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 2020-02-05.11:00:26.765,0.0908154,0.0907067,0.385622,-0.345756,-0.540421,0.337388,0.688888,8.02854e-05,-0.000291473,4.74654e-05,-0.000901723,-0.00603206,0.00805182,-0.243306,0.96114,-0.501675,-0.0161322,0.000196939,-0.00391336,0.277966,-0.0494731,0.19485,-1.66444,0.109544,0.0177638,-1.45071,-0.000430606,0.000319749,-0.00085813,-0.00966041,0,0,0,-0.131434,0.341703,0.308155,0.00766545,-0.0163126,-0.0111224,-0.0028913,-0.0409139,0.130701,0.3694,-0.315773,0.55463,-0.274557,0.719229,0.00051443,-0.00103085,-0.00060703,-0.000337748,0.00220702,-0.00243357,0.882467,1.71346,-0.733801,-0.00723124,0.029162,0.0032967,-0.452609,0.00790437,0.242403,1.7796,0.13915,-0.00888192,-1.64611,0.000190265,0.00465574,-0.00465574,0.00311795,0,0,0,0.246546,0.629412,0.50336,0.044572,-0.00502625,0.014089,0.00547246,-0.0764005,0.0194874,0.0404096,-0.296045,0.581011,-0.24996,0.715754,-1.51178e-06,8.37754e-06,5.8399e-07,0.0025999,0.000405191,0.000917791,0.412991,4.32114,-0.296342,0.0117282,0.0407167,0.00140111,1.36653,0.2949,0.138068,0.283081,-0.135953,0.103836,0,5.25453e-05,0,0.00278626,0,0,0.530675,0.0727724,-0.749559,0.000372341,-0.0446018,-0.0122102,0.0751084,0.0141002,0.0413321,-0.335317,-0.559669,0.318119,0.687846,9.45551e-07,-2.05415e-06,3.55789e-06,-9.31736e-21,2.84878e-05,1.64474e-05,0.771556,0.394783,0.954602,-0.0876492,-0.0734859,0.00936359,-1.34373,0.258387,0.138855,-3.2546,0.10644,0.136597,3.28949e-05,0,0,0,0,0,-0.147525,0.0360912,0.968872,0.00935854,0.0645052,0.0876492 2020-02-05.11:00:26.772,0.0908115,0.0906903,0.385624,-0.345767,-0.540402,0.33739,0.688897,0.000164635,0.000149855,-0.000125777,-0.000330935,-0.0135466,0.0171891,-0.25522,0.985375,-0.51847,-0.0162936,0.000921582,-0.00404436,0.277966,-0.0494417,0.194792,-1.6644,0.109544,0.0177638,-1.45071,-0.000430606,0,0.000542591,-0.0214551,0,0,0,-0.14097,0.357271,0.317758,0.0093369,-0.0163752,-0.0109346,-0.00295562,-0.0409133,0.130684,0.36939,-0.31544,0.555744,-0.274975,0.718355,0.000327702,-0.000573983,-0.000338216,-0.000192761,0.00120005,-0.0012857,0.846554,1.67616,-0.71896,-0.00672921,0.0274247,0.00303357,-0.452584,0.00796735,0.24234,1.77965,0.13915,-0.00592128,-1.64611,-1.06484e-05,0.00265728,-0.00265728,0.00177958,0,0,0,0.240189,0.613593,0.49558,0.0441322,-0.00465055,0.0110522,0.00538669,-0.0764005,0.0194874,0.0404096,-0.296045,0.581011,-0.24996,0.715754,-1.41393e-06,7.88222e-06,5.23556e-07,0.00246495,0.000384403,0.000869664,0.404257,4.38398,-0.285288,0.0123708,0.0421457,0.000923689,1.36653,0.2949,0.138068,0.283081,-0.135953,0.103836,0,4.92836e-05,0,0.00264152,0,0,0.534