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
2020-02-05.16:53:44.323,0.0108928,0.0361864,0.341865,-0.319752,-0.33599,0.748722,0.473587,-0.0581556,-0.0325026,-0.00552331,-0.694203,0.280376,0.813196,-0.0126803,-0.00458785,0.0109131,-0.00047335,-0.000319818,0.000167426,0.417111,0.284557,-0.139943,-1.66578,0.669104,-0.0592128,-0.503309,0.0973762,0.142951,-0.209856,0.0142465,0.541152,0,1.00734,-0.00058659,-0.00635058,-0.00644235,-0.000867737,3.02333e-05,-0.000321102,-2.88818e-05,-0.0448546,0.0530114,0.359076,0.174472,0.325952,0.628465,0.684358,-7.48042e-05,0.000154617,0.00012902,2.67775e-05,-0.000316152,0.000405541,-0.00967694,-0.00723191,-0.00759584,-0.000613674,-4.51687e-05,0.000222392,-0.360531,0.160953,-0.012999,1.26221,0.526994,-0.0621734,0.491466,0,-0.000768867,0.000768867,-0.00051491,0,0,0,0.00127283,0.00142721,-0.00232661,-0.0011729,0.000296131,3.94597e-07,-8.08431e-05,-0.0920306,-0.000218068,0.0369421,0.176204,0.326741,0.627364,0.684549,-4.6561e-07,3.27115e-05,6.30125e-05,-0.000417552,-0.00109231,0.00120275,1.46245,0.323399,1.24326,-0.0208869,-0.0158221,-0.0112618,1.27743,0.155953,0.120643,2.42632,-0.0823918,0.517398,0.491466,-0.000374158,0.000449049,2.05255e-05,0,-0.000912679,0.000769025,0,0.00862071,0.197858,0.797087,0.000434924,0.00601318,0.0208869,-8.08431e-05,0.0755106,-0.0185976,0.0388029,-0.321141,-0.337175,0.743287,0.480318,-0.0222672,-0.016827,-0.000767363,-0.734296,0.266668,0.656747,-0.831997,4.25161,0.651729,0.0436947,0.0143432,0.011079,-1.24585,0.0324973,0.138309,-2.39319,0.148114,-0.281929,0.491466,-0.0243638,-0.103149,0.0237389,0.800208,0.433511,-0.360475,0,-0.257033,-0.41752,1.66627,0.0156794,-0.00312339,-0.0436947,-8.08431e-05
2020-02-05.16:53:44.334,0.00788213,0.034598,0.341608,-0.315514,-0.316513,0.768197,0.458415,-0.0596304,-0.0303633,-0.00390634,-1.26236,0.646225,0.530352,-0.0216781,0.0140333,0.010614,-0.0004664,-0.000180148,-0.000126971,0.422214,0.291737,-0.150489,-1.66469,0.69575,-0.0384883,-0.450017,0.101942,0.137271,-0.204483,0.0287244,0.445286,0.714014,1.21695,-0.00164609,-0.00351061,-0.00896505,-0.000163969,-3.23829e-05,-0.000602875,-3.96024e-05,-0.0448595,0.0530265,0.359076,0.17447,0.325942,0.628483,0.684348,0,0,0,0,0,0,0.000333822,0.0129619,-0.00793068,0.000399191,-0.000139092,-0.000164136,-0.360531,0.160922,-0.0129412,1.26217,0.526994,-0.0621734,0.491466,0,0,0,0,0,0,0,0.00551081,-0.00116062,0.000906596,0.000674491,-4.82581e-05,0.000219551,-4.86811e-05,-0.0920309,-0.000215288,0.0369427,0.17607,0.326738,0.627469,0.684488,1.503e-05,-5.74328e-06,1.14939e-05,0.000402203,0.000714591,-0.0014205,1.55391,0.339334,1.26502,-0.0203246,-0.0188641,-0.0121088,1.27742,0.155961,0.120643,2.42632,-0.0826651,0.517621,0.491466,0,6.20678e-05,1.70303e-05,0,0.00133354,-0.00105774,0,0.0119248,0.204938,0.799899,0.00118592,0.00824383,0.0203246,-4.86811e-05,0.074392,-0.0193628,0.0387826,-0.317364,-0.322252,0.761778,0.46382,-0.0228785,-0.0122453,-0.000834226,-0.96339,0.453717,0.580065,-0.131467,4.62393,0.324461,0.0504427,-0.00347716,0.0165987,-1.2475,0.0280799,0.139505,-2.3502,0.174075,-0.306937,0.491466,-0.0435907,-0.0761002,0.0237743,0.919582,0.411618,-0.585596,0,-0.324532,-0.41752,1.65783,0.016493,0.00952619,-0.0504427,-4.86811e-05
