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 2020-02-05.13:39:01.58,0.154278,0.128617,0.274696,-0.586287,0.0164791,0.78582,0.196173,-0.000608609,0.0306662,-0.00857323,-1.93212,1.67193,2.48585,0.0171718,-0.0144219,-0.0155523,0.0014923,0.00101239,-0.000117729,0.076595,0.30868,0.179521,-1.72996,-0.0207245,0.503309,0.763845,0.00687445,0.014559,0.0710899,-0.0160039,2.21879,0,1.98299,-0.00376508,0.00729235,0.00659419,0.000715741,-0.00159779,5.45953e-05,-0.000125368,-0.139953,0.133284,0.303631,0.00262035,0.648642,0.423404,0.632445,0.000327713,0.00305523,-0.000960237,0.00873688,-0.00386922,0.00489788,-0.00350898,-0.000265933,-0.00914685,2.4365e-05,0.000116701,-5.96992e-05,-0.125792,0.185516,0.247537,1.37847,-0.319749,-0.171717,-0.301985,-0.0018699,0.00134876,0.00720593,-0.00474436,0,0,0,0.00233232,-0.00165436,-0.00267657,-0.000205219,-7.95662e-05,0.000282168,1.56429e-05,-0.122832,0.0278658,0.0467592,0.00318666,0.648372,0.422456,0.633352,-2.07538e-05,5.38717e-05,2.49157e-05,0.00113801,0.000637219,0.000808329,4.66392,0.911883,1.1134,0.000642275,-0.0558051,0.00595257,1.19271,0.512396,0.101805,1.93355,-0.463061,-0.0318602,0,0.000581703,1.12847e-05,0.0018589,0,-0.000773861,0.296553,0.213434,-1.0617,0.0070061,0.0135248,-0.000642275,0.103372,0.039735,0.0462844,-0.594061,0.0258145,0.774976,0.214098,0.00291787,0.00580365,0.00272785,-1.93285,1.60536,2.17184,7.6567,-6.13652,0.190368,-0.0857212,-0.141853,0.00439942,-1.35456,0.529378,0.120823,-1.3957,-0.110402,0.0963149,-0.0952781,0.073223,-0.000274874,3.02781,1.0078,0.906453,-0.709228,0.474598,-0.0687867,0.0212492,0.0710967,0.0857212 2020-02-05.13:39:01.64,0.154368,0.12947,0.27425,-0.564977,0.0116759,0.812355,0.144028,0.0030987,0.00973345,-0.0130862,-0.596863,1.56537,2.50486,0.00577382,-0.0305154,0.00773973,0.000696149,0.000625073,0.000331986,0.0764463,0.309939,0.181076,-1.73025,0.0799372,0.506269,0.805294,-0.00877602,0.0475757,0.000923995,0.0193845,2.79321,0,0.425813,0.0015324,0.00528055,0.0116119,1.19731e-05,-0.000658545,-8.02096e-06,0.000335621,-0.139956,0.133349,0.303565,0.00269605,0.648578,0.423512,0.632437,0.000276263,0.00112365,-0.00137921,0.00556973,-0.000124727,0.00136717,0.000134803,-0.0169846,-0.000941612,-0.000452296,-0.000223073,-4.52948e-05,-0.125792,0.185737,0.247606,1.37842,-0.319749,-0.171717,-0.301985,-0.000970183,0.00500854,0.000589391,-0.00030431,0,0,0,-0.00243541,0.000763628,-0.00364688,-0.000908987,0.000108283,-9.35298e-05,9.06875e-05,-0.122828,0.0278695,0.0467549,0.00340423,0.64836,0.422345,0.633436,8.05958e-05,9.52621e-05,-0.00013872,0.002807,0.0023639,-0.00319005,5.19016,1.01418,1.38277,-0.000643048,-0.0625121,0.00583025,1.19282,0.512411,0.101805,1.93355,-0.462651,-0.0322762,0.00268414,5.66618e-05,1.03412e-05,0.00168543,0.00403593,-0.00397613,0.333842,0.240339,-1.05045,0.00763193,0.0154372,0.000643048,0.103489,0.0400843,0.0463284,-0.577025,0.0275432,0.801429,0.154903,0.00440398,0.0103,0.00259522,-0.750685,1.72516,2.13012,8.97676,-6.36655,-0.12015,-0.0874886,-0.176415,-0.0115378,-1.35983,0.532421,0.120831,-1.281,-0.0661321,0.152267,-0.158691,0.0741382,9.49455e-05,2.09827,1.53613,1.37657,-0.852722,0.364617,0.251791,0.0173065,0.0944356,0.0874886 