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
2020-02-06.17:43:18.309,0.414972,-0.0562299,0.413383,-0.00112993,-0.48219,0.404619,0.777029,-0.0118195,-0.0207199,0.0127166,0.111883,-0.0840879,0.200321,0.000283595,0.00774325,-0.0173655,-0.000113726,-0.000115472,0.000356998,-0.504135,0.371568,-0.544637,-1.18949,0.778648,-0.0858585,-2.16719,0.0327807,-0.00111762,-0.0541034,0.0320954,0,-0.32067,0.0617887,-0.00482458,0.00779136,0.00609165,-0.000779766,-0.000220232,0.000336368,-7.44046e-06,-0.200171,0.0699566,0.359964,0.0571274,0.406085,0.512853,0.754197,8.87272e-05,0.000285413,-0.000230186,0.00101411,-0.000485971,0.000546286,-0.00635705,0.0104919,0.00167505,-0.000283485,-6.67263e-05,0.000198614,0.0586848,0.0446864,0.136219,0.546192,0.293103,0.168756,0.0414489,-0.000235009,0.000290765,0.000730258,-0.000489054,0,0,0,0.00233232,-0.00307435,-0.00165087,-0.000908987,0.000139591,0.000282168,2.63635e-05,-0.0673781,-0.00920631,0.0231524,0.0556605,0.40133,0.510536,0.758413,1.17237e-05,0.000102193,5.26076e-06,-0.000236478,0.000179687,0.00147012,-0.556074,-0.594049,0.473288,0.0306064,0.0507841,0.0430905,1.38721,0.0268133,0.141442,2.0191,0.00355255,0.726984,0.0414489,0.000308568,0.000652133,5.42971e-06,0,-0.000765122,0.000247269,0,0.0128689,-0.0471206,0.74647,-0.00144255,-0.0615235,-0.0306064,2.63635e-05,0.139808,-0.0260044,0.052043,-0.00902792,-0.479028,0.401998,0.780287,-0.00567572,-0.00579689,0.00372941,0.157447,-0.0230755,0.162167,-6.46618,-3.31435,2.22612,0.0591186,0.047718,-0.00461453,-0.798322,0.0537579,0.0902697,-3.5381,0.119147,0.0136,0.0414489,0.0118984,-0.0274189,0.00835281,-0.0183498,0.157355,-0.120387,0,0.111142,-0.600191,1.4863,0.00535325,0.0111914,-0.0591186,2.63635e-05
2020-02-06.17:43:18.323,0.414608,-0.056923,0.413859,0.00113354,-0.48369,0.405353,0.775714,-0.0112039,-0.0231957,0.0167841,0.110059,-0.0887028,0.199084,-0.00164809,0.0111131,-0.00534025,-1.20964e-05,-0.000596438,0.000508676,-0.503119,0.371474,-0.546489,-1.18855,0.778648,-0.0947404,-2.16719,0.0317629,-0.00322416,-0.0637784,0.0346984,0,-0.328326,0.0571124,-5.68415e-05,0.00470978,0.00468124,-0.00139556,-0.000439388,2.32872e-05,3.28019e-06,-0.200171,0.0699566,0.359964,0.0571274,0.406085,0.512853,0.754197,8.0176e-05,0.000285848,-0.000229934,0.00101411,-0.000473518,0.000524717,0.000945312,-0.011388,0.0067129,-7.05116e-05,-0.000152817,6.52833e-05,0.0586848,0.0446864,0.136219,0.546192,0.293103,0.168756,0.0414489,-0.000210104,0.000290765,0.000730258,-0.000489054,0,0,0,-0.00455441,0.000423941,-0.000181549,-0.000205219,0.000170899,6.30108e-05,2.63635e-05,-0.0673754,-0.00920597,0.023152,0.0556614,0.401332,0.510537,0.75841,-3.66218e-05,6.71142e-05,1.46899e-05,-0.000198021,4.58127e-05,0.00115765,-0.594328,-0.592392,0.478707,0.0306867,0.0507678,0.0441647,1.38722,0.0268133,0.141445,2.0191,0.00355255,0.726984,0.0414489,5.76522e-05,0.00047141,-3.80726e-05,0,-0.00073445,0.000232565,0,0.00862071,-0.0485367,0.749282,-0.000628981,-0.0618771,-0.0306867,2.63635e-05,0.139615,-0.0262055,0.0521844,-0.00631692,-0.480282,0.402952,0.77905,-0.00660181,-0.00744253,0.00494768,0.144031,-0.0244883,0.160809,-6.01337,-4.1377,2.23748,0.0530133,0.0354343,-0.00486502,-0.797836,0.0528003,0.090564,-3.5381,0.123793,0.0103018,0.0414489,0.0193076,-0.0397724,0.0102833,-0.00789858,0.140795,-0.102765,0,0.179585,-0.603968,1.52004,0.00597907,0.0193393,-0.0530133,2.63635e-05