2020-02-05.16:53:44.343,0.00788213,0.034598,0.341608,-0.315514,-0.316513,0.768197,0.458415,-0.0596304,-0.0303633,-0.00390634,-1.26236,0.646225,0.530352,-0.0216781,0.0140333,0.010614,-0.0004664,-0.000180148,-0.000126971,0.422214,0.291737,-0.150489,-1.66469,0.69575,-0.0384883,-0.450017,0.101942,0.137271,-0.204483,0.0287244,0.445286,0.714014,1.21695,-0.00164609,-0.00351061,-0.00896505,-0.000163969,-3.23829e-05,-0.000602875,-3.96024e-05,-0.0448595,0.0530265,0.359076,0.17447,0.325942,0.628483,0.684348,0,0,0,0,0,0,0.000333822,0.0129619,-0.00793068,0.000399191,-0.000139092,-0.000164136,-0.360531,0.160922,-0.0129412,1.26217,0.526994,-0.0621734,0.491466,0,0,0,0,0,0,0,0.00551081,-0.00116062,0.000906596,0.000674491,-4.82581e-05,0.000219551,-4.86811e-05,-0.0920309,-0.000215288,0.0369427,0.17607,0.326738,0.627469,0.684488,1.503e-05,-5.74328e-06,1.14939e-05,0.000402203,0.000714591,-0.0014205,1.55391,0.339334,1.26502,-0.0203246,-0.0188641,-0.0121088,1.27742,0.155961,0.120643,2.42632,-0.0826651,0.517621,0.491466,0,6.20678e-05,1.70303e-05,0,0.00133354,-0.00105774,0,0.0119248,0.204938,0.799899,0.00118592,0.00824383,0.0203246,-4.86811e-05,0.074392,-0.0193628,0.0387826,-0.317364,-0.322252,0.761778,0.46382,-0.0228785,-0.0122453,-0.000834226,-0.96339,0.453717,0.580065,-0.131467,4.62393,0.324461,0.0504427,-0.00347716,0.0165987,-1.2475,0.0280799,0.139505,-2.3502,0.174075,-0.306937,0.491466,-0.0435907,-0.0761002,0.0237743,0.919582,0.411618,-0.585596,0,-0.324532,-0.41752,1.65783,0.016493,0.00952619,-0.0504427,-4.86811e-05
2020-02-05.16:53:44.363,0.00729367,0.0343078,0.341576,-0.315316,-0.310764,0.773892,0.452872,-0.0604637,-0.0297969,-0.00264593,-1.63037,0.615493,0.915548,-0.000171115,0.0100249,-0.00605174,-0.000603022,-0.000169178,-0.000160785,0.423229,0.29306,-0.152469,-1.6644,0.701671,-0.032567,-0.432253,0.104604,0.13376,-0.202633,0.0313532,0.540017,0.708736,1.74196,-0.00164609,0.00455047,0.00183628,-0.000427882,-9.49992e-05,-0.000571567,-0.000200412,-0.0448614,0.0530353,0.359071,0.174475,0.325934,0.628494,0.68434,0,0,0,0,0,0,0.00515401,-0.00901823,-0.0141771,-0.000164418,-5.5361e-05,0.000199892,-0.360531,0.160922,-0.0129149,1.26215,0.526994,-0.0621734,0.491466,0,0,0,0,0,0,0,0.00180257,0.00658182,0.00419165,-0.000381161,0.000108283,3.17027e-05,0.000112129,-0.0920312,-0.000215705,0.0369434,0.176069,0.326735,0.627469,0.68449,7.3089e-06,-1.78271e-05,3.22739e-05,0.000402187,0.000519758,-0.00153231,1.61408,0.312556,1.25875,-0.0187179,-0.0182247,-0.0114963,1.27742,0.155961,0.120643,2.42632,-0.0826651,0.517621,0.491466,-0.00022411,6.21958e-05,1.64995e-05,0,0.00133354,-0.00105706,0,0.0100368,0.208242,0.808336,0.000935585,0.00827437,0.0202442,0.000112129,0.0741575,-0.0194857,0.0387823,-0.317337,-0.316986,0.766364,0.459895,-0.0233073,-0.0115719,0.000858723,-1.53315,0.566549,0.718147,-0.147542,4.85732,0.338785,0.0540577,-0.00295177,0.0171883,-1.24792,0.0273694,0.139739,-2.33825,0.178311,-0.313659,0.491466,-0.0429398,-0.0694707,0.0247726,1.43308,0.449769,-0.763143,0,-0.334916,-0.442537,1.7422,0.0179324,0.00862143,-0.054379,0.000112129
