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
2020-02-05.15:30:43.911,0.0472745,0.0892823,0.331772,-0.607727,-0.20427,0.6914,0.333027,0.000441595,0.0011767,0.00069014,-0.153087,0.0221928,0.0247053,-0.15266,0.171205,0.254641,0.0102232,0.0127518,-0.0173585,0.371481,0.197231,0.0737198,-1.7143,0.136189,0,0.0177638,0.000228884,-0.0045424,0.00531231,0.00601683,0,-0.00169966,0.15818,0.0894706,-0.0218264,-0.0813818,0.0235882,-0.0129313,-0.00122904,-0.0158204,-0.051026,0.106964,0.340719,-0.00438232,0.622689,0.354881,0.697351,5.36099e-05,-8.2514e-05,0.000406239,-0.00101186,-0.000618162,0.000157206,0.451553,-0.172698,0.111613,0.0252219,0.0110397,0.00265148,-0.382133,0.136642,0.146933,1.44853,-0.0680947,-0.00592128,-0.2783,-0.000285776,-0.0013572,0.000247995,-0.000166083,0,0,0,-0.0167386,0.162466,0.102089,0.0511699,-0.00371131,0.00356952,0.00103411,-0.0928422,-0.0165377,0.00954272,0.00727937,0.629547,0.359526,0.688737,-0.000234967,3.85013e-05,-2.47905e-05,0,0,0,0.0895559,-0.911233,0.591882,0.0224928,0.0325344,0.0302479,1.3992,-0.0876144,0.115551,1.55695,-0.222444,0.597133,0,0,-0.000239388,0,0,0,0.0704553,-0.0702496,0.974249,5.94282e-05,-0.0437049,-0.0208861,0.108414,-0.0433685,-0.0093081,-0.604995,-0.224738,0.673682,0.360037,-5.79789e-07,1.9489e-06,-3.37559e-06,0,-3.68572e-05,-2.12795e-05,-0.218812,4.91197,-3.42326,-0.0192058,-0.00633474,-0.0176789,-1.39652,-0.433933,0.108592,-1.81612,-0.282838,-0.58264,-4.2559e-05,0,0,0,0,0,-0.122035,-0.6186,-0.0884713,0.00303769,-0.00244678,0.0192058
2020-02-05.15:30:43.928,0.0472879,0.0893465,0.33178,-0.608206,-0.205266,0.69107,0.332224,0.00120095,0.00225908,0.00092807,-0.137223,0.0171267,0.0242449,-0.174465,0.222527,0.264783,0.0106007,0.0130202,-0.017296,0.371505,0.197105,0.073951,-1.71415,0.136189,-0.00296064,0.0177638,-0.00065747,-0.00769466,0.010097,0.00144045,0,0,0.142886,0.0894706,-0.0233741,-0.0979355,0.024204,-0.0131505,-0.00110381,-0.0157239,-0.0510181,0.106967,0.340721,-0.00439119,0.622685,0.354889,0.697351,7.39709e-05,-3.00882e-05,0.000379211,-0.000862179,-0.00065838,0.000308247,0.470253,-0.187693,0.0990618,0.0257055,0.0112428,0.00266992,-0.382157,0.136642,0.146933,1.44853,-0.0680947,-0.00592128,-0.2783,-0.000374789,-0.00129941,0.000344271,-0.000230558,0,0,0,-0.0125006,0.169298,0.103617,0.0519616,-0.00377392,0.00381998,0.00103411,-0.0928422,-0.0165377,0.00954272,0.00727937,0.629547,0.359526,0.688737,-0.000246656,4.04166e-05,-2.60237e-05,0,0,0,0.0475743,-0.924725,0.616549,0.0223321,0.0333288,0.0308925,1.3992,-0.0876144,0.115551,1.55695,-0.222444,0.597133,0,0,-0.000251297,0,0,0,0.0713993,-0.0697776,0.993933,0.000873002,-0.0453642,-0.0223321,0.108414,-0.0433685,-0.0093081,-0.604995,-0.224738,0.673682,0.360037,-5.63145e-07,1.89295e-06,-3.27869e-06,0,-3.57991e-05,-2.06686e-05,-0.196973,4.94254,-3.43229,-0.0185631,-0.00627464,-0.0185281,-1.39652,-0.433933,0.108592,-1.81612,-0.282838,-0.58264,-4.13372e-05,0,0,0,0,0,-0.124868,-0.620488,-0.0856592,0.0022867,-0.00316292,0.0185631
