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_velocity_1,PSM1_joint_velocity_2,PSM1_joint_velocity_3,PSM1_joint_velocity_4,PSM1_joint_velocity_5,PSM1_joint_velocity_6,PSM1_joint_effort_1,PSM1_joint_effort_2,PSM1_joint_effort_3,PSM1_joint_effort_4,PSM1_joint_effort_5,PSM1_joint_effort_6,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_velocity_1,PSM2_joint_velocity_2,PSM2_joint_velocity_3,PSM2_joint_velocity_4,PSM2_joint_velocity_5,PSM2_joint_velocity_6,PSM2_joint_effort_1,PSM2_joint_effort_2,PSM2_joint_effort_3,PSM2_joint_effort_4,PSM2_joint_effort_5,PSM2_joint_effort_6
2020-02-05.10:52:06.25,0.129509,0.0477229,0.353808,-0.399858,-0.507942,0.414677,0.640431,4.63468e-05,0.000216997,0.000295474,-9.21041e-05,0.00592085,-0.0072478,-0.367398,0.786032,-0.38271,-0.0161155,-0.019742,0.0036579,0.137212,0.118377,0.0401757,-1.56041,0.0917798,0.0296064,-1.21978,0,-0.00144204,0.00114513,0.00935454,0,0,0,-0.133553,0.306182,0.137658,-0.0233883,-0.00823511,-0.0250232,0.00374479,-0.097248,0.0526557,0.317466,-0.50324,0.559427,-0.215718,0.6223,0.000656012,-0.0015612,-0.00157127,-0.00099053,0.0131691,-0.0137226,0.43809,0.518342,-0.0130207,-0.0246659,0.0508821,0.0206528,-0.214649,0.254703,-0.0140215,1.6142,-0.319749,-0.032567,-1.8356,-0.000477781,0.00824137,-0.00824137,0.0195087,0,0,0,0.109341,0.208971,0.0530292,0.096387,-0.0115383,0.0201941,0.00893523,-0.0801554,0.0167731,0.0409488,-0.48598,0.590598,-0.195871,0.61372,8.83625e-07,1.95555e-06,-3.38712e-06,2.5411e-21,2.82626e-05,1.63174e-05,-0.963727,1.58581,1.56988,0.0298834,0.0509611,0.0377728,1.34804,0.282598,0.134275,0.104635,-0.0717342,0.547178,3.26348e-05,0,0,0,0,0,0.231886,0.0807967,0.583369,0.00500346,-0.054403,-0.0298834,0.0758479,0.0232334,0.0385675,-0.408122,-0.516923,0.423479,0.622007,-2.8307e-05,-8.68396e-05,-3.88098e-05,0.000127977,-0.000336548,0.000659706,1.1688,2.63359,1.30297,-0.0459565,0.014321,0.0182135,-1.39946,0.314099,0.13868,-2.94216,0.165194,0.125116,3.83937e-05,-0.000750587,0,0,0,0,-0.413272,0.0644123,1.14322,0.00435193,-0.027118,0.0459565
2020-02-05.10:52:06.37,0.129509,0.0477229,0.353808,-0.399858,-0.507942,0.414677,0.640431,-6.92604e-05,-0.000454722,-0.000215621,-0.000113905,0.00478422,-0.00584792,-0.355917,0.790308,-0.390102,-0.0160149,-0.0192933,0.00359529,0.137212,0.118377,0.0401757,-1.56041,0.0917798,0.0296064,-1.21978,0,0.00161725,-0.00189686,0.00755127,0,0,0,-0.135672,0.30809,0.14218,-0.0225966,-0.00829773,-0.024898,0.00371263,-0.0972232,0.0526443,0.317439,-0.503218,0.559496,-0.215716,0.622256,-0.000350544,0.000286861,-8.21802e-06,0.000609363,0.00034441,-0.000431923,0.380061,0.513115,-0.024477,-0.024674,0.0509315,0.0207204,-0.214699,0.254829,-0.0141211,1.61441,-0.319749,-0.032567,