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
2020-02-05.11:08:04.208,0.0898648,0.105536,0.348496,0.603938,0.399035,-0.418374,-0.548628,6.24835e-05,0.000203608,0.000137094,-4.34618e-05,-0.000415701,0.00041309,0.569754,1.71215,-0.207348,-0.0192997,0.0153424,0.00656184,0.275985,0.0668879,0.19904,-1.63204,-0.198363,0,-0.728317,2.14009e-05,-0.000906237,0.000906237,-0.000606907,0,0,0,-0.176463,0.560427,0.403672,-0.00394672,-0.0243901,-0.00354584,0.00658576,-0.130291,0.134109,0.338424,-0.561677,0.360627,-0.299855,0.681582,-2.17511e-05,0.000132181,3.23339e-05,-6.13684e-05,0.00278314,-0.00235383,-0.188549,1.25796,0.115153,-0.000641354,-0.000285514,0.00402042,-0.164981,0.0364042,0.307051,1.27477,-0.304946,-0.0266457,-2.19087,0,-0.000339752,0.00048178,0.00364279,0,0,0,0.0123975,0.387957,0.319499,-0.00196464,-0.000768345,0.00328775,0.00501147,-0.0763962,0.0177469,0.0232635,-0.550511,0.379714,-0.280281,0.68862,-1.10572e-05,-6.06171e-05,0.000104992,0,-0.000849423,-0.000490414,-1.59977,2.98608,2.42201,-0.00634667,0.00829489,0.0098807,1.47442,0.184936,0.134285,-0.179075,0.428219,0.192101,-0.000980829,0,0,0,0,0,0.470728,0.183697,0.979873,-0.00807631,0.00452922,0.00634667,0.0742662,0.021278,0.0253861,0.617177,0.392979,-0.418693,-0.537918,0,0,0,0,0,0,2.35538,0.67142,1.07225,-0.0815439,-0.0786867,-0.0290594,-1.4729,0.229257,0.136711,-2.58904,-0.21042,0.253262,0,0,0,0,0,0,-0.292907,0.0998138,0.355838,0.00904562,0.0628799,0.0828293
2020-02-05.11:08:04.223,0.0898593,0.105545,0.348502,0.60394,0.399033,-0.418372,-0.548629,-7.54501e-06,-0.000193778,-0.00012933,3.88378e-05,0.000295571,-0.000237699,0.557052,1.72958,-0.210939,-0.0196473,0.0151163,0.00649973,0.276009,0.0668565,0.199072,-1.63206,-0.198363,0,-0.728317,-0.000169588,0.000809749,-0.000809749,0.000542289,0,0,0,-0.18229,0.566996,0.411719,-0.00236324,-0.0242022,-0.00351453,0.00673585,-0.130294,0.134135,0.338422,-0.56166,0.360612,-0.299841,0.68161,6.60978e-05,8.76634e-05,-4.54742e-05,-0.000893132,0.0159584,-0.0134972,-0.19066,1.23068,0.0969889,-0.000396281,-0.00131189,0.00362384,-0.164981,0.0363727,0.307135,1.27471,-0.304946,-0.0266457,-2.19087,-0.000244296,0.000116731,0.00016372,0.0211479,0,0,0,0.0161058,0.379052,0.311921,-0.00433986,-0.00114404,0.00356952,0.00501147,-0.0763963,0.0177465,0.0232643,-0.550509,0.379713,-0.280284,0.688621,1.28222e-05,7.02873e-05,-0.000121741,3.25261e-19,0.000984931,0.00056865,-1.61659,2.97761,2.42189,-0.00498101,0.00948844,0.00937241,1.47441,0.184936,0.134285,-0.179075,0.428219,0.192101,0.0011373,0,0,0,0,0,0.468368,0.185113,0.974249,-0.0081389,0.00360771,0.00498101,0.0742662,0.021278,0.0253861,0.617177,0.392979,-0.418693,-0.537918,0,0,0,0,0,0,2.36419,0.671258,1.07712,-0.0815439,-0.0788632,-0.0302309,-1.4729,0.229257,0.136711,-2.58904,-0.21042,0.253262,0,0,0,0,0,0,-0.287242,0.0983978,0.361462,0.0094837,0.0624081,0.0815439