2020-02-05.13:39:01.83,0.154368,0.12947,0.27425,-0.564977,0.0116759,0.812355,0.144028,0.0030987,0.00973345,-0.0130862,-0.596863,1.56537,2.50486,0.00577382,-0.0305154,0.00773973,0.000696149,0.000625073,0.000331986,0.0764463,0.309939,0.181076,-1.73025,0.0799372,0.506269,0.805294,-0.00877602,0.0475757,0.000923995,0.0193845,2.79321,0,0.425813,0.0015324,0.00528055,0.0116119,1.19731e-05,-0.000658545,-8.02096e-06,0.000335621,-0.139956,0.133349,0.303565,0.00269605,0.648578,0.423512,0.632437,0.000276263,0.00112365,-0.00137921,0.00556973,-0.000124727,0.00136717,0.000134803,-0.0169846,-0.000941612,-0.000452296,-0.000223073,-4.52948e-05,-0.125792,0.185737,0.247606,1.37842,-0.319749,-0.171717,-0.301985,-0.000970183,0.00500854,0.000589391,-0.00030431,0,0,0,-0.00243541,0.000763628,-0.00364688,-0.000908987,0.000108283,-9.35298e-05,9.06875e-05,-0.122828,0.0278695,0.0467549,0.00340423,0.64836,0.422345,0.633436,8.05958e-05,9.52621e-05,-0.00013872,0.002807,0.0023639,-0.00319005,5.19016,1.01418,1.38277,-0.000643048,-0.0625121,0.00583025,1.19282,0.512411,0.101805,1.93355,-0.462651,-0.0322762,0.00268414,5.66618e-05,1.03412e-05,0.00168543,0.00403593,-0.00397613,0.333842,0.240339,-1.05045,0.00763193,0.0154372,0.000643048,0.103489,0.0400843,0.0463284,-0.577025,0.0275432,0.801429,0.154903,0.00440398,0.0103,0.00259522,-0.750685,1.72516,2.13012,8.97676,-6.36655,-0.12015,-0.0874886,-0.176415,-0.0115378,-1.35983,0.532421,0.120831,-1.281,-0.0661321,0.152267,-0.158691,0.0741382,9.49455e-05,2.09827,1.53613,1.37657,-0.852722,0.364617,0.251791,0.0173065,0.0944356,0.0874886 2020-02-05.13:39:01.103,0.154401,0.129509,0.273957,-0.549814,0.00279159,0.826281,0.122296,0.000647731,-0.00423288,-0.0151815,-0.494816,1.65303,2.62633,-0.00879074,-0.0401173,0.0112792,0.000364349,0.00142744,1.61116e-06,0.0763225,0.311136,0.180563,-1.72961,0.142111,0.51219,0.805294,-0.0044798,0.0664893,-0.0451318,0.0149729,3.00722,0.0196543,0.264299,0.000472907,0.00269272,0.0136079,1.19731e-05,-0.00115948,-0.00163604,0.000142649,-0.139959,0.133379,0.303558,0.00270288,0.64855,0.42355,0.63244,0.000266998,0.000241122,-0.000676577,0.00205316,0.000300423,0.000478956,0.0188841,-0.0153907,-0.00979686,-2.26725e-05,2.90782e-05,-7.42242e-05,-0.125792,0.185737,0.247685,1.37837,-0.319749,-0.171717,-0.301985,-0.0007791,0.00280533,-0.0007057,0.000566946,0,0,0,0.00180257,0.0059235,0.000376368,-0.000117248,-1.695e-05,6.30108e-05,-4.86811e-05,-0.122826,0.0278725,0.0467522,0.00342755,0.648392,0.422328,0.633415,-2.70621e-05,-2.65359e-05,-9.69318e-05,0.00303667,0.000785887,-0.00379723,5.37908,0.997913,1.38946,-0.00136604,-0.064922,0.0056979,1.19288,0.512419,0.101807,1.93355,-0.462651,-0.0323579,0.00108871,-0.000356598,-9.29835e-05,0.00161388,0.00403593,-0.00329103,0.345643,0.244588,-1.12919,0.00769451,0.0161228,0.00136604,0.10359,0.0403111,0.0463774,-0.563633,0.0208032,0.814557,0.135579,0.00495531,0.0116364,0.00114591,-0.132791,1.73951,2.27462,9.2642,-5.24851,-0.616961,-0.0946382,-0.181856,-0.0141466,-1.36329,0.533818,0.120831,-1.24661,-0.0325195,0.181299,-0.195261,0.065311,-7.74745e-05,1.67971,1.77671,1.76554,-0.844226,0.20177,0.0690054,0.0205608,0.0961575,0.0940758 