-1.8356,0.000747559,-0.000630584,0.00124349,-0.000207274,0,0,0,0.114639,0.203615,0.0637439,0.0967389,-0.0115383,0.019975,0.00891379,-0.0801554,0.0167731,0.0409488,-0.48598,0.590598,-0.195871,0.61372,8.37577e-07,1.85364e-06,-3.21061e-06,3.38813e-21,2.67897e-05,1.54671e-05,-0.967139,1.5818,1.56055,0.029321,0.0508117,0.0379347,1.34804,0.282598,0.134275,0.104635,-0.0717342,0.547178,3.09341e-05,0,0,0,0,0,0.231414,0.0812687,0.577745,0.00525379,-0.0543287,-0.029321,0.0758476,0.0232325,0.0385671,-0.408121,-0.516926,0.423479,0.622005,3.82075e-05,0.000106395,5.89031e-05,-0.000164475,0.00050522,-0.000805878,1.1743,2.65131,1.29565,-0.0467599,0.0131011,0.017645,-1.39946,0.314091,0.13868,-2.94216,0.165194,0.125116,3.45943e-05,0.000964646,0,0,0,0,-0.416104,0.0634683,1.13479,0.00378868,-0.0258867,0.0467599
2020-02-05.10:52:06.51,0.129508,0.0477159,0.353803,-0.399859,-0.507935,0.414674,0.640438,-7.34816e-05,-0.000477314,-0.000237633,-0.000149925,0.00340695,-0.00414957,-0.340873,0.778693,-0.375778,-0.0159336,-0.0198837,0.00363304,0.137212,0.118408,0.0401442,-1.56039,0.0917798,0.0296064,-1.21978,0,0.0017369,-0.00200579,0.00536479,0,0,0,-0.135143,0.305842,0.140828,-0.0231244,-0.00823511,-0.0249919,0.00374479,-0.0972269,0.0526565,0.317451,-0.503206,0.559538,-0.215723,0.622226,-0.000502038,0.000790203,0.000509532,0.000403974,0.0027154,-0.00294077,0.397746,0.521328,0.0107595,-0.0249802,0.0517535,0.0208601,-0.214699,0.254766,-0.0140581,1.61452,-0.319749,-0.032567,-1.8356,0.000747559,-0.00328685,0.0038693,0.00325064,0,0,0,0.102985,0.211281,0.0659202,0.0984983,-0.0116323,0.0200063,0.00877442,-0.0801554,0.0167731,0.0409488,-0.48598,0.590598,-0.195871,0.61372,8.26233e-07,1.82854e-06,-3.16713e-06,3.38813e-21,2.64269e-05,1.52576e-05,-0.966028,1.59914,1.558,0.0294817,0.051142,0.0376249,1.34804,0.282598,0.134275,0.104635,-0.0717342,0.547178,3.05152e-05,0,0,0,0,0,0.23283,0.0812687,0.566497,0.00481571,-0.0544597,-0.0294817,0.0758481,0.0232329,0.0385684,-0.40812,-0.516922,0.423481,0.622008,-3.8595e-05,-0.000111847,-5.6863e-05,0.00016949,-0.000489729,0.000848236,1.17563,2.63236,1.31316,-0.0478042,0.0116222,0.0178649,-1.39945,0.314099,0.13868,-2.94216,0.165194,0.125116,0,-0.000994015,0,0,0,0,-0.414688,0.0620522,1.15447,0.00403901,-0.0244589,0.0478042
2020-02-05.10:52:06.71,0.129506,0.0476999,0.353803,-0.399868,-0.507915,0.414677,0.640446,-6.06178e-05,-0.000320018,-0.000323749,0.000276156,0.00261246,-0.00326649,-0.346367,0.828695,-0.43412,-0.0157565,-0.0188722,0.00354043,0.137212,0.11844,0.0400865,-1.56035,0.0917798,0.0296064,-1.21978,0,0.00173677,-0.00154928,0.0041876,0,0,0,-0.149976,0.324146,0.157036,-0.021277,-0.0082038,-0.0252424,0.00373407,-0.097243,0.0526824,0.317464,-0.503187,0.559578