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 2020-02-05.15:14:54.273,0.10849,0.0387323,0.321414,-0.494252,-0.199017,0.808421,0.250124,-0.00174169,0.00113095,0.000554586,0.112215,-0.0893852,-0.108081,-0.0215227,-0.0190675,0.00587103,-4.99381e-05,7.66373e-06,7.00968e-06,0.181504,0.255711,-0.0475076,-1.50467,0.41745,0.0118426,0.118426,0.00489674,-0.00270948,0.00355945,-0.0134085,-0.105036,-0.0259895,-0.142301,-0.00164609,-0.0101886,-0.00397502,-0.000163969,-1.0748e-06,5.45953e-05,-3.96024e-05,-0.0219916,0.0340403,0.372969,0.0548457,0.44958,0.0527374,0.889994,0.000593062,0.00184367,-0.000904779,0.00454361,-0.0013445,0.00567026,0.00177742,-0.00606196,-0.0114151,-0.000153326,-0.000776595,-8.69128e-06,-0.405616,0.178809,-0.0957325,1.10698,0.636537,0.426332,-0.846743,-0.00248841,0.000197599,0.0046366,-0.00310513,0,0,0,0.00392157,0.00225537,0.000580801,-0.000557103,0.000390056,-0.00059446,-8.08431e-05,-0.0885207,0.0100238,0.0274798,0.0528478,0.449316,0.053822,0.890183,7.51147e-06,4.08763e-05,-1.57871e-05,-0.000271461,-0.000842591,-0.000990129,0.465945,-0.396742,0.240686,0.0247421,-0.00916414,-0.0190053,1.43529,0.182681,0.12255,1.16651,0.43874,-0.0797285,0.000371113,0.000164632,1.12516e-05,-0.00113268,0.00116771,-0.00122489,-0.00223575,-0.0848822,0.386523,-0.00569817,0.00338121,-0.0247421,0.0836102,0.0308332,0.0332721,-0.490792,-0.197775,0.811095,0.249265,-0.00058042,0.000756562,-0.000348727,-0.0738946,-0.205787,-0.0610172,3.56393,-1.01225,-1.84289,-0.00956584,-0.0306414,-0.00206819,-1.48359,0.355794,0.131962,-1.62384,0.360994,0.161238,0.0104468,0.000772858,-5.37922e-05,0.0180637,-0.229936,0.0603577,-0.41988,0.175809,-0.290941,0.00347577,-0.00185573,0.00956584 2020-02-05.15:14:54.287,0.108188,0.0386941,0.321344,-0.496862,-0.201794,0.806579,0.248672,-0.0172464,-0.00290614,-0.00469205,0.112869,-0.100089,-0.0925566,-0.0363797,-0.0375634,-0.0406585,0.000886806,0.000181202,0.000295142,0.182223,0.256183,-0.0479536,-1.50482,0.414489,0.00296064,0.118426,0.0405756,0.030414,-0.0290095,0.00893655,-0.0963834,-0.0949529,-0.11158,-0.0201873,-0.0102814,0.00051601,-0.000163969,-0.000282848,0.00162,-3.96024e-05,-0.0219329,0.0340888,0.372913,0.0556943,0.450609,0.0524761,0.889436,0.00247059,0.00216393,-0.00247999,0.00760141,-0.000861252,0.00785265,-0.017276,0.00136918,0.00254822,0.000413628,4.22266e-06,-0.000111557,-0.405765,0.178966,-0.0957059,1.10697,0.636537,0.429293,-0.846743,-0.00629342,0.00672873,0.00151085,-0.00101181,0,0,0,0.00392157,-0.000908489,-0.000857295,-0.000469132,-0.000267415,-0.000312687,0.000112129,-0.0885184,0.0100272,0.0274797,0.0527969,0.449318,0.0537478,0.89019,7.75412e-06,-6.62059e-06,7.66412e-05,0.00120716,-0.00154253,-0.000679132,0.551853,-0.221664,0.248601,0.