2020-02-05.13:39:01.123,0.154374,0.129288,0.273634,-0.532222,-0.00424347,0.840514,0.101282,-0.0025468,-0.0138172,-0.0170024,-0.597067,2.43285,2.31577,0.00311726,-0.0349271,-0.0139378,-0.000486762,4.85833e-05,-0.000246322,0.0763225,0.312648,0.179209,-1.72915,0.204284,0.524033,0.805294,0.0029124,0.0812957,-0.0779794,0.0334408,3.20105,0.835309,0.191517,-0.00376508,0.0109394,0.0160752,0.000715741,-9.49992e-05,-0.00172997,4.61628e-05,-0.139953,0.133396,0.303562,0.00268834,0.648532,0.423573,0.632444,-0.000127907,0.000914229,0.000438935,0.000951485,-0.00182981,0.00141398,0.0228976,-0.00838571,-0.000937252,-0.000315548,5.95743e-05,2.68302e-05,-0.125817,0.185705,0.247743,1.37833,-0.319749,-0.171717,-0.301985,0,-0.002832,0.00366583,-0.00235746,0,0,0,0.000213329,0.00749754,0.00463174,-0.000469132,-0.000142182,-9.35298e-05,9.06875e-05,-0.122825,0.0278758,0.046749,0.0034872,0.64839,0.422306,0.633431,-1.14771e-05,0.00022274,-0.000232701,0.00375075,0.00200049,-0.00519877,5.41746,1.04,1.46289,-0.0022497,-0.0665527,0.00618853,1.19295,0.512434,0.101807,1.93355,-0.462515,-0.0324693,0.00425847,0.00145099,-8.73138e-05,0.00154495,0.00766459,-0.00624996,0.348475,0.250252,-1.07857,0.00863325,0.0174196,0.0022497,0.103704,0.0405425,0.0463898,-0.547261,0.0119658,0.829158,0.113401,0.00655588,0.0109103,0.000720527,-0.294124,2.42274,2.38491,9.0096,-3.15575,-0.968458,-0.0896575,-0.179003,-0.0182605,-1.3678,0.534954,0.120818,-1.20404,0.00956456,0.220084,-0.234313,0.0391166,-0.00117495,2.20984,2.31905,1.76537,-0.761622,-0.0380159,-0.170022,0.020686,0.0966845,0.0896575 2020-02-05.13:39:01.143,0.154269,0.128904,0.273296,-0.51026,-0.00767877,0.856072,0.0819572,-0.00649149,-0.0231136,-0.0164702,-0.724042,2.73687,2.07915,-0.00281551,-0.0265283,-0.00969015,-0.000703953,-0.000346408,-0.000129133,0.0765207,0.314348,0.177324,-1.72893,0.266457,0.547718,0.805294,0.0128125,0.0861651,-0.105096,0.0101689,3.19236,1.25457,0.150439,-0.00429483,0.00545039,0.0104684,0.000539799,0.000468547,-0.00085334,6.76041e-05,-0.139952,0.133444,0.303581,0.00265437,0.648486,0.423622,0.632458,-0.000133618,0.00192576,0.000984674,0.00185824,-0.00420426,0.00342674,0.0114691,-0.0178597,-0.00718663,-0.000132726,-0.000295207,-0.000132621,-0.125842,0.185579,0.247921,1.37821,-0.319749,-0.171717,-0.301985,-0.000434253,-0.00617501,0.00777662,-0.00510801,0,0,0,0.000213329,0.00392749,-0.00173747,-0.00029319,0.000264823,-0.000156146,-0.000113005,-0.122826,0.0278836,0.0467442,0.00345956,0.64841,0.422328,0.633397,1.25765e-05,0.0004627,-6.09438e-05,0.00276288,0.000610425,-0.00328855,5.31651,1.08533,1.43621,-0.0024907,-0.0650669,0.00602036,1.19303,0.512496,0.101805,1.93355,-0.462515,-0.0324693,0.00403861,0.00399916,8.84022e-05,0.00148591,0.00766459,-0.00624996,0.340451,0.251668,-1.05608,0.008821,0.0168478,0.0024907,0.103854,0.0407329,0.0464077,-0.524304,0.00629042,0.84638,0.093309,0.00834117,0.00914149,0.000387607,-0.489716,3.10312,1.99165,8.86996,-1.14883,-1.12362,-0.0883722,-0.178216,-0.016441,-1.37274,0.535278,0.120783,-1.15728,0.0621696,0.250209,-0.259992,-0.000196036,-0.00212639,2.53609,2.83613,1.32718,-0.673827,-0.274498,-0.251572,0.0234396,0.0960205,0.0883722 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