2020-02-05.11:08:04.243,0.0898569,0.105538,0.348497,0.60394,0.399025,-0.418372,-0.548635,-6.58677e-05,-0.00036494,-0.000244712,7.56599e-05,0.000656195,-0.000602307,0.565139,1.71122,-0.195152,-0.0194457,0.0155059,0.006642,0.276009,0.0668879,0.19904,-1.63204,-0.198363,0,-0.728317,-0.000169588,0.00157747,-0.00157747,0.00105643,0,0,0,-0.179112,0.562587,0.407079,-0.00333093,-0.0245153,-0.00367107,0.00674657,-0.130287,0.134136,0.338423,-0.561664,0.360666,-0.29984,0.681579,-0.000192555,5.03636e-05,-6.70092e-05,0.00169776,-0.0191334,0.0161641,-0.198572,1.20621,0.0803853,0.000196701,-0.00156802,0.00338452,-0.165006,0.0363727,0.307135,1.27486,-0.304946,-0.0266457,-2.19087,0.000622112,0.000116731,0.00016372,-0.025688,0,0,0,0.0208735,0.371726,0.307163,-0.00548348,-0.000799653,0.00353821,0.00493643,-0.0763962,0.0177469,0.0232635,-0.550511,0.379714,-0.280281,0.68862,-6.52699e-06,-3.5782e-05,6.19762e-05,0,-0.00050141,-0.000289489,-1.58774,2.98216,2.4188,-0.00538268,0.00902025,0.00969479,1.47442,0.184936,0.134285,-0.179075,0.428219,0.192101,-0.000578979,0,0,0,0,0,0.46884,0.181809,0.982685,-0.00795115,0.00374315,0.00538268,0.0742662,0.021278,0.0253861,0.617177,0.392979,-0.418693,-0.537918,0,0,0,0,0,0,2.35084,0.694961,1.06843,-0.0815439,-0.0781359,-0.0294895,-1.4729,0.229257,0.136711,-2.58904,-0.21042,0.253262,0,0,0,0,0,0,-0.288658,0.0960377,0.350214,0.0100469,0.0616397,0.0815439
2020-02-05.11:08:04.263,0.0898665,0.105545,0.348492,0.603934,0.399047,-0.418366,-0.54863,-0.000266851,-0.000290635,-0.000225972,0.000136946,0.000931593,-0.0011385,0.577533,1.71493,-0.219828,-0.0196133,0.0151466,0.00673192,0.275985,0.0668879,0.199066,-1.63206,-0.198363,0,-0.728317,0.000475789,0.00157747,-0.00151044,0.00101154,0,0,0,-0.18229,0.56092,0.406313,-0.00447455,-0.0244527,-0.00401546,0.00677874,-0.130288,0.134146,0.33842,-0.561654,0.360598,-0.29983,0.681627,-0.00019649,8.37526e-05,-7.75217e-05,-0.000116043,0.00694118,-0.00613908,-0.175579,1.29311,0.120944,-0.000706202,-0.0007467,0.00386223,-0.165006,0.0363727,0.307162,1.27469,-0.304946,-0.0266457,-2.19087,0.000622112,0.000114499,0.000254243,0.00867177,0,0,0,0.00921905,0.397366,0.322961,-0.00275638,-0.00108143,0.00335036,0.00497931,-0.0763962,0.0177469,0.0232635,-0.550511,0.379714,-0.280281,0.68862,-4.49926e-06,-2.46657e-05,4.27222e-05,0,-0.000345638,-0.000199554,-1.6085,2.98297,2.4664,-0.00457935,0.00950516,0.00910695,1.47442,0.184936,0.134285,-0.179075,0.428219,0.192101,-0.000399109,0,0,0,0,0,0.469784,0.186057,1.01643,-0.00826406,0.00356831,0.00457935,0.0742662,0.021278,0.0253861,0.617177,0.392979,-0.418693,-0.537918,0,0,0,0,0,0,2.37628,0.665435,1.05749,-0.0807406,-0.0778643,-0.0288485,-1.4729,0.229257,0.136711,-2.58904,-0.21042,0.253262,0,0,0,0,0,0,-0.286298,0.101702,0.341777,0.0103599,0.0609847,0.0807406
2020-02-05.11:08:04.283,0.0898665,0.105545,0.348492,0.603934,0.399047,-0.418366,-0.54863,-0.000251562,-0.000246048,-0.000195231,0.000125633,0.000837572,-0.00104279,0.568647,1.71195,-0.201792,-0.0195068,0.0151577,0.00657435,0.275985,0.0668879,0.199066,-1.63206,-0.198363,0,-0.728317,0.000475789,0.00137471,-0.00130941,0.000876911,0,0,0,-0.181761,0.562834,0.408046,-0.00412267,-0.0242962,-0.00345191,0.00677874,-0.130296,0.134145,0.338419,-0.561652,0.360609,-0.299834,0.681622,0.0003037,0.00015652,-3.54783e-05,4.7144e-05,0.00386661,-0.00277311,-0.192305,1.25791,0.0896058,-0.000453692,-0.000787007,0.00376885,-0.164981,0.0363727,0.307162,1.27469,-0.304946,-0.0266457,-2.19087,-0.00105382,0.000111835,0.000256907,0.00572311,0,0,0,0.0192843,0.386795,0.316561,-0.00337218,-0.000893577,0.00356952,0.00501147,-0.0763963,0.0177465,0.0232643,-0.550509,0.379713,-0.280284,0.688621,5.76925e-07,3.16252e-06,-5.47765e-06,1.01644e-20,4.43162e-05,2.5586e-05,-1.59492,2.98917,2.40776,-0.00441869,0.008781,0.00985095,1.47441,0.184936,0.134285,-0.179075,0.428219,0.192101,5.1172e-05,0,0,0,0,0,0.46884,0.182281,0.968624,-0.0073879,0.00401355,0.00441869,0.0742662,0.021278,0.0253861,0.617177,0.392979,-0.418693,-0.537918,0,0,0,0,0,0,2.39533,0.698949,1.09116,-0.0825883,-0.0788717,-0.0301278,-1.4729,0.229257,0.136711,-2.58904,-0.21042,0.253262,0,0,0,0,0,0,-0.293379,0.0993418,0.361462,0.0098592,0.0621071,0.0825883