,-0.215722,0.622206,-0.000751095,0.00131874,0.00167187,-0.000722944,0.00155778,-0.00210857,0.467245,0.525349,-0.0148696,-0.0252395,0.0510381,0.0209934,-0.214674,0.254672,-0.0139374,1.61459,-0.319749,-0.032567,-1.8356,0.000804371,-0.00829419,0.00765065,0.00185406,0,0,0,0.110401,0.21265,0.0483649,0.0976186,-0.0120706,0.0196932,0.00901027,-0.0801554,0.0167731,0.0409488,-0.48598,0.590598,-0.195871,0.61372,8.04747e-07,1.78099e-06,-3.08477e-06,1.69407e-21,2.57397e-05,1.48608e-05,-0.956486,1.58693,1.55467,0.030526,0.0515218,0.037733,1.34804,0.282598,0.134275,0.104635,-0.0717342,0.547178,2.97399e-05,0,0,0,0,0,0.22811,0.0760765,0.591805,0.00475312,-0.053748,-0.0290801,0.0758478,0.023232,0.0385679,-0.408119,-0.516925,0.423482,0.622006,-3.67852e-05,-0.000106602,-5.41966e-05,0.000161542,-0.000466764,0.00080846,1.18218,2.60221,1.31401,-0.0465189,0.0121829,0.0182494,-1.39945,0.314091,0.13868,-2.94216,0.165194,0.125116,0,0.000995743,0,0,0,0,-0.41516,0.0663004,1.15447,0.00391385,-0.0256774,0.0459565
2020-02-05.10:52:06.91,0.129506,0.0476999,0.353803,-0.399868,-0.507915,0.414677,0.640446,-6.0639e-05,-0.000320277,-0.000323607,0.000586342,0.0116726,-0.0144551,-0.326846,0.77838,-0.393692,-0.0158413,-0.0190903,0.0036444,0.137212,0.11844,0.0400865,-1.56035,0.0917798,0.0296064,-1.21978,0,0.00173677,-0.00154973,0.0185876,0,0,0,-0.137262,0.298923,0.142651,-0.0218928,-0.0082038,-0.0250858,0.00373407,-0.0972607,0.0526984,0.317508,-0.503189,0.559602,-0.215748,0.622173,-0.000714649,0.000675688,0.00146445,-0.001466,0.000695602,-0.00153959,0.53538,0.549783,-0.00478397,-0.0246527,0.0511137,0.0207526,-0.214649,0.254483,-0.013801,1.61465,-0.319749,-0.032567,-1.8356,0.00107518,-0.00658885,0.00512084,0.000623937,0,0,0,0.107752,0.225167,0.0407031,0.0973547,-0.0114757,0.0197245,0.00880658,-0.0801554,0.0167731,0.0409488,-0.48598,0.590598,-0.195871,0.61372,7.87343e-07,1.74247e-06,-3.01805e-06,2.5411e-21,2.5183e-05,1.45394e-05,-0.963729,1.60251,1.55695,0.0299637,0.0509521,0.0382827,1.34804,0.282598,0.134275,0.104635,-0.0717342,0.547178,2.90789e-05,0,0,0,0,0,0.23283,0.0807967,0.563684,0.00544153,-0.0546606,-0.0299637,0.0758478,0.023232,0.0385679,-0.408119,-0.516925,0.423482,0.622006,4.0706e-05,0.000117968,5.9975e-05,-0.000178765,0.000516528,-0.000894653,1.20183,2.63251,1.31165,-0.0454746,0.0125328,0.0177797,-1.39945,0.314091,0.13868,-2.94216,0.165194,0.125116,0,0.00104841,0,0,0,0,-0.413272,0.0667724,1.15728,0.00422676,-0.0255902,0.0454746