2020-02-06.17:43:18.343,0.414509,-0.0571088,0.413989,0.00195209,-0.484202,0.405598,0.775265,-0.0112167,-0.0227651,0.0169102,0.122379,-0.0923441,0.213098,-0.00798672,-0.00185404,-0.0284,-0.000422081,-0.000189996,-2.91166e-05,-0.502846,0.371442,-0.546983,-1.18822,0.778648,-0.0977011,-2.16719,0.031349,-0.00444969,-0.0619471,0.033472,0,-0.345765,0.0560015,-0.00747332,0.0122929,0.00629962,0.000275886,-0.000439388,-3.93291e-05,8.90455e-05,-0.200171,0.0699566,0.359964,0.0571274,0.406085,0.512853,0.754197,7.77785e-05,0.00028597,-0.000229864,0.00101411,-0.000470026,0.00051867,0.00843711,-0.01,-0.00467575,-0.000441501,4.01116e-05,0.000196972,0.0586848,0.0446864,0.136219,0.546192,0.293103,0.168756,0.0414489,-0.000203121,0.000290765,0.000730258,-0.000489054,0,0,0,-0.00243541,0.00433368,0.00266342,-0.0011729,4.56663e-05,0.000219551,-5.79846e-06,-0.0673754,-0.00920597,0.023152,0.0556614,0.401332,0.510537,0.75841,-3.65e-05,6.25635e-05,1.21809e-05,-0.000189347,6.28717e-05,0.00111478,-0.550947,-0.60639,0.458522,0.0303654,0.0495217,0.0425543,1.38722,0.0268133,0.141445,2.0191,0.00355255,0.726984,0.0414489,5.76522e-05,0.000433175,-3.80726e-05,0,-0.000724875,0.00022803,0,0.0133409,-0.0494807,0.743658,-0.00100448,-0.0602705,-0.0303654,-5.79846e-06,0.139547,-0.0262825,0.0522406,-0.00573082,-0.480613,0.403134,0.778756,-0.00681196,-0.00738461,0.00630501,0.084663,-0.016805,0.0864111,-5.74815,-4.34899,2.18453,0.0532543,0.0326469,-0.00571028,-0.797627,0.0523833,0.0906664,-3.5381,0.124749,0.00984861,0.0414489,0.02411,-0.0392623,0.0111546,-0.00668975,0.0772916,-0.0399836,0,0.207906,-0.594055,1.4863,0.00472742,0.020383,-0.051969,-5.79846e-06
2020-02-06.17:43:18.363,0.414257,-0.0576247,0.4144,0.00514093,-0.484646,0.406923,0.774277,-0.0121681,-0.0231959,0.0185206,0.121715,-0.0900957,0.206881,-0.00874977,-0.00690633,-0.0184561,-0.000137899,-0.000113132,-9.30737e-05,-0.502153,0.371285,-0.548377,-1.18744,0.781609,-0.106583,-2.16719,0.0326231,-0.00846998,-0.0610253,0.0352952,0.00103138,-0.344387,0.0532226,-0.00641382,0.00371178,0.00368324,-0.00139556,-0.000595929,0.000398985,2.47215e-05,-0.200163,0.069958,0.359954,0.0571307,0.406075,0.512865,0.754194,4.17677e-05,8.58649e-05,-0.000269813,0.000802252,-9.80966e-05,8.04029e-05,-0.0119399,0.00818821,0.00329307,-0.000190077,-8.56067e-05,-8.00404e-05,0.0586601,0.0447179,0.136214,0.546196,0.293103,0.168756,0.0414489,-0.00013155,0.000823033,-1.95375e-05,1.30843e-05,0,0,0,0.00180257,-0.00481822,-0.00411466,-0.000117248,7.69744e-05,-0.000218762,-7.01224e-05,-0.0673754,-0.00920597,0.023152,0.0556924,0.401353,0.51052,0.758408,-4.81407e-05,1.95175e-05,7.00163e-05,-0.00022617,-0.00064422,0.000954807,-0.578644,-0.60219,0.466169,0.03149,0.0521734,0.0436441,1.38722,0.0268133,0.141445,2.0191,0.00355255,0.726903,0.0414489,-0.000478866,0.000371472,-3.66533e-05,0,-0.000705708,0.000547753,0,0.0123969,-0.0499528,0.74647,-0.00194322,-0.0627243,-0.03149,-7.01224e-05,0.139414,-0.0264518,0.0523488,-0.00318389,-0.481354,0.404139,0.777792,-0.00583497,-0.00831557,0.00526858,0.161396,0.0315575,0.229122,-5.29641,-4.80553,2.09174,0.0526117,0.0269411,-0.00671753,-0.797056,0.0514875,0.090892,-3.5381,0.128302,0.00638,0.0414489,0.0312264,-0.0467013,0.0101652,-0.00502279,0.141208,-0.180281,0,0.256052,-0.578007,1.43005,0.00541583,0.0218147,-0.052451,-7.01224e-05