2020-02-05.15:30:43.948,0.0473259,0.0894296,0.331781,-0.608793,-0.203498,0.692023,0.330247,0.00185148,0.00433039,-0.000253127,0.0087422,-3.2174e-05,-0.00401872,-0.155484,0.32137,0.288671,0.0115062,0.0124677,-0.0172031,0.371481,0.196948,0.0742662,-1.71406,0.136189,-0.00296064,0.0236851,-0.0011213,-0.00690397,0.0157894,0.00475951,0,0,0,0.0963574,0.00348121,-0.106741,0.0244679,-0.0127122,-0.000508951,-0.0154988,-0.0510213,0.106973,0.340726,-0.00439767,0.622679,0.354894,0.697353,0.000132008,-0.000130198,0.000247661,-0.000789913,-0.000342941,5.26439e-05,0.448968,-0.176815,0.128931,0.0260817,0.0111227,0.00260875,-0.382157,0.13661,0.146964,1.44851,-0.0680947,-0.00592128,-0.2783,-0.000366093,-0.000602078,-0.000231793,0.000155232,0,0,0,-0.0220361,0.16172,0.100976,0.0524894,-0.00355477,0.00394522,0.000959061,-0.0928422,-0.0165377,0.00954272,0.00727937,0.629547,0.359526,0.688737,-0.000277882,4.55333e-05,-2.93183e-05,0,0,0,0.122561,-0.943392,0.58253,0.0207254,0.03038,0.0294652,1.3992,-0.0876144,0.115551,1.55695,-0.222444,0.597133,0,0,-0.00028311,0,0,0,0.0756475,-0.0721377,0.960188,0.00162399,-0.0428055,-0.0207254,0.108414,-0.0433685,-0.0093081,-0.604995,-0.224738,0.673682,0.360037,-5.46671e-07,1.83758e-06,-3.18278e-06,0,-3.47519e-05,-2.0064e-05,-0.169652,4.88562,-3.37476,-0.0200091,-0.00699209,-0.0173712,-1.39652,-0.433933,0.108592,-1.81612,-0.282838,-0.58264,-4.0128e-05,0,0,0,0,0,-0.12534,-0.613408,-0.077223,0.00303769,-0.0021759,0.0200091
2020-02-05.15:30:43.968,0.0473545,0.0894944,0.331766,-0.607547,-0.207113,0.690033,0.334432,0.00124153,0.00265182,-0.00036851,0.113985,-0.0069736,-0.0282676,-0.158522,0.36745,0.293466,0.0101104,0.0126143,-0.0162602,0.371456,0.196885,0.074487,-1.71391,0.136189,-0.00296064,0.0118426,-0.00106765,-0.00357988,0.00950251,0.0123999,0,0,-0.109786,0.0921194,-0.00133372,-0.117196,0.0222686,-0.0126809,-0.000133253,-0.014877,-0.0510166,0.106982,0.340733,-0.00441303,0.622669,0.354908,0.697355,-0.000201616,9.76594e-05,0.000402766,-0.000607181,-0.000665558,0.000200483,0.460601,-0.198945,0.109233,0.0255999,0.0113102,0.00270505,-0.382182,0.136579,0.146996,1.44849,-0.0680947,-0.00592128,-0.2783,0.000232536,-0.00189024,0.00114929,-0.000769678,0,0,0,-0.0