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
2020-02-05.11:09:00.64,0.1038,0.0718589,0.370909,-0.38677,-0.494329,0.358472,0.691047,-4.02644e-06,5.34788e-05,9.62755e-05,-4.46322e-06,0.00278537,-0.00343742,-0.238499,-0.148826,0.401552,0.00520698,0.0189936,-0.00277427,0.222874,0.0288147,0.127055,-1.51029,0.0858585,-0.00296064,-1.32637,7.19894e-05,-0.000443302,0.000285602,0.00436495,0,0,0,0.1541,-0.0445073,-0.104945,0.0390711,0.000468547,0.00111907,-0.00140113,-0.112094,0.0996999,0.372027,-0.529238,0.409998,-0.235767,0.704431,1.18219e-05,6.27234e-05,3.35512e-05,-4.51979e-05,0.000675977,-0.000756091,0.486937,0.978234,-0.255202,-0.00965958,0.013023,0.00548133,-0.2146,-0.0344202,0.22908,1.25359,-0.251654,0.00296064,-1.85928,-8.37061e-05,-0.000239752,0.000239752,0.00109721,0,0,0,0.0764971,0.316395,0.130957,0.032432,-0.00552718,-0.000563151,0.00142005,-0.0697947,0.0060221,0.0348649,-0.524147,0.419071,-0.221257,0.707598,0,0,0,0,0,0,-0.361591,2.68563,0.991628,0.00570324,0.0381741,0.0316172,1.3666,0.139619,0.142259,0.0549388,0.445708,0.387591,0,0,0,0,0,0,0.38246,0.00621759,-0.288377,0.00500346,-0.0443772,-0.00522124,0.0776634,0.00790988,0.0352609,-0.382906,-0.491501,0.350514,0.69925,1.32881e-06,6.16684e-06,3.2269e-06,-1.17988e-05,2.71401e-05,-4.7008e-05,2.09866,0.490636,0.825849,-0.0900592,-0.104026,-0.0225824,-1.35676,0.186164,0.134102,-3.13025,-0.0975585,0.10618,0,5.55477e-05,0,0,0,0,-0.163573,0.167785,0.56112,-0.00209409,0.0867354,0.0900592
2020-02-05.11:09:00.83,0.1038,0.0718589,0.370909,-0.38677,-0.494329,0.358472,0.691047,-5.55151e-06,4.49534e-05,8.94116e-05,-2.6061e-05,0.00231892,-0.00285624,-0.222302,-0.171006,0.438822,0.0051247,0.018275,-0.00279292,0.222874,0.0288147,0.127055,-1.51029,0.0858585,-0.00296064,-1.32637,6.93727e-05,-0.000401326,0.000247614,0.00361857,0,0,0,0.164165,-0.0587526,-0.108764,0.0378395,0.000437239,0.00111907,-0.0012832,-0.112096,0.0997075,0.372031,-0.529239,0.409989,-0.235765,0.704436,4.16016e-05,-5.89569e-05,-3.1096e-05,-5.7413e-05,0.000870334,-0.000980641,0.5112,0.999284,-0.289412,-0.00988145,0.012781,0.00549682,-0.2146,-0.0344517,0.229112,1.25357,-0.251654,0.00296064,-1.85928,-8.2992e-05,0.000264788,-0.000264788,0.00139374,0,0,0,0.0844433,0.322405,0.126612,0.0319042,-0.00580895,-0.000375303,0.00152726,-0.0697947,0.0060221,0.0348649,-0.524147,0.419071,-0.221257,0.707598,0,0,0,0,0,0,-0.317114,2.67332,0.943453,0.00514091,0.0377506,0.0318952,1.3666,0.139619,0.142259,0.0549388,0.445708,0.387591,0,0,0,0,0,0,0.381044,0.00574557,-0.260256,0.00487829,-0.0441196,-0.00514091,0.0776632,0.00791035,0.0352601,-0.382909,-0.491502,0.350511,0.699249,5.2197e-06,-3.27672e-06,1.88451e-05,-1.1172e-05,0.000154766,3.00044e-05,2.09407,0.451113,0.818344,-0.0899789,-0.104726,-0.0240676,-1.35677,0.186164,0.134102,-3.13025,-0.0975585,0.10618,0.000149033,5.25983e-05,0,0,0,0,-0.158853,0.166369,0.558308,-0.00353349,0.0876303,0.0899789