2020-02-05.10:52:06.111,0.129515,0.0476988,0.353802,-0.399875,-0.507871,0.414662,0.640486,-6.0813e-05,-0.00032254,-0.000322369,7.62112e-05,-0.00300233,0.00366904,-0.31744,0.768814,-0.389835,-0.0163138,-0.0195556,0.00364888,0.137187,0.11844,0.0400865,-1.5602,0.0917798,0.0296064,-1.21978,0,0.00173677,-0.00155614,-0.00473836,0,0,0,-0.130375,0.303913,0.146286,-0.0239161,-0.00829773,-0.0250858,0.00362686,-0.097263,0.0527012,0.317524,-0.503198,0.559589,-0.215756,0.622174,-0.000643121,0.000425894,0.00124103,-0.00155705,0.00126112,-0.00215085,0.538752,0.54445,-0.0160392,-0.0250012,0.05085,0.0207926,-0.214649,0.25442,-0.0137643,1.61462,-0.319749,-0.032567,-1.8356,0.00107518,-0.00538995,0.0038722,0.00146015,0,0,0,0.110931,0.222091,0.0371512,0.0972667,-0.0118827,0.0195054,0.00882802,-0.0801554,0.0167731,0.0409488,-0.48598,0.590598,-0.195871,0.61372,7.75627e-07,1.71654e-06,-2.97314e-06,2.5411e-21,2.48083e-05,1.43231e-05,-0.942443,1.55472,1.56264,0.029803,0.0509952,0.037957,1.34804,0.282598,0.134275,0.104635,-0.0717342,0.547178,2.86462e-05,0,0,0,0,0,0.228582,0.0774926,0.591805,0.00512862,-0.0547217,-0.029803,0.0758478,0.023232,0.0385679,-0.408119,-0.516925,0.423482,0.622006,3.41227e-05,9.8889e-05,5.02754e-05,-0.000149854,0.000432991,-0.000749963,1.18598,2.6339,1.31449,-0.0472419,0.0125592,0.0187221,-1.39945,0.314091,0.13868,-2.94216,0.165194,0.125116,0,0.000878852,0,0,0,0,-0.414688,0.0644123,1.15728,0.00485259,-0.0255897,0.0472419
2020-02-05.10:52:06.131,0.129533,0.0476966,0.353801,-0.39986,-0.50794,0.41469,0.640423,0.000108986,-0.000291845,-0.000291701,0.000524595,0.0101308,-0.0124382,-0.317757,0.770312,-0.359021,-0.0157995,-0.0193416,0.0036112,0.137138,0.11844,0.0400865,-1.56035,0.0917798,0.0296064,-1.21978,-0.00044005,0.00149621,-0.00132575,0.0164839,0,0,0,-0.125077,0.299499,0.145732,-0.0225086,-0.00807857,-0.0249293,0.00373407,-0.097264,0.0526947,0.317545,-0.503196,0.559637,-0.215784,0.622123,-0.000416664,-0.000379876,0.000945397,-0.00285058,0.00546578,-0.00684636,0.547061,0.547966,0.00218588,-0.0250958,0.0510473,0.0206115,-0.214649,0.254357,-0.0137539,1.61477,-0.319749,-0.032567,-1.8356,0.000969291,-0.00300793,0.000501878,0.00792089,0,0,0,0.104574,0.225589,0.0380903,0.0971787,-0.011914,0.0199437,0.00872082,-0.0801554,0.0167731,0.0409488,-0.48598,0.590598,-0.195871,0.61372,7.57445e-07,1.6763e-06,-2.90344e-06,2.5411e-21,2.42267e-05,1.39873e-05,-0.961457,1.58329,1.55203,0.0299637,0.0510092,0.0379646,1.34804,0.282598,0.134275,0.104635,-0.0717342,0.547178,2.79746e-05,0,0,0,0,0,0.23047,0.0803247,0.569309,0.00512862,-0.0545646,-0.0299637,0.0758476,0.0232325,0.0385671,-0.408121,-0.516926,0.423479,0.622005,3.51313e-05,9.45617e-05,5.61287e-05,-0.000148737,0.000479928,-0.000715454,1.20143,2.65329,1.2856,-0.0467599,0.0117445,0.0179871,-1.39946,0.314091,0.13868,-2.94216,0.165194,0.125116,5.79029e-05,0.000872339,0,0,0,0,-0.416576,0.0658284,1.12916,0.00428934,-0.0248302,0.0467599
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