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
2020-02-05.15:07:37.397,0.109064,0.0406174,0.352608,-0.342452,-0.143692,0.918472,0.135974,-0.000262007,-0.00865771,0.00508089,-0.0255084,0.00990093,-0.00424883,-0.015285,0.0064962,0.00696184,-0.000212126,6.59978e-05,0.000211083,0.188218,0.146624,0.00138225,-1.4861,0.772727,0.130268,0.296064,-0.00176766,-0.00103503,-0.0246422,0.00951125,0,0.00112779,-0.000282921,-5.68415e-05,-0.00111368,0.00051601,-0.000163969,-1.0748e-06,0.00014852,3.28019e-06,-0.0740476,0.0181432,0.346009,0.13439,0.214252,0.155235,0.954954,0.0119715,-0.0428943,-0.0483195,0.0681519,-0.0633161,-0.05016,-0.0150878,-0.0131381,-0.030704,-0.00064922,-0.000596639,0.00062447,-0.261939,0.234612,-0.116427,1.45678,1.0007,-0.18652,-0.266457,0.0105411,0.239312,-0.225205,0.0213929,0.104264,0,0.0378883,0.0108083,0.00766738,0.00230993,-0.00170073,0.000170899,-0.000406611,2.63635e-05,-0.104382,0.00468584,0.0176327,0.13627,0.214495,0.156574,0.954414,0.00531309,-0.0238979,-0.0244277,-0.0968638,0.0302646,0.00736953,7.29329,3.56735,-11.4935,-0.0368731,-0.144964,0.0607564,1.51566,0.134978,0.107701,1.59511,0.996763,0.220606,-0.266457,0.10042,-0.312161,0,0.373647,0.0492808,0.570969,0.0378883,1.21605,0.220043,-0.389612,0.011074,0.0617879,0.0368731,2.63635e-05,0.0851665,0.0333766,0.0430694,-0.346266,-0.135518,0.91789,0.138612,0.000223086,-0.00113314,0.00240838,-0.0181014,-0.0109171,0.0522867,0.185646,-1.87302,-0.118882,-0.0564801,-0.0441297,0.0375299,-1.43613,0.396423,0.135152,-1.27575,0.612678,0.257972,-0.266457,0.0252924,-0.000539583,0.000167026,0.0477514,-0.0304939,0.0491131,0.0378883,-0.00308648,0.164481,0.403643,0.0160549,0.0314055,0.0564801,2.63635e-05
2020-02-05.15:07:37.410,0.109095,0.0402303,0.352805,-0.341266,-0.143765,0.919023,0.135147,0.00120754,-0.0104354,0.0049519,-0.00853225,0.0594927,0.0498008,-0.00882604,-0.00973403,0.0184018,-0.000389258,0.000312661,0.00027163,0.188019,0.146656,0.000272534,-1.4861,0.775687,0.130268,0.296064,-0.00635989,0.00178882,-0.0300857,0.00292315,0.0739525,0.00107173,-0.000176483,0.00206215,-0.00752369,-0.00338941,-0.000779766,-0.000126307,-0.000289794,9.97661e-05,-0.0735985,0.0161302,0.344255,0.134313,0.214353,0.154903,0.954996,0.00917692,-0.0542873,-0.0402328,0.0254831,-0.0730082,-0.0280521,0.018652,-0.00376448,-0.0231838,-0.000227053,-0.000120499,2.12422e-06,-0.261344,0.244122,-0.12628,1.45682,1.0007,-0.18652,-0.266457,0.0205929,0.231578,-0.254641,-0.0145218,0.0857491,0.000934285,0.033976,-0.00190566,0.0121584,0.0078025,-0.000205219,4.56663e-05,-0.000218762,-4.86811e-05,-0.104222,0.0038418,0.0167418,0.135336,0.21276,0.155239,0.955153,0.00372125,-0.017881,-0.020103,-0.0295578,-0.0387289,0.021614,6.53975,3.52983,-10.3322,-0.0330975,-0.134103,0.0585319,1.51975,0.123896,0.107722,1.60874,1.00469,0.240526,-0.266457,0.0937717,-0.233162,0.000238841,0.393745,0.101778,0.516009,0.033976,1.0971,0.228539,-0.313686,0.012263,0.0567883,0.0330975,-4.86811e-05,0.0851856,0.0333056,0.043169,-0.345416,-0.135138,0.918361,0.13798,0.000620607,-0.00265265,0.00299844,-0.0260489,0.105456,0.00967815,0.452021,-1.45066,-0.222806,-0.0596934,-0.0571892,0.0405047,-1.4351,0.396261,0.135154,-1.27429,0.613361,0.258069,-0.266457,0.0302027,-0.00783722,9.30861e-05,0.0174498,0.0670422,-0.0456644,0.033976,-0.015359,0.103118,0.386771,0.0172439,0.0408448,0.0596934,-4.86811e-05