451,0.0765485,-0.786116,0.000247176,-0.0456932,-0.0123708,0.0751084,0.0141002,0.0413321,-0.335317,-0.559669,0.318119,0.687846,9.0384e-07,-1.96353e-06,3.40094e-06,-9.31736e-21,2.72311e-05,1.57219e-05,0.814552,0.37612,0.944545,-0.0883722,-0.0753123,0.00980634,-1.34373,0.258387,0.138855,-3.2546,0.10644,0.136597,3.14438e-05,0,0,0,0,0,-0.145164,0.0398673,0.96606,0.00998436,0.0658631,0.0883722 2020-02-05.11:00:26.791,0.0908115,0.0906903,0.385624,-0.345753,-0.540453,0.337416,0.688851,0.000164635,0.000149855,-0.000125777,0.000967415,0.00655575,-0.00852913,-0.263794,0.966303,-0.508001,-0.0164954,0.00106736,-0.0040779,0.277966,-0.0494417,0.194792,-1.66455,0.109544,0.0177638,-1.45071,-0.000430606,0,0.000542591,0.0112132,0,0,0,-0.138321,0.351622,0.309129,0.00986473,-0.0165944,-0.0112163,-0.0029449,-0.0409094,0.130677,0.369386,-0.315439,0.555752,-0.274979,0.718349,0.000133872,-0.000230526,-0.000135856,-7.76766e-05,0.000480403,-0.00051259,0.857347,1.68933,-0.725165,-0.00713094,0.0269204,0.00298916,-0.452584,0.00799884,0.242308,1.77967,0.13915,-0.00592128,-1.64611,-1.06484e-05,0.0010708,-0.0010708,0.000717114,0,0,0,0.23807,0.621001,0.500601,0.0449239,-0.00512017,0.010833,0.00539741,-0.0764005,0.0194874,0.0404096,-0.296045,0.581011,-0.24996,0.715754,-1.38887e-06,7.69497e-06,5.37204e-07,0.00238749,0.00037208,0.000842825,0.430916,4.35242,-0.282056,0.0118085,0.0413869,0.0014412,1.36653,0.2949,0.138068,0.283081,-0.135953,0.103836,0,4.82689e-05,0,0.00255863,0,0,0.532091,0.0727724,-0.783304,0.000873002,-0.0452347,-0.0118085,0.0751084,0.0141002,0.0413321,-0.335317,-0.559669,0.318119,0.687846,8.93775e-07,-1.94167e-06,3.36307e-06,-9.31736e-21,2.69279e-05,1.55468e-05,0.776971,0.347286,0.961763,-0.0888542,-0.0744844,0.00975579,-1.34373,0.258387,0.138855,-3.2546,0.10644,0.136597,3.10936e-05,0,0,0,0,0,-0.152245,0.032787,1.02511,0.00992178,0.0655578,0.0891755 2020-02-05.11:00:26.811,0.0908115,0.0906903,0.385624,-0.345753,-0.540453,0.337416,0.688851,0.000164635,0.000149855,-0.000125777,0.00109271,0.00849572,-0.0110111,-0.251653,0.963198,-0.531381,-0.0162295,0.000951242,-0.00395046,0.277966,-0.0494417,0.194792,-1.66455,0.109544,0.0177638,-1.45071,-0.000430606,0,0.000542591,0.0143658,0,0,0,-0.145738,0.350032,0.311475,0.00889705,-0.0163126,-0.0104336,-0.00291274,-0.0409056,0.130671,0.369382,-0.315437,0.555759,-0.274983,0.718343,-5.04162e-05,9.60097e-05,5.65644e-05,3.17427e-05,-0.000203817,0.000222461,0.87042,1.70587,-0.71724,-0.00673266,0.0274604,0.00298616,-0.452584,0.00803033,0.242277,1.77969,0.13915,-0.00592128,-1.64611,-1.06484e-05,-0.000437583,0.000437583,-0.00029305,0,0,0,0.240189,0.