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
2020-02-06.17:16:53.177,0.212527,0.0516912,0.432222,0.179084,-0.00186327,-0.335614,0.924818,-0.000342771,0.000442977,0.000370648,-0.000566536,-5.34123e-05,3.93273e-05,-0.0524907,-0.00104443,0.0246493,-0.00182122,3.28547e-06,-0.00557689,-0.100351,-0.160008,0.127635,0.296258,1.44479,-0.148032,4.23371,0.00087488,-0.00246165,0.0018953,-0.000936135,0,0,0,0.0190141,-0.0103479,-0.000103767,0.0108324,-3.23829e-05,0.000211136,-0.000543473,-0.182799,0.0784462,0.355141,0.556102,0.00584133,0.761319,-0.333332,0.0182925,0.00174354,-0.0011422,0.0590771,0.0481431,0.00400238,0.443778,-1.38712,-0.27451,0.00647474,0.00622038,0.00216465,0.00827384,0.0449069,0.161613,0.9597,0.0296064,0.0355277,2.88958,-0.0540288,0.000620444,0.00506632,0.0327378,0.0054826,0.0511085,0.0580093,0.339252,-0.154445,0.136844,0.014398,0.00446011,-0.0300867,0.00282446,-0.117019,-0.0108546,0.0408047,0.547356,0.00255246,0.760161,-0.350072,3.73375e-05,4.80764e-05,-4.98207e-05,-7.95319e-05,0.000602604,0.000549172,0.949507,0.164395,0.355526,-0.0261888,-0.0570524,0.0356399,1.08296,0.115918,0.100033,-1.48754,0.323692,-0.429348,2.88958,0.000835163,0.000173962,5.7404e-06,0,-3.81957e-05,-2.16506e-05,0.0580093,-0.00506786,-0.0282399,0.673356,-0.00012832,0.0580698,0.0261888,0.00282446,0.106822,0.00235073,0.0444961,0.178786,-2.67854e-05,-0.342822,0.92223,4.95071e-05,-6.41737e-05,7.74039e-05,5.21012e-07,0.00162869,0.00144569,-1.4779,1.26514,-1.29066,0.00401039,0.00495241,0.0393364,-1.24355,0.284961,0.113184,0.83876,-0.929811,0.683463,2.88958,0.00106291,-9.16589e-05,-6.24145e-06,-0.000127571,-0.000950626,0.000702452,0.0580093,-0.151773,0.136159,0.108375,0.0143651,-0.0152313,-0.00401039,0.00282446
2020-02-06.17:16:53.189,0.212502,0.0516897,0.43225,0.179044,-0.00187,-0.335644,0.924815,-0.000336426,0.000179464,0.000524301,-0.00125429,0.000207768,-0.000593728,-0.0266618,-0.00624598,0.0182912,-0.00197407,-0.000308857,-0.00526595,-0.100277,-0.160103,0.127651,0.296247,1.44479,-0.148032,4.23371,0.000902296,-0.00226181,0.00100211,-0.000284379,0,0,0,0.0137166,-0.0075079,-0.00339236,0.0103926,-0.000376772,2.32872e-05,-0.000382663,-0.182102,0.0786897,0.355119,0.555782,0.00288993,0.759289,-0.338494,0.0161576,0.0110424,-0.000221553,0.103754,0.0519458,0.0289808,0.461245,-1.30365,-0.643576,0.00716545,0.00577726,0.000462885,0.00621777,0.044529,0.162438,0.960192,0.0296064,0.0355277,2.90143,-0.0475994,-0.0196594,0.0379468,0.0115577,0.00532454,0.0511085,0.0963323,0.429309,-0.136488,0.0793131,0.0149258,0.00389656,-0.0315895,0.00115203,-0.117019,-0.0108515,0.0408057,0.547186,0.00240151,0.760122,-0.350423,1.66827e-05,-9.9848e-05,-4.78557e-05,-0.0194762,0.0031149,-0.0107725,0.90085,0.212944,0.341465,-0.0272332,-0.0558322,0.0362878,1.08297,0.115926,0.100033,-1.4867,0.323692,-0.429348,2.90143,-5.20903e-05,-0.000504759,5.43683e-06,-0.022469,-3.72642e-05,-2.08465e-05,0.0963323,-0.000819686,-0.0339041,0.664919,0.000434924,0.0576728,0.0272332,0.00115203,0.106823,0.00234907,0.0444953,0.178843,5.3271e-05,-0.34281,0.922224,-5.69647e-06,-1.39874e-06,-4.96165e-06,0.000356582,-0.00118939,-0.00115937,-1.48595,1.31075,-1.2317,0.00489405,0.00461674,0.0393278,-1.24354,0.284961,0.113184,0.83855,-0.929948,0.683574,2.90143,0,-9.16589e-05,-5.97099e-06,0,0.00129453,-0.00112634,0.0963323,-0.154133,0.141824,0.113999,0.0136142,-0.0142659,-0.00200207,0.00115203