2020-02-05.15:07:37.421,0.10911,0.0401202,0.352853,-0.341259,-0.143639,0.919055,0.135085,0.00128515,-0.0109737,0.0050329,-0.00955344,0.0601686,0.049357,-0.00316433,0.00491097,0.0122672,9.83427e-05,-0.000368977,-0.000230397,0.187945,0.146687,-4.82385e-05,-1.48603,0.775687,0.130268,0.296064,-0.00676811,0.00247013,-0.0318464,0.00408788,0.0739525,0.00103486,-0.000152304,0.0025919,-0.000269723,-0.00476859,-0.000603824,0.000124158,8.59034e-05,-8.24851e-05,-0.0735048,0.0155897,0.343857,0.134218,0.214358,0.154818,0.955022,0.00808317,-0.0529576,-0.0406312,0.026113,-0.0643239,-0.0339845,0.0211575,-0.00155433,-0.0204392,-0.0001923,-8.09031e-06,0.000171846,-0.261146,0.246421,-0.128815,1.45672,1.0007,-0.18652,-0.266457,0.0224929,0.229382,-0.249493,-0.00696715,0.0821752,0.000546156,0.0331325,-0.00349491,0.011824,0.00812476,-0.000469132,-0.000110874,-6.22216e-05,-2.72398e-05,-0.104177,0.00368416,0.0165495,0.135094,0.212835,0.155411,0.955143,0.00471533,-0.014831,-0.0200225,-0.0513063,0.0261133,0.0681948,6.26111,2.93532,-9.98852,-0.0342221,-0.130792,0.0506125,1.5207,0.121757,0.107731,1.61231,1.00523,0.245308,-0.266457,0.105794,-0.209949,0.00091224,0.355109,0.032012,0.485198,0.0331325,1.04801,0.171425,-0.288377,0.0111991,0.0576093,0.0342221,-2.72398e-05,0.0851926,0.0332816,0.0431984,-0.344992,-0.134966,0.918579,0.137758,0.000558329,-0.00190645,0.00276012,-0.0578221,0.0688709,0.0467545,0.428376,-1.42172,-0.215861,-0.0623444,-0.0594407,0.0421686,-1.4348,0.396184,0.135154,-1.27366,0.613908,0.258031,-0.266457,0.0282937,-0.00557434,7.7652e-05,0.0755216,0.0290054,0.0013787,0.0331325,-0.00969476,0.0974537,0.37271,0.0173065,0.0428144,0.0623444,-2.72398e-05
2020-02-05.15:07:37.441,0.109118,0.0400184,0.352907,-0.340048,-0.144029,0.919529,0.134499,0.00114172,-0.0107392,0.00496706,0.00469989,0.0980439,0.0812053,0.000324865,0.0113203,0.000519334,3.69199e-06,-5.90768e-05,0.00019573,0.187895,0.146687,-0.000337519,-1.48599,0.778648,0.130268,0.296064,-0.00631111,0.00236267,-0.0312063,0.00247571,0.125455,0.000998876,-0.000128707,-5.68415e-05,-2.28529e-05,-0.00303593,-0.00025194,9.28496e-05,0.000117212,9.97661e-05,-0.0734328,0.0150659,0.343433,0.134163,0.214368,0.154737,0.955041,0.00743472,-0.0514763,-0.0410538,0.0272797,-0.0595245,-0.0346924,0.00580087,-0.0035785,0.00257823,-9.04594e-05,-8.83875e-05,0.000379797,-0.260899,0.248751,-0.131303,1.4566,1.0007,-0.18652,-0.266457,0.0232648,0.22736,-0.244273,-0.00482354,0.0788408,0.000201401,0.0323167,-0.00296516,0.000423941,-0.000593948,-0.000821016,-7.95662e-05,0.000125627,4.9222e-06,-0.104133,0.0035305,0.0163345,0.134766,0.213179,0.155675,0.95507,0.00358325,-0.0139617,-0.0190919,-0.012046,0.0613057,0.0576481,5.75293,1.83889,-9.44334,-0.0341418,-0.122371,0.0396345,1.5218,0.119641,0.107733,1.61587,1.00537,0.250015,-0.266457,0.0989541,-0.198529,-0.00013246,0.331149,0.00679903,0.412524,0.0323167,0.969653,0.0723004,-0.282753,0.0124508,0.0559805,0.0326958,4.9222e-06,0.0851968,0.0332626,0.0432241,-0.344889,-0.135089,0.918628,0.137566,0.000577331,-0.00178659,0.0028671,-0.0261303,0.0447797,0.0523745,0.433801,-1.1951,-0.213889,-0.0613804,-0.0604178,0.042645,-1.43452,0.396145,0.135154,-1.27345,0.613908,0.25844,-0.266457,0.0291095,-0.00340557,6.64323e-05,0.0557634,0.0162985,0.0263257,0.0323167,-0.00544658,0.0700766,0.330529,0.0173065,0.043565,0.0613804,4.9222e-06