2020-02-06.17:43:18.383,0.414025,-0.0580797,0.41478,0.00727441,-0.484491,0.407835,0.773877,-0.0108281,-0.022221,0.0196771,0.0855485,-0.0610205,0.175214,-0.00873212,0.0051105,-0.00887753,0.000248118,-0.000546554,0.000232125,-0.501534,0.371096,-0.549582,-1.18663,0.784569,-0.112504,-2.16719,0.0287951,-0.0108273,-0.0593624,0.0341815,0.0219467,-0.288589,0.0509232,-5.68415e-05,0.00712777,0.00447681,-0.000955708,-0.000157615,-0.000321102,-3.96024e-05,-0.200162,0.0699672,0.35995,0.0571347,0.406063,0.512876,0.754193,4.1528e-05,7.91742e-05,-0.000266361,0.00078332,-8.88455e-05,7.12156e-05,-0.00870647,0.00803141,0.00469042,-0.000111805,9.16702e-05,0.000130076,0.0586601,0.0447179,0.13624,0.546178,0.293103,0.168756,0.0414489,-0.00013155,0.000823033,-3.86369e-05,2.58751e-05,0,0,0,0.00127283,-0.00415464,-0.00285331,-0.000469132,-4.82581e-05,0.000188243,3.70842e-05,-0.0673756,-0.00920648,0.0231529,0.0556915,0.401351,0.510519,0.75841,-4.12794e-05,2.50961e-05,4.83525e-05,-0.00021398,-0.000475605,0.000978256,-0.573032,-0.637606,0.472278,0.0303654,0.0506804,0.043577,1.38721,0.0268133,0.141445,2.0191,0.00355255,0.726903,0.0414489,-0.000311436,0.000326979,-3.40066e-05,0,-0.000688027,0.000533336,0,0.0128689,-0.0518408,0.774591,-0.00100448,-0.0616151,-0.0303654,3.70842e-05,0.1393,-0.0266178,0.0524709,-0.00170118,-0.481579,0.404753,0.777338,-0.00550976,-0.0086468,0.00621234,0.100018,0.0314174,0.144373,-4.92685,-5.03951,2.07517,0.05221,0.0194998,-0.00810678,-0.796345,0.0505144,0.0911033,-3.5381,0.129668,0.00469407,0.0414489,0.0392623,-0.051715,0.0106051,-0.0040586,0.0658001,-0.0931667,0,0.280597,-0.56715,1.44411,0.00453967,0.0253728,-0.05221,3.70842e-05
2020-02-06.17:43:18.403,0.413848,-0.0584948,0.41519,0.00830737,-0.483778,0.408468,0.773979,-0.00666453,-0.0197255,0.0211255,0.0694137,-0.054223,0.150826,-0.0290554,-0.00615835,-0.06038,-0.000212459,0.000320417,-0.000404723,-0.501063,0.370844,-0.550724,-1.18602,0.78753,-0.115465,-2.16719,0.0184407,-0.012549,-0.0571863,0.0445677,0.0229141,-0.258033,0.0487696,-0.0122411,0.0297791,0.0143149,0.00106763,9.28496e-05,2.32872e-05,-3.96024e-05,-0.200163,0.0699708,0.359931,0.057108,0.406018,0.512929,0.754183,4.41398e-05,0.000207496,-0.000379011,0.00126173,-0.000246496,0.000213393,-0.0127275,0.00553853,-0.0282661,-4.57093e-05,-0.000366917,2.11848e-05,0.0586601,0.0447809,0.13623,0.546036,0.293103,0.168756,0.0414489,-0.000129787,0.000995211,0.000270607,-0.000181226,0,0,0,0.00815955,0.00135018,-0.00443692,0.000146665,0.000358747,-0.000187454,6.92461e-05,-0.0673758,-0.00920699,0.0231538,0.0556905,0.401348,0.510518,0.758413,-2.71513e-05,6.96549e-05,-3.82168e-05,-0.000204118,0.000173748,0.00129358,-0.511326,-0.644721,0.435551,0.0296424,0.0485347,0.0420897,1.3872,0.0268133,0.141445,2.0191,0.00355255,0.726903,0.0414489,0.000417483,0.000293441,-3.80143e-05,0,-0.000671772,0.000520081,0,0.0194772,-0.0523129,0.752094,-0.000691563,-0.0595849,-0.0296424,6.92461e-05,0.139189,-0.0268052,0.0526,0.000816215,-0.481797,0.405861,0.776626,-0.00550681,-0.0096646,0.00661965,0.166882,0.0553913,0.255182,-4.48536,-5.0235,2.08126,0.0492377,0.015335,-0.00852413,-0.795426,0.0494718,0.0913249,-3.5381,0.132127,0.00113665,0.0414489,0.0492971,-0.0526913,0.0112651,-0.00338901,0.138089,-0.19537,0,0.29759,-0.540245,1.45536,0.00460226,0.0242818,-0.0506034,6.92461e-05
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