2020-02-06.17:16:53.205,0.212494,0.051681,0.432256,0.179029,-0.00186929,-0.335663,0.924811,-0.000656194,-2.1711e-05,0.000529275,-0.00148947,0.000907373,-0.0018809,-0.0364759,-0.0163182,0.0115557,-0.00171215,0.000365718,-0.00520177,-0.100252,-0.160103,0.127624,0.296265,1.44479,-0.148032,4.23371,0.00193526,-0.00187782,0.000380351,0.000147407,0,0,0,0.0179546,-0.00401488,-7.60777e-05,0.0101286,0.000124158,0.000524217,-0.000500591,-0.18195,0.078823,0.35512,0.555658,0.00295872,0.759287,-0.338701,0.0125103,0.0119366,0.000223928,0.104014,0.0582843,0.0187251,0.420091,-1.18661,-0.759686,0.00764571,0.00600398,0.000111949,0.00577187,0.044277,0.162901,0.960181,0.0296064,0.0355277,2.90143,-0.0368237,-0.0228799,0.0414762,0.0128811,0.00528274,0.0511085,0.0963323,0.438845,-0.110861,0.059703,0.0139581,0.00399049,-0.0316521,0.00078753,-0.117019,-0.0108519,0.0408063,0.547184,0.00240162,0.760124,-0.350422,1.25077e-05,-0.000104024,-4.06381e-05,-0.0194762,0.00302788,-0.0108232,0.932744,0.200339,0.355041,-0.0269118,-0.0561443,0.0356739,1.08296,0.115926,0.100033,-1.4867,0.323692,-0.429348,2.90143,-0.000152998,-0.000504759,5.36646e-06,-0.022469,-3.704e-05,-2.06557e-05,0.0963323,-0.00412382,-0.0419284,0.701477,-0.00100448,0.0580043,0.0261085,0.00078753,0.106822,0.00234873,0.0444943,0.178846,4.91476e-05,-0.342808,0.922224,-7.22185e-06,4.02901e-05,-1.0208e-05,0.000248924,-0.00124296,-0.00155542,-1.47831,1.31951,-1.25988,0.00409072,0.00561765,0.0377121,-1.24355,0.284953,0.113184,0.83855,-0.929948,0.683574,2.90143,-0.000244718,0.000242159,-5.90279e-06,0,0.00129453,-0.00112583,0.0963323,-0.147997,0.142768,0.10275,0.0137393,-0.0147205,-0.00409072,0.00078753
2020-02-06.17:16:53.225,0.212493,0.0516891,0.432259,0.17903,-0.00187224,-0.335654,0.924814,-0.00057772,-0.000760462,0.000248938,-0.00148325,0.0018105,-0.00356887,-0.0333817,-0.000653886,0.0201405,-0.00158685,-0.000229001,-0.00498297,-0.100252,-0.160134,0.127656,0.296244,1.44479,-0.148032,4.23371,0.00193526,0.000964126,-0.0024616,0.0020618,0,0,0,0.0137166,-0.00842888,-0.00186766,0.00968879,-9.49992e-05,-3.93291e-05,-0.000457708,-0.181824,0.0789472,0.355126,0.555595,0.00295989,0.759276,-0.33883,0.0126583,0.0127799,0.000736833,0.104033,0.0562227,0.0212627,0.425005,-1.09715,-0.844061,0.00893944,0.00644868,0.000170358,0.00540029,0.0440251,0.163337,0.960336,0.0296064,0.0355277,2.90143,-0.0372694,-0.0263497,0.0450051,0.0100528,0.00524409,0.0511085,0.0963323,0.445732,-0.103473,0.0334602,0.0135183,0.00411572,-0.0339376,0.000873295,-0.11702,-0.0108528,0.0408065,0.547182,0.00239815,0.760127,-0.350419,2.83884e-07,-0.000100139,-1.51402e-05,-0.0149375,0.00213783,-0.00849803,0.930164,0.229298,0.342735,-0.0259478,-0.056698,0.0357499,1.08295,0.115918,0.100033,-1.4867,0.323692,-0.429348,2.90143,-0.000397189,-0.000491368,5.29625e-06,-0.0210252,-3.68128e-05,-2.04634e-05,0.0963323,-0.00176373,-0.0348481,0.670544,-0.000190902,0.0585111,0.0275545,0.000873295,0.106822,0.00234822,0.0444931,0.178937,6.5539e-05,-0.342845,0.922192,-6.76996e-06,3.96649e-05,-9.08893e-06,0.000195131,-0.00118661,-0.00154024,-1.50326,1.30649,-1.25296,0.00409072,0.00579968,0.0387605,-1.24355,0.284953,0.113184,0.83834,-0.929948,0.683574,2.90143,-0.000231169,0.000242159,-5.84247e-06,0,0.00129453,-0.0010556,0.0963323,-0.148469,0.141824,0.130871,0.0141148,-0.0152968,-0.00409072,0.000873295
