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
2020-02-06.11:23:50.458,0.166306,0.032692,0.401388,0.229475,-0.470548,-0.13088,0.841901,-0.00224032,-0.0149431,-0.00899749,0.0812446,-0.0136578,0.0304567,0.00644036,0.0164914,0.00322374,5.58156e-05,-0.000254077,-1.73776e-05,0.03857,-0.0198711,0.0442496,-1.44022,0.5566,-0.133229,-3.04354,0.00440982,0.0637613,-0.0618913,0.00172412,0.0116419,-0.0742208,-0.0455461,-5.68415e-05,-0.00452967,1.70063e-05,-0.000163969,-0.00025154,2.32872e-05,-8.24851e-05,-0.180278,0.0376369,0.397307,0.260789,0.465181,0.297038,0.792063,0.00213635,0.0033509,0.00120779,-0.452733,0.0872966,-0.245896,-0.00868574,-0.00142645,0.00280756,-0.000482885,0.000108244,0.000162012,0.000792703,-0.0191153,0.0602195,1.40531,0.452978,0.032567,0.225009,-0.00604993,-0.0116174,0.0132024,-0.00395528,0,0.0374442,-0.527547,-0.000316419,-0.00257008,-0.0037058,-0.000996958,1.43582e-05,-6.22216e-05,-4.86811e-05,-0.119884,0.0148444,0.0267395,0.261039,0.457637,0.299652,0.795384,0.00054252,0.00172392,0.00160738,-0.467664,0.0151076,-0.262301,7.26522,0.932519,-1.9843,0.0422546,-0.0303766,-0.0205927,1.41533,0.320478,0.092791,1.82346,0.36441,-0.117785,0.225009,0,0.00204785,0.00129824,-0.574124,-0.00313351,-0.179405,-0.527547,0.548139,0.20305,0.850517,-0.0111429,-0.0383673,-0.0422546,-4.86811e-05,0.120199,0.0223614,0.0289832,0.214299,-0.475718,-0.127688,0.843484,-0.00103632,-0.00353484,-0.00148096,-0.00340592,0.134803,-0.0107797,-8.91222,-1.65242,-1.88738,0.0775951,0.194237,-0.0516482,-1.4383,0.389681,0.094856,-4.53895,-0.371651,-0.40469,0.225009,-0.00958166,-0.046909,-4.74696e-05,0,-0.13402,0.109284,-0.527547,-0.532221,-0.253729,1.01387,-0.00372123,-0.117782,-0.0775951,-4.86811e-05
2020-02-06.11:23:50.466,0.166279,0.0320924,0.401046,0.230635,-0.470824,-0.130355,0.841511,-0.000149374,-0.0130761,-0.00724947,0.0579859,0.00329886,0.00770294,-0.00477974,-0.0078449,-0.0045921,-8.34981e-05,-0.000219117,0.000107887,0.03857,-0.0174148,0.0418196,-1.43993,0.5566,-0.136189,-3.04354,-0.00120026,0.0535892,-0.0535892,0.00774286,0.0108117,-0.0395197,-0.0418424,-0.00058659,-0.00153039,0.000339267,-0.000427882,-0.00040808,-0.000101945,-0.00016825,-0.180235,0.0377139,0.39735,0.256449,0.468401,0.286958,0.795292,0.000714624,0.000994484,0.000448948,-0.618863,0.0940671,-0.294139,-0.0153786,0.0166362,0.00348454,-3.13951e-05,-0.000257351,5.72222e-05,0.000668844,-0.0194303,0.0605345,1.40525,0.452978,0.0355277,0.201323,-0.00202483,-0.00374255,0.0039887,-0.00267123,0,0,-0.693904,0.00233232,-0.00781751,-0.00473149,-0.00029319,0.000264823,0.000282168,-7.01224e-05,-0.119865,0.0149088,0.0267836,0.258001,0.460199,0.290953,0.798122,0.000317829,0.0018685,0.00104998,-0.499097,0.132202,-0.336243,7.11224,0.762662,-1.91857,0.0420939,-0.0254674,-0.0219051,1.41537,0.32047,0.0928299,1.80249,0.36318,-0.128462,0.201323,0.00126481,-0.00247633,0.000790773,-0.649362,-0.0546756,-0.314146,-0.693904,0.547195,0.175673,0.839269,-0.0116435,-0.0422701,-0.0420939,-7.01224e-05,0.120125,0.022196,0.0288693,0.214781,-0.475803,-0.12702,0.843414,-0.0017106,-0.00445209,-0.00313586,0.00858142,-0.0414871,0.0513835,-8.32065,-2.12659,-1.9568,0.0783181,0.185594,-0.0449563,-1.43869,0.387256,0.0948457,-4.53895,-0.372334,-0.403969,0.201323,-0.00858485,-0.0641196,-0.000606396,0,0.00183035,-0.00149253,-0.693904,-0.497763,-0.285354,0.572368,-0.00297024,-0.112609,-0.0783181,-7.01224e-05
