,0.672581,-0.000102976,-7.66638e-05,8.86622e-05,-0.00235692,-0.000469054,-0.00126976,2.58343,1.39865,-0.162014,-0.0375961,-0.0702253,-0.0292862,1.43895,-0.0187508,0.124612,1.55863,-0.211103,0.272279,-0.177638,-0.00108237,-0.000162936,-8.8579e-05,-0.00236807,0,-0.000393588,0,0.213477,0.189833,-1.0617,0.0012485,0.0520048,0.0375961,6.92461e-05,0.111939,-0.0303018,0.0387355,-0.199455,-0.255313,0.941428,-0.0935164,5.48747e-05,-0.0104411,0.0135616,0.31293,0.303454,-0.0706685,0.164586,-0.635142,1.72714,-0.0208927,-0.0134607,0.0175729,-1.12581,-0.0872128,0.109705,-1.26485,0.767624,0.207667,-0.177638,0.14466,0.0083209,0.00853177,-0.433783,0.0410277,-0.021986,0,0.106894,0.0384513,1.44693,0.000972464,0.00736287,0.0199288,6.92461e-05
2020-02-05.14:10:32.892,0.191988,0.0678466,0.35881,-0.196171,-0.260801,0.940416,-0.0954877,-0.0010247,-0.0239768,0.0345754,0.138949,0.0626683,0.0226581,-0.00396994,-0.0102691,0.00251443,8.57234e-06,-1.31104e-05,-3.46559e-05,-0.034656,0.0515831,0.128876,-1.56238,1.24051,0.115465,0.313828,0.0033084,-0.0817595,-0.0411592,0.0113427,0.0712448,-0.246774,-0.0935027,-5.68415e-05,-0.00186481,0.00119176,9.99441e-05,-1.0748e-06,-8.02096e-06,2.47215e-05,-0.00707382,0.0753637,0.344661,0.0864465,0.677412,0.27683,0.676021,-0.000559891,8.21356e-05,0.00014286,9.3463e-05,-3.61506e-05,-0.000275563,-0.00272871,0.00736796,-0.00230146,-0.000545045,9.69224e-05,5.41089e-05,-0.463112,0.223117,-0.0138619,1.22639,-0.032567,0.5566,-0.177638,0.00112953,-0.00137946,0.00138754,-0.000929234,0,0,0,-0.000316419,-0.00141276,0.000844147,-0.000908987,-0.000142182,-0.000124838,6.92461e-05,-0.0828856,-0.00873836,0.0106647,0.0891596,0.681192,0.275091,0.672572,-9.86602e-05,0.000192732,-0.000234365,-0.00231918,0.0022383,0.00101676,2.5039,1.37782,-0.152681,-0.0372748,-0.0699275,-0.0288302,1.43897,-0.0187585,0.12461,1.55863,-0.211103,0.272279,-0.177638,0.00240757,0.000437003,-0.000133478,-0.00225172,0,-0.000377106,0,0.204981,0.187473,-1.03077,0.00149883,0.0523191,0.0372748,6.92461e-05,0.111898,-0.0304578,0.0389929,-0.198916,-0.256812,0.941142,-0.0934399,-0.00241215,-0.007148,0.0128891,0.113798,-0.0642228,0.0942779,-0.369239,-0.395605,2.22379,-0.0196074,-0.00545723,0.0280678,-1.12299,-0.0869811,0.109889,-1.26695,0.765984,0.209004,-0.177638,0.134606,0.0103289,0.00813525,0.0657757,-0.188947,0.153575,0,0.178641,0.0129622,1.371,0.00654232,0.00287497,0.0196074,6.92461e-05
2020-02-05.14:10:32.912,0.191956,0.0674349,0.35939,-0.195299,-0.262792,0.939949,-0.0964103,-0.00172954,-0.0252923,0.0343667,0.153968,0.078126,0.0397267,-0.00465623,-0.00270451,0.0130541,-0.000276307,0.000323277,0.000169142,-0.0345569,0.0502289,0.128152,-1.56204,1.24347,0.109544,0.313828,0.00546676,-0.0782385,-0.0461948,0.019169,0.0928105,-0.267447,-0.0856329,-5.68415e-05,-0.00468899,-0.00365276,-0.000427882,-0.000188923,-0.000321102,4.61628e-05,-0.00707382,0.0753637,0.344661,0.0864465,0.677412,0.27683,0.676021,-0.000516901,0.000103739,0.000152343,0.000101079,-9.9749e-05,-0.000160277,-0.0187413,-0.014607,-0.0102185,-5.81845e-05,0.000100574,-8.71789e-05,-0.463112,0.223117,-0.0138619,1.22639,-0.032567,0.5566,-0.177638,0.00100311,-0.00137946,0.0013955,-0.000934565,0,0,0,0.00445132,-0.00689126,-0.00916361,-0.000205219,-0.000142182,0.000125627,-8.08431e-05,-0.082887,-0.00873792,0.0106658,0.0891568,0.681189,0.275092,0.672575,-0.000103566,-3.83233e-05,0.000131289,-0.00222579,-0.000855686,-0.000906724,2.52123,1.38578,-0.158547,-0.0375961,-0.0699507,-0.0285218,1.43896,-0.0187508,0.124608,1.55863,-0.211103,0.272279,-0.177638,-0.00123231,0.000296496,-8.81526e-05,-0.002177,0,-0.000366379,0,0.206869,0.188417,-1.04202,0.00187432,0.0521009,0.0375961,-8.08431e-05,0.111874,-0.030576,0.039208,-0.199159,-0.257721,0.940767,-0.0941904,-0.000200197,-0.00686821,0.0127516,0.0514039,0.00709601,0.0853975,-0.440672,-0.237882,2.3999,-0.0210534,-0.0094772,0.0338641,-1.1207,-0.0868267,0.110012,-1.26569,0.763115,0.211508,-0.177638,0.136542,0.00952696,0.00653892,0.0534434,-0.113251,0.0888804,0,0.202242,-0.0059186,1.42724,0.0091082,0.00616702,0.0210534,-8.08431e-05
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