2020-02-05.11:09:00.103,0.1038,0.0718589,0.370909,-0.38677,-0.494329,0.358472,0.691047,-6.32219e-06,4.03025e-05,8.55412e-05,-3.59971e-05,0.00209235,-0.00257403,-0.222738,-0.168981,0.444014,0.0051878,0.0180097,-0.00272398,0.222874,0.0288147,0.127055,-1.51029,0.0858585,-0.00296064,-1.32637,6.76836e-05,-0.000377375,0.000226226,0.00324703,0,0,0,0.167873,-0.0637426,-0.11452,0.0366959,0.000687704,0.000993839,-0.00119743,-0.112096,0.0997075,0.372031,-0.529239,0.409989,-0.235765,0.704436,4.12575e-05,-5.90219e-05,-3.11335e-05,-5.6375e-05,0.000854401,-0.000962569,0.497108,0.984351,-0.270589,-0.00991052,0.0125469,0.0055674,-0.2146,-0.0344517,0.229112,1.25357,-0.251654,0.00296064,-1.85928,-8.18875e-05,0.000264788,-0.000264788,0.00136854,0,0,0,0.0796756,0.318068,0.128286,0.0321681,-0.00590288,-0.00103277,0.00148437,-0.0697947,0.0060221,0.0348649,-0.524147,0.419071,-0.221257,0.707598,0,0,0,0,0,0,-0.341669,2.70643,0.929246,0.00642623,0.0387262,0.0315991,1.3666,0.139619,0.142259,0.0549388,0.445708,0.387591,0,0,0,0,0,0,0.383404,0.00480153,-0.254632,0.00487829,-0.0442812,-0.00522124,0.0776632,0.00791035,0.0352601,-0.382909,-0.491502,0.350511,0.699249,4.9079e-06,-2.71743e-06,1.76379e-05,-1.09696e-05,0.000144884,2.53744e-05,2.10307,0.418847,0.798742,-0.0903805,-0.106613,-0.0247204,-1.35677,0.186164,0.134102,-3.13025,-0.0975585,0.10618,0.000138668,5.16925e-05,0,0,0,0,-0.160269,0.165425,0.569556,-0.00303282,0.0882066,0.0899789
2020-02-05.11:09:00.123,0.1038,0.0718589,0.370909,-0.38677,-0.494329,0.358472,0.691047,-6.98356e-06,3.60396e-05,8.18973e-05,-4.40716e-05,0.00189909,-0.0023334,-0.220941,-0.177157,0.454394,0.00514097,0.0184682,-0.00265134,0.222874,0.0288147,0.127055,-1.51029,0.0858585,-0.00296064,-1.32637,6.60533e-05,-0.000356163,0.000207488,0.0029457,0,0,0,0.160987,-0.0627341,-0.117864,0.0376636,0.000593779,0.000931223,-0.0012296,-0.112088,0.0997089,0.372032,-0.529242,0.409979,-0.235761,0.704441,7.05904e-06,-6.54773e-05,-3.48605e-05,-5.53677e-05,0.00089319,-0.00103906,0.521576,0.997698,-0.272023,-0.00958346,0.0123297,0.00530758,-0.214624,-0.0344517,0.229112,1.25357,-0.251654,0.00296064,-1.85928,2.78886e-05,0.000264788,-0.000264788,0.00134394,0,0,0,0.0775566,0.322821,0.126082,0.0311125,-0.00565241,-0.000657076,0.00139861,-0.0697947,0.0060221,0.0348649,-0.524147,0.419071,-0.221257,0.707598,0,0,0,0,0,0,-0.361792,2.70405,0.979052,0.00498024,0.0382065,0.0317616,1.3666,0.139619,0.142259,0.0549388,0.445708,0.387591,0,0,0,0,0,0,0.386237,0.0123538,-0.260256,0.00437763,-0.0440846,-0.00498024,0.0776634,0.00790988,0.0352609,-0.382906,-0.491501,0.350514,0.69925,6.09788e-07,6.73591e-06,6.04612e-07,-1.04104e-05,5.61531e-06,-5.20599e-05,2.11102,0.473839,0.81391,-0.0897379,-0.105426,-0.0234427,-1.35676,0.186164,0.134102,-3.13025,-0.0975585,0.10618,-2.11669e-05,4.90112e-05,0,0,0,0,-0.161213,0.167785,0.549872,-0.00284508,0.0881061,0.0897379