624916,0.501482,0.044748,-0.00465055,0.0105199,0.00541885,-0.0764005,0.0194874,0.0404096,-0.296045,0.581011,-0.24996,0.715754,-1.3415e-06,7.3503e-06,5.58538e-07,0.00224766,0.00034986,0.000794319,0.430943,4.38874,-0.269707,0.0119692,0.0406401,0.0015292,1.36653,0.2949,0.138068,0.283081,-0.135953,0.103836,0,4.63783e-05,0,0.00240898,0,0,0.536339,0.0746605,-0.774867,0.00106075,-0.0445013,-0.0119692,0.0751084,0.0141002,0.0413321,-0.335317,-0.559669,0.318119,0.687846,8.7464e-07,-1.9001e-06,3.29107e-06,-9.31736e-21,2.63514e-05,1.5214e-05,0.750654,0.417036,0.95135,-0.0882115,-0.074974,0.00905031,-1.34373,0.258387,0.138855,-3.2546,0.10644,0.136597,3.0428e-05,0,0,0,0,0,-0.151301,0.032315,0.960436,0.00917079,0.0662123,0.0882115 2020-02-05.11:00:26.831,0.0908115,0.0906903,0.385624,-0.345753,-0.540453,0.337416,0.688851,0.000164635,0.000149855,-0.000125777,0.00109423,0.00851921,-0.0110411,-0.251731,0.961242,-0.486459,-0.0164002,0.000847278,-0.00391081,0.277966,-0.0494417,0.194792,-1.66455,0.109544,0.0177638,-1.45071,-0.000430606,0,0.000542591,0.014404,0,0,0,-0.138321,0.338967,0.302611,0.00907299,-0.0162187,-0.0110598,-0.00285914,-0.0409056,0.130671,0.369382,-0.315437,0.555759,-0.274983,0.718343,-5.14789e-05,9.9428e-05,5.85753e-05,3.27893e-05,-0.000211586,0.000231612,0.881479,1.69396,-0.720855,-0.00705769,0.0267835,0.00304219,-0.452584,0.00803033,0.242277,1.77969,0.13915,-0.00592128,-1.64611,-1.3096e-05,-0.000452012,0.000452012,-0.000302713,0,0,0,0.241779,0.622426,0.495785,0.0436923,-0.00502625,0.0102695,0.00541885,-0.0764005,0.0194874,0.0404096,-0.296045,0.581011,-0.24996,0.715754,-1.29918e-06,7.0517e-06,5.731e-07,0.00212936,0.000331091,0.000753226,0.451912,4.33791,-0.252144,0.0106839,0.0395612,0.000856416,1.36653,0.2949,0.138068,0.283081,-0.135953,0.103836,0,4.47171e-05,0,0.00228236,0,0,0.532091,0.0713563,-0.755183,0.000622672,-0.0435493,-0.0106839,0.0751084,0.0141002,0.0413321,-0.335317,-0.559669,0.318119,0.687846,8.56951e-07,-1.86167e-06,3.22451e-06,-8.47033e-21,2.58184e-05,1.49063e-05,0.806468,0.360372,0.963235,-0.0894165,-0.0758283,0.00996229,-1.34373,0.258387,0.138855,-3.2546,0.10644,0.136597,2.98126e-05,0,0,0,0,0,-0.144692,0.0379792,0.985745,0.0101095,0.0664266,0.0894165 2020-02-05.11:00:26.851,0.0908115,0.0906903,0.385624,-0.345753,-0.540453,0.337416,0.688851,0.000164635,0.000149855,-0.000125777,0.00111684,0.00886928,-0.011489,-0.239561,0.960447,-0.505445,-0.0166252,0.000802575,-0.00394812,0.277966,-0.0494417,0.194792,-1.66455,0.109544,0.0177638,-1.45071,-0.000430606,0,0.000542591,0.0149729,0,0,0,-0.135143,0.349199,0.311298,0.00863313,-0.0163752,-0.0109346,-0.00290