2020-02-06.11:23:50.486,0.166279,0.0320924,0.401046,0.230635,-0.470824,-0.130355,0.841511,-0.000149374,-0.0130761,-0.00724947,0.0579859,0.00329886,0.00770294,-0.00477974,-0.0078449,-0.0045921,-8.34981e-05,-0.000219117,0.000107887,0.03857,-0.0174148,0.0418196,-1.43993,0.5566,-0.136189,-3.04354,-0.00120026,0.0535892,-0.0535892,0.00774286,0.0108117,-0.0395197,-0.0418424,-0.00058659,-0.00153039,0.000339267,-0.000427882,-0.00040808,-0.000101945,-0.00016825,-0.180235,0.0377139,0.39735,0.256449,0.468401,0.286958,0.795292,0.000714624,0.000994484,0.000448948,-0.618863,0.0940671,-0.294139,-0.0153786,0.0166362,0.00348454,-3.13951e-05,-0.000257351,5.72222e-05,0.000668844,-0.0194303,0.0605345,1.40525,0.452978,0.0355277,0.201323,-0.00202483,-0.00374255,0.0039887,-0.00267123,0,0,-0.693904,0.00233232,-0.00781751,-0.00473149,-0.00029319,0.000264823,0.000282168,-7.01224e-05,-0.119865,0.0149088,0.0267836,0.258001,0.460199,0.290953,0.798122,0.000317829,0.0018685,0.00104998,-0.499097,0.132202,-0.336243,7.11224,0.762662,-1.91857,0.0420939,-0.0254674,-0.0219051,1.41537,0.32047,0.0928299,1.80249,0.36318,-0.128462,0.201323,0.00126481,-0.00247633,0.000790773,-0.649362,-0.0546756,-0.314146,-0.693904,0.547195,0.175673,0.839269,-0.0116435,-0.0422701,-0.0420939,-7.01224e-05,0.120125,0.022196,0.0288693,0.214781,-0.475803,-0.12702,0.843414,-0.0017106,-0.00445209,-0.00313586,0.00858142,-0.0414871,0.0513835,-8.32065,-2.12659,-1.9568,0.0783181,0.185594,-0.0449563,-1.43869,0.387256,0.0948457,-4.53895,-0.372334,-0.403969,0.201323,-0.00858485,-0.0641196,-0.000606396,0,0.00183035,-0.00149253,-0.693904,-0.497763,-0.285354,0.572368,-0.00297024,-0.112609,-0.0783181,-7.01224e-05
2020-02-06.11:23:50.506,0.166268,0.0318304,0.400912,0.231954,-0.470108,-0.132951,0.841142,-0.000184404,-0.0121157,-0.00670414,0.0205243,-0.00338825,0.0191602,0.00221378,-0.0152487,-0.00950693,0.000156719,-0.000324846,0.000309822,0.03857,-0.0163441,0.0407226,-1.43965,0.5566,-0.136189,-3.04946,-0.000981416,0.0495055,-0.049577,0.0136135,0.0104423,-0.0361968,0,-0.00376508,0.00280659,-0.00133449,-0.000691795,-0.000376772,0.00014852,9.97661e-05,-0.180208,0.0377478,0.397326,0.255064,0.469129,0.284686,0.796125,0.0017444,0.00260195,-0.00120525,-0.582272,0.0861937,-0.274459,-0.00254561,0.0152044,0.00540397,-0.0001616,0.000143758,-0.000112303,0.000594528,-0.0194303,0.0606396,1.40518,0.452978,0.0355277,0.195402,-0.00494508,-0.00205116,0.0085699,-0.00573926,0,0,-0.659934,-0.00296516,0.00267735,-0.00179639,-0.000381161,0.000108283,3.17027e-05,-0.000252374,-0.119853,0.0149686,0.026797,0.253361,0.462612,0.285045,0.800342,0.000471803,0.00273203,0.000675815,-0.758381,0.0992539,-0.26902,6.90284,0.476441,-1.82277,0.0410496,-0.026283,-0.0206659,1.4154,0.320385,0.0928455,1.78551,0.359627,-0.132672,0.195402,0.000540579,-0.00554455,0.000652467,-0.841774,-0.165173,-0.209369,-0.659934,0.537283,0.138855,0.797087,-0.0102667,-0.0394977,-0.0410496,-0.000252374,0.120088,0.0220965,0.0288039,0.215208,-0.476076,-0.12646,0.843235,-0.00173581,-0.00499479,-0.00312126,0.00681104,-0.0371198,0.0535157,-8.1082,-2.03786,-2.14268,0.0724538,0.182453,-0.0476896,-1.43882,0.38592,0.0948327,-4.53895,-0.372198,-0.404081,0.195402,-0.00533443,-0.0695216,-0.000701848,0,0,0.00450815,-0.659934,-0.489739,-0.266474,0.389583,-0.00415931,-0.110656,-0.0730965,-0.000252374