2020-02-05.11:08:04.303,0.0898665,0.105545,0.348492,0.603934,0.399047,-0.418366,-0.54863,-0.000237425,-0.000204892,-0.000166679,0.000114745,0.000750765,-0.000954261,0.574312,1.72149,-0.21331,-0.0193453,0.0153438,0.00661323,0.275985,0.0668879,0.199066,-1.63206,-0.198363,0,-0.728317,0.000475789,0.00118683,-0.00112358,0.000752462,0,0,0,-0.185998,0.565664,0.410631,-0.00324296,-0.0243275,-0.00382761,0.00669297,-0.130289,0.134156,0.338417,-0.561646,0.360595,-0.299824,0.681638,-0.000423632,0.000138528,-0.000122697,0.00036519,0.0038174,-0.00373691,-0.191813,1.19933,0.0849429,-0.000121498,-0.000997481,0.0035924,-0.165006,0.0363727,0.307188,1.27467,-0.304946,-0.0266457,-2.19087,0.001349,0.000108778,0.000487579,0.00403155,0,0,0,0.0192843,0.369484,0.304494,-0.00425189,-0.000737037,0.00366344,0.00497931,-0.0763963,0.0177465,0.0232643,-0.550509,0.379713,-0.280284,0.688621,4.10436e-06,2.24989e-05,-3.89692e-05,8.13152e-20,0.000315275,0.000182024,-1.62888,2.98699,2.43573,-0.00522201,0.00891435,0.00886231,1.47441,0.184936,0.134285,-0.179075,0.428219,0.192101,0.000364048,0,0,0,0,0,0.470256,0.187473,0.979873,-0.00863956,0.00438048,0.00522201,0.0742662,0.021278,0.0253861,0.617177,0.392979,-0.418693,-0.537918,0,0,0,0,0,0,2.35669,0.670793,1.04267,-0.0808209,-0.0781381,-0.028874,-1.4729,0.229257,0.136711,-2.58904,-0.21042,0.253262,0,0,0,0,0,0,-0.284882,0.0988698,0.330529,0.0104224,0.0614343,0.0808209
2020-02-05.11:08:04.323,0.0898665,0.105545,0.348492,0.603934,0.399047,-0.418366,-0.54863,-0.000226885,-0.000174273,-0.000145281,0.000106254,0.000686164,-0.000888229,0.562273,1.71841,-0.202545,-0.0195946,0.0150794,0.0064724,0.275985,0.0668879,0.199066,-1.63206,-0.198363,0,-0.728317,0.000475789,0.00104642,-0.000985092,0.000659716,0,0,0,-0.18229,0.563837,0.406549,-0.00412267,-0.0242962,-0.00370238,0.00665009,-0.130291,0.134166,0.338413,-0.561637,0.360592,-0.299817,0.68165,-0.000293775,-0.000581261,0.000121335,-0.00182234,0.00704188,-0.00682871,-0.172793,1.23451,0.105636,-0.000623685,-0.000987631,0.00365465,-0.165006,0.0363727,0.307214,1.27466,-0.304946,-0.0266457,-2.19087,0.00119788,0.000105614,-0.0014623,0.00874821,0,0,0,0.0118678,0.379227,0.3084,-0.00363609,-0.00114404,0.00366344,0.00494715,-0.0763962,0.0177469,0.0232635,-0.550511,0.379714,-0.280281,0.68862,-9.45723e-06,-5.1846e-05,8.98e-05,0,-0.000726515,-0.000419454,-1.59859,2.9644,2.4078,-0.00490068,0.00954738,0.00956061,1.47442,0.184936,0.134285,-0.179075,0.428219,0.192101,-0.000838907,0,0,0,0,0,0.466008,0.182753,0.971437,-0.00788856,0.00335012,0.00490068,0.0742662,0.021278,0.0253861,0.617177,0.392979,-0.418693,-0.537918,0,0,0,0,0,0,2.41832,0.672277,1.06556,-0.0817046,-0.0792509,-0.0293052,-1.4729,0.229257,0.136711,-2.58904,-0.21042,0.253262,0,0,0,0,0,0,-0.290074,0.104062,0.338965,0.010485,0.0620589,0.0817046
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