167386,0.166391,0.0983913,0.0516097,-0.00386785,0.00400783,0.00108771,-0.0928434,-0.0165375,0.00954259,0.00727937,0.629547,0.359526,0.688737,0.000275503,-4.51434e-05,2.90672e-05,0,0,0,0.0718693,-0.883707,0.623192,0.0216894,0.0330834,0.0306113,1.3992,-0.0876144,0.11555,1.55695,-0.222444,0.597133,0,0,0.000280686,0,0,0,0.0732874,-0.0650574,0.971437,0.000998168,-0.0452243,-0.0216894,0.108414,-0.0433685,-0.0093081,-0.604995,-0.224738,0.673682,0.360037,-5.32345e-07,1.78942e-06,-3.09937e-06,-8.47033e-22,-3.38412e-05,-1.95382e-05,-0.196442,4.93569,-3.42409,-0.0196878,-0.00641396,-0.0179367,-1.39652,-0.433933,0.108592,-1.81612,-0.282838,-0.58264,-3.90764e-05,0,0,0,0,0,-0.124868,-0.620488,-0.0828471,0.00297511,-0.00272605,0.0196878
2020-02-05.15:30:43.988,0.0473623,0.0895189,0.331763,-0.60793,-0.208393,0.68814,0.336833,0.000637874,0.00093229,-0.00022465,0.0613677,-0.00670042,-0.0120393,-0.161208,0.362841,0.273964,0.010864,0.0116591,-0.0134163,0.371456,0.196853,0.0745711,-1.71382,0.133229,-0.00296064,0.00592128,-0.000945572,-0.00116053,0.00355943,0.00269609,0,0,-0.0603169,0.0942384,-0.00890632,-0.122096,0.0231484,-0.0123052,-0.000321102,-0.0121325,-0.0510199,0.106989,0.340738,-0.0044195,0.622664,0.354913,0.697357,-0.000179714,6.74465e-05,0.00034613,-0.000551215,-0.000544875,0.000118792,0.453046,-0.19966,0.103465,0.0258578,0.0110906,0.00273284,-0.382182,0.136547,0.147027,1.44846,-0.0680947,-0.00592128,-0.2783,0.000232536,-0.00161068,0.000945404,-0.000633137,0,0,0,-0.0146196,0.163814,0.0956919,0.0520496,-0.00358608,0.00394522,0.00109843,-0.0928422,-0.0165377,0.00954272,0.00727937,0.629547,0.359526,0.688737,-0.000246874,4.04523e-05,-2.60467e-05,0,0,0,0.0664082,-0.895383,0.585868,0.0208058,0.0326705,0.0298548,1.3992,-0.0876144,0.115551,1.55695,-0.222444,0.597133,0,0,-0.000251518,0,0,0,0.0713993,-0.0674175,0.94894,0.000747837,-0.0444077,-0.0208058,0.108414,-0.0433685,-0.0093081,-0.604995,-0.224738,0.673682,0.360037,-5.17414e-07,1.73923e-06,-3.01244e-06,8.47033e-22,-3.2892e-05,-1.89902e-05,-0.24074,4.86542,-3.4388,-0.0195271,-0.00633289,-0.0180862,-1.39652,-0.433933,0.108592,-1.81612,-0.282838,-0.58264,-3.79804e-05,0,0,0,0,0,-0.118731,-0.616712,-0.119404,0.00272478,-0.00247289,0.0195271