2020-02-05.16:53:44.383,0.00607732,0.0337304,0.341548,-0.314477,-0.29787,0.785342,0.442285,-0.0632984,-0.0279699,-0.000444977,-1.73991,0.779195,0.902988,-0.0193209,0.011406,-0.010105,-0.000621742,-8.60272e-05,-0.000186386,0.42536,0.295642,-0.156445,-1.66353,0.713514,-0.0177638,-0.396726,0.112865,0.12822,-0.198901,0.051496,0.588666,0.881956,1.79705,-0.00800307,0.00122729,-0.00309484,-0.000339911,-0.000157615,-0.000602875,-0.000189692,-0.0448602,0.0530377,0.359061,0.174486,0.32593,0.628497,0.684336,2.97059e-05,-5.39185e-05,-4.52547e-05,-9.51975e-06,0.000107986,-0.000136537,-0.00950917,-0.0207214,-0.00344574,-0.000189413,-0.000151072,0.000173653,-0.360531,0.160953,-0.0129201,1.26216,0.526994,-0.0621734,0.491466,-8.72134e-06,0.000273197,-0.000273197,0.00018296,0,0,0,-0.00243541,0.0038452,-0.0023543,-0.000469132,0.000202207,0.000156935,2.63635e-05,-0.0920302,-0.000216133,0.0369445,0.176068,0.326733,0.627468,0.684493,7.73318e-06,8.8686e-06,-1.9699e-05,0.000402992,0.000950339,-0.00128578,1.6574,0.303221,1.2186,-0.0216099,-0.0204596,-0.0141044,1.27741,0.155961,0.120644,2.42632,-0.0826651,0.517621,0.491466,0.000272935,5.94305e-05,0,0,0.00133354,-0.00105581,0,0.0213652,0.208714,0.768967,0.000309759,0.0096761,0.0216099,2.63635e-05,0.0736897,-0.0197081,0.0388051,-0.317143,-0.302863,0.777456,0.45084,-0.023934,-0.0110495,0.00156712,-1.83404,0.84054,0.803383,0.062116,5.02377,0.10562,0.0522903,-0.00841875,0.0174964,-1.2489,0.0260642,0.14025,-2.30596,0.188968,-0.332967,0.491466,-0.0511298,-0.0600234,0.0256503,1.65809,0.586035,-1.05965,0,-0.354741,-0.46189,1.72251,0.0153039,0.0131098,-0.0522903,2.63635e-05
2020-02-05.16:53:44.403,0.00472122,0.03317,0.341553,-0.3139,-0.282701,0.798092,0.429647,-0.0656894,-0.0259797,0.000658019,-1.69613,0.764526,1.00523,0.00360368,0.0123205,-0.00333993,-0.000201678,0.00022686,0.000264795,0.427812,0.298287,-0.160563,-1.66271,0.725356,0,-0.355277,0.1197,0.125313,-0.195381,0.0441687,0.613898,0.818752,1.82418,0.000472907,0.00446818,0.00121945,-0.000603824,-0.000282848,0.00014852,3.54422e-05,-0.0448602,0.0530377,0.359061,0.174486,0.32593,0.628497,0.684336,2.68701e-05,-4.97031e-05,-4.16794e-05,-8.7504e-06,9.98663e-05,-0.000126554,-0.0166039,-0.00793486,0.00653485,7.44915e-05,2.62406e-05,-0.000147033,-0.360531,0.160953,-0.0129201,1.26216,0.526994,-0.0621734,0.491466,-6.80279e-06,0.000251119,-0.000251119,0.000168174,0,0,0,-0.00190566,-0.0032284,-0.00693194,0.000146665,-4.82581e-05,3.17027e-05,-0.000134446,-0.0920302,-0.000214169,0.0369446,0.176063,0.326735,0.627473,0.684488,-1.37351e-06,1.83593e-05,6.96964e-06,0.000347647,0.000702468,-0.00121658,1.68715,0.281348,1.18626,-0.0201639,-0.0191486,-0.0134064,1.27742,0.155976,0.120644,2.42632,-0.0826651,0.517621,0.491466,9.36046e-05,0.000250779,0,0,0.00133354,-0.00105481,0,0.0284455,0.208714,0.749282,0.000122011,0.00792074,0.0201639,-0.000134446,0.0731741,-0.0199302,0.0388434,-0.316662,-0.286876,0.789496,0.440596,-0.0249452,-0.0107767,0.00168573,-1.90517,0.809832,0.900025,0.245722,5.16847,-0.101141,0.0516477,-0.0135221,0.0205544,-1.25003,0.0248749,0.140802,-2.27115,0.201539,-0.353918,0.491466,-0.0609095,-0.0564863,0.0268614,1.75522,0.695522,-1.00116,0,-0.367958,-0.483603,1.71126,0.015742,0.0175716,-0.0516477,-0.000134446
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