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
2020-02-05.17:02:16.158,0.167357,0.060633,0.358582,-0.333967,-0.278513,0.653077,0.619989,0.000148891,0.000112464,7.56743e-05,-0.021767,-0.0121938,-0.000652052,0.00439303,0.0283321,-0.0117469,3.21518e-05,0.000377331,-6.00174e-05,0.0358946,0.0661322,0.10336,-1.38866,0.485545,0.260536,-0.793451,-0.000408537,-0.000503926,0.000503926,0.000302784,-0.0197327,0.00243235,0.021003,0.00312165,0.0101271,0.00580061,0.000275886,-0.00025154,0.000273752,-5.03231e-05,-0.172451,0.0369113,0.392123,0.212117,0.221892,0.562667,0.767578,-0.000662488,-0.00159388,-0.000417363,-0.0598683,-0.159489,-0.0554608,0.00170918,0.0164607,0.000992656,0.00025285,-0.000304957,-0.000182922,-0.0212048,-0.000283423,0.0530904,0.888128,0.811215,0.0858585,0.408568,0.00195536,0.00489378,-0.00611583,0.00409577,0.092943,-0.141275,-0.0704284,0.00445132,-0.00299206,-3.24961e-05,0.000762462,0.000139591,9.43189e-05,9.06875e-05,-0.0805246,-0.00932206,0.0162447,0.213646,0.228672,0.565927,0.762752,-0.00131897,-0.00113933,0.000647237,0.0557852,-0.148119,-0.0128562,-0.762038,-0.162078,-0.610488,-0.0439424,-0.0553117,-0.019459,1.42345,0.0108891,0.127567,2.48042,0.177354,0.786681,-0.0103051,-0.00280508,-0.00108092,0.0870151,0.0319342,0.135775,-0.0697346,-0.119812,-0.445854,0.0181458,0.0597729,0.0439424,0.0790706,0.00612306,0.0265494,-0.33,-0.281983,0.65792,0.615408,-9.22175e-06,0.000109031,-7.80996e-05,-0.0049339,0.00299369,-0.00112259,2.70708,1.5469,-1.26954,0.0370271,0.0468336,-0.0105493,-1.40995,0.153991,0.130475,-2.53389,0.059027,-0.453913,-0.000968816,0.00038084,-2.86062e-06,0.00467543,-0.00103602,-0.00350179,-0.381646,0.198938,-0.30219,0.0121748,-0.0713512,-0.0370271
2020-02-05.17:02:16.169,0.167367,0.0606638,0.358592,-0.333954,-0.278507,0.653068,0.620008,-0.000153622,0.000441841,0.000316459,-0.0209721,-0.0110131,-0.000119326,-0.00877869,-0.0186301,0.00772281,0.00024994,0.000165179,-8.86753e-05,0.0358698,0.0660377,0.103481,-1.38859,0.485545,0.260536,-0.793451,0.000490822,-0.00195753,0.00190645,-0.00231486,-0.0178013,0.00402578,0.0195151,-0.00164609,-0.00768301,-0.00611655,0.000363857,3.02333e-05,0.000242444,-6.10438e-05,-0.172359,0.0367434,0.392048,0.21347,0.216332,0.562391,0.768991,0.00327721,-0.00601035,-0.00333423,0.104369,-0.249937,-0.14698,0.00974244,0.0147593,0.00581796,0.000102068,0.000153861,-1.22556e-05,-0.0214525,0.000346406,0.0524079,0.888435,0.823057,0.0858585,0.408568,-0.00878572,0.0246378,-0.0249748,0.0146119,0.294059,-0.0919943,-0.0597233,0.00180257,-0.00349632,0.00137437,-0.000117248,-0.000173491,0.000125627,-0.000113005,-0.0805387,-0.00941017,0.016248,0.213998,0.224255,0.566338,0.76366,-0.000291545,-0.00166512,-0.000190202,0.0904843,-0.126971,-0.0993463,-0.208843,-0.22178,-0.54359,-0.0446654,-0.0634498,-0.0244109,1.42314,0.0105338,0.127565,2.48692,0.180907,0.79285,-0.00146516,-0.00470893,0,0.104148,0.121374,0.109141,-0.0366932,-0.0754418,-0.257444,0.0204614,0.06382,0.0446654,0.0790736,0.00612412,0.0265506,-0.329997,-0.281976,0.65792,0.615413,-1.61285e-05,3.53954e-05,3.87777e-05,-0.00345644,0.00287008,-0.000481335,2.79741,1.53573,-1.2669,0.0375895,0.0455325,-0.00953967,-1.40995,0.154007,0.130473,-2.53389,0.059027,-0.453913,0.000127716,0.000321692,2.54061e-05,0.00325531,-0.000769371,-0.00250576,-0.385422,0.207906,-0.299378,0.0125502,-0.0705612,-0.0375895