2020-02-05.15:07:37.461,0.109152,0.0398208,0.353009,-0.340438,-0.142766,0.919987,0.131693,0.00150905,-0.0089568,0.00413229,0.0109751,0.100062,0.0762289,-0.00731561,0.00254934,-0.00362259,-0.000137143,0.000112066,0.000185862,0.187747,0.146687,-0.000889783,-1.48577,0.778648,0.130268,0.301985,-0.00670368,0.00168107,-0.0256682,0.0067747,0.125455,0.000929195,-0.00213486,-0.00323533,-0.000943833,-0.00133449,-0.000691795,-1.0748e-06,0.00014852,-0.000125368,-0.0732791,0.01405,0.342608,0.134071,0.214428,0.154504,0.955078,0.00897133,-0.049371,-0.0405958,0.0259704,-0.058455,-0.0264498,-0.00751401,-0.000720958,-0.00661185,9.96961e-05,-5.20567e-05,0.000229327,-0.260453,0.253286,-0.136154,1.45657,1.0007,-0.18652,-0.266457,0.0182645,0.223165,-0.238127,-0.00671809,0.0730248,-0.000356853,0.030823,0.00392157,0.00100523,0.000639715,-0.000469132,-1.695e-05,0.00025086,-3.79604e-05,-0.104066,0.00327245,0.0159692,0.135405,0.213858,0.156188,0.954744,0.00307309,-0.011637,-0.0180318,0.0273986,0.0774652,0.0566028,5.02397,-0.0224442,-8.69752,-0.0351861,-0.108424,0.0184094,1.5238,0.115895,0.107731,1.623,1.00551,0.257173,-0.266457,0.101712,-0.172854,-0.000321852,0.313986,0,0.339936,0.030823,0.850232,-0.115091,-0.260256,0.0117624,0.0544576,0.0351861,-3.79604e-05,0.0852139,0.0332191,0.0432889,-0.34393,-0.134577,0.91913,0.137118,0.00122344,-0.00211375,0.00358296,-0.130518,0.159179,0.0536426,0.55371,-1.00317,-0.329314,-0.0651561,-0.0649742,0.0481411,-1.4339,0.396037,0.135155,-1.27198,0.615138,0.258172,-0.266457,0.0334144,-0.00596466,-1.03008e-05,0.142708,0.0863959,-0.0399315,0.030823,-0.015831,0.0384513,0.268663,0.0194969,0.0454913,0.0651561,-3.79604e-05
2020-02-05.15:07:37.481,0.109197,0.039633,0.353094,-0.339172,-0.143037,0.920492,0.131139,0.00209741,-0.00618377,0.00306709,0.00842493,0.070531,0.0565559,-0.0225071,0.00217699,0.00701999,0.000240865,0.000149203,9.15246e-05,0.187573,0.146719,-0.00142094,-1.48541,0.781609,0.130268,0.301985,-0.00730385,-0.000197389,-0.016742,0.00450128,0.0900309,0.000851466,-0.00213486,-0.00429483,-0.00818201,-0.00691012,-7.59979e-05,-0.000188923,0.000273752,3.28019e-06,-0.0729912,0.0128018,0.341649,0.133847,0.214424,0.154359,0.955134,0.0132088,-0.0495973,-0.0360473,0.0122901,-0.0601408,-0.0182038,-0.000343645,-0.0105227,-0.0277827,-0.000162514,9.52023e-05,-7.67468e-05,-0.260155,0.258766,-0.142159,1.45641,1.0007,-0.18652,-0.266457,0.00702132,0.21262,-0.238111,-0.0038493,0.0668674,-0.000882764,0.0291363,0.00604056,0.00991553,0.00448622,5.86941e-05,-0.000110874,-0.000156146,-3.79604e-05,-0.103987,0.00297688,0.0155449,0.135263,0.214625,0.15701,0.954457,0.00328854,-0.0127553,-0.0167518,0.0325727,0.0400369,0.0796061,4.53415,-1.66118,-8.15898,-0.0351861,-0.0978935,0.00092965,1.52607,0.111686,0.107729,1.63118,1.00537,0.266923,-0.266457,0.0839053,-0.171604,0.000179043,0.379257,0,0.409538,0.0291363,0.763852,-0.276994,-0.153397,0.0134521,0.0529209,0.0351861,-3.79604e-05,0.0852305,0.0331947,0.0433619,-0.343919,-0.13287,0.919931,0.133385,0.000659382,-0.00376346,0.00314938,0.0879159,0.0448163,0.0266501,0.53527,-0.7,-0.476738,-0.0635494,-0.0608506,0.0411056,-1.433,0.395813,0.13515,-1.26254,0.613361,0.262643,-0.266457,0.0363311,-0.0110685,-0.000280678,-0.0627706,0.0453476,0.0198047,0.0291363,-0.0247994,0.008242,0.0802537,0.0129883,0.0432207,0.0635494,-3.79604e-05
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