0281964,-0.00791249,-0.0192232,1.4353,0.182697,0.122553,1.1663,0.43874,-0.0798101,-0.000514825,0.000235351,2.94026e-05,0.000644337,0.00116771,-0.000812911,0.0128689,-0.0730817,0.442765,-0.00500976,0.00133279,-0.0281964,0.0835925,0.0308314,0.0332638,-0.492609,-0.196932,0.810185,0.249309,-0.00107889,-0.000513979,-0.000848209,-0.0209365,-0.177722,-0.00460533,3.65068,-1.12543,-1.71303,-0.0124578,-0.0312565,-0.00293526,-1.48332,0.355678,0.131962,-1.62363,0.356348,0.161106,0.00665445,-0.0100348,0.000184139,0,-0.158455,0.0866056,-0.423184,0.184777,-0.141901,0.00203637,-0.00189859,0.0124578 2020-02-05.15:14:54.307,0.107968,0.0386591,0.321295,-0.497769,-0.203874,0.805833,0.247576,-0.0244043,-0.00310918,-0.00525982,0.272054,-0.410465,0.184947,-0.0346227,-0.0204784,-0.0374574,0.000811781,0.000407154,0.00026618,0.182743,0.25653,-0.0483,-1.50459,0.414489,-0.00296064,0.118426,0.0581023,0.0367729,-0.0355633,0.0140824,-0.0963834,-0.561082,-0.104015,-0.018598,-0.00869154,-0.00253692,-0.00025194,-0.000502005,0.00152608,-7.17644e-05,-0.0219009,0.0341058,0.372886,0.0543758,0.45077,0.0498907,0.889584,0.00243788,0.0016943,-0.00247286,0.00683368,-0.0003014,0.0064156,0.00346532,0.0134835,-0.000368549,-0.000199779,-0.000168562,-6.06635e-05,-0.405839,0.179061,-0.0957214,1.10698,0.636537,0.429293,-0.852664,-0.00582079,0.00761279,-0.000170841,0.000114412,0,0,0,-0.00243541,0.00199798,0.00436839,-0.000117248,-7.95662e-05,-0.000312687,-1.65191e-05,-0.0885172,0.0100269,0.0274807,0.0527613,0.449312,0.0537646,0.890193,5.62114e-05,6.99185e-05,-4.72017e-05,0.00142342,-0.000334888,-0.00030306,0.592199,-0.163939,0.243674,0.0303654,-0.00509297,-0.0208459,1.43529,0.182697,0.122554,1.1663,0.43874,-0.0797285,0.000819117,0.000235351,5.34179e-05,0.000644337,0.00116771,-0.00117917,0.0123969,-0.0740258,0.462449,-0.00532268,-0.00233948,-0.0311687,0.0835763,0.0308303,0.0332498,-0.493899,-0.197622,0.809352,0.248914,-0.00180892,0.000516531,-0.00179048,0.0235322,-0.436584,0.066326,3.74031,-1.11546,-1.51886,-0.0180008,-0.0341328,-0.00296782,-1.48326,0.355586,0.131965,-1.62405,0.354162,0.163133,0.0063202,-0.00881186,0.000267458,-0.0162619,-0.296641,0.289303,-0.41988,0.178169,0.0718175,0.00122279,-0.00150014,0.0167154 2020-02-05.15:14:54.327,0.107313,0.0385731,0.321168,-0.500514,-0.210158,0.803546,0.244199,-0.0387639,-0.00565823,-0.00715933,0.423951,-0.688007,0.429839,-0.0218924,-0.0216457,-0.064545,0.00100842,-0.000181066,-3.0883e-05,0.184304,0.257475,-0.0492448,-1.5041,0.414489,-0.0207245,0.118426,0.0921581,0.0556548,-0.0574628,0.0466417,-0.0923126,-1.02238,-0.0915485,-0.0260145,4.36467e-05,0.00577292,0.000979654,6.15414e-05,0.000993839,-1.81611e-05,-0.0218533,0.0341247,0.372833,0.0557457,0.450614,0.0525863,0.889424,