202,-0.0409056,0.130671,0.369382,-0.315437,0.555759,-0.274983,0.718343,-4.61265e-05,9.23576e-05,5.44031e-05,3.02648e-05,-0.000197723,0.000217984,0.877888,1.69068,-0.734799,-0.00709348,0.0268353,0.00296392,-0.452584,0.00803033,0.242277,1.77969,0.13915,-0.00592128,-1.64611,-1.69429e-05,-0.00041721,0.00041721,-0.000279406,0,0,0,0.23807,0.616757,0.496842,0.0437803,-0.00499494,0.0102068,0.00546174,-0.0764005,0.0194874,0.0404096,-0.296045,0.581011,-0.24996,0.715754,-1.27686e-06,6.89747e-06,5.79214e-07,0.00206928,0.000321568,0.000732334,0.420499,4.35045,-0.275133,0.0116479,0.0398338,0.000242694,1.36653,0.2949,0.138068,0.283081,-0.135953,0.103836,0,4.38506e-05,0,0.00221804,0,0,0.531147,0.0756045,-0.774867,-0.00012832,-0.0434709,-0.0116479,0.0751084,0.0141002,0.0413321,-0.335317,-0.559669,0.318119,0.687846,8.47385e-07,-1.84089e-06,3.18851e-06,-8.47033e-21,2.55302e-05,1.47399e-05,0.806243,0.364708,0.969564,-0.0886935,-0.0751466,0.00934777,-1.34373,0.258387,0.138855,-3.2546,0.10644,0.136597,2.94948e-05,0,0,0,0,0,-0.14658,0.0308989,0.991369,0.00942112,0.0663566,0.0890952 2020-02-05.11:00:26.871,0.0908115,0.0906903,0.385624,-0.345767,-0.540402,0.33739,0.688897,0.000164635,0.000149855,-0.000125777,-6.31013e-05,-0.00939971,0.0118837,-0.226224,0.943079,-0.472488,-0.0165768,0.000936196,-0.0040074,0.277966,-0.0494417,0.194792,-1.6644,0.109544,0.0177638,-1.45071,-0.000430606,0,0.000542591,-0.014716,0,0,0,-0.126667,0.340042,0.306603,0.00907299,-0.016657,-0.0107154,-0.0029449,-0.0409056,0.130671,0.369382,-0.315437,0.555759,-0.274983,0.718343,-4.05058e-05,8.40395e-05,4.94974e-05,2.73718e-05,-0.000180941,0.000200815,0.879824,1.74185,-0.720386,-0.00681031,0.0272295,0.00284314,-0.452584,0.00803033,0.242277,1.77969,0.13915,-0.00592128,-1.64611,-1.95588e-05,-0.00037733,0.00037733,-0.000252698,0,0,0,0.240189,0.636727,0.512342,0.044572,-0.00474448,0.0102695,0.00527949,-0.0764005,0.0194876,0.0404094,-0.295998,0.581037,-0.249875,0.715782,-1.33066e-06,5.84512e-06,1.25122e-06,0.00120269,0.000179502,0.000440497,0.416369,4.34295,-0.273629,0.0115675,0.0410585,0.00119401,1.36653,0.2949,0.138068,0.283291,-0.135953,0.103836,0,4.17053e-05,0,0.00129267,0,0,0.530675,0.0746605,-0.772055,0.000685254,-0.04475,-0.0115675,0.0751084,0.0141002,0.0413321,-0.335317,-0.559669,0.318119,0.687846,8.24063e-07,-1.79022e-06,3.10076e-06,-7.6233e-21,2.48276e-05,1.43342e-05,0.765117,0.395075,0.958191,-0.0883722,-0.0741348,0.00948019,-1.34373,0.258387,0.138855,-3.2546,0.10644,0.136597,2.86684e-05,0,0,0,0,0,-0.148469,0.0346751,0.971684,0.0094837,0.0651908,0.0883722 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