2020-02-06.11:23:50.526,0.166261,0.031476,0.400725,0.23216,-0.468756,-0.133044,0.841825,-0.000500611,-0.0113221,-0.00635438,0.017039,-0.00372236,0.00188002,0.011267,-0.00358725,0.000866648,0.000254652,4.08057e-06,0.00013271,0.0385452,-0.014927,0.0392792,-1.43883,0.559561,-0.136189,-3.04946,0,0.0465624,-0.046462,0.0237236,0.000712205,-0.0321555,0,-0.00111634,-0.00468899,-0.00371167,-0.000515853,-6.3691e-05,-7.06372e-05,-1.81611e-05,-0.180182,0.0378572,0.397259,0.252323,0.470555,0.280165,0.797758,0.000591382,0.00416757,-0.00293718,-0.183498,0.0251061,-0.0858744,-0.0155236,0.0100716,0.00794238,-0.000320927,-5.59472e-05,-9.80125e-05,0.000520212,-0.0194617,0.0609867,1.40495,0.452978,0.0355277,0.18356,-0.00167456,0,0.0129282,-0.00865804,0,0,-0.220169,0.000213329,-0.00764766,-0.00611067,-0.000117248,0.000108283,-0.000406611,-4.86811e-05,-0.11984,0.0149916,0.0267925,0.253176,0.46428,0.28235,0.80039,0.00013122,0.00070737,0.000177225,-0.215995,0.00265287,-0.086265,7.33364,0.225082,-1.97477,0.0385593,-0.0292973,-0.0226892,1.41545,0.3203,0.0928546,1.78006,0.357578,-0.137616,0.18356,0.00252536,-0.00187434,0.000241902,-0.244222,-0.0208136,-0.0481807,-0.220169,0.575516,0.126583,0.763342,-0.0128952,-0.0408285,-0.0385593,-4.86811e-05,0.120065,0.0219223,0.0287412,0.214706,-0.474138,-0.126966,0.844378,-0.00126939,-0.00570588,-0.00299118,0.012118,-0.00918802,0.0602796,-8.21047,-1.50343,-2.58049,0.0685175,0.180949,-0.0495349,-1.43892,0.383735,0.0948029,-4.53895,-0.376707,-0.399832,0.18356,-0.00153463,-0.0740226,-0.00117107,0,-0.026121,0.0126831,-0.220169,-0.513812,-0.204639,0.265851,-0.00340832,-0.111244,-0.0685175,-4.86811e-05
2020-02-06.11:23:50.546,0.166248,0.0313779,0.400649,0.232145,-0.468735,-0.133123,0.841828,-0.000778582,-0.0106945,-0.00662792,0.0179022,0.000407485,-0.00482813,0.0363719,0.00452458,0.00458381,-0.00013397,-0.000634044,0.000198988,0.03857,-0.0144546,0.0388594,-1.4387,0.559561,-0.136189,-3.04946,0.000821828,0.0460036,-0.0443997,0.0297345,0.000712205,-0.0309217,0,-0.00270558,0.00130958,-0.00277258,-0.000603824,-0.000188923,-7.06372e-05,-2.88818e-05,-0.180182,0.0378919,0.397224,0.250963,0.471275,0.27786,0.798568,0.000472979,0.00439541,-0.00329392,-0.27558,0.039601,-0.130797,-0.00560003,-0.0021245,0.015072,0.00011245,0.000120096,-1.36834e-05,0.000520212,-0.0194303,0.0610867,1.40488,0.452978,0.0355277,0.177638,-0.00133869,0.000641432,0.0134788,-0.00902676,0,0,-0.324719,-0.00402466,-0.00365037,-0.00431909,0.000322607,-0.000142182,-0.000124838,9.06875e-05,-0.119843,0.0150011,0.0267991,0.251725,0.464428,0.280765,0.801319,-0.000435802,0.00121253,0.000748136,-0.570466,-0.10215,-0.172271,7.42641,0.201366,-1.95212,0.0410496,-0.0279461,-0.0242989,1.41547,0.320262,0.0928558,1.77524,0.357578,-0.138025,0.177638,0.00210806,-0.00501608,0,-0.607419,-0.0134358,-0.00697249,-0.324719,0.584957,0.120446,0.81396,-0.0132707,-0.0432433,-0.0410496,9.06875e-05,0.120049,0.0218689,0.028714,0.214884,-0.474149,-0.126731,0.844362,-0.00189277,-0.0054625,-0.00294652,0.0111516,-0.0384789,0.0649605,-8.36847,-1.2735,-2.77978,0.0678749,0.184138,-0.0524726,-1.43892,0.383032,0.0947951,-4.53895,-0.376843,-0.399721,0.177638,-0.000875173,-0.073735,-0.000601625,0,0,-0.00280906,-0.324719,-0.528917,-0.180566,0.23773,-0.00359607,-0.113889,-0.0678749,9.06875e-05
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