0.00278235,0.000347821,-0.00275299,0.00509996,0.00141436,0.00261938,-0.010676,-0.00933096,-0.00447303,-0.000153772,-7.81481e-06,1.10556e-05,-0.405938,0.17925,-0.0957789,1.10701,0.636537,0.429293,-0.846743,-0.00532256,0.0113224,-0.005636,0.00377443,0,0,0,0.00445132,-0.0034858,-0.00373349,-0.00029319,-4.82581e-05,3.17027e-05,-0.000102284,-0.0885144,0.0100534,0.0274847,0.0506362,0.449148,0.0514546,0.890536,0.000435681,0.000791655,0.00024141,-0.161307,-0.0102946,-0.108566,0.723157,-0.193358,0.2001,0.037515,-0.00357617,-0.0259754,1.4353,0.182697,0.12256,1.15959,0.438876,-0.08082,-0.000679536,-0.000397519,0.000553377,-0.214353,0.00140677,-0.0800642,0.0317497,-0.0900744,0.473698,-0.00694983,-0.00511338,-0.037515,0.0835114,0.0308525,0.0332007,-0.498306,-0.201343,0.806234,0.247262,-0.00394592,0.00114421,-0.00184877,0.178879,-0.570093,0.205995,4.07554,-0.737152,-0.846932,-0.024829,-0.0475767,-0.000828412,-1.4832,0.355408,0.131995,-1.62615,0.34651,0.17313,0,-0.00870173,0.00239315,-0.101162,-0.298275,0.50901,-0.425544,0.114918,0.68204,0.00134796,0.0106953,0.025311 2020-02-05.15:14:54.347,0.106567,0.0384238,0.32104,-0.503618,-0.217329,0.80086,0.240335,-0.0492474,-0.0115299,-0.00823795,0.461666,-0.76648,0.512601,-0.025455,-0.0260106,-0.0465582,0.00067601,-0.000140038,-2.74035e-05,0.186062,0.258577,-0.0504785,-1.50313,0.414489,-0.0414489,0.118426,0.115346,0.0749501,-0.087193,0.0508454,-0.080129,-1.1708,-0.0833763,-0.0201873,-0.00453494,0.00310116,0.000715741,6.15414e-05,0.000618141,3.28019e-06,-0.0217986,0.0341207,0.372786,0.0565859,0.451664,0.0522313,0.888859,0.0037808,-0.00158208,-0.00297313,0.00217401,0.00331035,-0.00215493,0.000434943,-0.000299493,0.0100127,-0.000160018,5.76693e-05,-2.27247e-05,-0.406038,0.17947,-0.0959204,1.10711,0.636537,0.432253,-0.846743,-0.00585485,0.0167537,-0.0140497,0.00940906,0,0,0,-0.00349491,-0.00198879,-0.00211865,-0.000117248,-0.000142182,-3.09135e-05,-4.86811e-05,-0.088499,0.0100384,0.0274841,0.0525514,0.449314,0.0527083,0.890268,0.000481828,-0.00245394,-0.000396237,0.634483,0.0695105,0.135741,0.904477,-0.0988813,0.135273,0.0332574,-0.00437582,-0.0163285,1.43531,0.182697,0.122573,1.16399,0.43874,-0.0812804,0.00103861,-0.000397519,0.00012477,0.652487,-0.0092512,0.000480722,0.0591268,-0.080162,0.499007,-0.000503815,-0.00519515,-0.0332574,0.0834107,0.0308764,0.033186,-0.500874,-0.205265,0.804273,0.245228,-0.00838363,0.00177612,-0.000252186,0.297877,-0.582703,0.412599,4.28917,-0.211141,-0.314781,-0.031336,-0.0541817,0.00199136,-1.48326,0.355246,0.132084,-1.62761,0.343231,0.183318,-0.0042569,-0.0107997,0.00774748,-0.0874256,-0.154363,0.71286,-0.436873,0.0261787,1.18821,0.00141054,0.0138795,0.031336 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