2020-02-05.17:02:16.183,0.167367,0.0606638,0.358592,-0.333954,-0.278507,0.653068,0.620008,-0.000153622,0.000441841,0.000316459,-0.0209721,-0.0110131,-0.000119326,-0.00877869,-0.0186301,0.00772281,0.00024994,0.000165179,-8.86753e-05,0.0358698,0.0660377,0.103481,-1.38859,0.485545,0.260536,-0.793451,0.000490822,-0.00195753,0.00190645,-0.00231486,-0.0178013,0.00402578,0.0195151,-0.00164609,-0.00768301,-0.00611655,0.000363857,3.02333e-05,0.000242444,-6.10438e-05,-0.172359,0.0367434,0.392048,0.21347,0.216332,0.562391,0.768991,0.00327721,-0.00601035,-0.00333423,0.104369,-0.249937,-0.14698,0.00974244,0.0147593,0.00581796,0.000102068,0.000153861,-1.22556e-05,-0.0214525,0.000346406,0.0524079,0.888435,0.823057,0.0858585,0.408568,-0.00878572,0.0246378,-0.0249748,0.0146119,0.294059,-0.0919943,-0.0597233,0.00180257,-0.00349632,0.00137437,-0.000117248,-0.000173491,0.000125627,-0.000113005,-0.0805387,-0.00941017,0.016248,0.213998,0.224255,0.566338,0.76366,-0.000291545,-0.00166512,-0.000190202,0.0904843,-0.126971,-0.0993463,-0.208843,-0.22178,-0.54359,-0.0446654,-0.0634498,-0.0244109,1.42314,0.0105338,0.127565,2.48692,0.180907,0.79285,-0.00146516,-0.00470893,0,0.104148,0.121374,0.109141,-0.0366932,-0.0754418,-0.257444,0.0204614,0.06382,0.0446654,0.0790736,0.00612412,0.0265506,-0.329997,-0.281976,0.65792,0.615413,-1.61285e-05,3.53954e-05,3.87777e-05,-0.00345644,0.00287008,-0.000481335,2.79741,1.53573,-1.2669,0.0375895,0.0455325,-0.00953967,-1.40995,0.154007,0.130473,-2.53389,0.059027,-0.453913,0.000127716,0.000321692,2.54061e-05,0.00325531,-0.000769371,-0.00250576,-0.385422,0.207906,-0.299378,0.0125502,-0.0705612,-0.0375895
2020-02-05.17:02:16.203,0.167367,0.0606711,0.358597,-0.333956,-0.278514,0.653071,0.620001,-0.00013905,0.000319195,0.000240157,-0.020559,-0.0100601,-0.000505276,-0.00187983,-0.0111908,0.0112949,-0.000355373,-5.61298e-05,5.22502e-05,0.0358698,0.0660062,0.103512,-1.38861,0.485545,0.260536,-0.793451,0.000434802,-0.00145222,0.00138745,-0.00194113,-0.0170986,0.00440368,0.0189485,0.000472907,-0.00544013,-0.00309484,-0.000339911,-0.000188923,-0.000258486,3.54422e-05,-0.172293,0.0365334,0.391991,0.214104,0.213592,0.562214,0.76971,0.00353046,-0.0134011,-0.00324487,0.158162,-0.288054,-0.197426,0.0113854,0.0197699,0.0100566,-0.000331315,0.000207412,7.28601e-05,-0.0216259,0.00100773,0.0515888,0.888686,0.828979,0.0858585,0.408568,-0.00910188,0.040957,-0.051915,0.0304743,0.380627,-0.0803309,-0.0562545,0.00180257,-0.00566218,0.000698629,-0.000381161,-4.82581e-05,-0.000343995,2.63635e-05,-0.0805394,-0.00944141,0.0162413,0.214768,0.221612,0.566385,0.76418,-0.000103495,-0.0018889,-0.000378695,0.305655,-0.225801,-0.119493,-0.376017,-0.457162,-0.540752,-0.0466737,-0.0648734,-0.0231587,1.42314,0.0104875,0.12757,2.49133,0.183776,0.795738,-0.000629967,-0.00150782,0.000276592,0.335329,0.183271,0.187706,-0.0366932,-0.104707,-0.119652,0.0222763,0.0653616,0.0466737,0.0790737,0.00612365,0.0265514,-0.329994,-0.281975,0.657922,0.615413,-7.67402e-06,5.65141e-05,5.93826e-05,-0.00312784,0.00278435,-0.000636867,2.79836,1.53532,-1.27616,0.0369468,0.0458915,-0.00890307,-1.40994,0.154007,0.130473,-2.53389,0.059027,-0.453913,0.000195616,0.000563752,2.26515e-05,0.00290141,-0.000696256,-0.00225313,-0.386367,0.207434,-0.307814,0.0132387,-0.0706134,-0.0369468