2020-02-05.15:30:44.8,0.0473677,0.0895343,0.331764,-0.60729,-0.210167,0.687143,0.338916,-0.000412168,0.000611093,-9.17155e-05,0.524758,-0.0636276,-0.096594,-0.158604,0.355695,0.293207,0.0107717,0.00870817,-0.0102226,0.371456,0.196822,0.0746289,-1.71371,0.133229,-0.00296064,0,0.00153117,0,0.00123877,0.00255,0,0,-0.53565,0.0921194,-0.00740931,-0.120481,0.0233243,-0.00867342,-0.000415026,-0.00872334,-0.0510199,0.106989,0.340738,-0.0044195,0.622664,0.354913,0.697357,-0.000155263,2.97687e-05,0.000289725,-0.000510268,-0.000416384,2.21104e-05,0.472646,-0.227394,0.115119,0.0251781,0.0109627,0.0025679,-0.382182,0.136547,0.147027,1.44846,-0.0680947,-0.00592128,-0.2783,0.000232536,-0.00133093,0.000724541,-0.000485225,0,0,0,-0.0199171,0.168063,0.0961909,0.0520496,-0.00364869,0.0038826,0.00107699,-0.0928434,-0.0165375,0.00954259,0.00727937,0.629547,0.359526,0.688737,0.000264074,-4.32707e-05,2.78614e-05,0,0,0,0.107727,-0.929845,0.587683,0.0209664,0.0323941,0.0301671,1.3992,-0.0876144,0.11555,1.55695,-0.222444,0.597133,0,0,0.000269042,0,0,0,0.0761195,-0.0707216,0.960188,0.00106075,-0.0447308,-0.0209664,0.108414,-0.0433685,-0.0093081,-0.604995,-0.224738,0.673682,0.360037,-5.0411e-07,1.69451e-06,-2.93498e-06,0,-3.20463e-05,-1.85019e-05,-0.216168,4.90287,-3.40582,-0.0182418,-0.00574486,-0.0186923,-1.39652,-0.433933,0.108592,-1.81612,-0.282838,-0.58264,-3.70038e-05,0,0,0,0,0,-0.122507,-0.615768,-0.0800351,0.00222412,-0.00352098,0.0182418
2020-02-05.15:30:44.28,0.0473386,0.0895642,0.331763,-0.60726,-0.210115,0.687141,0.339006,-0.00217964,0.00122467,0.000246458,0.400479,-0.0527463,-0.0719347,-0.16198,0.345655,0.272697,0.00896324,0.00826291,-0.00812789,0.371555,0.196822,0.0746815,-1.7136,0.133229,-0.00296064,0,0.00673435,0,0.00128362,-0.00767693,0,0,-0.409446,0.0831136,-0.011165,-0.120637,0.0193656,-0.00823511,-0.00035241,-0.00687938,-0.0510231,0.106995,0.340743,-0.00442598,0.622658,0.354919,0.697359,2.12466e-05,-0.000309973,-8.1728e-08,-0.000585711,0.000403493,-0.000770109,0.454143,-0.196671,0.0986291,0.0256387,0.0108334,0.00259995,-0.382182,0.136516,0.147059,1.44844,-0.0680947,-0.00592128,-0.2783,0.000232536,0.000432674,-0.000989411,0.000662608,0,0,0,-0.0130304,0.163978,0.0964542,0.0516977,-0.00339823,0.00372606,0.000969781,-0.0928434,-0.0165375,0.00954259,0.00727937,0.629547,0.359526,0.688737,0.000235497,-3.85882e-05,2.48464e-05,0,0,0,0.10485,-0.91609,0.620654,0.0206451,0.0323104,0.0290168,1.3992,-0.0876144,0.11555,1.55695,-0.222444,0.597133,0,0,0.000239928,0,0,0,0.0756475,-0.0669455,0.979873,0.000309759,-0.0439886,-0.0206451,0.108414,-0.0433685,-0.0093081,-0.604995,-0.224738,0.673682,0.360037,-4.91287e-07,1.65141e-06,-2.86033e-06,8.47033e-22,-3.12311e-05,-1.80313e-05,-0.175068,4.88845,-3.39604,-0.0197681,-0.0069481,-0.0177511,-1.39652,-0.433933,0.108592,-1.81612,-0.282838,-0.58264,-3.60626e-05,0,0,0,0,0,-0.124868,-0.614824,-0.0912834,0.00272478,-0.00237241,0.0197681
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