2020-02-05.11:09:00.373,0.103792,0.0718605,0.37091,-0.386774,-0.494321,0.358467,0.691054,2.86714e-05,4.531e-05,2.81001e-05,4.42107e-05,0.000781808,-0.000964026,-0.224956,-0.180535,0.416502,0.00528165,0.0187774,-0.00292139,0.222898,0.0288147,0.127055,-1.51029,0.0858585,-0.00296064,-1.32637,-4.69389e-05,-0.000208781,0.000208781,0.00128833,0,0,0,0.158868,-0.0665668,-0.11795,0.0382794,0.000593779,0.000962531,-0.00132608,-0.112117,0.0996955,0.372024,-0.52922,0.410092,-0.235795,0.70438,-0.000189905,-5.31204e-05,-2.99083e-05,-1.88952e-06,0.000341322,-0.000573842,0.513631,0.998875,-0.259746,-0.00944041,0.0122887,0.00524413,-0.214525,-0.0344202,0.22908,1.25374,-0.251654,0.00296064,-1.85928,0.000622604,6.8516e-05,-6.8516e-05,4.58851e-05,0,0,0,0.0749078,0.32348,0.129956,0.0309365,-0.00552718,-0.000657076,0.00135573,-0.0697947,0.0060221,0.0348649,-0.524147,0.419071,-0.221257,0.707598,0,0,0,0,0,0,-0.357798,2.69752,0.981056,0.0061049,0.0390969,0.0324189,1.3666,0.139619,0.142259,0.0549388,0.445708,0.387591,0,0,0,0,0,0,0.38482,0.0109378,-0.254632,0.00512862,-0.0451938,-0.0061049,0.0776633,0.00791017,0.0352604,-0.3828,-0.491559,0.350368,0.69934,3.36417e-06,-2.02268e-06,1.21258e-05,-7.31449e-06,9.95915e-05,1.86419e-05,2.09202,0.475097,0.792283,-0.0898985,-0.105345,-0.0219945,-1.35677,0.186164,0.134102,-3.13067,-0.0975585,0.10618,9.55697e-05,3.44371e-05,0,0,0,0,-0.160741,0.165425,0.530187,-0.00140568,0.0880451,0.0898985
2020-02-05.11:09:00.393,0.103792,0.0718605,0.37091,-0.386774,-0.494321,0.358467,0.691054,2.83957e-05,4.45458e-05,2.76278e-05,4.3271e-05,0.000764794,-0.000942848,-0.21792,-0.196044,0.441084,0.0049603,0.0178739,-0.00275875,0.222898,0.0288147,0.127055,-1.51029,0.0858585,-0.00296064,-1.32637,-4.67349e-05,-0.000205427,0.000205427,0.00126095,0,0,0,0.165754,-0.073229,-0.121859,0.0361681,0.000499855,0.00115038,-0.00126176,-0.112115,0.0996879,0.37202,-0.529218,0.410101,-0.235797,0.704376,-0.000213869,4.40456e-05,2.17187e-05,9.22544e-06,0.000164734,-0.00037001,0.503136,0.994052,-0.268051,-0.00967103,0.0125139,0.00532456,-0.214525,-0.0343887,0.229049,1.25376,-0.251654,0.00296064,-1.85928,0.000622604,-0.000334524,0.000334524,-0.000224031,0,0,0,0.0786161,0.321314,0.129869,0.0315523,-0.00568372,-0.000688384,0.00135573,-0.0697947,0.0060221,0.0348649,-0.524147,0.419071,-0.221257,0.707598,0,0,0,0,0,0,-0.326139,2.6972,0.96459,0.00626556,0.0387142,0.0319244,1.3666,0.139619,0.142259,0.0549388,0.445708,0.387591,0,0,0,0,0,0,0.383876,0.00668961,-0.254632,0.00494087,-0.0449407,-0.00626556,0.0776633,0.00791017,0.0352604,-0.3828,-0.491559,0.350368,0.69934,3.26027e-06,-1.85344e-06,1.17274e-05,-7.22514e-06,9.63286e-05,1.72328e-05,2.08452,0.446601,0.785667,-0.0897379,-0.105329,-0.0220774,-1.35677,0.186164,0.134102,-3.13067,-0.0975585,0.10618,9.23656e-05,3.40562e-05,0,0,0,0,-0.158381,0.169673,0.54706,-0.00134309,0.0885602,0.0900592
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