2020-02-05.17:02:16.223,0.167367,0.0606711,0.358597,-0.333956,-0.278514,0.653071,0.620001,-0.000123865,0.000316712,0.000240946,-0.0201395,-0.00944199,-0.000586139,0.00177205,-0.0114039,0.0185256,-0.000282059,0.00010584,0.000151228,0.0358698,0.0660062,0.103512,-1.38861,0.485545,0.260536,-0.793451,0.000391548,-0.00145222,0.00138168,-0.00190771,-0.0164666,0.00466781,0.0184268,0.0025919,-0.00660798,-0.00271367,-0.000515853,-0.000188923,0.00014852,3.28019e-06,-0.172214,0.036164,0.391929,0.215007,0.209517,0.561913,0.770797,0.00376004,-0.0215264,-0.00342379,0.223233,-0.358759,-0.229389,0.013854,0.000747281,-0.00124135,0.000324306,0.000274881,-0.000115927,-0.0218241,0.00204695,0.0501814,0.889031,0.837861,0.0858585,0.408568,-0.0092929,0.059791,-0.081783,0.0144286,0.487914,-0.071352,-0.0531879,-0.000846168,0.00158126,0.00460405,0.000234636,-0.000392647,0.000156935,-8.08431e-05,-0.0805393,-0.00948272,0.016235,0.215473,0.217745,0.566402,0.76508,-5.52381e-06,-0.00210495,-0.000247992,0.210042,-0.313395,-0.158061,-0.893485,-0.790892,-0.474669,-0.0446654,-0.0595654,-0.0179286,1.42314,0.0104643,0.12758,2.4972,0.188012,0.800533,0,-0.000907124,0.000473054,0.25944,0.220138,0.280608,-0.0527419,-0.167486,0.0659457,0.0229021,0.0624754,0.0446654,0.0790743,0.00612568,0.0265535,-0.329992,-0.281965,0.657921,0.61542,-4.09555e-06,0.000189167,3.37978e-05,-0.00296821,0.00237254,-0.00169427,2.78451,1.54312,-1.25398,0.0363041,0.0458049,-0.00861091,-1.40993,0.15403,0.130473,-2.53389,0.059027,-0.453913,-0.000513892,0.00140408,2.02672e-05,0.00261838,-0.000636106,-0.00204991,-0.385422,0.205546,-0.285317,0.0134264,-0.0702814,-0.0363041
2020-02-05.17:02:16.243,0.167359,0.0606714,0.358597,-0.333955,-0.278507,0.653067,0.62001,4.56517e-05,0.000253232,0.000199791,-0.0197206,-0.00903563,-0.000368314,-0.00582321,0.00307294,-0.00767665,-0.000120776,-4.62131e-05,-3.74023e-05,0.0358946,0.0660062,0.103512,-1.38861,0.485545,0.260536,-0.793451,-9.69876e-05,-0.00120468,0.00113217,-0.0017133,-0.0158914,0.00485218,0.0179422,0.00418115,-0.00669027,-0.00297701,-0.000163969,-6.3691e-05,2.32872e-05,1.40009e-05,-0.172142,0.035635,0.39186,0.216113,0.204072,0.561574,0.772194,0.00466917,-0.030141,-0.00278832,0.296521,-0.435882,-0.279471,0.0281029,0.0129251,0.00128764,0.000138756,0.000175974,5.06418e-05,-0.0219975,0.00346407,0.0481857,0.889175,0.849703,0.0858585,0.408568,-0.0113747,0.0771159,-0.112851,0.0130514,0.61395,-0.0642953,-0.0504854,0.000213329,0.000156017,0.00836042,-0.000117248,-0.000204799,0.000125627,-2.72398e-05,-0.080532,-0.0095399,0.0162229,0.216308,0.212596,0.566619,0.766131,0.000563553,-0.00348702,-0.000959853,0.430146,-0.411685,-0.192936,-1.55224,-1.13905,-0.376209,-0.0445047,-0.0561007,-0.0149073,1.42313,0.0103716,0.127598,2.50517,0.193067,0.807192,0,-0.00777094,0.00116503,0.496373,0.285688,0.364447,-0.0829511,-0.244897,0.254355,0.0229647,0.063689,0.0445047,0.0790746,0.00612734,0.0265544,-0.329967,-0.281933,0.65793,0.615438,-3.94829e-05,0.000149504,3.13369e-05,-0.00272324,0.00168076,-0.00131371,2.79889,1.59335,-1.27334,0.0375091,0.0455933,-0.009675,-1.40993,0.154045,0.130473,-2.53389,0.059027,-0.453994,-0.000418555,0.00107636,5.23229e-05,0.00244495,-0.000598346,-0.00144068,-0.391087,0.20413,-0.279693,0.0124251,-0.0706878,-0.0375091
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