2020-02-06.17:16:53.245,0.212494,0.051681,0.432256,0.179029,-0.00186929,-0.335663,0.924811,-0.000544451,-0.000689619,0.00027651,-0.00148378,0.00167195,-0.0033185,-0.0680374,-0.0140634,0.0375144,-0.00162997,-3.16579e-05,-0.00499734,-0.100252,-0.160103,0.127624,0.296265,1.44479,-0.148032,4.23371,0.00181009,0.00070515,-0.00220262,0.00190079,0,0,0,0.0253711,-0.014093,-0.00330575,0.00977676,-3.23829e-05,0.00014852,-0.000414825,-0.18163,0.0792014,0.355152,0.555431,0.00137483,0.758266,-0.341362,0.00745425,0.0120645,0.00184366,0.254179,0.120129,0.0935941,0.364063,-0.909691,-1.01511,0.00815273,0.00611678,-0.00026488,0.00483054,0.0434583,0.164245,0.960324,0.0296064,0.0355277,2.90735,-0.0219077,-0.0291355,0.043844,-0.0105614,0.00516978,0.0511085,0.279589,0.458446,-0.0669803,-0.000707652,0.0131664,0.0040218,-0.03184,0.000401587,-0.11702,-0.0108542,0.0408065,0.547265,0.00247547,0.760147,-0.350244,-1.12141e-05,-3.44261e-05,2.54229e-05,0.00870814,-0.00144412,0.003921,0.921758,0.277479,0.37271,-0.0267512,-0.0559465,0.0362431,1.08294,0.115918,0.100033,-1.48712,0.323692,-0.429348,2.90735,-0.000406569,-0.000491368,5.16366e-06,0.00967109,0,-4.97566e-05,0.279589,-0.000819686,-0.0376802,0.723973,0.000372341,0.0575679,0.0267512,0.000401587,0.106821,0.00234894,0.0444918,0.178939,5.86803e-05,-0.342848,0.922191,-1.34082e-05,4.55485e-05,-2.30197e-05,0.000201249,-0.00133681,-0.00160618,-1.48461,1.26476,-1.27291,0.00425139,0.00438678,0.04089,-1.24356,0.284953,0.113184,0.83834,-0.929948,0.683574,2.90735,-0.000394212,0.00022316,-5.72016e-06,0,0.00129453,-0.0010556,0.279589,-0.150829,0.135215,0.122435,0.0151787,-0.0157159,-0.00425139,0.000401587
2020-02-06.17:16:53.265,0.212495,0.0516648,0.43226,0.179014,-0.00186945,-0.335681,0.924807,-0.000522293,0.000666654,-0.000277248,0.00141471,0.000275024,-0.000111241,-0.0275224,-0.0119877,0.0159401,-0.00216385,0.000226607,-0.0048237,-0.100252,-0.160071,0.127567,0.296304,1.44479,-0.148032,4.23371,0.00146538,-0.0010552,0.00248108,-0.00123218,0,0,0,0.0147761,-0.00609318,-0.00298349,0.00951284,-0.000439388,0.000649449,-0.000446987,-0.181537,0.0794001,0.355206,0.555409,0.00131583,0.758249,-0.341434,0.00173446,0.00756808,0.00305683,0.222455,0.132598,0.0541073,0.330998,-0.755105,-1.11215,0.00798882,0.00618315,-0.000504075,0.00455804,0.0428914,0.164996,0.960567,0.0296064,0.0355277,2.90735,-0.00502931,-0.025452,0.02988,0.00986853,0.00509659,0.0511085,0.254136,0.456856,-0.0441677,-0.0289741,0.0134303,0.00411572,-0.0318087,0.000165732,-0.11702,-0.0108551,0.0408067,0.547263,0.002472,0.76015,-0.350241,-2.91204e-05,7.82434e-06,7.27758e-05,0.00609258,-0.00167304,0.00314308,0.939703,0.241609,0.32053,-0.0275545,-0.0567071,0.0367785,1.08294,0.115911,0.100033,-1.48712,0.323692,-0.429348,2.90735,-0.000694244,0.000241258,5.0332e-06,0.00708139,0,-4.90233e-05,0.254136,-0.00317978,-0.0376802,0.670544,0.000309759,0.058319,0.0275545,0.000165732,0.106821,0.0023493,0.0444912,0.17894,5.5251e-05,-0.342849,0.92219,-2.47056e-05,5.64812e-05,-4.69758e-05,0.000209413,-0.00159464,-0.00172728,-1.46121,1.29146,-1.21069,0.00288573,0.0032658,0.0391012,-1.24357,0.284953,0.113184,0.83834,-0.929948,0.683574,2.90735,-0.000678058,0.000197779,-5.59822e-06,0,0.00129453,-0.0010556,0.254136,-0.14422,0.139463,0.122435,0.0163052,-0.01393,-0.00288573,0.000165732
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